CN107219797A - A kind of control system of autonomous driving vehicle, method and microcontroller - Google Patents
A kind of control system of autonomous driving vehicle, method and microcontroller Download PDFInfo
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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Abstract
The present invention provides a kind of control system of autonomous driving vehicle, method and microcontroller, and the microcontroller includes：Primary processor, coprocessor and CAN controller, CAN controller are communicated to connect with coprocessor, primary processor, are received CAN message and are forwarded to coprocessor；Coprocessor interrupts the CAN message and I/O input signals for receiving CAN controller forwarding, and parses CAN message and I/O input signals obtain corresponding control information, and control information is delivered into primary processor；Control information progress is handled and obtains corresponding control output order by primary processor, send to the second vehicle control device of acousto-optic, startup and electronic parking for controlling autonomous driving vehicle, or send to the first vehicle control device for being used to control autonomous driving vehicle to travel.Present invention reduces the communication load between master system and microcontroller, the communication efficiency between master system and microcontroller is improved.
Description
Technical field
The present invention relates to automobile technical field, more particularly to a kind of control system of autonomous driving vehicle, method and micro-control
Device processed.
Background technology
Pilotless automobile technology is ripe not enough at this stage, also has many restrictions in practical operation, at automobile
When unmanned state is travelled, its can automatic detection driving environment change, to judge whether to retract pilot steering pattern, drive
The person of sailing monitors without the control system always to automobile.
Patent publication No. discloses a kind of technical scheme for CN201387545 patent：Devise a kind of electric automobile intelligence
Energy control device, including industrial control computer is (below referred to as：Industrial computer) and electronic circuit control, when industrial computer passes through CAN
When bus and CAN routers act on the CAN in automobile simultaneously, industrial computer is used as conventional, and CAN routers are as standby
With the device being connected with CAN and CAN routers includes：Power-assisted steering device, power drill/driver, power manager, safety
And other expansible applicators etc..The sensor instantaneous acquiring data that industrial computer is connected by CAN, to automobile each several part
Equipment is monitored and controlled in real time.Technical scheme disclosed in the patent has these not enough：Although automobile can with gathered data,
It is that the equipment being connected on automobile with CAN is a lot, is all led between each equipment of each industrial computer and automobile by CAN
News, cause communication load between industrial computer and each equipment big, communication cycle is long, and then causes the time of industrial computer processing data
Expense accordingly increases, and the controlling cycle to automobile is elongated, is unfavorable under unmanned such complex control and danger situation
Real-time control.
The content of the invention
The technical problems to be solved by the invention are that there is provided a kind of control system of autonomous driving vehicle, method and micro-
Controller, to reduce the communication load between master system and microcontroller, improves master system and microcontroller and car
The communication efficiency between each equipment of CAN is connected in.
In order to solve the above technical problems, a kind of microcontroller for autonomous driving vehicle that the present invention is provided, it is characterised in that
Including：Primary processor, coprocessor and CAN controller, wherein：
The CAN controller is communicated to connect with the coprocessor, the primary processor, for receiving CAN message and turning
It is sent to the coprocessor；
The coprocessor is used to interrupt the CAN messages of the reception CAN controller forwarding and from I/O interfaces
I/O input signals, and parse the CAN message and I/O input signals obtain corresponding control information, and the control is believed
Breath is delivered to the primary processor；
The primary processor is used to handle the control information progress to obtain corresponding control output order, and will be described
Control output order is sent to second for the acousto-optic for controlling autonomous driving vehicle, startup and electronic parking by I/O interfaces
Vehicle control device, or the control output order is sent to for controlling autonomous driving vehicle by the CAN controller
First vehicle control device of traveling.
A kind of control system for autonomous driving vehicle that the present invention is provided, includes：First CAN transceivers, hard signal
Input circuit and microcontroller, wherein：First CAN transceiver is used to receive what master system or remote control were sent
CAN message, and the CAN message is sent to the microcontroller；
The hard signal input circuit is connected with the micro-controller communications, for by the button on autonomous driving vehicle
Behavior is converted into the recognizable hard signal of the microcontroller, and passes through I/O using the hard signal as I/O input signals
Interface is inputted to the microcontroller；
The microcontroller includes：Primary processor, coprocessor and CAN controller, wherein：
The CAN controller is communicated to connect with the coprocessor, the primary processor, for receiving the first CAN
The CAN message of transceiver transmission simultaneously forwards it to the coprocessor；
The coprocessor is used to interrupt the CAN messages of the reception CAN controller forwarding and from I/O interfaces
I/O input signals, and parse the CAN message and I/O input signals obtain corresponding control information, and the control is believed
Breath is delivered to the primary processor；
The primary processor, corresponding control output order is obtained for the control information progress to be handled, and by institute
Control output order is stated to send to for the acousto-optic for controlling autonomous driving vehicle, startup and electronic parking by I/O interfaces
Two vehicle control devices, or the control output order is sent to for controlling automatic Pilot vapour by the CAN controller
First vehicle control device of car traveling.
Preferably, the hard signal input circuit includes：Parking combinational, steering indicating light combinational
And one-key start on-off circuit；
The parking combinational is used to the electronic parking switch key behavior on autonomous driving vehicle being converted into
Corresponding electronic parking control combination signal, and by the electronic parking control combination signal output to the microcontroller；Institute
State coprocessor be used for interrupt the reception electronic parking control combination signal, and parse the electronic parking control combination signal
Corresponding electronic parking control combination information is obtained, and the electronic parking control combination information is exported to the main process task
Device；The primary processor is handled the electronic parking control combination information, obtains corresponding electronic parking control combination
Instruction, and the electronic parking control combination is instructed the parking for sending the parked state extremely for controlling parking controller control
Link block；
The steering indicating light combinational is used to the turning indicator control button behavior on autonomous driving vehicle being converted into
Corresponding steering modulating signal, and the steering indicating light information is exported to the microcontroller；The coprocessor is used for middle disconnecting
Receive the steering modulating signal, and parse the steering modulating signal and obtain corresponding steering indicating light control information, and by the steering indicating light
Control information is exported to the primary processor；The primary processor is handled the steering indicating light control information, obtains correspondence
Steering indicating light control output order, and by the steering indicating light control output order send to for entering to autonomous driving vehicle acousto-optic
The controlled by sound and light module of row control
One-key start on-off circuit is used for the corresponding startup of one-key start button behavior generation on autonomous driving vehicle
Key signal, and by the initiation key signal output to the microcontroller；The coprocessor, which is used to interrupt, receives described
Initiation key signal, and parse the initiation key information and obtain corresponding initiation key control information, and by the startup key
Spoon information is exported to the primary processor；The primary processor is handled the initiation key control information, obtains correspondence
Initiation key control output order, and by the initiation key control output order send to for controlling autonomous driving vehicle
The startup drive circuit of startup.
Preferably, the hard signal input circuit also includes：
Driving model switches on-off circuit, for the driving model switching key behavior on autonomous driving vehicle to be converted into
Corresponding driving model switching signal, and the driving model switching signal is exported to the microcontroller；
The coprocessor, which is used to interrupt, receives the driving model switching signal, and parses the driving model switching letter
Number corresponding driving model switching control information is obtained, and the driving model switching control information is exported to the main process task
Device；
The primary processor is additionally operable to be switched to corresponding driving model according to the driving model switching control information, its
In, driving model includes：Autonomous driving pattern, pilot steering pattern, remote driving pattern, when in autonomous driving pattern
When, the primary processor is handled the control information from master system according to default autonomous driving arithmetic logic,
When in pilot steering pattern, the primary processor is according to default pilot steering arithmetic logic to the control from I/O interfaces
Information processed is handled, and when in remote driving pattern, the primary processor is according to default remote driving arithmetic logic pair
Remote information from remote control is handled.
Preferably, in addition to：
Second CAN transceiver, for receiving the control output order by the CAN controller, and by the control
Output order is sent to first vehicle control device, is additionally operable to receive first wagon control by the CAN controller
Autonomous driving vehicle information that device is gathered simultaneously is forwarded to the coprocessor；
The coprocessor is additionally operable to interrupt to receive the CAN messages from second CAN transceiver and parse and obtained pair
The autonomous driving vehicle information answered, and the autonomous driving vehicle information is sent to the primary processor；
The primary processor is additionally operable under autonomous driving pattern, and the autonomous driving vehicle information is carried out after classifying packing
Send to the CAN controller, the CAN controller is by first CAN transceiver by the automatic Pilot after classifying packing
Automobile information is sent to master system.
Preferably, the hard signal input circuit also includes：
Starting switch of parking circuit, for the function on button behavior of parking on autonomous driving vehicle to be converted into correspondence
Function on signal output of parking to the microcontroller；
The coprocessor be used to interrupt receive it is described park function on signal and autonomous driving vehicle and object it
Between distance signal, park function on signal described in parsing and the distance signal obtain corresponding function on control of parking
The distance between information and autonomous driving vehicle and object information, and by it is described park function on control information and it is described away from
Exported from information to the primary processor；
The primary processor is additionally operable under autonomous driving pattern, according to the function on control information of parking, to institute
State range information and parse the distance and autonomous driving vehicle current location for obtaining autonomous driving vehicle side to object
And parking space information, and judge whether the distance meets parking stall length, if meeting, according to autonomous driving vehicle current location and car
Position information, which is calculated, obtains corresponding parking trajectory, and instructs and transmit according to the corresponding parking toll of parking trajectory generation
To the CAN controller, the CAN controller sends the parking toll instruction after packing by second CAN transceiver
To first vehicle control device, to control first vehicle control device according to the parking trajectory automatic parking.
Preferably, the primary processor is additionally operable to the autonomous driving vehicle information returned according to first vehicle control device
Judge whether first vehicle control device is faulty, instructed if so, then sending stopping and parking to the CAN controller；It is described
The stopping is parked to instruct and sent by second CAN transceiver to first vehicle control device by CAN controller, to control
First vehicle control device is made to stop parking.
Preferably, the hard signal input circuit also includes：
Emergency stop switch circuit, for the jerk button behavior on autonomous driving vehicle to be converted into automatic mode emergent stop signal
Export to the microcontroller；The coprocessor, which is used to interrupt, receives the automatic mode emergent stop signal, parses described automatic
Pattern emergent stop signal obtains corresponding jerk control information, and the jerk control information is exported to the primary processor；
The primary processor be used for according to the jerk control information generate corresponding jerk control instruction transmit to
The CAN controller, the CAN controller by second CAN transceiver by the jerk control instruction after packing send to
Entire car controller in first vehicle control device.
The present invention also provides a kind of control method of autonomous driving vehicle, the control applied to above-mentioned autonomous driving vehicle
In system, comprise the steps：
First CAN transceiver receives the CAN message from master system or remote control, and the CAN message is sent out
Deliver to microcontroller；
Button behavior on autonomous driving vehicle is converted into what the microcontroller can recognize that by hard signal input circuit
Hard signal, and inputted the hard signal as I/O input signals by I/O interfaces to the microcontroller；
CAN controller receives the CAN message of the first CAN transceiver transmission and forwards it to coprocessor；
The coprocessor interrupts the CAN message of the reception CAN controller forwarding and the I/O from I/O interfaces
Input signal, and parse the CAN message and I/O input signals obtain corresponding control information, and the control information is defeated
Deliver to primary processor；
The control information progress is handled and obtains corresponding control output order by the primary processor, and by the control
Output order is sent to the second vehicle for the acousto-optic for controlling autonomous driving vehicle, startup and electronic parking by I/O interfaces
Controller, or the control output order is sent to for controlling autonomous driving vehicle to travel by the CAN controller
The first vehicle control device.
Preferably, also comprise the steps：
The CAN controller receives the automatic Pilot that first vehicle control device is gathered by the second CAN transceiver
Automobile information is simultaneously forwarded to the coprocessor；
The coprocessor interrupt receive the CAN message from second CAN transceiver and parsing obtain it is corresponding from
Dynamic driving information, and the autonomous driving vehicle information is sent to the primary processor；
The primary processor under autonomous driving pattern, will the autonomous driving vehicle information carry out classifying packing after send to
The CAN controller, the CAN controller is believed the autonomous driving vehicle after classifying packing by first CAN transceiver
Breath is sent to master system.
Preferably, also comprise the steps：
Starting switch circuit of parking in the hard signal input circuit opens the function of parking on autonomous driving vehicle
Dynamic button behavior is converted into corresponding function on signal output of parking to the microcontroller；
The coprocessor is interrupted parks between function on signal and autonomous driving vehicle and object described in reception
Distance signal, parks function on signal described in parsing and the distance signal obtains corresponding function on control information of parking
And the distance between autonomous driving vehicle and object information, and park function on control information and the distance is believed by described
Breath is exported to the primary processor；
The primary processor is under autonomous driving pattern, according to the function on control information of parking, to the distance
Information parse the distance and autonomous driving vehicle current location and parking stall for obtaining autonomous driving vehicle side to object
Information, and judge whether the distance meets parking stall length, if meeting, according to autonomous driving vehicle current location and parking space information
Calculating obtains corresponding parking trajectory, and instructs and transmit to described according to the corresponding parking toll of parking trajectory generation
CAN controller, the CAN controller sends the parking toll instruction after packing to described by second CAN transceiver
First vehicle control device, to control first vehicle control device according to the parking trajectory automatic parking.
Preferably, also comprise the steps：
Driving model in the hard signal input circuit switches on-off circuit by the driving mould on autonomous driving vehicle
Formula switching key behavior is converted into corresponding driving model switching signal, and the driving model switching signal is exported to described
Microcontroller；
The coprocessor, which is interrupted, receives the driving model switching signal, and parses the driving model switching signal and obtain
Exported to corresponding driving model switching control information, and by the driving model switching control information to the primary processor；
The primary processor is switched to corresponding driving model according to the driving model switching control information, wherein, drive
The pattern of sailing includes：Autonomous driving pattern, pilot steering pattern, remote driving pattern, it is described when in autonomous driving pattern
Primary processor is handled the control information from the master system according to default autonomous driving arithmetic logic, works as place
When pilot steering pattern, the primary processor is believed the control from I/O interfaces according to default pilot steering arithmetic logic
Breath handled, when in remote driving pattern, the primary processor according to default remote driving arithmetic logic to from
The remote information of remote control is handled.
Preferably, also comprise the steps：
The autonomous driving vehicle information that the primary processor is returned according to first vehicle control device judges described first
Whether vehicle control device is faulty, is instructed if so, then sending stopping and parking to the CAN controller；The CAN controller is by institute
State stopping park instruction sent by second CAN transceiver to first vehicle control device, to control first car
Controller stops parking.
Preferably, also comprise the steps：
Emergency stop switch circuit in the hard signal input circuit turns the jerk button behavior on autonomous driving vehicle
Automatic mode emergent stop signal is turned to export to the microcontroller；The coprocessor, which is used to interrupt, receives the automatic mode urgency
Stop signal, parse the automatic mode emergent stop signal and obtain corresponding jerk control information, and the jerk control information is defeated
Go out to the primary processor；
The primary processor generates corresponding jerk control instruction according to the jerk control information and transmitted to described
CAN controller, the CAN controller is sent the jerk control instruction after packing to described by the 2nd CAN transceivers
Entire car controller in first vehicle control device..
Implement the present invention, have the advantages that：
The present invention will not belong to control the control instruction (operation of such as button) of vehicle traveling to generate corresponding I/O inputs
Signal is inputted to microcontroller, it is to avoid during autonomous driving vehicle traveling, all control information both are from master system, and
Cause controlling cycle length, the problem of realtime control is not high；And after the corresponding control output order of microcontroller generation, pass through
I/O interfaces and CAN transceiver respectively export corresponding control output order to corresponding vehicle control device, it also avoid passing through
CAN transceiver sends all control output orders to corresponding vehicle control device, therefore present invention reduces microcontroller
Communication load between master system and vehicle control device, also reduces master system with being connected to each of CAN
Communication load between equipment, improve be connected in master system and microcontroller and automobile CAN each equipment it
Between communication efficiency, so as to shorten the controlling cycle to automobile.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can be with
Other accompanying drawings are obtained according to these accompanying drawings.
Fig. 1 is the theory diagram of the microcontroller for the autonomous driving vehicle that the present invention is provided.
Fig. 2 is the theory diagram of the control system for the autonomous driving vehicle that the present invention is provided.
Fig. 3 is the theory diagram of the hard signal input circuit of the control system for the autonomous driving vehicle that the present invention is provided.
Fig. 4 is the structure chart of another embodiment of the control system for the autonomous driving vehicle that the present invention is provided.
Fig. 5 is the structure chart of the another embodiment of the control system for the autonomous driving vehicle that the present invention is provided.
Fig. 6 is the flow chart of another embodiment of the control method for the autonomous driving vehicle that the present invention is provided.
Fig. 7 is the driving model switch logic of another embodiment of the control method for the autonomous driving vehicle that the present invention is provided
Figure.
Embodiment
The present invention provides a kind of microcontroller 100 of autonomous driving vehicle, as shown in figure 1, the microcontroller 100 includes：
Primary processor 110, coprocessor 120 and CAN controller 130.
Wherein, CAN controller 130 is communicated to connect with coprocessor 120, primary processor 110, for receiving CAN message simultaneously
It is forwarded to coprocessor 120.
Coprocessor 120 is used to interrupt the CAN message of the reception forwarding of CAN controller 130 and the I/O from I/O interfaces 400
Input signal, and parse CAN message and I/O input signals obtain corresponding control information, and control information is delivered to main place
Manage device 110.
Primary processor 110 is used to handle control information progress to obtain corresponding control output order, and control is exported
Instruction is sent to the second vehicle control of acousto-optic, startup and electronic parking for controlling autonomous driving vehicle by I/O interfaces 400
Device 500 processed, or output order will be controlled to be sent by CAN controller 130 to for controlling that autonomous driving vehicle travels
One vehicle control device 300.
The present invention also provides a kind of control system of autonomous driving vehicle, as shown in Fig. 2 the system includes：First CAN
Transceiver 210, hard signal input circuit 800 and microcontroller 100, wherein：First CAN transceiver 210 is used to receive
The CAN message that position machine system 600 or remote control 700 are sent, and CAN message is sent to microcontroller 100.
Wherein, remote control 700 includes：Remote-transmitter end 710 and remote control reception module 720, master system 600
It can be industrial control computer.The corresponding remote control of control instruction generation that remote-transmitter end 710 is used to receive user's input refers to
Make and export to remote control reception module 720；Remote control reception module 720 is communicated to connect with remote-transmitter end 710, is come from for receiving
The telecommand at remote-transmitter end 710 is simultaneously gone to the first CAN transceiver 210.The control that master system 600 is sent refers to
Include corresponding control information in order, or the telecommand of the transmission of remote-transmitter end 710, for example：Torque request, drives a vehicle over the ground
The information such as brake applications, steering wheel angle.
Hard signal input circuit 800 is communicated to connect by I/O interfaces 400 with microcontroller 100, for by automatic Pilot
Button behavior on automobile is converted into the recognizable hard signal of microcontroller 100, and regard hard signal as I/O input signals
Inputted by I/O interfaces 400 to microcontroller 100.
Microcontroller 100 includes：Primary processor 110, coprocessor 120 and CAN controller 130.
Wherein, CAN controller 130 is communicated to connect with coprocessor 120, primary processor 110, is received for receiving the first CAN
The CAN message of the hair transmission of device 210 simultaneously forwards it to coprocessor 120.
Coprocessor 120 is used to interrupt the CAN message of the reception forwarding of CAN controller 130 and the I/O from I/O interfaces 400
Input signal, and parse CAN message and I/O input signals obtain corresponding control information, and control information is delivered to main place
Manage device 110.
Primary processor 110 is used to handle control information progress to obtain corresponding control output order, and control is exported
Instruction is sent to the second vehicle control of acousto-optic, startup and electronic parking for controlling autonomous driving vehicle by I/O interfaces 400
Device 500 processed, to control the work of the second vehicle control device 500, or will control output order to be sent by CAN controller 130
To the first vehicle control device 300 for being used to control autonomous driving vehicle to travel, to control the work of the first vehicle control device 300.
Wherein, the acousto-optic of vehicle is controlled, is also both the steering indicating light and loudspeaker for controlling vehicle.
Further, as shown in figure 3, hard signal input circuit 800 includes：Parking combinational 810, steering
Lamp combinational 820 and one-key start on-off circuit 830.
Parking combinational 810 is used to the electronic parking switch key behavior on autonomous driving vehicle being converted into pair
The electronic parking control combination signal answered, and by electronic parking control combination signal output to microcontroller 100；Coprocessor
120 obtain corresponding electronics for interrupting reception electronic parking control combination signal, and parsing electronic parking control combination signal
Parking control combination information, and electronic parking control combination information is exported to primary processor 110；Primary processor 110 is to electronics
Parking control combination information is handled, and obtains corresponding electronic parking control combination instruction, and by electronic parking control combination
Instruction sends to the parking for being used for the parked state for controlling parking controller and controls link block.
Steering indicating light combinational 820 is used to the turning indicator control button behavior on autonomous driving vehicle being converted into pair
The steering modulating signal answered, and steering indicating light information is exported to microcontroller 100；Coprocessor 120, which is used to interrupt, receives steering indicating light
Signal, and parse steering modulating signal and obtain corresponding steering indicating light control information, and steering indicating light control information is exported to main process task
Device 110；Primary processor 110 is handled steering indicating light control information, obtains corresponding steering indicating light control output order, and will turn
Sent to lamp control output order to the controlled by sound and light module for being controlled to autonomous driving vehicle acousto-optic.
One-key start on-off circuit 830 is used to the one-key start button behavior on autonomous driving vehicle generating corresponding open
Dynamic key signal, and by initiation key signal output to microcontroller 100；Coprocessor 120, which is used to interrupt, receives initiation key
Signal, and parse initiation key information and obtain corresponding initiation key control information, and initiation key information is exported to main place
Manage device 110；Primary processor 110 is handled initiation key control information, is obtained corresponding initiation key control output and is referred to
Order, and control output order to send to the startup drive circuit for controlling autonomous driving vehicle to start initiation key.
Primary processor 110 can control sub-portion by controlling I/O output activation to start drive circuit, controlled by sound and light module
Part, or exported as hard signal to parking control link block, control link block to enter parking controller by parking
Row control.
In another embodiment, one-key start button is used to simulate the control of car key gear, when user wants to start vehicle
When, one-key start button can be pressed, to start vehicle.For example, the gear of car key has 4：KEY_OFF, KEY_ACC,
KEY_ON, KEY_START.The number of times of one-key start button is pressed with pressing the two letters of the duration of the button according to user
Number amount combination, realizes input detection and the output control of 4 car key gears.Specific implementation：Car key under default conditions
Gear is in KEY_OFF grades, and the relay of ACC, IG1, IG2, START control disconnects, and presses the button and once enters KEY_
ACC is kept off, now, and the relay adhesive of ACC controls, the relay of IG1, IG2, START control disconnects；The button is pressed twice to enter
Enter KEY_ON gears, ACC, IG1, IG2 relay adhesive；When pressing the button three times, if pressing the duration of the button every time
More than a certain amount of, then enter KEY_START and keep off, if the duration is not enough, retract KEY_OFF grades；Into KEY_START
Shelves, then press the button once, then retract KEY_OFF grades.At KEY_START grades, ACC, IG1, IG2, START control after
Electrical equipment adhesive.
In another embodiment, to prevent automobile from slipping by slope, electronic parking is carried out to automobile.Parking controller EPB used
There is three state, be to tense (cable pull), loosen (drag-line release), normality (electronic parking controller EPB progress states respectively
Before switching, the state that drag-line is kept).According to parking controller EPB characteristic, parking controller EPB as shown in table 1 is devised
Line node on-off logic.The course of work of parking controller EPB controls is as follows：Microcontroller detects tension request
(tension request is from I/O interfaces or CAN buses), microcontroller controls corresponding I/O outputs, parking controller EPB
Circuit connecting relation control module connects the circuit of parking controller according to the output selection of microcontroller pin, and drag-line is drawn
Tightly, timing is started, the time continues after 5s, and microcontroller controls I/O to export so that parking controller enters normality once more,
But drag-line is always maintained at tensing, and will not unclamp.If the duration is less than 5s, it can be unclamped immediately again after cable pull.Unclamp
Process be also in this way, the parking controller relaxation state duration be 3s.
The EPB control circuit node on-off logic tables of table 1
Further, hard signal input circuit 800 also includes：Driving model switches on-off circuit 840.
Driving model switching on-off circuit 840 is used to convert the driving model switching key behavior on autonomous driving vehicle
For corresponding driving model switching signal, and driving model switching signal is exported to microcontroller 100.
Coprocessor 120, which is used to interrupt, receives driving model switching signal, and parses driving model switching signal and obtain pair
The driving model switching control information answered, and driving model switching control information is exported to primary processor 110.
Primary processor 110 is additionally operable to be switched to corresponding driving model according to driving model switching control information, wherein, drive
The pattern of sailing includes：Autonomous driving pattern, pilot steering pattern, remote driving pattern, when in autonomous driving pattern, main place
Reason device 110 control information from master system 600 is handled according to default autonomous driving arithmetic logic, when in
During pilot steering pattern, primary processor 110 is believed the control from I/O interfaces 400 according to default pilot steering arithmetic logic
Breath is handled, and when in remote driving pattern, primary processor 110 is according to default remote driving arithmetic logic to from distant
The remote information of control device 700 is handled.
For example, being controlled by driver under pilot steering pattern, it can be driven as common vehicle, coprocessor 120
Detect and receive the I/O input signals from I/O interfaces 400, parse the acoustic and light information (sound included in the I/O input signals
Sound control information and steering indicating light control information), generate corresponding controlled by sound and light instruction and exported by the rigid line of I/O interfaces 400
To controlled by sound and light module.Under autonomous driving pattern or remote driving pattern, coprocessor 120 is received to be received from the first CAN
The CAN message of device 210 is sent out, the acoustic and light information included in the CAN message is parsed, corresponding controlled by sound and light instruction is generated and passes through I/
The rigid line of O Interface 400 is exported to controlled by sound and light module, and controlled by sound and light module is according to sound of the controlled by sound and light instruction received to vehicle
Light is controlled.
Remote driving pattern is mainly used in pilotless automobile and meets emergency, for example：The situation of remote intervention is needed, is pressed
" brake hard " on lower remote-transmitter end 710 presses key control vehicle brake, into remote control mode, can with remote control vehicle with
Certain speed forward-reverse, turns left to turn right and start and stop.
In another embodiment, microcontroller is connected with 2 tunnel CAN transceivers altogether, and the former car of new energy is connected with all the way
PCAN transceivers, another road is connected with the CAN0 transceivers with master system and the communication connection of RC remote control receptions module.
Under autonomous driving pattern, the coprocessor of microcontroller, which interrupts CAN0 message of the reception from CAN0 transceivers, goes forward side by side
Row parsing, the information obtained by parsing includes torque request over the ground, service brake degree, the information such as steering wheel angle, will parse
The information of gained carries out classifying packing, steering controller EPS according to each controller information needed classification on PCAN transceiver nodes
Required direction information is a frame (being used for steering controller EPS), and the control information needed for other controllers is an other frame
Primary processor in (being used for entire car controller VCU), microcontroller sends the good information of classifying packing to PCAN transceivers,
Packed information is sent to executive item controller, corresponding executive item controller by CAN by PCAN transceivers
Corresponding executive item work is controlled according to the information received, in the process, the coprocessor of microcontroller is further through PCAN
Transceiver interrupts the multiclass running information for receiving each executive item controller feedback of the former car of new energy, for example：It is current vehicle speed, current right
Ground moment of torsion, current brake degree, current steering wheel angle, current failure information etc., are packaged into many according to the classification of running information
Frame CAN0 messages are simultaneously sent to master system, are used for master system decision-making, under remote driving pattern, then need not be by
Running information is packaged into multiframe CAN0 messages and sent to master system.
Further, the control system of autonomous driving vehicle also includes：Second CAN transceiver 220, the second CAN transceiver
220, for receiving control output order by CAN controller 130, and control output order is sent to the first vehicle control device
300, be additionally operable to by CAN controller 130 receive the autonomous driving vehicle information that is gathered of the first vehicle control device 300 and
The velocity information for the autonomous driving vehicle that speed acquisition module 900 is gathered simultaneously is forwarded to coprocessor 120.
First vehicle control device 300 includes：Brake monitor, entire car controller, steering controller.
Entire car controller is used for control output order of the reception from microcontroller 100 and is operated.
Steering controller is used for the steering for controlling vehicle, and gathers steering object information, and will turn to object information transmission
To the second CAN transceiver 220, the second CAN transceiver 220 is sent to association by CAN controller 130 by object information is turned to
Manage device 120.
Brake monitor is used to carry out brake operating to vehicle, and gathers braking object information, and will brake object information
Send to the second CAN transceiver 220, the second CAN transceiver 220 by CAN controller 130 will brake object information send to
Coprocessor 120.
Coprocessor 120, which is additionally operable to interrupt to receive the CAN messages from the second CAN transceiver 220 and parse, obtains correspondence
Autonomous driving vehicle information, and the autonomous driving vehicle information is sent to primary processor 110.
Primary processor 110 is additionally operable under autonomous driving pattern, and the autonomous driving vehicle information is carried out after classifying packing
Send to CAN controller 130, CAN controller 130 is by the first CAN transceiver 210 by the autonomous driving vehicle after classifying packing
Information is sent to master system 600, is used for the decision-making of master system 600.
Further, hard signal input circuit 800 also includes：Starting switch of parking circuit 850.
Starting switch of parking circuit 850 is used to the function on button behavior of parking on autonomous driving vehicle being converted into pair
The function on signal output of parking answered is to microcontroller 100.
Coprocessor 120 be used for interrupt receive park between function on signal and autonomous driving vehicle and object away from
From signal, function on signal is parked in parsing and distance signal obtains corresponding function on control information and the automatic Pilot of parking
The distance between automobile and object information, and will park function on control information and range information is exported to primary processor
110。
Wherein, the distance between autonomous driving vehicle and object signal are by the radar that is communicated to connect with microcontroller 100
Range finder module 1000 is gathered, and radar range finding module 1000 is sent to micro-control after the range information is acquired by I/O interfaces 400
Device 100 processed.
Primary processor 110 is additionally operable under autonomous driving pattern, according to function on control information of parking, information of adjusting the distance
Parse and obtain distance and autonomous driving vehicle current location and parking space information that object is arrived in autonomous driving vehicle side,
And judge whether the distance meets parking stall length, if meeting, calculated according to autonomous driving vehicle current location and parking space information
Corresponding parking trajectory is obtained, and instructs and transmits to CAN controls according to the corresponding parking toll of parking trajectory generation
Device 130, CAN controller 130 sends the parking toll instruction after packing to the first vehicle control by the second CAN transceiver 220
Device 300 processed, to control the first vehicle control device 300 according to the parking trajectory automatic parking.
Further, primary processor 110 is additionally operable to the autonomous driving vehicle information returned according to the first vehicle control device 300
Judge whether the first vehicle control device 300 is faulty, instructed if so, then sending stopping and parking to CAN controller 130；CAN is controlled
Device 130 will stop parking to instruct sending to the first vehicle control device 300 by the second CAN transceiver 220, to control the first vehicle
Controller 300 stops parking.
During automatic stopping, the information of vehicles that primary processor 110 is returned always according to the first vehicle control device 300 is moved
State adjustment parking toll instruction, the accurate steady parking space of control vehicle.Wherein, the type of parking stall includes vertical, parallel, oblique
Three kinds of row, include in parking toll instruction：The control instruction information such as speed, brake applications, steering wheel angle.Autonomous driving mould
Automatic parking under formula does not need the intervention of master system 600, and vehicle has the intelligence of height.
Further, hard signal input circuit 800 also includes：Emergency stop switch circuit 860.
Emergency stop switch circuit 860 is used to the jerk button behavior on autonomous driving vehicle being converted into automatic mode jerk letter
Number output is to microcontroller 100；Coprocessor 120, which is used to interrupt, receives automatic mode emergent stop signal, parses automatic mode jerk
Signal obtains corresponding jerk control information, and jerk control information is exported to primary processor 110.
Primary processor 110, which is used to be transmitted to CAN according to the corresponding jerk control instruction of jerk control information generation, to be controlled
Device 130 processed, CAN controller 130 is sent the jerk control instruction after packing to the first vehicle by the second CAN transceiver 220
Entire car controller in controller 300；Vehicle brake according to the jerk control instruction that receives send control for brake instruct to
Brake monitor；Brake monitor is according to control for brake instruction control autonomous driving vehicle jerk.
In another embodiment, under autonomous driving pattern, there is a kind of situation of pilotless automobile (can have in automobile
People, but the people do not drive a car, or nobody in automobile), can run into needs the situation of jerk unavoidably, if in-car someone
Member, can press in-car " jerk button ", if in-car can press " the jerk button " at remote-transmitter end 710 without personnel.It is micro-
Controller 100 detects this any request, can all be notified by CAN the entire car controller of the former car of new energy to brake into
Row Decision Control.
Preferably, the control system of autonomous driving vehicle also includes：Power supply chip 1100.
Power supply chip 1100 is connected with microcontroller 100, for for the stable power-supplying of microcontroller 100；Primary processor 110 is also
Power supply output order can be closed by the output of I/O interfaces 400 to power supply chip 1100, power supply chip 1100 is powered-down according to this
Source controls output order, stops powering for microcontroller 100.
In another embodiment of the control system for the autonomous driving vehicle that the present invention is provided, as shown in figure 4, rigid line is believed
Number input circuit 800 includes：EPB parkings combinational, steering indicating light combinational, one-key start on-off circuit,
Hand/adaptive switched on-off circuit, starting switch of parking electric current, emergency stop switch circuit, EPB parkings combinational response are corresponding
EPB composite signals are exported after button behavior to microcontroller, steering indicating light combinational output left-hand rotation modulating signal and right-hand rotation
Modulating signal is to microcontroller, and one-key start on-off circuit exports initiation key signal to microcontroller, and hand/adaptive switched is opened
Circuit output driving model switching signal is closed to microcontroller, starting switch of parking circuit output is parked function on information
To MCU, emergency stop switch circuit exports automatic mode emergent stop signal to MCU.
MCU is according to the corresponding START signal of initiation key signal output, ACC signals, IG1 signals, IG2 signals a to key
Start output relay drive circuit, one-key start output relay drive circuit is believed according to START signal, ACC signals, IG1
Number, the corresponding relay of IG2 signal operations.
EPB control output composite signals are correspondingly outputting to parking controller EPB circuit connecting relation control modules by MCU,
Parking controller EPB circuit connecting relations control module controls electronic parking by parking controller EPB.
Left-hand rotation modulating signal is correspondingly outputting to controlled by sound and light BCM modules by MCU, and controlled by sound and light BCM controls left-hand rotation lamp bright or the right side
Turn lamp bright.
Master system sends various control under automatic driving mode and instructed, and MCU is according to these instructions and many vehicles of difference
Controller VCU, steering controller EPS are controlled.Entire car controller VCU passes through the much information on vehicle of collection
PCAN transceivers are sent to MCU, and steering controller EPS is sent result is turned to MCU, control for brake by PCAN transceivers
Device EVB is sent result is braked to MCU, and speed information is sent to MCU, MCU and again sends these information by speed acquisition module
To master system.
In the another embodiment of the control system for the autonomous driving vehicle that the present invention is provided, as shown in figure 5, the system
Include：Left-hand rotation lamp relay 11, right-hand rotation lamp relay 12, left-hand rotation lamp and right-hand rotation lamp are controlled by controlling the two relays
Whether open.Vehicle is controlled to open by ACC relays 5, IG1 relays 6, IG2 relays 7, Start relays 8.Pass through
I/O input interfaces 4202 receive I/O input signals, the control for exporting double-core microcontroller 1001 by I/O output interfaces 4104
Output order processed is exported to the second vehicle control device 500 communicated to connect with I/O output interfaces 4104.Can be with from accompanying drawing 5
See, including a 16M crystal oscillator 18, radar SECO relay 10, RC wirelessly turn CAN module 14, crystal oscillator 18 is double-core
Microcontroller 1001 provides clock signal, and radar SECO relay 10 is started working for control radar sequencer module, RC
The wireless CAN module 14 that turns is as the transmission remote signal of remote control 700.
The present invention also provides a kind of control method of autonomous driving vehicle, the control applied to above-mentioned autonomous driving vehicle
In system, comprise the steps：
First CAN transceiver 210 receives the CAN message from master system 600 or remote control 700, and by CAN
Message is sent to microcontroller 100；
Button behavior on autonomous driving vehicle is converted into microcontroller 100 and can recognize that by hard signal input circuit 800
Hard signal, and inputted hard signal as I/O input signals by I/O interfaces 400 to microcontroller 100；
CAN controller 130 receives the CAN message of the first CAN transceiver 210 transmission and forwards it to coprocessor 120；
Coprocessor 120 interrupts the CAN message of the reception forwarding of CAN controller 130 and the I/O inputs from I/O interfaces 400
Signal, and parse CAN message and I/O input signals obtain corresponding control information, and control information is delivered to primary processor
110；
Control information progress is handled and obtains corresponding control output order by primary processor 110, and will control output order
Sent by I/O interfaces 400 to the second vehicle control device of acousto-optic, startup and electronic parking for controlling autonomous driving vehicle
500, or output order will be controlled to be sent by CAN controller 130 to the first car for controlling autonomous driving vehicle to travel
Controller 300.
Further, the control method of autonomous driving vehicle also comprises the steps：
CAN controller 130 is driven automatically by what the second CAN transceiver 220 the first vehicle control device 300 of reception was gathered
Sail automobile information and be forwarded to coprocessor 120；
Coprocessor 120 interrupts CAN message of the reception from the second CAN transceiver 220 and parsing obtains corresponding automatic
Driven a car information, and the autonomous driving vehicle information is sent to primary processor 110；
Primary processor 110 under autonomous driving pattern, will the autonomous driving vehicle information carry out classifying packing after send to
CAN controller 130, CAN controller 130 is by the first CAN transceivers 210 by the autonomous driving vehicle information after classifying packing
Send to master system 600.
Further, the control method of autonomous driving vehicle also comprises the steps：
Starting switch circuit 850 of parking in hard signal input circuit 800 is by the function of parking on autonomous driving vehicle
Start button behavior is converted into corresponding function on signal output of parking to microcontroller 100；
Coprocessor 120, which interrupts reception, parks the distance between function on signal and autonomous driving vehicle and object letter
Number, function on signal is parked in parsing and distance signal obtains corresponding function on control information and the autonomous driving vehicle of parking
With the distance between object information, and function on control information will be parked and range information is exported to primary processor 110；
Primary processor 110 is under autonomous driving pattern, according to function on control information of parking, and information of adjusting the distance is solved
Analysis obtains autonomous driving vehicle side and arrives the distance and autonomous driving vehicle current location and parking space information of object, and judges
Whether the distance meets parking stall length, if meeting, and is calculated and obtained pair according to autonomous driving vehicle current location and parking space information
The parking trajectory answered, and instruct and transmit to CAN controller 130 according to the corresponding parking toll of parking trajectory generation,
CAN controller 130 sends the parking toll instruction after packing to the first vehicle control device by the second CAN transceiver 220
300, to control the first vehicle control device 300 according to the parking trajectory automatic parking.
Further, the control method of autonomous driving vehicle also comprises the steps：
Driving model in hard signal input circuit 800 switches on-off circuit 840 by the driving on autonomous driving vehicle
Mode switching key behavior is converted into corresponding driving model switching signal, and driving model switching signal is exported to microcontroller
Device 100；
Coprocessor 120, which is interrupted, receives driving model switching signal, and parses driving model switching signal and obtain corresponding
Driving model switching control information, and driving model switching control information is exported to primary processor 110；
Primary processor 110 is switched to corresponding driving model according to driving model switching control information, wherein, driving model
Include：Autonomous driving pattern, pilot steering pattern, remote driving pattern, when in autonomous driving pattern, primary processor
110 are handled the control information from master system 600 according to default autonomous driving arithmetic logic, when in artificial
During driving model, primary processor 110 enters according to default pilot steering arithmetic logic to the control information from I/O interfaces 400
Row processing, when in remote driving pattern, primary processor 110 is according to default remote driving arithmetic logic to from remote control
The remote information of device 700 is handled.
Further, the control method of autonomous driving vehicle also comprises the steps：
The autonomous driving vehicle information that primary processor 110 is returned according to the first vehicle control device 300 judges the first vehicle control
Whether device 300 processed is faulty, is instructed if so, then sending stopping and parking to CAN controller 130；CAN controller 130 will stop mooring
Car instruction is sent to the first vehicle control device 300 by the 2nd CAN transceivers 220, to control the first vehicle control device 300 to stop
Only park.
Further, the control method of autonomous driving vehicle also comprises the steps：
Emergency stop switch circuit 860 in hard signal input circuit 800 is by the jerk button behavior on autonomous driving vehicle
Automatic mode emergent stop signal is converted into export to microcontroller 100；Coprocessor 120, which is used to interrupt, receives automatic mode jerk letter
Number, parsing automatic mode emergent stop signal obtains corresponding jerk control information, and jerk control information is exported to primary processor
110；
Primary processor 110 generates corresponding jerk control instruction according to jerk control information and transmitted to CAN controller
130, CAN controller 130 is sent the jerk control instruction after packing to the first wagon control by the second CAN transceiver 220
Entire car controller in device 300.
In another embodiment of the control method for the autonomous driving vehicle that the present invention is provided, its method flow such as Fig. 6 institutes
Show, perform successively：Initiating hardware, initializers, coprocessor opens interrupters reception pattern, coprocessor, which is interrupted, receives I/
O input signals, and the CAN0 messages for receiving and being received from PCAN are interrupted, also interrupt to receive (being connected with from other CAN transceivers
Industrial computer and RC wirelessly turn CAN module) CAN4 message datas, coprocessor exports the status data obtained after parsing to master
Processor, primary processor carries out model selection, and judgement is presently at manual mode or remote control mode, or autonomous mode,
Then the corresponding control logic of reselection carries out computing, and result is exported by I/O interfaces or CAN.
In another embodiment of the control method for the autonomous driving vehicle that the present invention is provided, the logic of driving model switching
As shown in fig. 7, having manual mode (correspondence pilot steering pattern), autonomous mode (correspondence autonomous driving pattern), remote control mode (right
Answer remote driving pattern) three kinds.In a manual mode, steering controller EPS, parking controller EPB, brake monitor EVB, car
Lamp equal someone is controlled, and the execution gear of vehicle is mechanical gear；In autonomous mode, EPS, EPB, EVB, car light and
The gear of vehicle is that master system is determined；Under remote control mode, EPS, EPB, EVB, the gear of car light and vehicle are by remote control
Device (correspondence remote-transmitter end) is determined.
For example, when autonomous driving vehicle is in autonomous mode, when performing following operation for the moment, vehicle is switched to manually
Pattern：1st, manual rotation's steering wheel；2nd, manual switching gear is to non-neutral gear；3rd, by assistant's automatic button.Work as autonomous driving vehicle
In manual mode, when performing following operation, autonomous driving vehicle switches to autonomous mode：" hand/adaptive switched " button is pressed,
And mechanical gear is neutral gear.When autonomous driving vehicle is in manual mode, " brake hard " button is pressed, and mechanical shelves are
During neutral gear, hand pattern switching to remote control mode；When autonomous driving vehicle is in remote control mode, presses " remote control is exited " and press
Button, and hand self-indication modulating signal is preserved positioned at manual mode, remote control mode switches to manual mode.When autonomous driving vehicle is in
During autonomous mode, " brake hard " is pressed, and autonomous mode switches to remote control mode；When in remote control mode, press that " remote control is moved back
Go out " button, and hand self-indication modulating signal is preserved positioned at autonomous state, remote control mode switches to autonomous mode.Between Three models
Switch logic, specifically may refer to accompanying drawing 7.
In summary, the control system of autonomous driving vehicle of the invention, method and microcontroller, pass through coprocessor
120, which interrupt CAN message of the reception from the first CAN transceiver 210, is parsed, and interrupts reception from I/O interfaces 400
I/O inputs information is parsed, and the control information obtained after parsing is sent to primary processor 110, primary processor 110 is according to pre-
If arithmetic logic the control information is handled, obtain corresponding control output order, by the control output order send
To CAN controller 130, CAN controller 130 will control output order to send to access and the by the second CAN transceiver 220
The controller of two CAN transceivers 220 communication connection, pair controller communicated to connect with the second CAN transceiver 220 is controlled,
Or primary processor 110 directly will control output order to export to the control being connected with I/O interfaces 400 by I/O interfaces 400
Device, pair controller being connected with I/O interfaces 400 is controlled.
It will not belong to control the control instruction (operation of such as button) of vehicle traveling defeated by hard signal in the present invention
Enter circuit 800 and generate corresponding I/O input signals to input to microcontroller 100, such as parking combination control information, left-hand rotation lamp
Signal, right-hand rotation modulating signal, initiation key signal, function on signal of parking, automatic mode emergent stop signal etc., it is to avoid nobody drives
When sailing running car, all control information both are from master system 600, and cause controlling cycle length, realtime control not
High the problem of；And microcontroller 100 is generated after corresponding control output order, is received and dispatched by the CAN of I/O interfaces 400 and the 2nd
Device 220 respectively exports corresponding control output order to corresponding vehicle control device, it is to avoid all control output orders
All sent by CAN to corresponding vehicle control device, therefore present invention reduces master system 600 and microcontroller
Communication load between 100, the communication also reduced between master system 600 and each equipment for being connected to CAN is born
Lotus, improves the communication effect being connected in master system 600 and microcontroller 100 and vehicle between each equipment of CAN
Rate, and then master system 600 obtains the time reduction of information of vehicles, the controlling cycle to automobile also shortens, host computer system
The real-time and reliability of 600 pairs of automobile controls of system are improved.
Further, the present invention can also pass through remote control except the button on master system 600 and autonomous driving vehicle
Transmitting terminal 710 is controlled to the controller on vehicle, user is selected corresponding autonomous driving pattern, pilot steering mould
Formula, it is also an option that remote driving pattern, and primary processor 110 can also be cut according to the driving model from I/O interfaces 400
The switching that information carries out different driving models is changed, when one of which driving model breaks down, other can also be immediately switched to
Driving model, can effectively protect the safety of occupant and vehicle, be also beneficial to pilotless automobile carry out real steering vectors experiment.
Further, microcontroller 100 of the invention can also be received under autonomous driving pattern by I/O interfaces 400
Carry out radar range finding signal, carry out automatic parking, it is not necessary to the intervention of master system 600, the intelligence with height, also enrich
The function of driving, and the automatic parking function does not need master system 600 to intervene, and meets the design of function modoularization
Theory, is easy to the development and maintenance in later stage.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
On the premise of not departing from present inventive concept, some simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (14)
1. a kind of microcontroller of autonomous driving vehicle, it is characterised in that including：Primary processor, coprocessor and CAN controls
Device, wherein：
The CAN controller is communicated to connect with the coprocessor, the primary processor, for receiving CAN message and being forwarded to
The coprocessor；
The coprocessor is used to interrupt the CAN message of the reception CAN controller forwarding and the I/O from I/O interfaces
Input signal, and parse the CAN message and I/O input signals obtain corresponding control information, and the control information is defeated
Deliver to the primary processor；
The primary processor is used to handle the control information progress and obtain corresponding control output order, and by the control
Output order is sent to the second vehicle for the acousto-optic for controlling autonomous driving vehicle, startup and electronic parking by I/O interfaces
Controller, or the control output order is sent to for controlling autonomous driving vehicle to travel by the CAN controller
The first vehicle control device.
2. a kind of control system of autonomous driving vehicle, it is characterised in that include：First CAN transceiver, hard signal input
Circuit and microcontroller, wherein：First CAN transceiver is used to receive the CAN that master system or remote control are sent
Message, and the CAN message is sent to the microcontroller；
The hard signal input circuit is connected with the micro-controller communications, for by the button behavior on autonomous driving vehicle
The recognizable hard signal of the microcontroller is converted into, and passes through I/O interfaces using the hard signal as I/O input signals
Input to the microcontroller；
The microcontroller includes：Primary processor, coprocessor and CAN controller, wherein：
The CAN controller is communicated to connect with the coprocessor, the primary processor, for receiving the first CAN transmitting-receivings
The CAN message of device transmission simultaneously forwards it to the coprocessor；
The coprocessor is used to interrupt the CAN message of the reception CAN controller forwarding and the I/O from I/O interfaces
Input signal, and parse the CAN message and I/O input signals obtain corresponding control information, and the control information is defeated
Deliver to the primary processor；
The primary processor, corresponding control output order is obtained for the control information progress to be handled, and by the control
Output order processed is sent to the second car for the acousto-optic for controlling autonomous driving vehicle, startup and electronic parking by I/O interfaces
Controller, or the control output order is sent to for controlling autonomous driving vehicle row by the CAN controller
The first vehicle control device sailed.
3. the control system of autonomous driving vehicle according to claim 2, it is characterised in that the hard signal input electricity
Road includes：Parking combinational, steering indicating light combinational and one-key start on-off circuit；
The parking combinational is used to the electronic parking switch key behavior on autonomous driving vehicle being converted into correspondence
Electronic parking control combination signal, and by the electronic parking control combination signal output to the microcontroller；The association
Processor is obtained for interrupting the reception electronic parking control combination signal, and parsing the electronic parking control combination signal
Corresponding electronic parking control combination information, and the electronic parking control combination information is exported to the primary processor；Institute
State primary processor to handle the electronic parking control combination information, obtain corresponding electronic parking control combination instruction,
And the electronic parking control combination is instructed the parking for sending the parked state extremely for controlling parking controller control to connect
Module；
The steering indicating light combinational is used to the turning indicator control button behavior on autonomous driving vehicle being converted into correspondence
Steering modulating signal, and the steering indicating light information is exported to the microcontroller；The coprocessor, which is used to interrupt, receives institute
Steering modulating signal is stated, and parses the steering modulating signal and obtains corresponding steering indicating light control information, and the steering indicating light is controlled
Information is exported to the primary processor；The primary processor is handled the steering indicating light control information, obtains corresponding turn
Output order is controlled to lamp, and steering indicating light control output order is sent to for being controlled to autonomous driving vehicle acousto-optic
The controlled by sound and light module of system
One-key start on-off circuit is used to the one-key start button behavior on autonomous driving vehicle generating corresponding initiation key
Signal, and by the initiation key signal output to the microcontroller；The coprocessor, which is used to interrupt, receives described start
Key signal, and parse the initiation key information and obtain corresponding initiation key control information, and the initiation key is believed
Breath is exported to the primary processor；The primary processor is handled the initiation key control information, obtains corresponding open
Dynamic key controller output order, and initiation key control output order is sent to for controlling autonomous driving vehicle to start
Startup drive circuit.
4. the control system of the autonomous driving vehicle according to claim 2, it is characterised in that the hard signal input
Circuit also includes：
Driving model switches on-off circuit, for the driving model switching key behavior on autonomous driving vehicle to be converted into correspondence
Driving model switching signal, and the driving model switching signal is exported to the microcontroller；
The coprocessor is obtained for interrupting the reception driving model switching signal, and parsing the driving model switching signal
Exported to corresponding driving model switching control information, and by the driving model switching control information to the primary processor；
The primary processor is additionally operable to be switched to corresponding driving model according to the driving model switching control information, wherein,
Driving model includes：Autonomous driving pattern, pilot steering pattern, remote driving pattern, when in autonomous driving pattern, institute
Primary processor is stated to handle the control information from master system according to default autonomous driving arithmetic logic, when in
During pilot steering pattern, the primary processor is according to default pilot steering arithmetic logic to the control information from I/O interfaces
Handled, when in remote driving pattern, the primary processor is according to default remote driving arithmetic logic to from distant
The remote information of control device is handled.
5. the control system of autonomous driving vehicle according to claim 4, it is characterised in that also include：
Second CAN transceiver, for receiving the control output order by the CAN controller, and the control is exported
Instruction is sent to first vehicle control device, is additionally operable to receive the first vehicle control device institute by the CAN controller
The autonomous driving vehicle information of collection is simultaneously forwarded to the coprocessor；
The coprocessor is additionally operable to interrupt CAN message of the reception from second CAN transceiver and parsing obtains corresponding
Autonomous driving vehicle information, and the autonomous driving vehicle information is sent to the primary processor；
The primary processor is additionally operable under autonomous driving pattern, and the autonomous driving vehicle information is carried out to send after classifying packing
To the CAN controller, the CAN controller is by first CAN transceiver by the autonomous driving vehicle after classifying packing
Information is sent to master system.
6. the control system of autonomous driving vehicle according to claim 5, it is characterised in that the hard signal input electricity
Road also includes：
Starting switch of parking circuit, for the function on button behavior of parking on autonomous driving vehicle to be converted into corresponding pool
Car function on signal output is to the microcontroller；
The coprocessor is used to interrupt parks between function on signal and autonomous driving vehicle and object described in reception
Distance signal, parks function on signal described in parsing and the distance signal obtains corresponding function on control information of parking
And the distance between autonomous driving vehicle and object information, and park function on control information and the distance is believed by described
Breath is exported to the primary processor；
The primary processor is additionally operable under autonomous driving pattern, according to the function on control information of parking, to it is described away from
From information parse and obtain autonomous driving vehicle side to a distance from object and autonomous driving vehicle current location and car
Position information, and judge whether the distance meets parking stall length, if meeting, believed according to autonomous driving vehicle current location and parking stall
Breath calculating obtains corresponding parking trajectory, and instructs and transmit to institute according to the corresponding parking toll of parking trajectory generation
CAN controller is stated, the CAN controller sends the parking toll instruction after packing to institute by second CAN transceiver
The first vehicle control device is stated, to control first vehicle control device according to the parking trajectory automatic parking.
7. the control system of autonomous driving vehicle according to claim 6, it is characterised in that the primary processor is additionally operable to
Judge whether first vehicle control device is faulty according to the autonomous driving vehicle information that first vehicle control device is returned,
Instructed if so, then sending stopping and parking to the CAN controller；The stopping is parked to instruct by the CAN controller passes through institute
State the second CAN transceiver to send to first vehicle control device, to control first vehicle control device to stop parking.
8. the control system of autonomous driving vehicle according to claim 6, it is characterised in that the hard signal input electricity
Road also includes：
Emergency stop switch circuit, for the jerk button behavior on autonomous driving vehicle to be converted into the output of automatic mode emergent stop signal
To the microcontroller；The coprocessor, which is used to interrupt, receives the automatic mode emergent stop signal, parses the automatic mode
Emergent stop signal obtains corresponding jerk control information, and the jerk control information is exported to the primary processor；
The primary processor is used to be transmitted to described according to the corresponding jerk control instruction of jerk control information generation
CAN controller, the CAN controller is sent the jerk control instruction after packing to described by second CAN transceiver
Entire car controller in first vehicle control device.
9. a kind of control method of autonomous driving vehicle, it is characterised in that applied to automatic described in claim any one of 2-8
In the control system of driving, comprise the steps：
First CAN transceiver receive the CAN message from master system or remote control, and by the CAN message send to
Microcontroller；
Button behavior on autonomous driving vehicle is converted into the recognizable rigid line of the microcontroller by hard signal input circuit
Signal, and inputted the hard signal as I/O input signals by I/O interfaces to the microcontroller；
CAN controller receives the CAN message of the first CAN transceiver transmission and forwards it to coprocessor；
The coprocessor interrupts the CAN message of the reception CAN controller forwarding and the I/O inputs from I/O interfaces
Signal, and parse the CAN message and I/O input signals obtain corresponding control information, and the control information is delivered to
Primary processor；
The control information progress is handled and obtains corresponding control output order by the primary processor, and the control is exported
Instruction is sent to the second wagon control for the acousto-optic for controlling autonomous driving vehicle, startup and electronic parking by I/O interfaces
Device, or the control output order is sent to for controlling that autonomous driving vehicle travels by the CAN controller
One vehicle control device.
10. the control method of autonomous driving vehicle according to claim 9, it is characterised in that also comprise the steps：
The CAN controller receives the autonomous driving vehicle that first vehicle control device is gathered by the second CAN transceiver
Information is simultaneously forwarded to the coprocessor；
The coprocessor, which is interrupted, receives the CAN message from second CAN transceiver and parsing obtains corresponding driving automatically
Automobile information is sailed, and the autonomous driving vehicle information is sent to the primary processor；
The primary processor is sent to described under autonomous driving pattern after the autonomous driving vehicle information is carried out into classifying packing
CAN controller, the CAN controller is sent out the autonomous driving vehicle information after classifying packing by first CAN transceiver
Deliver to master system.
11. the control method of autonomous driving vehicle according to claim 10, it is characterised in that also comprise the steps：
In the hard signal input circuit park starting switch circuit by autonomous driving vehicle park function on by
Key behavior is converted into corresponding function on signal output of parking to the microcontroller；
The coprocessor interrupts parked described in reception the distance between function on signal and autonomous driving vehicle and object
Signal, parsing is described park function on signal and the distance signal obtain it is corresponding park function on control information and oneself
The distance between dynamic driving and object information, and by it is described park function on control information and the range information it is defeated
Go out to the primary processor；
The primary processor is under autonomous driving pattern, according to the function on control information of parking, to the range information
Parse and obtain distance and autonomous driving vehicle current location and parking space information that object is arrived in autonomous driving vehicle side,
And judge whether the distance meets parking stall length, if meeting, calculated according to autonomous driving vehicle current location and parking space information
Corresponding parking trajectory is obtained, and instructs and transmits to the CAN according to the corresponding parking toll of parking trajectory generation
Controller, the CAN controller sends the parking toll instruction after packing to described first by second CAN transceiver
Vehicle control device, to control first vehicle control device according to the parking trajectory automatic parking.
12. the control method of autonomous driving vehicle according to claim 11, it is characterised in that also comprise the steps：
Driving model switching on-off circuit in the hard signal input circuit cuts the driving model on autonomous driving vehicle
Change button behavior and be converted into corresponding driving model switching signal, and the driving model switching signal is exported to the micro-control
Device processed；
The coprocessor, which is interrupted, receives the driving model switching signal, and parses the driving model switching signal and obtain pair
The driving model switching control information answered, and the driving model switching control information is exported to the primary processor；
The primary processor is switched to corresponding driving model according to the driving model switching control information, wherein, drive mould
Formula includes：Autonomous driving pattern, pilot steering pattern, remote driving pattern, when in autonomous driving pattern, the main place
Reason device is handled the control information from the master system according to default autonomous driving arithmetic logic, when in people
During work driving model, the primary processor enters according to default pilot steering arithmetic logic to the control information from I/O interfaces
Row processing, when in remote driving pattern, the primary processor is according to default remote driving arithmetic logic to from remote control
The remote information of device is handled.
13. the control method of autonomous driving vehicle according to claim 12, it is characterised in that also comprise the steps：
The autonomous driving vehicle information that the primary processor is returned according to first vehicle control device judges first vehicle
Whether controller is faulty, is instructed if so, then sending stopping and parking to the CAN controller；The CAN controller is stopped described
Instruction of only parking is sent to first vehicle control device by second CAN transceiver, to control the first vehicle control
Device processed stops parking.
14. the control method of autonomous driving vehicle according to claim 13, it is characterised in that also comprise the steps：
Jerk button behavior on autonomous driving vehicle is converted into by the emergency stop switch circuit in the hard signal input circuit
Automatic mode emergent stop signal is exported to the microcontroller；The coprocessor, which is used to interrupt, receives the automatic mode jerk letter
Number, parse the automatic mode emergent stop signal and obtain corresponding jerk control information, and by the jerk control information export to
The primary processor；
The primary processor generates corresponding jerk control instruction according to the jerk control information and transmitted to CAN controls
Device processed, the CAN controller is sent the jerk control instruction after packing to first car by second CAN transceiver
Entire car controller in controller.
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| CN113859150A (en) * | 2021-09-28 | 2021-12-31 | 一汽解放汽车有限公司 | Vehicle control system |
| CN113859150B (en) * | 2021-09-28 | 2023-11-07 | 一汽解放汽车有限公司 | Whole vehicle control system |
| CN114095301A (en) * | 2021-11-17 | 2022-02-25 | 广州小鹏自动驾驶科技有限公司 | Method and device for processing data in vehicle |
| CN114095301B (en) * | 2021-11-17 | 2024-03-12 | 广州小鹏自动驾驶科技有限公司 | Method and device for processing data in vehicle |
| CN115352428A (en) * | 2022-07-22 | 2022-11-18 | 东风越野车有限公司 | Information interaction control system and method based on automatic driving modified vehicle |
| CN115352428B (en) * | 2022-07-22 | 2024-05-24 | 东风越野车有限公司 | Information interaction control system and method based on automatic driving refitted vehicle |
| CN115871691A (en) * | 2023-01-19 | 2023-03-31 | 禾多科技（北京）有限公司 | Vehicle running control method and device, electronic equipment and computer readable medium |
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