CN107219797B

CN107219797B - Control system, method and microcontroller for automatic driving automobile

Info

Publication number: CN107219797B
Application number: CN201710476976.XA
Authority: CN
Inventors: 何俏君; 梁文彬; 石含飞; 许松枝; 范明; 潘青贵
Original assignee: Guangzhou Automobile Group Co Ltd
Current assignee: Guangzhou Automobile Group Co Ltd
Priority date: 2017-06-21
Filing date: 2017-06-21
Publication date: 2024-03-01
Anticipated expiration: 2037-06-21
Also published as: CN107219797A

Abstract

The invention provides a control system, a method and a microcontroller for an automatic driving automobile, wherein the microcontroller comprises: the CAN controller is in communication connection with the coprocessor and the main processor, receives CAN messages and forwards the CAN messages to the coprocessor; the coprocessor interrupts and receives the CAN message and the I/O input signal forwarded by the CAN controller, analyzes the CAN message and the I/O input signal to obtain corresponding control information, and transmits the control information to the main processor; the main processor processes the control information to obtain a corresponding control output instruction, and sends the control output instruction to a second vehicle controller for controlling acousto-optic, starting and electronic parking of the automatic driving automobile or to a first vehicle controller for controlling running of the automatic driving automobile. The invention reduces the communication load between the upper computer system and the microcontroller and improves the communication efficiency between the upper computer system and the microcontroller.

Description

Control system, method and microcontroller for automatic driving automobile

Technical Field

The present invention relates to the field of automotive technologies, and in particular, to a control system, a method, and a microcontroller for automatically driving an automobile.

Background

The unmanned automobile technology is still not mature at the present stage, and a plurality of limitations are still in actual operation, and when the automobile is in unmanned state and is driven, the change of driving environment can be automatically detected to judge whether to return to the manual driving mode, and the driver need not to monitor the control system of the automobile all the time.

Patent publication number CN201387545 discloses a technical scheme: the intelligent control device of the electric automobile comprises an industrial control computer (hereinafter referred to as an industrial control computer) and electronic circuit control, when the industrial control computer simultaneously acts on a CAN bus in the automobile through the CAN bus and a CAN router, the industrial control computer is used as a routine, the CAN router is used as a standby, and devices connected with the CAN bus and the CAN router comprise: power steering, power drives, power managers, safeners, and other expandable applications. The industrial personal computer immediately collects data through a sensor connected with the CAN bus and monitors and controls all parts of equipment of the automobile in real time. The technical proposal disclosed in the patent has the following defects: although the automobile CAN collect data, a plurality of devices connected with the CAN bus are arranged on the automobile, all the industrial personal computers and all the devices of the automobile are communicated through the CAN bus, so that the communication load between the industrial personal computers and all the devices is large, the communication period is long, the time cost for processing the data by the industrial personal computers is correspondingly increased, the control period of the automobile is prolonged, and the complex control such as unmanned driving and the real-time control under dangerous situations are not facilitated.

Disclosure of Invention

The invention aims to solve the technical problem of providing a control system, a control method and a microcontroller for an automatic driving automobile, so as to reduce the communication load between an upper computer system and the microcontroller and improve the communication efficiency between the upper computer system and the microcontroller and between devices connected with a CAN bus in a vehicle.

In order to solve the technical problem, the microcontroller for the automatic driving automobile provided by the invention is characterized by comprising the following components: main processor, coprocessor and CAN controller, wherein:

the CAN controller is in communication connection with the coprocessor and the main processor and is used for receiving CAN messages and forwarding the CAN messages to the coprocessor;

the coprocessor is used for interrupting and receiving the CAN message forwarded by the CAN controller and the I/O input signal from the I/O interface, analyzing the CAN message and the I/O input signal to obtain corresponding control information, and transmitting the control information to the main processor;

the main processor is used for processing the control information to obtain a corresponding control output instruction, and sending the control output instruction to a second vehicle controller for controlling acousto-optic, starting and electronic parking of the automatic driving vehicle through an I/O interface, or sending the control output instruction to a first vehicle controller for controlling the automatic driving vehicle to run through the CAN controller.

The invention provides a control system for an automatic driving automobile, which comprises the following components: first CAN transceiver, hard wire signal input circuit and microcontroller, wherein: the first CAN transceiver is used for receiving a CAN message sent by an upper computer system or a remote control device and sending the CAN message to the microcontroller;

the hard wire signal input circuit is in communication connection with the microcontroller and is used for converting the key behaviors on the automatic driving automobile into hard wire signals which can be identified by the microcontroller and inputting the hard wire signals as I/O input signals to the microcontroller through an I/O interface;

the microcontroller comprises: main processor, coprocessor and CAN controller, wherein:

the CAN controller is in communication connection with the coprocessor and the main processor and is used for receiving the CAN message sent by the first CAN transceiver and forwarding the CAN message to the coprocessor;

The main processor is used for processing the control information to obtain a corresponding control output instruction, and sending the control output instruction to a second vehicle controller used for controlling acousto-optic, starting and electronic parking of the automatic driving vehicle through an I/O interface, or sending the control output instruction to a first vehicle controller used for controlling the automatic driving vehicle to run through the CAN controller.

Preferably, the hard-wire signal input circuit includes: the parking combination switch circuit, the steering lamp combination switch circuit and the one-key starting switch circuit;

the parking combination switch circuit is used for converting the electronic parking switch key behaviors on the automatic driving automobile into corresponding electronic parking control combination signals and outputting the electronic parking control combination signals to the microcontroller; the coprocessor is used for interrupting receiving the electronic parking control combination signal, analyzing the electronic parking control combination signal to obtain corresponding electronic parking control combination information, and outputting the electronic parking control combination information to the main processor; the main processor processes the electronic parking control combination information to obtain a corresponding electronic parking control combination instruction, and sends the electronic parking control combination instruction to a parking control connection module for controlling the parking state of a parking controller;

The turn signal combination switch circuit is used for converting turn signal switch key behaviors on the automatic driving automobile into corresponding turn signal signals and outputting the turn signal signals to the microcontroller; the coprocessor is used for interrupting the receiving of the turn signal lamp, analyzing the turn signal lamp to obtain corresponding turn signal lamp control information, and outputting the turn signal lamp control information to the main processor; the main processor processes the steering lamp control information to obtain a corresponding steering lamp control output instruction, and sends the steering lamp control output instruction to an acousto-optic control module for controlling the acousto-optic of the automatic driving automobile

The one-key starting switch circuit is used for generating a corresponding starting key signal from one-key starting key action on the automatic driving automobile and outputting the starting key signal to the microcontroller; the coprocessor is used for interrupting receiving the starting key signal, analyzing the starting key signal to obtain corresponding starting key control information, and outputting the starting key control information to the main processor; and the main processor processes the starting key control information to obtain a corresponding starting key control output instruction, and sends the starting key control output instruction to a starting drive circuit for controlling the starting of the automatic driving automobile.

Preferably, the hard-wired signal input circuit further comprises:

the driving mode switching switch circuit is used for converting the driving mode switching key behaviors on the automatic driving automobile into corresponding driving mode switching signals and outputting the driving mode switching signals to the microcontroller;

the coprocessor is used for interrupting receiving the driving mode switching signal, analyzing the driving mode switching signal to obtain corresponding driving mode switching control information, and outputting the driving mode switching control information to the main processor;

the main processor is further configured to switch to a corresponding driving mode according to the driving mode switching control information, where the driving mode includes: the system comprises an autonomous driving mode, a manual driving mode and a remote control driving mode, wherein when the system is in the autonomous driving mode, the main processor processes control information from an upper computer system according to preset autonomous driving operation logic, when the system is in the manual driving mode, the main processor processes control information from an I/O interface according to preset manual driving operation logic, and when the system is in the remote control driving mode, the main processor processes remote control information from a remote control device according to preset remote control driving operation logic.

Preferably, the method further comprises:

the second CAN transceiver is used for receiving the control output instruction through the CAN controller, sending the control output instruction to the first vehicle controller, and receiving the automatic driving automobile information acquired by the first vehicle controller through the CAN controller and forwarding the automatic driving automobile information to the coprocessor;

the coprocessor is also used for interrupting receiving the CAN message from the second CAN transceiver, analyzing the CAN message to obtain corresponding automatic driving automobile information and sending the automatic driving automobile information to the main processor;

the main processor is also used for classifying and packaging the automatic driving automobile information under the autonomous driving mode and then sending the classified and packaged automatic driving automobile information to the CAN controller, and the CAN controller is used for sending the classified and packaged automatic driving automobile information to the upper computer system through the first CAN transceiver.

Preferably, the hard-wired signal input circuit further comprises:

the parking start switch circuit is used for converting the behavior of a parking function start key on the automatic driving automobile into a corresponding parking function start signal and outputting the corresponding parking function start signal to the microcontroller;

the coprocessor is used for interrupting receiving the parking function starting signal and the distance signal between the automatic driving automobile and the target object, analyzing the parking function starting signal and the distance signal to obtain corresponding parking function starting control information and distance information between the automatic driving automobile and the target object, and outputting the parking function starting control information and the distance information to the main processor;

The main processor is further configured to analyze the distance information according to the parking function start control information in an autonomous driving mode to obtain a distance from a side surface of the autonomous driving automobile to a target object, a current position of the autonomous driving automobile and parking space information, determine whether the distance meets a parking space length, calculate a corresponding parking track according to the current position of the autonomous driving automobile and the parking space information if the distance meets the parking space length, generate a corresponding parking control instruction according to the parking track, package the parking control instruction and send the corresponding parking control instruction to the CAN controller, and send the packaged parking control instruction to the first vehicle controller through the second CAN transceiver to control the first vehicle controller to automatically park according to the parking track.

Preferably, the main processor is further configured to determine whether the first vehicle controller has a fault according to the autopilot vehicle information returned by the first vehicle controller, and if so, send a parking stopping instruction to the CAN controller; the CAN controller sends the parking stopping instruction to the first vehicle controller through the second CAN transceiver so as to control the first vehicle controller to stop parking.

Preferably, the hard-wired signal input circuit further comprises:

the emergency stop switch circuit is used for converting the emergency stop button behaviors on the automatic driving automobile into automatic mode emergency stop signals and outputting the automatic mode emergency stop signals to the microcontroller; the coprocessor is used for interrupting receiving the automatic mode emergency stop signal, analyzing the automatic mode emergency stop signal to obtain corresponding emergency stop control information, and outputting the emergency stop control information to the main processor;

the main processor is used for generating corresponding emergency stop control instructions according to the emergency stop control information, packaging and sending the corresponding emergency stop control instructions to the CAN controller, and the CAN controller is used for sending the packaged emergency stop control instructions to the whole vehicle controller in the first vehicle controller through the second CAN transceiver.

The invention also provides a control method of the automatic driving automobile, which is applied to the control system of the automatic driving automobile and comprises the following steps:

the method comprises the steps that a first CAN transceiver receives a CAN message from an upper computer system or a remote control device and sends the CAN message to a microcontroller;

the hard wire signal input circuit converts the key behaviors on the automatic driving automobile into hard wire signals which can be identified by the microcontroller, and the hard wire signals are used as I/O input signals and are input to the microcontroller through an I/O interface;

The CAN controller receives the CAN message sent by the first CAN transceiver and forwards the CAN message to the coprocessor;

the coprocessor interrupts and receives the CAN message forwarded by the CAN controller and the I/O input signal from the I/O interface, analyzes the CAN message and the I/O input signal to obtain corresponding control information, and transmits the control information to a main processor;

the main processor processes the control information to obtain a corresponding control output instruction, and sends the control output instruction to a second vehicle controller for controlling acousto-optic, starting and electronic parking of the automatic driving vehicle through an I/O interface, or sends the control output instruction to a first vehicle controller for controlling the automatic driving vehicle to run through the CAN controller.

Preferably, the method further comprises the following steps:

the CAN controller receives the automatic driving automobile information acquired by the first vehicle controller through a second CAN transceiver and forwards the automatic driving automobile information to the coprocessor;

the coprocessor interrupts receiving the CAN message from the second CAN transceiver, analyzing the CAN message to obtain corresponding automatic driving automobile information, and sending the automatic driving automobile information to the main processor;

And the main processor classifies and packages the automatic driving automobile information in an autonomous driving mode and then sends the classified and packaged automatic driving automobile information to the CAN controller, and the CAN controller sends the classified and packaged automatic driving automobile information to the upper computer system through the first CAN transceiver.

Preferably, the method further comprises the following steps:

a parking start switch circuit in the hard-wire signal input circuit converts the behavior of a parking function start key on the automatic driving automobile into a corresponding parking function start signal and outputs the corresponding parking function start signal to the microcontroller;

the coprocessor interrupts receiving the parking function starting signal and the distance signal between the automatic driving automobile and the target object, analyzes the parking function starting signal and the distance signal to obtain corresponding parking function starting control information and distance information between the automatic driving automobile and the target object, and outputs the parking function starting control information and the distance information to the main processor;

and in an autonomous driving mode, the main processor analyzes the distance information according to the parking function starting control information to obtain the distance from the side surface of the automatic driving automobile to the target object, the current position of the automatic driving automobile and the parking space information, judges whether the distance meets the parking space length, calculates a corresponding parking track according to the current position of the automatic driving automobile and the parking space information if the distance meets the parking space length, generates a corresponding parking control instruction according to the parking track, packages the parking control instruction and transmits the corresponding parking control instruction to the CAN controller, and the CAN controller transmits the packaged parking control instruction to the first vehicle controller through the second CAN transceiver so as to control the first vehicle controller to automatically park according to the parking track.

Preferably, the method further comprises the following steps:

a driving mode switching switch circuit in the hard wire signal input circuit converts driving mode switching key behaviors on an automatic driving automobile into corresponding driving mode switching signals, and outputs the driving mode switching signals to the microcontroller;

the coprocessor interrupts receiving the driving mode switching signal, analyzing the driving mode switching signal to obtain corresponding driving mode switching control information, and outputting the driving mode switching control information to the main processor;

the main processor switches to a corresponding driving mode according to the driving mode switching control information, wherein the driving mode comprises the following steps: the system comprises an autonomous driving mode, a manual driving mode and a remote control driving mode, wherein when the system is in the autonomous driving mode, the main processor processes control information from the upper computer system according to preset autonomous driving operation logic, when the system is in the manual driving mode, the main processor processes control information from the I/O interface according to preset manual driving operation logic, and when the system is in the remote control driving mode, the main processor processes remote control information from the remote control device according to preset remote control driving operation logic.

Preferably, the method further comprises the following steps:

the main processor judges whether the first vehicle controller has faults according to the automatic driving automobile information returned by the first vehicle controller, and if so, sends a parking stopping instruction to the CAN controller; the CAN controller sends the parking stopping instruction to the first vehicle controller through the second CAN transceiver so as to control the first vehicle controller to stop parking.

Preferably, the method further comprises the following steps:

the emergency stop switch circuit in the hard wire signal input circuit converts emergency stop key behaviors on the automatic driving automobile into automatic mode emergency stop signals and outputs the automatic mode emergency stop signals to the microcontroller; the coprocessor is used for interrupting receiving the automatic mode emergency stop signal, analyzing the automatic mode emergency stop signal to obtain corresponding emergency stop control information, and outputting the emergency stop control information to the main processor;

the main processor generates a corresponding emergency stop control instruction according to the emergency stop control information, packages the emergency stop control instruction and sends the emergency stop control instruction to the CAN controller, and the CAN controller sends the packaged emergency stop control instruction to the whole vehicle controller in the first vehicle controller through the second CAN transceiver. .

The implementation of the invention has the following beneficial effects:

the invention generates the corresponding I/O input signal to the microcontroller according to the control instruction (such as the operation of the key) which does not belong to the control of the vehicle running, thereby avoiding the problems of long control period and low control instantaneity caused by all control information coming from an upper computer system when the automatic driving vehicle runs; after the microcontroller generates the corresponding control output instructions, the corresponding control output instructions are respectively output to the corresponding vehicle controllers through the I/O interface and the CAN transceiver, and all the control output instructions are prevented from being sent to the corresponding vehicle controllers through the CAN transceiver.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic block diagram of a microcontroller for an autonomous car provided by the present invention.

Fig. 2 is a schematic block diagram of a control system for an autonomous car according to the present invention.

Fig. 3 is a schematic block diagram of a hard-wired signal input circuit of the control system of the automatic driving automobile provided by the invention.

Fig. 4 is a block diagram of another embodiment of a control system for an autopilot vehicle provided by the present invention.

Fig. 5 is a block diagram of still another embodiment of a control system for an autopilot vehicle provided by the present invention.

Fig. 6 is a flowchart of another embodiment of a control method for an automatic driving automobile according to the present invention.

Fig. 7 is a driving mode switching logic diagram of another embodiment of the control method for automatically driving an automobile according to the present invention.

Detailed Description

The present invention provides a microcontroller 100 for an autonomous car, as shown in fig. 1, the microcontroller 100 comprising: a host processor 110, a coprocessor 120, and a CAN controller 130.

The CAN controller 130 is communicatively connected to the coprocessor 120 and the main processor 110, and is configured to receive the CAN packet and forward the CAN packet to the coprocessor 120.

The coprocessor 120 is configured to interrupt receiving the CAN message forwarded by the CAN controller 130 and the I/O input signal from the I/O interface 400, parse the CAN message and the I/O input signal to obtain corresponding control information, and send the control information to the main processor 110.

The main processor 110 is configured to process the control information to obtain a corresponding control output instruction, and send the control output instruction to the second vehicle controller 500 for controlling acousto-optic, starting and electronic parking of the autopilot through the I/O interface 400, or send the control output instruction to the first vehicle controller 300 for controlling running of the autopilot through the CAN controller 130.

The invention also provides a control system for an automatic driving automobile, as shown in fig. 2, the system comprises: a first CAN transceiver 210, a hard-wired signal input circuit 800, and a microcontroller 100, wherein: the first CAN transceiver 210 is configured to receive a CAN message sent by the host computer system 600 or the remote control device 700, and send the CAN message to the microcontroller 100.

The remote control device 700 includes: the remote control transmitting terminal 710 and the remote control receiving module 720, the upper computer system 600 may be an industrial control computer. The remote control transmitting end 710 is configured to receive a control instruction input by a user, generate a corresponding remote control instruction, and output the corresponding remote control instruction to the remote control receiving module 720; the remote control receiving module 720 is communicatively connected to the remote control transmitting end 710, and is configured to receive the remote control command from the remote control transmitting end 710 and transfer the remote control command to the first CAN transceiver 210. The control instruction sent by the upper computer system 600 or the remote control instruction sent by the remote control transmitting end 710 includes corresponding control information, for example: for example, the ground torque request, the degree of service braking, steering wheel angle, etc.

The hard-wired signal input circuit 800 is communicatively connected to the microcontroller 100 through the I/O interface 400, and is configured to convert the key-press behavior of the autopilot into a hard-wired signal recognizable by the microcontroller 100, and input the hard-wired signal as an I/O input signal to the microcontroller 100 through the I/O interface 400.

The microcontroller 100 includes: a host processor 110, a coprocessor 120, and a CAN controller 130.

The CAN controller 130 is communicatively connected to the coprocessor 120 and the main processor 110, and is configured to receive the CAN message sent by the first CAN transceiver 210 and forward the CAN message to the coprocessor 120.

The main processor 110 is configured to process the control information to obtain a corresponding control output instruction, and send the control output instruction to the second vehicle controller 500 for controlling acousto-optic, starting and electronic parking of the autopilot through the I/O interface 400 to control the operation of the second vehicle controller 500, or send the control output instruction to the first vehicle controller 300 for controlling the running of the autopilot through the CAN controller 130 to control the operation of the first vehicle controller 300. Wherein, the sound and light of the control vehicle is also used for controlling the steering lamp and the loudspeaker of the vehicle.

Further, as shown in fig. 3, the hard-wired signal input circuit 800 includes: parking combination switch circuit 810, turn signal combination switch circuit 820, and one-button start switch circuit 830.

The parking combination switch circuit 810 is configured to convert the electronic parking switch button behavior on the autopilot into a corresponding electronic parking control combination signal, and output the electronic parking control combination signal to the microcontroller 100; the coprocessor 120 is configured to interrupt receiving the electronic parking control combination signal, parse the electronic parking control combination signal to obtain corresponding electronic parking control combination information, and output the electronic parking control combination information to the main processor 110; the main processor 110 processes the electronic parking control combination information to obtain a corresponding electronic parking control combination instruction, and sends the electronic parking control combination instruction to a parking control connection module for controlling a parking state of the parking controller.

The turn signal combination switch circuit 820 is used for converting the turn signal switch key action on the autopilot into a corresponding turn signal and outputting the turn signal to the microcontroller 100; the coprocessor 120 is configured to interrupt receiving the turn signal, parse the turn signal to obtain corresponding turn signal control information, and output the turn signal control information to the main processor 110; the main processor 110 processes the turn signal control information to obtain a corresponding turn signal control output instruction, and sends the turn signal control output instruction to an acousto-optic control module for controlling the acousto-optic of the automatic driving automobile.

The one-key start switch circuit 830 is configured to generate a corresponding start key signal from one-key start key behavior on the autopilot, and output the start key signal to the microcontroller 100; the coprocessor 120 is configured to interrupt receiving the start key signal, parse the start key signal to obtain corresponding start key control information, and output the start key control information to the main processor 110; the main processor 110 processes the start key control information to obtain a corresponding start key control output instruction, and sends the start key control output instruction to a start driving circuit for controlling the start of the autopilot.

The main processor 110 may activate the start driving circuit, the acousto-optic control module control sub-component through control I/O output, or output as a hard wire signal to the parking control connection module, through which the parking controller is controlled.

In another embodiment, a one-key start key is used to simulate vehicle key gear control, and when a user wants to start the vehicle, the one-key start key can be pressed to start the vehicle. For example, there are 4 gears of the car key: key_off, key_acc, key_on, key_start. According to the combination of the number of times that a user presses a key to start a key and the duration of pressing the key, the input detection and the output control of 4 vehicle key gears are realized. The specific implementation mode is as follows: in a default state, the gear of the car KEY is in a KEY_OFF gear, relays controlled by ACC, IG1, IG2 and START are disconnected, the KEY is pressed once to enter the KEY_ACC gear, at the moment, the relays controlled by ACC are attracted, and the relays controlled by IG1, IG2 and START are disconnected; pressing the KEY twice to enter a KEY_ON gear, and sucking relays ACC, IG1 and IG 2; when the KEY is pressed three times, if the duration of pressing the KEY each time is longer than a certain amount, a key_start gear is entered, and if the duration is insufficient, a key_off gear is returned; enter key_start, press the KEY once again, return key_off. In KEY_START gear, relays controlled by ACC, IG1, IG2 and START are closed.

In another embodiment, to prevent the car from sliding downhill, the car is electronically parked. The parking controller EPB used has 3 states, i.e., a tightening (cable tightening), a loosening (cable loosening) and a normal state (state where the cable is held before the state switching of the electronic parking controller EPB). According to characteristics of the parking controller EPB, a line node on-off logic of the parking controller EPB as shown in table 1 is designed. The working process of the control of the parking controller EPB is as follows: the microcontroller MCU detects a tensioning request (the tensioning request comes from an I/O interface or a CAN bus), the microcontroller MCU controls corresponding I/O output, the parking controller EPB circuit connection relation control module selectively connects a circuit of the parking controller according to the output of a pin of the microcontroller MCU, the inhaul cable is tensioned, timing is started, after the time lasts for 5 seconds, the microcontroller MCU controls the I/O output again so that the parking controller enters a normal state, but the inhaul cable is always tensioned and cannot be loosened. If the duration is less than 5s, the cable is released immediately after being pulled. The same is true of the loosening process, with a 3s duration of the park controller released state.

Table 1 EPB control line node on-off logic table

Further, the hard-wired signal input circuit 800 further includes: driving mode switching switch circuit 840.

The driving mode switching circuit 840 is used for converting the driving mode switching key behavior on the automatic driving automobile into a corresponding driving mode switching signal, and outputting the driving mode switching signal to the microcontroller 100.

The coprocessor 120 is configured to interrupt receiving the driving mode switching signal, parse the driving mode switching signal to obtain corresponding driving mode switching control information, and output the driving mode switching control information to the main processor 110.

The main processor 110 is further configured to switch to a corresponding driving mode according to the driving mode switching control information, where the driving mode includes: autonomous driving mode, manual driving mode, remote driving mode, when in autonomous driving mode, the main processor 110 processes control information from the host computer system 600 according to a preset autonomous driving arithmetic logic, when in manual driving mode, the main processor 110 processes control information from the I/O interface 400 according to a preset manual driving arithmetic logic, and when in remote driving mode, the main processor 110 processes remote control information from the remote control device 700 according to a preset remote driving arithmetic logic.

For example, the driver is controlled in the manual driving mode, and the vehicle can drive like a normal vehicle, the coprocessor 120 detects and receives an I/O input signal from the I/O interface 400, analyzes the acousto-optic information (sound control information and turn signal control information) contained in the I/O input signal, generates a corresponding acousto-optic control instruction, and hard-lines the corresponding acousto-optic control instruction to the acousto-optic control module through the I/O interface 400. In the autonomous driving mode or the remote driving mode, the coprocessor 120 receives the CAN message from the first CAN transceiver 210, analyzes the acousto-optic information contained in the CAN message, generates a corresponding acousto-optic control instruction, and outputs the corresponding acousto-optic control instruction to the acousto-optic control module through the I/O interface 400 hard line, and the acousto-optic control module controls the acousto-optic of the vehicle according to the received acousto-optic control instruction.

The remote control driving mode is mainly used for the unmanned automobile in emergency, for example: in the case of remote intervention, the vehicle is controlled to brake by pressing an emergency brake button on the remote control transmitting end 710, and the vehicle is controlled to move forward and backward at a certain speed, turn left and right and start and stop in a remote control mode.

In another embodiment, the microcontroller is connected with 2 CAN transceivers in total, one is connected with the PCAN transceiver of the original new energy vehicle, and the other is connected with the CAN0 transceiver which is in communication connection with the upper computer system and the RC remote control receiving module.

In the autonomous driving mode, the coprocessor of the microcontroller interrupts receiving the CAN0 message from the CAN0 transceiver and analyzing the message, wherein the analyzed information comprises information such as a ground torque request, a driving braking degree, a steering wheel angle and the like, the analyzed information is classified and packaged according to the information types required by each controller on the PCAN transceiver node, the steering information required by the steering controller EPS is one frame (for use by the steering controller EPS), the control information required by other controllers is another frame (for use by the whole vehicle controller VCU), the main processor in the microcontroller sends the classified and packaged information to the PCAN transceiver, the packaged information is sent to the execution part controller through the PCAN transceiver, the corresponding execution part controller controls the corresponding execution part to work according to the received information, and in the process, the coprocessor of the microcontroller interrupts receiving the various driving information fed back by each execution part controller of the new energy source vehicle through the PCAN transceiver, for example: the method comprises the steps of packaging the current vehicle speed, the current ground torque, the current braking degree, the current steering wheel rotation angle, the current fault information and the like into a multi-frame CAN0 message according to the category of the driving information, sending the multi-frame CAN0 message to an upper computer system, deciding to use the multi-frame CAN0 message by the upper computer system, and sending the multi-frame CAN0 message to the upper computer system without packaging the driving information in a remote control driving mode.

Further, the control system for automatically driving the automobile further comprises: the second CAN transceiver 220 is configured to receive the control output command through the CAN controller 130 and send the control output command to the first vehicle controller 300, and is further configured to receive the information of the autopilot vehicle collected by the first vehicle controller 300 and the speed information of the autopilot vehicle collected by the speed collection module 900 through the CAN controller 130 and forward the information to the coprocessor 120.

The first vehicle controller 300 includes: brake controller, whole car controller, steering controller.

The vehicle control unit is configured to receive a control output command from the microcontroller 100 to operate.

The steering controller is used for controlling the steering of the vehicle, collecting steering result information and sending the steering result information to the second CAN transceiver 220, and the second CAN transceiver 220 sends the steering result information to the coprocessor 120 through the CAN controller 130.

The brake controller is used for performing a braking operation on the vehicle, collecting braking result information, and transmitting the braking result information to the second CAN transceiver 220, and the second CAN transceiver 220 transmits the braking result information to the coprocessor 120 through the CAN controller 130.

The coprocessor 120 is further configured to interrupt receiving the CAN message from the second CAN transceiver 220, parse the CAN message to obtain corresponding autopilot information, and send the autopilot information to the main processor 110.

The main processor 110 is further configured to, in the autonomous driving mode, classify and package the autopilot information, and then send the classified and packaged autopilot information to the CAN controller 130, where the CAN controller 130 sends the classified and packaged autopilot information to the host computer system 600 through the first CAN transceiver 210, and the host computer system 600 makes a decision for use.

Further, the hard-wired signal input circuit 800 further includes: park enable switch circuit 850.

The parking start switch circuit 850 is used for converting the behavior of a parking function start button on the autopilot into a corresponding parking function start signal and outputting the signal to the microcontroller 100.

The coprocessor 120 is configured to interrupt receiving the parking function start signal and the distance signal between the autopilot and the target object, parse the parking function start signal and the distance signal to obtain corresponding parking function start control information and distance information between the autopilot and the target object, and output the parking function start control information and the distance information to the main processor 110.

The distance signal between the autopilot and the target is collected by the radar ranging module 1000 in communication connection with the microcontroller 100, and the radar ranging module 1000 sends the distance information to the microcontroller 100 through the I/O interface 400 after collecting the distance information.

The main processor 110 is further configured to, in the autonomous driving mode, analyze the distance information according to the parking function start control information to obtain a distance from the side of the autonomous driving vehicle to the target object, a current position of the autonomous driving vehicle, and parking space information, determine whether the distance meets a parking space length, if so, calculate a corresponding parking track according to the current position of the autonomous driving vehicle and the parking space information, generate a corresponding parking control instruction according to the parking track, package the parking control instruction, and send the corresponding parking control instruction to the CAN controller 130, and the CAN controller 130 sends the packaged parking control instruction to the first vehicle controller 300 through the second CAN transceiver 220 to control the first vehicle controller 300 to automatically park according to the parking track.

Further, the main processor 110 is further configured to determine whether the first vehicle controller 300 has a fault according to the autopilot information returned by the first vehicle controller 300, and if so, send a parking stopping instruction to the CAN controller 130; the CAN controller 130 transmits a parking stop command to the first vehicle controller 300 through the second CAN transceiver 220 to control the first vehicle controller 300 to stop parking.

In the automatic parking process, the main processor 110 also dynamically adjusts the parking control command according to the vehicle information returned by the first vehicle controller 300, so as to control the vehicle to accurately and stably park. The parking space comprises three types of vertical, parallel and inclined lines, and the parking control instruction comprises: control instruction information such as vehicle speed, braking degree, steering wheel angle and the like. The autonomous parking in autonomous driving mode does not require intervention by the host computer system 600 and the vehicle is highly intelligent.

Further, the hard-wired signal input circuit 800 further includes: the scram switch circuit 860.

The scram switch circuit 860 is used for converting the scram key action on the automatic driving automobile into an automatic mode scram signal and outputting the signal to the microcontroller 100; the coprocessor 120 is configured to interrupt receiving the automatic mode scram signal, parse the automatic mode scram signal to obtain corresponding scram control information, and output the scram control information to the main processor 110.

The main processor 110 is configured to generate a corresponding emergency stop control instruction according to the emergency stop control information, package the emergency stop control instruction, and send the corresponding emergency stop control instruction to the CAN controller 130, where the CAN controller 130 sends the packaged emergency stop control instruction to the whole vehicle controller in the first vehicle controller 300 through the second CAN transceiver 220; the whole vehicle brake sends a braking control command to a braking controller according to the received emergency stop control command; and the brake controller controls the automatic driving automobile to suddenly stop according to the brake control instruction.

In another embodiment, in the autonomous driving mode, there is an unmanned car (there may be a person in the car, but the person does not drive the car, or there is no person in the car), and it is unavoidable that a situation where sudden stop is required, if there is a person in the car, the "sudden stop button" in the car may be pressed, and if there is no person in the car, the "sudden stop button" of the remote control transmitting end 710 may be pressed. The microcontroller 100 detects any request and notifies the whole vehicle controller of the original new energy vehicle to carry out decision control on braking through the CAN bus.

Preferably, the control system for an autopilot further comprises: a power chip 1100.

The power chip 1100 is connected with the microcontroller 100 and is used for stably supplying power to the microcontroller 100; the main processor 110 may also output a power-off control output instruction to the power chip 1100 through the I/O interface 400, and the power chip 1100 stops supplying power to the microcontroller 100 according to the power-off control output instruction.

In another embodiment of the control system for an autopilot vehicle according to the present invention, as shown in fig. 4, a hard-wired signal input circuit 800 includes: the parking control device comprises an EPB parking combination switch circuit, a steering lamp combination switch circuit, a one-key starting switch circuit, a manual/automatic switching switch circuit, a parking starting switch current and a sudden stop switch circuit, wherein the EPB parking combination switch circuit outputs an EPB combination signal to a Micro Controller Unit (MCU) after responding to corresponding key actions, the steering lamp combination switch circuit outputs a left steering lamp signal and a right steering lamp signal to the Micro Controller Unit (MCU), the one-key starting switch circuit outputs a starting key signal to the Micro Controller Unit (MCU), the manual/automatic switching switch circuit outputs a driving mode switching signal to the Micro Controller Unit (MCU), the parking starting switch circuit outputs parking function starting information to the MCU, and the sudden stop switch circuit outputs an automatic mode sudden stop signal to the MCU.

The MCU outputs corresponding START signals, ACC signals, IG1 signals and IG2 signals to the one-key START output relay driving circuit according to the START key signals, and the one-key START output relay driving circuit operates corresponding relays according to the START signals, the ACC signals, the IG1 signals and the IG2 signals.

The MCU correspondingly outputs the EPB control output combined signal to the parking controller EPB circuit connection relation control module, and the parking controller EPB circuit connection relation control module controls the electronic parking through the parking controller EPB.

The MCU correspondingly outputs a left turn lamp signal to the acousto-optic control BCM module, and the acousto-optic control BCM controls the left turn lamp to be on or controls the right turn lamp to be on.

The upper computer system sends various control instructions in an automatic driving mode, and the MCU controls the whole vehicle controller VCU and the steering controller EPS according to the instructions. The vehicle control unit VCU sends various collected information about the vehicle to the MCU through the PCAN transceiver, the steering controller EPS sends steering results to the MCU through the PCAN transceiver, the braking controller EVB sends braking results to the MCU, the speed acquisition module sends vehicle speed information to the MCU, and the MCU sends the information to the upper computer system.

In still another embodiment of the control system for an autopilot vehicle provided by the present invention, as shown in fig. 5, the system includes: the left turn lamp relay 11 and the right turn lamp relay 12 are controlled to control whether the left turn lamp and the right turn lamp are turned on or not by controlling the two relays. The vehicle is controlled to be turned on by the ACC relay 5, the IG1 relay 6, the IG2 relay 7, and the Start relay 8. The control output instruction output from the dual-core microcontroller 1001 is output to the second vehicle controller 500 communicatively connected to the I/O output interface 4104 through the I/O output interface 4104 by receiving an I/O input signal through the I/O input interface 4202. As CAN be further seen from fig. 5, the remote control device comprises a 16M crystal oscillator 18, a radar time sequence control relay 10 and an RC wireless-to-CAN module 14, wherein the crystal oscillator 18 provides clock signals for the dual-core microcontroller 1001, the radar time sequence control relay 10 is used for controlling the radar sequencing module to start working, and the RC wireless-to-CAN module 14 is used as a remote control device 700 to send remote control signals.

the first CAN transceiver 210 receives a CAN message from the upper computer system 600 or the remote control device 700 and transmits the CAN message to the microcontroller 100;

the hard-wired signal input circuit 800 converts the key-press behavior on the autopilot into a hard-wired signal recognizable by the microcontroller 100, and inputs the hard-wired signal as an I/O input signal to the microcontroller 100 through the I/O interface 400;

the CAN controller 130 receives the CAN message sent by the first CAN transceiver 210 and forwards the CAN message to the coprocessor 120;

the coprocessor 120 interrupts receiving the CAN message forwarded by the CAN controller 130 and the I/O input signal from the I/O interface 400, and parses the CAN message and the I/O input signal to obtain corresponding control information, and transmits the control information to the main processor 110;

the main processor 110 processes the control information to obtain a corresponding control output command, and transmits the control output command to the second vehicle controller 500 for controlling acousto-optic, start and electronic parking of the autopilot through the I/O interface 400, or transmits the control output command to the first vehicle controller 300 for controlling running of the autopilot through the CAN controller 130.

Further, the control method of the automatic driving automobile further comprises the following steps:

the CAN controller 130 receives the information of the automatic driving car collected by the first vehicle controller 300 through the second CAN transceiver 220 and forwards the information to the coprocessor 120;

the coprocessor 120 interrupts receiving the CAN message from the second CAN transceiver 220 and parsing the CAN message to obtain corresponding autopilot information, and sends the autopilot information to the main processor 110;

the main processor 110 classifies and packages the autopilot information and transmits the classified and packaged autopilot information to the CAN controller 130 in the autonomous driving mode, and the CAN controller 130 transmits the classified and packaged autopilot information to the upper computer system 600 through the first CAN transceiver 210.

the parking start switch circuit 850 in the hard-wire signal input circuit 800 converts the behavior of a parking function start button on the autopilot into a corresponding parking function start signal and outputs the corresponding parking function start signal to the microcontroller 100;

the coprocessor 120 interrupts receiving the parking function start signal and the distance signal between the automatic driving automobile and the target object, analyzes the parking function start signal and the distance signal to obtain corresponding parking function start control information and distance information between the automatic driving automobile and the target object, and outputs the parking function start control information and the distance information to the main processor 110;

In the autonomous driving mode, the main processor 110 analyzes the distance information according to the parking function starting control information to obtain the distance from the side surface of the autonomous driving automobile to the target object, the current position of the autonomous driving automobile and the parking space information, judges whether the distance meets the parking space length, calculates a corresponding parking track according to the current position of the autonomous driving automobile and the parking space information if the distance meets the parking space length, generates a corresponding parking control instruction according to the parking track, packages the corresponding parking control instruction and sends the corresponding parking control instruction to the CAN controller 130, and the CAN controller 130 sends the packaged parking control instruction to the first vehicle controller 300 through the second CAN transceiver 220 so as to control the first vehicle controller 300 to automatically park according to the parking track.

the driving mode switching circuit 840 in the hard-wire signal input circuit 800 converts the driving mode switching key behavior on the automatically driven automobile into a corresponding driving mode switching signal, and outputs the driving mode switching signal to the microcontroller 100;

the coprocessor 120 interrupts receiving the driving mode switching signal, and parses the driving mode switching signal to obtain corresponding driving mode switching control information, and outputs the driving mode switching control information to the main processor 110;

The main processor 110 switches to a corresponding driving mode according to the driving mode switching control information, wherein the driving mode includes: autonomous driving mode, manual driving mode, remote driving mode, when in autonomous driving mode, the main processor 110 processes control information from the host computer system 600 according to a preset autonomous driving arithmetic logic, when in manual driving mode, the main processor 110 processes control information from the I/O interface 400 according to a preset manual driving arithmetic logic, and when in remote driving mode, the main processor 110 processes remote control information from the remote control device 700 according to a preset remote driving arithmetic logic.

the main processor 110 determines whether the first vehicle controller 300 has a fault according to the information of the automatic driving vehicle returned by the first vehicle controller 300, and if so, sends a parking stopping instruction to the CAN controller 130; the CAN controller 130 transmits a parking stop command to the first vehicle controller 300 through the second CAN transceiver 220 to control the first vehicle controller 300 to stop parking.

The emergency stop switch circuit 860 in the hard-wire signal input circuit 800 converts the emergency stop button behavior on the automatic driving car into an automatic mode emergency stop signal and outputs the automatic mode emergency stop signal to the microcontroller 100; the coprocessor 120 is configured to interrupt receiving the automatic mode scram signal, parse the automatic mode scram signal to obtain corresponding scram control information, and output the scram control information to the main processor 110;

the main processor 110 generates a corresponding emergency stop control instruction according to the emergency stop control information, packages the emergency stop control instruction, and sends the corresponding emergency stop control instruction to the CAN controller 130, and the CAN controller 130 sends the packaged emergency stop control instruction to the whole vehicle controller in the first vehicle controller 300 through the second CAN transceiver 220.

In another embodiment of the control method for automatically driving an automobile, as shown in fig. 6, the method flow is sequentially performed: initializing hardware, initializing software, starting an interrupt receiving mode by a coprocessor, interrupting the receiving of I/O input signals by the coprocessor, interrupting the receiving of CAN0 messages received by a PCAN, interrupting the receiving of CAN4 message data from other CAN transceivers (connected with an industrial personal computer and an RC wireless CAN conversion module), outputting the state data obtained after analysis to a main processor by the coprocessor, selecting a mode by the main processor, judging whether the mode is a manual mode or a remote control mode or an autonomous mode, selecting corresponding control logic to operate, and outputting the result through an I/O interface or a CAN bus.

In another embodiment of the control method for automatically driving an automobile provided by the invention, as shown in fig. 7, the driving mode switching logic includes three modes, i.e., a manual mode (corresponding to a manual driving mode), an autonomous mode (corresponding to an autonomous driving mode), and a remote control mode (corresponding to a remote control driving mode). In the manual mode, the steering controller EPS, the parking controller EPB, the brake controller EVB and the car lamps are controlled by people, and the execution gear of the car is a mechanical gear; in the autonomous mode, the gear positions of the EPS, EPB, EVB, the car lights and the vehicle are determined by the upper computer system; in the remote control mode, the gear positions of the EPS, EPB, EVB, the car lights and the vehicle are determined by a remote controller (corresponding to a remote control transmitting end).

For example, when an autonomous car is in autonomous mode, the vehicle switches to manual mode when one of the following operations is performed: 1. manually rotating the steering wheel; 2. manually shifting the gear to a non-neutral position; 3. the manual-automatic button is pressed. When the autonomous car is in the manual mode, the autonomous car switches to the autonomous mode when the following operations are performed: the "manual/automatic shift" button is pressed and the mechanical gear is neutral. When the automatic driving automobile is in a manual mode, an emergency braking button is pressed, and when the mechanical gear is neutral, the manual mode is switched to a remote control mode; when the automatic driving automobile is in the remote control mode, a remote control exit button is pressed, a manual indicator lamp signal is stored and is in a manual state, and the remote control mode is switched to the manual mode. When the automatic driving automobile is in an autonomous mode, pressing an emergency brake, and switching the autonomous mode to a remote control mode; when the remote control mode is in the remote control mode, a remote control exit button is pressed, the manual and automatic indicator lamp signal is stored to be in an autonomous state, and the remote control mode is switched to the autonomous mode. The switching logic between the three modes can be seen in particular in fig. 7.

In summary, in the control system, method and microcontroller for an autopilot according to the present invention, the coprocessor 120 interrupts receiving the CAN message from the first CAN transceiver 210 to parse the CAN message, and interrupts receiving the I/O input message from the I/O interface 400 to parse the I/O input message, and then sends the parsed control message to the main processor 110, the main processor 110 processes the control message according to the preset arithmetic logic to obtain a corresponding control output instruction, and sends the control output instruction to the CAN controller 130, and the CAN controller 130 sends the control output instruction to the controller connected to the second CAN transceiver 220 through the second CAN transceiver 220, so as to control the controller connected to the second CAN transceiver 220 in communication, or the main processor 110 directly outputs the control output instruction to the controller connected to the I/O interface 400 through the I/O interface 400, so as to control the controller connected to the I/O interface 400.

In the invention, a control instruction (such as key operation) which does not belong to controlling the running of the vehicle is generated by the hard wire signal input circuit 800 and is input into the microcontroller 100, such as parking combination control information, a left turn light signal, a right turn light signal, a start key signal, a parking function start signal, an automatic mode emergency stop signal and the like, so that the problems of long control period and low control instantaneity caused by all control information coming from the upper computer system 600 when the unmanned vehicle runs are avoided; after the microcontroller 100 generates the corresponding control output instruction, the corresponding control output instruction is output to the corresponding vehicle controller through the I/O interface 400 and the second CAN transceiver 220, so that all the control output instructions are prevented from being sent to the corresponding vehicle controller through the CAN bus, the communication load between the upper computer system 600 and the microcontroller 100 is reduced, the communication load between the upper computer system 600 and each device connected to the CAN bus is also reduced, the communication efficiency between the upper computer system 600 and the microcontroller 100 and each device connected to the CAN bus in the vehicle is improved, the time for acquiring vehicle information by the upper computer system 600 is shortened, the control period of the vehicle is shortened, and the real-time performance and the reliability of the upper computer system 600 on the vehicle control are improved.

Further, in addition to the upper computer system 600 and the keys on the automatic driving automobile, the controller on the automobile can be controlled through the remote control transmitting end 710, so that a user can select a corresponding autonomous driving mode and a manual driving mode, a remote control driving mode can be selected, the main processor 110 can also switch different driving modes according to driving mode switching information from the I/O interface 400, when one driving mode fails, the automobile can be immediately switched to other driving modes, the safety of passengers and the automobile can be effectively protected, and the automobile test experiment can be conducted by the unmanned automobile.

Further, in the autonomous driving mode, the microcontroller 100 of the invention can also receive radar ranging signals through the I/O interface 400 to automatically park, without intervention of the upper computer system 600, has high intelligence, enriches functions of driving the automobile, does not need intervention of the upper computer system 600, accords with the design concept of function modularization, and is convenient for later development and maintenance.

The foregoing is a further detailed description of the invention in connection with the preferred embodiments, and it is not intended that the invention be limited to the specific embodiments described. It will be apparent to those skilled in the art that several simple deductions or substitutions may be made without departing from the spirit of the invention, and these should be considered to be within the scope of the invention.

Claims

1. A microcontroller for automatically driving an automobile, comprising: main processor, coprocessor and CAN controller, wherein:

the main processor is used for processing the control information to obtain a corresponding control output instruction, and sending the control output instruction to a second vehicle controller for controlling acousto-optic, starting and electronic parking of the automatic driving vehicle through an I/O interface, or sending the control output instruction to a first vehicle controller for controlling the automatic driving vehicle to run through the CAN controller;

the microcontroller is in communication connection with the hard-wire signal input circuit and receives an I/O input signal input by the hard-wire signal input circuit through an I/O interface, wherein the I/O input signal is a hard-wire signal for converting the key behaviors on the automatic driving automobile by the hard-wire signal input circuit; the hard-wire signal input circuit comprises: parking combination switch circuit, steering lamp combination switch circuit and one key start switch circuit.

2. A control system for an autopilot vehicle, comprising: first CAN transceiver, hard wire signal input circuit and microcontroller, wherein: the first CAN transceiver is used for receiving a CAN message sent by an upper computer system or a remote control device and sending the CAN message to the microcontroller;

The main processor is used for processing the control information to obtain a corresponding control output instruction, and sending the control output instruction to a second vehicle controller used for controlling acousto-optic, starting and electronic parking of the automatic driving vehicle through an I/O interface, or sending the control output instruction to a first vehicle controller used for controlling the automatic driving vehicle to run through the CAN controller;

the hard-wire signal input circuit comprises: parking combination switch circuit, steering lamp combination switch circuit and one key start switch circuit.

3. The control system for an autonomous vehicle of claim 2, wherein,

The turn signal lamp combination switch circuit is used for converting turn signal lamp switch key-press behaviors on the automatic driving automobile into corresponding turn signal lamp signals and outputting the turn signal lamp information to the microcontroller; the coprocessor is used for interrupting the receiving of the turn signal lamp, analyzing the turn signal lamp to obtain corresponding turn signal lamp control information, and outputting the turn signal lamp control information to the main processor; the main processor processes the steering lamp control information to obtain a corresponding steering lamp control output instruction, and sends the steering lamp control output instruction to an acousto-optic control module for controlling the acousto-optic of the automatic driving automobile

The one-key starting switch circuit is used for generating a corresponding starting key signal from one-key starting key action on the automatic driving automobile and outputting the starting key signal to the microcontroller; the coprocessor is used for interrupting receiving the starting key signal, analyzing the starting key information to obtain corresponding starting key control information, and outputting the starting key information to the main processor; and the main processor processes the starting key control information to obtain a corresponding starting key control output instruction, and sends the starting key control output instruction to a starting drive circuit for controlling the starting of the automatic driving automobile.

4. The control system of an automatic driving vehicle according to claim 2, wherein the hard-wired signal input circuit further comprises:

5. The autopilot control system of claim 4 further comprising:

6. The control system of an automatic driving vehicle according to claim 5, wherein the hard-wired signal input circuit further comprises:

7. The automated driving vehicle control system of claim 6, wherein the main processor is further configured to determine whether the first vehicle controller has a fault according to automated driving vehicle information returned by the first vehicle controller, and if so, send a parking stop command to the CAN controller; the CAN controller sends the parking stopping instruction to the first vehicle controller through the second CAN transceiver so as to control the first vehicle controller to stop parking.

8. The control system of an automatic driving vehicle according to claim 6, wherein the hard-wired signal input circuit further comprises:

9. A control method of an automatic driving automobile, characterized by being applied to the control system of an automatic driving automobile according to any one of claims 2-8, comprising the following steps:

10. The control method of an automatic driving automobile according to claim 9, further comprising the steps of:

11. The method of controlling an automatic driving vehicle according to claim 10, further comprising the steps of:

12. The control method of an automatic driving automobile according to claim 11, further comprising the steps of:

13. The method of controlling an automatic driving vehicle according to claim 12, further comprising the steps of:

14. The method of controlling an automatic driving vehicle according to claim 13, further comprising the steps of:

the main processor generates a corresponding emergency stop control instruction according to the emergency stop control information, packages the emergency stop control instruction and sends the emergency stop control instruction to the CAN controller, and the CAN controller sends the packaged emergency stop control instruction to the whole vehicle controller in the first vehicle controller through the second CAN transceiver.