CN117872710A - Intelligent chassis and control method, device, system, medium and equipment thereof - Google Patents
Intelligent chassis and control method, device, system, medium and equipment thereof Download PDFInfo
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Abstract
The application discloses an intelligent chassis and a control method, a device, a system, a medium and equipment thereof, which are applied to the technical field of vehicle chassis control, wherein the method comprises the following steps: acquiring running data of a current vehicle; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle; acquiring first control information; the first control information is generated by the driving control device and generated to the intelligent chassis; if the first control information is abnormal, generating second control information according to the operation data; the intelligent chassis obtains the running data of the vehicle, judges whether the first control information is abnormal after receiving the first control information sent by the driving control device, and automatically generates second control information according to the running data if the first control information is abnormal so as to increase the redundant control design, thereby improving the driving safety.
Description
Technical Field
The application relates to the technical field of vehicle chassis control, in particular to an intelligent chassis, and a control method, a device, a system, a medium and equipment thereof.
Background
The chassis of an automobile is generally composed of four parts, namely a drive train, a running train, a steering train and a braking train. The chassis is used for supporting and installing the automobile engine, parts and assemblies of the automobile engine to form an integral model of the automobile, and receiving the power of the engine to enable the automobile to move and ensure normal running.
With the rapid development of the autopilot technology, the dependence of the vehicle on the respective subsystems is gradually increased. Among them, the chassis control system is a key part of dynamic stability and safe running of the vehicle, and the importance of the chassis control system is self-evident. Currently, there is an intersection between the autopilot domain and the chassis domain in terms of functions, an autopilot system is usually used as a master and is responsible for most of control logic of a vehicle, and the chassis control system mainly responds to instructions of the autopilot system to perform specific execution operations.
In the mode, once the automatic driving system fails or fails, the functions of the chassis control system are greatly reduced, and the safety guarantee tasks cannot be independently completed, so that the driving risk is increased.
Disclosure of Invention
The present application has been made in order to solve the above technical problems. The embodiment of the application provides an intelligent chassis and a control method, a device, a system, a medium and equipment thereof, wherein the intelligent chassis is used for acquiring running data of a vehicle, judging whether the first control information of a driving control device is abnormal after receiving the first control information, and automatically generating second control information according to the running data if the first control information is abnormal, namely adding a redundant control design to improve driving safety.
According to one aspect of the application, there is provided a control method of an intelligent chassis, applied to an intelligent chassis in an automatic driving system, the automatic driving system comprising the intelligent chassis and a driving control device, wherein the driving control device is in communication connection with the intelligent chassis; the control method of the intelligent chassis comprises the following steps: acquiring running data of a current vehicle; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle; acquiring first control information; wherein first control information is generated by the driving control device and occurs to the intelligent chassis; and if the first control information is abnormal, generating second control information according to the operation data.
In an embodiment, the first control information includes a flag message sent by the driving control device to the intelligent chassis according to a preset period; after the acquiring the first control information, the method further includes: and if the difference between the sending period of the mark message and the preset period is larger than a preset difference threshold value, determining that the first control information is abnormal.
In an embodiment, after the acquiring the first control information, the method further includes: verifying the first control information according to the operation data to obtain a verification result; and if the verification result is that the first control information is inconsistent with the control information represented by the operation data, determining that the first control information is abnormal.
In an embodiment, the verifying the first control information according to the operation data, and obtaining a verification result includes: extracting key information in the operation data; wherein the key information includes collision prediction information and lane departure information; and verifying the first control information based on the key information to obtain the verification result.
In an embodiment, the first control information and the second control information include an emergency action instruction, and if the operation data is greater than a preset first threshold, the driving control device generates the emergency action instruction; the method further comprises the steps of: if the operation data is larger than a preset second threshold value, generating the emergency action instruction; wherein the second threshold is less than the first threshold.
According to another aspect of the present application, there is provided a control device for an intelligent chassis, the intelligent chassis being provided in an automatic driving system, the automatic driving system comprising the intelligent chassis and a driving control device, wherein the driving control device and the intelligent chassis are in communication connection; the control device of the intelligent chassis comprises: the running data acquisition module is used for acquiring running data of the current vehicle; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle; the first control acquisition module is used for acquiring first control information; wherein first control information is generated by the driving control device and occurs to the intelligent chassis; and the second control generation module is used for generating second control information according to the operation data if the first control information is abnormal.
According to another aspect of the present application, there is provided an intelligent chassis comprising: a chassis body; the control device of the intelligent chassis is as described above.
According to another aspect of the present application, there is provided an autopilot system comprising: an intelligent chassis as described above; a driving control device; the driving control device is in communication connection with the intelligent chassis.
According to another aspect of the present application, there is provided a computer-readable storage medium storing a computer program for executing the control method of any one of the above-described intelligent chassis.
According to another aspect of the present application, there is provided an electronic device including: a processor; a memory for storing the processor-executable instructions; the processor is used for executing the control method of the intelligent chassis.
The intelligent chassis, the control method, the device, the system, the medium and the equipment thereof are applied to the intelligent chassis in an automatic driving system, and the running data of the current vehicle are obtained; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle; acquiring first control information; the first control information is generated by the driving control device and generated to the intelligent chassis; if the first control information is abnormal, generating second control information according to the operation data; the intelligent chassis obtains the running data of the vehicle, judges whether the first control information is abnormal after receiving the first control information sent by the driving control device, and automatically generates second control information according to the running data if the first control information is abnormal so as to increase the redundant control design, thereby improving the driving safety.
Drawings
Fig. 1 is a flow chart of a control method of an intelligent chassis according to an embodiment of the present application.
Fig. 2 is a block diagram of a control device of an intelligent chassis according to an embodiment of the present application.
Fig. 3 is a block diagram of an electronic device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Furthermore, in the exemplary embodiments, since the same reference numerals denote the same components having the same structures or the same steps of the same methods, if an embodiment is exemplarily described, only structures or methods different from those of the described embodiment will be described in other exemplary embodiments.
Throughout the specification and claims, when an element is referred to as being "connected" to another element, the one element can be "directly connected" to the other element or be "electrically connected" to the other element through a third element. Furthermore, unless explicitly described to the contrary, the term "comprising" and its corresponding terms should be construed to include only the recited components and should not be construed to exclude any other components.
The method provided by the embodiment of the application can be executed by electronic equipment, and the electronic equipment can be a server or terminal equipment, wherein the server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, or a cloud server for providing cloud computing service. The terminal device may be, but is not limited to, a smart phone, a tablet computer, a desktop computer, etc.
Fig. 1 is a flow chart of a control method of an intelligent chassis according to an embodiment of the present application. The control method of the intelligent chassis is applied to the intelligent chassis in an automatic driving system, and the automatic driving system comprises the intelligent chassis (chassis domain) and a driving control device (automatic driving domain), wherein the driving control device is in communication connection with the intelligent chassis; as shown in fig. 1, the control method of the intelligent chassis includes the following steps:
step 110: and acquiring the running data of the current vehicle.
The autopilot system described herein includes both fully automated (i.e., unmanned) and semi-automated (i.e., assisted) driving systems. The automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle.
Specifically, the method and the device can collect road condition data in front of the running of the current vehicle in real time in the running process of the current vehicle through the sensor (including a radar sensor, a visual sensor, a positioning sensor and the like) arranged on the current vehicle so as to be used as the basis for generating an automatic driving control strategy and an instruction by an automatic driving system.
The road condition data comprise curvature, leveling state and attachment coefficient of a road ahead. The national standard lane curvature refers to the transverse curvature radius of a road, is called curvature for short, has the unit of meter, is an index for indicating the deviation of the road from a positive line, and generally determines the size of the curvature radius according to the grade, the application, the design speed and other factors of the road; the road leveling state refers to the deviation value of the longitudinal concave-convex quantity of the road surface, mainly reflects the leveling property of the road surface longitudinal section profile curve, and when the road surface longitudinal section profile curve is relatively smooth, the road surface is relatively level or the leveling property is relatively good, otherwise, the leveling property is relatively poor; the adhesion coefficient of a road is the ratio of adhesion to the normal pressure of the wheel (in the direction perpendicular to the road surface), and can be regarded as the static friction coefficient between the tire and the road surface, which is determined by the road surface and the tire, and the larger the coefficient is, the larger the available adhesion is, and the less easy the automobile will slip. The curvature and the attachment coefficient of the road are all important indexes for influencing the running safety of the current vehicle, and the smooth state influences the bumpy degree, namely the comfort degree, of the current vehicle when the current vehicle runs through the road.
Step 120: first control information is acquired.
Wherein the first control information is generated by the driving control device and occurs to the intelligent chassis. After acquiring the operation data of the current vehicle, the driving control device generates a control strategy (automatic driving strategy, including operation parameters of a driving mechanism, such as an engine, a motor, etc.) and a control instruction (first control information, including a transmission parameter, etc.) based on the operation data of the current vehicle, and transmits the first control information to the intelligent chassis to instruct the intelligent chassis to perform a corresponding operation.
Step 130: and if the first control information is abnormal, generating second control information according to the operation data.
After receiving the first control information sent by the driving control device, the intelligent chassis judges whether the first control information is abnormal according to the previously acquired running data of the current vehicle, and if the judgment result is that the first control information is abnormal, the intelligent chassis cannot execute operation according to the first control information so as to avoid abnormal running of the current vehicle caused by executing according to the abnormal first control information.
The sensor in the application synchronously sends the operation data to the driving control device and the intelligent chassis after acquiring the operation data of the current vehicle, the intelligent chassis firstly carries out abnormality judgment on the first control information after receiving the first control information of the driving control device, and if abnormality exists, the sensor automatically generates second control information according to the operation data so as to realize independent control of the chassis operation. The intelligent chassis can be automatically controlled when the driving control device is abnormal or fails, so that driving safety is guaranteed.
Preferably, after the second control information is generated, the intelligent chassis in the application can further send out an alarm signal (such as an acousto-optic signal, etc.), so as to prompt an operator or a driving control device to realize safe parking and maintenance.
Preferably, the present application may further acquire running state data of the current vehicle, where the running state data includes a vehicle speed and a load of the target vehicle; and generates second control information (i.e., chassis parameters) of the current vehicle based on the front road condition data and the driving state data.
Because the running states of the current vehicles are different and correspond to different safety and comfort degrees, for example, the adhesion force (ground grabbing force) is different when different vehicle speeds pass through roads with the same curvature and adhesion coefficient, and the adhesion force is smaller when the vehicle speed is higher, so that the probability of skidding or rollover is larger when the vehicle speed is higher, namely the safety is lower when the vehicle speed is higher.
Similarly, the comfort level is different when different vehicle speeds pass through the roads with the same leveling state, and the jolt of the vehicle speed is more serious, namely the comfort level is lower when the vehicle speed is higher. According to the method and the device, the running state data of the current vehicle are acquired to be matched with the front road condition data according to the running state data, so that the safety and the comfort level when the current running state passes through the front road are determined.
The chassis parameters include the current vehicle suspension height, the softness of the shock absorber and the brake force distribution ratio. The front road is adapted by adjusting the suspension height of the current vehicle, the hardness of the shock absorber and the braking force distribution proportion, so that the safety and the comfort of the current vehicle passing through the front road are met.
Specifically, the suspension height of the vehicle can influence the gravity center height of the vehicle, and then the ground attachment force of the vehicle is influenced.
The hardness of the shock absorber can influence the capability of the shock absorber in absorbing or relieving vehicle shock, for example, the softer shock absorber can better relieve vehicle shock when passing through a bumpy road, so that the comfort is improved.
Because the stress condition of each wheel is not identical in the running process of the vehicle, particularly on a curve road section or a road section with larger road condition difference, for example, when the vehicle runs on a muddy road or an uneven road, the braking force requirement of each wheel is different due to the fact that the pressure and the friction force of each wheel and the ground are possibly different, the braking force distribution proportion is adjusted, and therefore the braking force distribution proportion is adjusted to ensure that the braking force distributed by each wheel is matched with the braking force requirement of each wheel, and the braking effect and the safety are improved.
The control method of the intelligent chassis is applied to the intelligent chassis in an automatic driving system, and the automatic driving system comprises the intelligent chassis and a driving control device, wherein the driving control device is in communication connection with the intelligent chassis, and the current vehicle running data is obtained; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle; acquiring first control information; the first control information is generated by the driving control device and generated to the intelligent chassis; if the first control information is abnormal, generating second control information according to the operation data; the intelligent chassis obtains the running data of the vehicle, judges whether the first control information is abnormal after receiving the first control information sent by the driving control device, and automatically generates second control information according to the running data if the first control information is abnormal so as to increase the redundant control design, thereby improving the driving safety.
In one embodiment, the first control information includes a flag message sent by the driving control device to the intelligent chassis according to a preset period; after step 110, the method may further include: if the difference between the sending period of the mark message and the preset period is larger than a preset difference threshold value, determining that the first control information is abnormal.
In the running process of the current vehicle, a mark message, such as a heartbeat signal and the like, can be periodically sent between the driving control device and the intelligent chassis so as to monitor whether the communication between the driving control device and the intelligent chassis is normal or not in real time. The sign message can be packaged with the control instruction and sent, and can also be independently sent, and the sending and receiving periods of the sign message are preset, namely, the driving control device sends the sign message to the intelligent chassis once in the preset period.
If the difference between the time difference (the sending period of the flag message) between the flag message received this time and the flag message received last time and the preset period is larger (larger than the preset difference threshold, for example, more than 10 milliseconds), the abnormal communication between the driving control device and the intelligent chassis is determined, and the first control information is judged to be abnormal.
It should be understood that if the intelligent chassis still does not receive the flag message within the preset time after the last time of receiving the flag message, that is, it is determined that the communication between the driving control device and the intelligent chassis is disconnected, and at this time, no first control information exists, the intelligent chassis generates second control information by itself, so as to ensure the running safety of the current vehicle.
In an embodiment, after step 110, the method may further include: verifying the first control information according to the operation data to obtain a verification result; if the verification result is that the first control information is inconsistent with the control information represented by the operation data, determining that the first control information is abnormal.
After receiving the first control information sent by the driving control device, the intelligent chassis verifies the first control information by combining with the running data of the current vehicle to determine whether the first control information is normal or not, and if the first control information is verified to be normal, the intelligent chassis executes instructions in the first control information; if the verification result shows that the first control information is inconsistent with the control information represented by the operation data, namely the first control information is inconsistent with the operation data, the first control information is determined to be abnormal, and at the moment, the intelligent chassis automatically generates second control information based on the operation data of the current vehicle.
The method and the device have the advantages that whether the instruction is correct is verified before the instruction is executed, so that the accuracy of the control instruction of the intelligent chassis can be guaranteed in a verification mode, and the running safety of the current vehicle is improved.
In an embodiment, the obtaining a verification result may include: extracting key information in the operation data; the key information comprises collision prediction information and lane departure information; and verifying the first control information based on the key information to obtain a verification result.
Since a large amount of operation data and state data can be collected in the current vehicle operation process, if all the data are sent to the intelligent chassis, the intelligent chassis calculates and verifies the first control information again, so that the calculated amount is very large, and in the actual operation process, the probability of abnormality of the first control information sent by the driving control device is relatively low, and the event is a small probability.
The intelligent chassis in the application verifies that the first control information is actually an insurance measure, namely secondary guarantee. Therefore, in order to realize verification of the first control information on the premise of reducing the calculated amount as much as possible and not increasing the calculated amount of the intelligent chassis, the intelligent chassis in the application only extracts part of data (including key information such as collision prediction information and lane departure information) in the running data or only acquires part of data (such as intermediate result data) acquired and processed by the sensor, and verifies the first control information based on the part of data, so that a verification result is obtained, an accurate verification result can be obtained, and a large amount of calculation of the intelligent chassis can be avoided as much as possible, thereby saving calculation force.
For example, the collision prediction information obtained by the intelligent chassis is that the collision probability of the current vehicle and the front vehicle is larger (the distance between the current vehicle and the front vehicle is smaller, or the speed of the current vehicle is faster than that of the front vehicle at the same time), and the control instruction in the first control information is acceleration running, which obviously contradicts the collision prediction information, and the first control information is determined to be abnormal at the moment.
In an embodiment, the first control information and the second control information include an emergency action instruction, and if the operation data is greater than a preset first threshold value, the driving control device generates the emergency action instruction; the method may further include: if the operation data is larger than a preset second threshold value, generating an emergency action instruction; wherein the second threshold is less than the first threshold.
Since the safety is the first factor during the operation of the vehicle, emergency actions are generally taken when the vehicle is operated in an unsafe state or has a safety hazard, that is, corresponding control units (driving control device, intelligent chassis, etc.) generate corresponding emergency action instructions.
Under normal conditions, if the current vehicle has a potential safety hazard (i.e. one or more parameters exceed a safety threshold), the driving control device generates an emergency action instruction and sends the emergency action instruction to the intelligent chassis for execution. However, there may be a certain delay or even a failure in the generation and transmission of the emergency action command by the driving control device, resulting in a delay or non-arrival of the emergency action command to the intelligent chassis.
Therefore, the first threshold value and the second threshold value are respectively set in the driving control device and the intelligent chassis, wherein the second threshold value is set to be smaller than the first threshold value, namely, when one or more parameters of the current vehicle exceed the second threshold value, the intelligent chassis generates an emergency action instruction to respond as soon as possible, namely, responds quickly and generates a corresponding instruction to relieve or solve the potential safety hazard, and meanwhile, early warning information can be sent to the driving control device or other control units, so that the safety of the current vehicle is improved.
Optionally, the method and the device can store the road condition data and the navigation information in front of the current vehicle running in a matched mode, namely, the road condition data of each road section and the corresponding navigation position information are stored in a matched mode, so that the road condition data of the front road can be obtained according to the navigation information when the current vehicle is in navigation, and the road condition information of the front road can be predicted in advance.
Specifically, the road condition data in the application can be directly stored in the navigation service platform, and the navigation service platform synchronously transmits the navigation information and the corresponding road condition data to the current vehicle in real time, so that the current vehicle can determine the driving path and adjust the chassis parameters. Immediately, the road condition data in the application can also be independently stored in a cloud server and the like, and the road condition data is matched with the navigation information, namely the road condition data contains corresponding road position information (longitude and latitude and the like), so that the corresponding road condition data can be downloaded in real time when the navigation information is acquired.
The image acquisition device (such as a camera) can be further arranged on the current vehicle, the image acquisition device is utilized to acquire real-time road condition data in the running process of the current vehicle in real time, the real-time road condition data acquired by the current vehicle (the real-time road condition data at the moment and the road corresponding to the front road condition data acquired in advance are in the same position) and the pre-stored road condition data acquired based on navigation information are compared, if the difference between the real-time road condition data and the pre-stored road condition data is smaller than a preset difference threshold value, the pre-stored road condition data acquired based on the navigation information is illustrated as accurate data, and a control instruction for controlling the running of the chassis of the current vehicle can be generated based on the real-time road condition data or the pre-stored road condition data.
Optionally, the present application may also obtain historical accident vehicle information on the road ahead; wherein the historical accident vehicle information includes accident chassis parameters when the historical accident vehicle is traveling on a road ahead; and adjusting chassis parameters of the current vehicle based on the accident chassis parameters, the road condition data in front of the operation and the driving state data.
Because the corresponding relation between the chassis parameters of the current vehicle and the road condition data and the running state is obtained based on theoretical calculation, the boundary values of the chassis parameters are difficult to accurately obtain, for example, the chassis parameters obtained by calculation under the current road condition and the running state may not be necessarily suitable for the road due to special reasons (such as accumulated water on the road surface is frozen), and even the safety accidents such as sideslip, side turning and the like of the vehicle on the rerouted road may be caused.
Therefore, the method and the device acquire the information of the historical accident vehicles on the road ahead so as to acquire the information of the chassis parameters, the running state and the like of the accident vehicles on the road when passing through the road, judge whether the current vehicle passes through the road in the current running state and the chassis parameters in combination with the information of the historical accident vehicles, and judge whether the safety accident risk exists on the road, for example, the road is a accident-prone section (possibly caused by frequent wet and slippery road surface due to overlarge ambient humidity), and at the moment, the chassis parameters of the current vehicle can be adjusted as much as possible according to the information of the historical accident vehicles so as to reduce the probability of sideslip and rollover of the vehicle, thereby improving the driving safety.
Fig. 2 is a block diagram of a control device of an intelligent chassis according to an embodiment of the present application. The control device of the intelligent chassis is arranged on the intelligent chassis in an automatic driving system, and the automatic driving system comprises the intelligent chassis and a driving control device, wherein the driving control device is in communication connection with the intelligent chassis; as shown in fig. 2, the control device 20 of the intelligent chassis includes: an operation data acquisition module 21 for acquiring operation data of a current vehicle; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle; a first control acquisition module 22 for acquiring first control information; the first control information is generated by the driving control device and generated to the intelligent chassis; the second control generation module 23 is configured to generate second control information according to the operation data if the first control information is abnormal.
The control device of the intelligent chassis is arranged in an automatic driving system, the automatic driving system comprises the intelligent chassis and a driving control device, wherein the driving control device is in communication connection with the intelligent chassis, and operation data of a current vehicle are acquired through an operation data acquisition module 21; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle; the first control acquisition module 22 acquires first control information; the first control information is generated by the driving control device and generated to the intelligent chassis; if the first control information is abnormal, the second control generation module 23 generates second control information according to the operation data; the intelligent chassis obtains the running data of the vehicle, judges whether the first control information is abnormal after receiving the first control information sent by the driving control device, and automatically generates second control information according to the running data if the first control information is abnormal so as to increase the redundant control design, thereby improving the driving safety.
In one embodiment, the first control information includes a flag message sent by the driving control device to the intelligent chassis according to a preset period; the control device 20 of the intelligent chassis may be further configured to: if the difference between the sending period of the mark message and the preset period is larger than a preset difference threshold value, determining that the first control information is abnormal.
In an embodiment, the control device 20 of the intelligent chassis may be further configured to: verifying the first control information according to the operation data to obtain a verification result; if the verification result is that the first control information is inconsistent with the control information represented by the operation data, determining that the first control information is abnormal.
In an embodiment, the obtaining a verification result may include: extracting key information in the operation data; the key information comprises collision prediction information and lane departure information; and verifying the first control information based on the key information to obtain a verification result.
In an embodiment, the first control information and the second control information include an emergency action instruction, and if the operation data is greater than a preset first threshold value, the driving control device generates the emergency action instruction; the control device 20 of the intelligent chassis may be further configured to: if the operation data is larger than a preset second threshold value, generating an emergency action instruction; wherein the second threshold is less than the first threshold.
In an embodiment, the control device 20 of the intelligent chassis may be further configured to: the road condition data and navigation information of the front of the current vehicle running are matched and stored, namely, the road condition data of each road section and the corresponding navigation position information are matched and stored, so that the road condition data of the front road can be obtained according to the navigation information when the current vehicle is navigated, and the road condition information of the front road can be predicted in advance.
In an embodiment, the control device 20 of the intelligent chassis may be further configured to: acquiring historical accident vehicle information on a front road; wherein the historical accident vehicle information includes accident chassis parameters when the historical accident vehicle is traveling on a road ahead; and adjusting chassis parameters of the current vehicle based on the accident chassis parameters, the road condition data in front of the operation and the driving state data.
The application also provides an intelligent chassis, including: a chassis body; the control device of the intelligent chassis is as described above.
The intelligent chassis is applied to an automatic driving system, and the automatic driving system comprises the intelligent chassis and a driving control device, wherein the driving control device is in communication connection with the intelligent chassis, and the running data of a current vehicle are obtained; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle; acquiring first control information; the first control information is generated by the driving control device and generated to the intelligent chassis; if the first control information is abnormal, generating second control information according to the operation data; the intelligent chassis obtains the running data of the vehicle, judges whether the first control information is abnormal after receiving the first control information sent by the driving control device, and automatically generates second control information according to the running data if the first control information is abnormal so as to increase the redundant control design, thereby improving the driving safety.
The present application also provides an autopilot system comprising: an intelligent chassis as described above; a driving control device; the driving control device is in communication connection with the intelligent chassis.
The automatic driving system is arranged on a current vehicle and comprises an intelligent chassis and a driving control device, wherein the driving control device is in communication connection with the intelligent chassis, and operation data of the current vehicle are obtained; the running data comprise road condition data in front of the running of the current vehicle; acquiring first control information; the first control information is generated by the driving control device and generated to the intelligent chassis; if the first control information is abnormal, generating second control information according to the operation data; the intelligent chassis obtains the running data of the vehicle, judges whether the first control information is abnormal after receiving the first control information sent by the driving control device, and automatically generates second control information according to the running data if the first control information is abnormal so as to increase the redundant control design, thereby improving the driving safety.
Next, an electronic device according to an embodiment of the present application is described with reference to fig. 3. The electronic device may be either or both of the first device and the second device, or a stand-alone device independent thereof, which may communicate with the first device and the second device to receive the acquired input signals therefrom.
As shown in fig. 3, the electronic device 10 includes one or more processors 11 and a memory 12.
The processor 11 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.
Memory 12 may include one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, random Access Memory (RAM) and/or cache memory (cache), and the like. The non-volatile memory may include, for example, read Only Memory (ROM), hard disk, flash memory, and the like. One or more computer program instructions may be stored on the computer readable storage medium that can be executed by the processor 11 to implement the methods of the various embodiments of the present application described above and/or other desired functions. Various contents such as an input signal, a signal component, a noise component, and the like may also be stored in the computer-readable storage medium.
In one example, the electronic device 10 may further include: an input device 13 and an output device 14, which are interconnected by a bus system and/or other forms of connection mechanisms (not shown).
When the electronic device is a stand-alone device, the input means 13 may be a communication network connector for receiving the acquired input signals from the first device and the second device.
In addition, the input device 13 may also include, for example, a keyboard, a mouse, and the like.
The output device 14 may output various information to the outside, including the determined distance information, direction information, and the like. The output means 14 may include, for example, a display, speakers, a printer, and a communication network and remote output devices connected thereto, etc.
Of course, only some of the components of the electronic device 10 that are relevant to the present application are shown in fig. 3 for simplicity, components such as buses, input/output interfaces, etc. are omitted. In addition, the electronic device 10 may include any other suitable components depending on the particular application.
The computer program product may write program code for performing the operations of embodiments of the present application in any combination of one or more programming languages, including an object oriented programming language such as Java, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computing device, partly on the user's device, as a stand-alone software package, partly on the user's computing device, partly on a remote computing device, or entirely on the remote computing device or server.
The computer readable storage medium may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The readable storage medium may include, for example, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection having one or more wires, a portable disk, a hard disk, random Access Memory (RAM), read-only memory (ROM), pluggable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The foregoing description has been presented for purposes of illustration and description. Furthermore, this description is not intended to limit the embodiments of the application to the form disclosed herein. Although a number of example aspects and embodiments have been discussed above, a person of ordinary skill in the art will recognize certain variations, modifications, alterations, additions, and subcombinations thereof.
Claims (10)
1. The control method of the intelligent chassis is characterized by being applied to the intelligent chassis in an automatic driving system, wherein the automatic driving system comprises the intelligent chassis and a driving control device, and the driving control device is in communication connection with the intelligent chassis; the control method of the intelligent chassis comprises the following steps:
acquiring running data of a current vehicle; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle;
acquiring first control information; wherein first control information is generated by the driving control device and occurs to the intelligent chassis;
and if the first control information is abnormal, generating second control information according to the operation data.
2. The method of claim 1, wherein the first control information includes a flag message sent by the driving control device to the intelligent chassis according to a preset period; after the acquiring the first control information, the method further includes:
and if the difference between the sending period of the mark message and the preset period is larger than a preset difference threshold value, determining that the first control information is abnormal.
3. The method of claim 1, wherein after the acquiring the first control information, the method further comprises:
verifying the first control information according to the operation data to obtain a verification result;
and if the verification result is that the first control information is inconsistent with the control information represented by the operation data, determining that the first control information is abnormal.
4. A method according to claim 3, wherein said verifying said first control information based on said operation data, and obtaining a verification result comprises:
extracting key information in the operation data; wherein the key information includes collision prediction information and lane departure information;
and verifying the first control information based on the key information to obtain the verification result.
5. The method according to any one of claims 1-4, wherein the first control information and the second control information include an emergency action instruction, the driving control device generating the emergency action instruction if the operation data is greater than a preset first threshold; the method further comprises the steps of:
if the operation data is larger than a preset second threshold value, generating the emergency action instruction; wherein the second threshold is less than the first threshold.
6. The control device of the intelligent chassis is characterized by comprising the intelligent chassis arranged in an automatic driving system, wherein the automatic driving system comprises the intelligent chassis and a driving control device, and the driving control device is in communication connection with the intelligent chassis; the control device of the intelligent chassis comprises:
the running data acquisition module is used for acquiring running data of the current vehicle; the automatic driving system is arranged on the current vehicle, and the running data comprise road condition data in front of the running of the current vehicle;
the first control acquisition module is used for acquiring first control information; wherein first control information is generated by the driving control device and occurs to the intelligent chassis;
and the second control generation module is used for generating second control information according to the operation data if the first control information is abnormal.
7. An intelligent chassis, characterized by comprising:
a chassis body;
the control device of the intelligent chassis of claim 6.
8. An autopilot system comprising:
the intelligent chassis of claim 7;
a driving control device; the driving control device is in communication connection with the intelligent chassis.
9. A computer readable storage medium, characterized in that the storage medium stores a computer program for executing the control method of the intelligent chassis according to any of the preceding claims 1-5.
10. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
the processor is configured to execute the control method of the intelligent chassis according to any one of claims 1 to 5.
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| CN202410271137.4A CN117872710A (en) | 2024-03-11 | 2024-03-11 | Intelligent chassis and control method, device, system, medium and equipment thereof |
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| CN202410271137.4A CN117872710A (en) | 2024-03-11 | 2024-03-11 | Intelligent chassis and control method, device, system, medium and equipment thereof |
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