CN115079661A - Control system, vehicle-mounted control device and automatic driving vehicle - Google Patents
Control system, vehicle-mounted control device and automatic driving vehicle Download PDFInfo
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- CN115079661A CN115079661A CN202110276822.2A CN202110276822A CN115079661A CN 115079661 A CN115079661 A CN 115079661A CN 202110276822 A CN202110276822 A CN 202110276822A CN 115079661 A CN115079661 A CN 115079661A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- Remote Sensing (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present disclosure relates to a control system for an autonomous vehicle, in particular an unmanned delivery vehicle. The control system includes an onboard control device for interacting with a remote control device via a wireless communication network with respect to remote control signals to effect remote control of the remote control device over at least a powertrain system and a safety system of the autonomous vehicle. The control system also includes an autonomous driving control device for interacting with a safety system of an autonomous vehicle directly over an autonomous driving control area network with respect to autonomous driving control signals, thereby reducing response latency of the safety system and enabling autonomous driving control of the safety system by the autonomous driving control device when control of the onboard control device fails. The disclosure also relates to an on-board control device, an autonomous driving control device and an autonomous vehicle, in particular an unmanned delivery vehicle.
Description
Technical Field
Embodiments of the present disclosure generally relate to a control system for an autonomous vehicle, an in-vehicle control device, an autonomous control device, and an autonomous vehicle.
Background
With the increasing development of e-commerce B2C and C2C models, logistics distribution systems serving large e-commerce, work and life communities are increasingly complex and need to be optimized by more intelligent means, and unmanned distribution fields including unmanned distribution vehicles based on automatic driving technology are developed.
An improved control system and a corresponding device are provided, wherein the control system is high in safety, simple in structure and convenient to apply and can be applied to an unmanned distribution vehicle.
Disclosure of Invention
The present disclosure provides, in one exemplary aspect, a control system for an autonomous vehicle, particularly an unmanned delivery vehicle. The control system includes an onboard control device for interacting with a remote control device via a wireless communication network with respect to remote control signals to effect remote control of the remote control device over at least a powertrain system and a safety system of the autonomous vehicle. The control system also includes an autonomous driving control device for interacting with a safety system of an autonomous vehicle directly over an autonomous driving control area network with respect to autonomous driving control signals, thereby reducing response latency of the safety system and enabling autonomous driving control of the safety system by the autonomous driving control device when control of the onboard control device fails.
In some embodiments, the autonomous driving control device is further configured to interact with the onboard control device via an autonomous driving control area network with respect to autonomous driving control signals to enable autonomous driving control of at least a powertrain system of the autonomous vehicle by the autonomous driving control device.
In some embodiments, the on-board control device is further configured to prioritize the remote control signal over the autonomous driving control signal to enable control of at least a powertrain system of the autonomous vehicle by the remote control device over the autonomous driving control device.
In some embodiments, the onboard control device is further configured to verify and authorize remote control of the remote control device over the powertrain system and the safety system of the autonomous vehicle in which the onboard control device is installed.
In some embodiments, the safety system includes at least one of a steering assembly, a brake assembly, and a park assembly.
In some embodiments, the powertrain system includes at least one of a battery component, a DC-DC converter, and an electric machine component.
In another exemplary aspect, the present disclosure provides an onboard control device for an autonomous vehicle, in particular for an unmanned delivery vehicle. The onboard control device includes a controller for interacting with a remote control device via a wireless communication network with respect to remote control signals to enable remote control of at least the powertrain system and the safety system of the autonomous vehicle by the remote control device.
In another exemplary aspect, the present disclosure provides an autopilot control for an autopilot vehicle, particularly for an unmanned delivery vehicle. The autopilot control includes a system for interacting directly with a safety system of an autonomous vehicle via an autopilot control area network in relation to autopilot control signals to thereby effect autopilot control of the safety system directly by the autopilot control and reduce response delays of the safety system.
In another exemplary aspect, the present disclosure provides an autonomous vehicle, in particular an unmanned delivery vehicle, comprising the above-described control system, an onboard control device, an autonomous control device.
These and other features, aspects, and advantages of the present application will become better understood with reference to the following description. The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description, serve to explain the principles of the application.
Drawings
A full and enabling disclosure of the present application, including the best mode thereof, directed to one of ordinary skill in the art, is set forth in the specification, which makes reference to the appended figures, in which:
FIG. 1 is a schematic diagram of the structure of an autonomous vehicle according to an exemplary embodiment of the present application;
FIG. 2 is a schematic diagram of the operation of the remote control device and the onboard control device in a remote control mode of operation for the powertrain system and the safety system of the autonomous vehicle in accordance with an exemplary embodiment of the present application;
FIG. 3 is a functional schematic of the autonomous control apparatus and onboard control apparatus in an autonomous control mode of operation for the powertrain system and safety system of an autonomous vehicle according to an exemplary embodiment of the present application.
Detailed Description
Specific embodiments of the present disclosure are described in detail below with reference to the accompanying drawings. In the following detailed description of the specific embodiments, some well-known functions or constructions are not described in detail in order to avoid unnecessarily obscuring the disclosure. Each example is provided by way of explanation of the application, and not limitation of the disclosure. In fact, it will be apparent to those skilled in the art that various modifications and variations can be made in the present disclosure without departing from the scope or spirit of the disclosure. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Thus, it is intended that the present disclosure cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents.
As used in the specification, the terms "a," "an," "the," and "said" are intended to mean that there are one or more of the elements, unless the context clearly indicates otherwise. The terms "comprising," "including," and "having" are intended to be inclusive and mean that there may be additional elements other than the listed elements. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect.
Further, as used in the present specification, the term "wireless communication" refers to long-distance transmission communication performed between a plurality of nodes without propagation via a conductor or a cable, and is a relative concept of wired communication, wireless communication being possible using radio or the like. Wireless communication may include a variety of stationary, mobile, and portable applications. The term "control area network," or "CAN," refers to a serial communication network for a vehicle that CAN effectively support a distributed control system.
Referring now to the drawings, FIG. 1 illustrates a structural schematic diagram of an autonomous vehicle of an exemplary embodiment of the present application. As shown, the autonomous vehicle 10 may be, for example, an unmanned dispensing vehicle, a dispensing robot. The autonomous vehicle 10 includes a control system 100 that may include an on-board control device 110 and an autonomous control device 140.
Referring to fig. 2 and 3 together, fig. 2 and 3 respectively show two operation modes of the control system of the exemplary embodiment of the present application, specifically, fig. 2 exemplarily shows an operation principle diagram of the remote control device 120 and the on-board control device 110 in the remote control mode for the powertrain system and the safety system of the autonomous vehicle, and fig. 3 exemplarily shows an operation principle diagram of the autonomous control device 140 and the on-board control device 110 in the autonomous control mode for the powertrain system and the safety system of the autonomous vehicle.
As shown in fig. 2, in the remote control operation mode, the vehicle-mounted control device 110 may be connected to various components of the powertrain 12 of the vehicle, such as a battery component, a DC-DC converter and a motor component, and the vehicle-mounted control device 110 may also be connected to the safety system 14 of the vehicle, such as a steering component, a brake component and a parking component, wherein the "connection" may be an electrical connection, and may also be a wired and/or wireless communication connection. The onboard control device 110 may interact with the remote control device 120 via the wireless communication network 130 in relation to remote control signals to enable remote control of at least the various components of the powertrain system 12 and the various components of the safety system 14 of the vehicle. It is understood that the remote control device 120 may be controlled by the remote control operating body 20.
Further, the in-vehicle control device 110 may prioritize the remote control signal from the remote control device 120 to enable the remote control device to prioritize control of the powertrain system 12 and the safety system 14 of the vehicle, i.e., the remote control mode over the autonomous driving control mode for at least the powertrain system and the safety system of the vehicle.
In some embodiments, the in-vehicle control device 110 further includes a means for verifying and authorizing the remote control device 120 as to whether the autonomous vehicle 10 in which the in-vehicle control device 110 is installed can be remotely controlled, and if the verification regarding uniqueness is passed, i.e., the remote control signal from the remote control device can be uniquely transmitted to the autonomous vehicle 10 in question, the in-vehicle control device 110 can authorize the remote control device to remotely control the autonomous vehicle.
As shown in fig. 3, in the operating mode of the autopilot control, the autopilot control device 140 may interact directly with the safety system 14 of the vehicle, including, for example, the steering assembly, the braking assembly, and the parking assembly, via the autopilot control area network 150, in relation to the autopilot control signals, thereby enabling direct control of the various components of the safety system 14 of the vehicle by the autopilot control device. The autopilot control device 140 may also be communicatively coupled to the in-vehicle control device 110 via an autopilot control area network 150 to enable the autopilot control device to control the powertrain system 12 of the vehicle. In addition, the situation that the safety system 14 of the vehicle in the remote control operation mode cannot be controlled by the remote control device but can be controlled by the automatic driving control device when the vehicle-mounted control device fails can be avoided, and therefore the running safety of the vehicle is improved.
By using the control system for the automatic driving vehicle, particularly the unmanned dispatching vehicle, the safety system and at least the power assembly system of the vehicle can work in the automatic driving control mode and the remote control mode, wherein the remote control mode is prior to the automatic driving control mode, and when the vehicle-mounted control device fails, the safety system in the remote control mode can not be controlled by the remote control device, and can be switched to the automatic driving control mode to be controlled by the automatic driving control device by the current remote control mode, thereby ensuring the safety of the vehicle operation. In addition, in the autopilot control mode, the control of the safety system of the vehicle and at least the drive train is completely separated, i.e. the safety system can be in direct communication with the autopilot control system, so that at least the response delay of the safety system is reduced.
This written description uses examples to disclose the application, including the best mode, and also to enable any person skilled in the art to practice the application, including making and using any devices or systems and performing any incorporated methods. The patentable scope of the disclosure is defined by the claims, and may include other embodiments that occur to those skilled in the art. Such other embodiments are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with insubstantial differences from the literal languages of the claims.
Claims (11)
1. A control system for an autonomous vehicle, in particular an unmanned dispensing vehicle, comprising:
an on-board control device for interacting with a remote control device via a wireless communication network with respect to remote control signals to effect remote control of the remote control device over at least a powertrain system and a safety system of an autonomous vehicle, and
an autonomous driving control device for interacting with a safety system of an autonomous vehicle directly via an autonomous driving control area network with respect to an autonomous driving control signal, thereby reducing a response delay of the safety system and enabling autonomous driving control of the safety system by the autonomous driving control device when control of the onboard control device fails.
2. The control system of claim 1,
the automatic driving control device is also used for carrying out interaction related to automatic driving control signals with the vehicle-mounted control device through an automatic driving control area network, so that the automatic driving control device at least carries out automatic driving control on a power assembly system of the automatic driving vehicle.
3. The control system of claim 2,
the onboard control means is further arranged to prioritize the remote control signal over the autonomous driving control signal so as to enable control of at least the powertrain system of the autonomous vehicle by the remote control means over the autonomous driving control means.
4. The control system of claim 1,
the onboard control device is further configured to verify and authorize remote control of the remote control device over a powertrain system and a safety system of an autonomous vehicle in which the onboard control device is installed.
5. The control system of claim 1,
the security system includes: at least one of a steering assembly, a brake assembly, and a park assembly, the powertrain system comprising: at least one of a battery assembly, a DC-DC converter, and a motor assembly.
6. An on-board control device for autonomous vehicles, in particular unmanned dispensing vehicles, comprising:
for interacting with a remote control device over a wireless communications network with respect to remote control signals to effect remote control of the remote control device over at least a powertrain system and a safety system of an autonomous vehicle.
7. The in-vehicle control apparatus according to claim 6,
the on-board control device also includes a remote control for verifying and authorizing the remote control device to the powertrain system and the safety system of the autonomous vehicle in which the on-board control device is installed.
8. The in-vehicle control apparatus according to claim 6,
the onboard control means further comprises means for prioritizing the remote control signal over an autonomous driving control signal from an autonomous driving control means, thereby enabling control of at least the powertrain system of the autonomous vehicle by the remote control means over the autonomous driving control means.
9. An autopilot control device for an autopilot vehicle, in particular an unmanned dispensing vehicle, comprising:
for interacting directly with a safety system of an autonomous vehicle via an autonomous driving control area network with respect to autonomous driving control signals, thereby effecting autonomous driving control of the safety system directly by the autonomous driving control device and reducing response delay of the safety system.
10. The automatic driving control device according to claim 9,
the automatic driving control device also comprises a vehicle-mounted control device used for carrying out interaction related to automatic driving control signals through an automatic driving control area network, so that the automatic driving control device at least carries out automatic driving control on a power assembly system of the automatic driving vehicle.
11. An autonomous vehicle, in particular an unmanned delivery vehicle, comprising a control system according to any of claims 1 to 5, or comprising an on-board control device according to any of claims 6 to 8, or comprising an autonomous driving control device according to any of claims 9 to 10.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110276822.2A CN115079661A (en) | 2021-03-15 | 2021-03-15 | Control system, vehicle-mounted control device and automatic driving vehicle |
| EP22723537.1A EP4309014A1 (en) | 2021-03-15 | 2022-03-15 | Control system, vehicle-mounted control apparatus and autonomous vehicle |
| PCT/CN2022/080863 WO2022194129A1 (en) | 2021-03-15 | 2022-03-15 | Control system, vehicle-mounted control apparatus and autonomous vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110276822.2A CN115079661A (en) | 2021-03-15 | 2021-03-15 | Control system, vehicle-mounted control device and automatic driving vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115079661A true CN115079661A (en) | 2022-09-20 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110276822.2A Pending CN115079661A (en) | 2021-03-15 | 2021-03-15 | Control system, vehicle-mounted control device and automatic driving vehicle |
Country Status (3)
| Country | Link |
|---|---|
| EP (1) | EP4309014A1 (en) |
| CN (1) | CN115079661A (en) |
| WO (1) | WO2022194129A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP3503703B8 (en) * | 2016-08-29 | 2023-10-18 | Guss Automation LLC | Robotic agricultural system and method |
| US11027697B2 (en) * | 2018-02-14 | 2021-06-08 | Itsec Analytics Pte. Ltd. | System, method, and apparatus to mitigate and or prevent autonomous vehicle misuse through the use of security enabled sensors |
| US11137754B2 (en) * | 2018-10-24 | 2021-10-05 | Ford Global Technologies, Llc | Intermittent delay mitigation for remote vehicle operation |
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2021
- 2021-03-15 CN CN202110276822.2A patent/CN115079661A/en active Pending
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2022
- 2022-03-15 WO PCT/CN2022/080863 patent/WO2022194129A1/en active Application Filing
- 2022-03-15 EP EP22723537.1A patent/EP4309014A1/en active Pending
Also Published As
| Publication number | Publication date |
|---|---|
| EP4309014A1 (en) | 2024-01-24 |
| WO2022194129A1 (en) | 2022-09-22 |
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Effective date of registration: 20220915 Address after: Sergi Pontoise, France Applicant after: VALEO SYSTEMES DE CONTROLE MOTEUR Address before: 200233 30th floor, building 2, 391 Guiping Road, Xuhui District, Shanghai Applicant before: FALEIAO POWERTRAIN (SHANGHAI) Co.,Ltd. |
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