CN108594636A - A kind of redundancy control system and method for automatic driving vehicle - Google Patents
A kind of redundancy control system and method for automatic driving vehicle Download PDFInfo
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Abstract
The present invention provides a kind of redundancy control system of automatic driving vehicle and method, which includes：Central computation unit, at least two redundant manipulators and motion control device；Wherein, the central computation unit, the operating parameter for acquiring vehicle to be controlled, and control data are sent to redundant manipulator described in each according to the operating parameter；Each described redundant manipulator for receiving the control data, and carries out logic verify to the control data and the control data is sent to the motion control device when the control data pass through logic verify；The motion control device, the control data sent for receiving each redundant manipulator, and determine whether each control data received are identical, if so, being controlled the vehicle to be controlled according to the control data.This programme can ensure the accuracy of control data and the reliability of automatic driving vehicle, to improve the safety of automatic driving vehicle.
Description
Technical field
The present invention relates to intelligent automobile technical field, more particularly to the redundancy control system of a kind of automatic driving vehicle and side
Method.
Background technology
With the development of science and technology, the development of Vehicular automatic driving technology is also very swift and violent.Due to vehicle drive and people
Personal safety it is closely bound up, therefore the safety of Vehicular automatic driving system also gets more and more people's extensive concerning.
In automatic driving vehicle, mainly pass through multiple operating parameters in control module collection vehicle operational process, example
Such as pavement behavior and vehicle driving parameters, then control module controls vehicle according to the operating parameter of acquisition, such as controls
Travel speed of the vehicle processed in next stroke.
Make it can be seen that the stability and reliability of control module play decision to the security performance of automatic driving vehicle
With, and currently without the method that the working condition to control module is monitored, after this may cause control module to break down,
It continues to send false command and cause to cause the safety of automatic driving vehicle relatively low to lose control of one's vehicle.
Invention content
An embodiment of the present invention provides a kind of redundancy control system of automatic driving vehicle and methods, can improve automatic Pilot
The safety of vehicle.
In a first aspect, an embodiment of the present invention provides a kind of redundancy control systems of automatic driving vehicle, including：Center meter
Calculate unit, at least two redundant manipulators and motion control device；Wherein,
The central computation unit, the operating parameter for acquiring vehicle to be controlled, and according to the operating parameter to every
One redundant manipulator sends control data；
Each described redundant manipulator carries out logic school for receiving the control data, and to the control data
It tests, when the control data pass through logic verify, the control data is sent to the motion control device；
The motion control device, the control data sent for receiving each redundant manipulator, and determine
Whether each control data received are identical, if so, being controlled to the vehicle to be controlled according to the control data
System.
Preferably,
Each described redundant manipulator, for when receiving the control data each time, generating the control number
According to corresponding timestamp；When this receives current control data, according to the corresponding timestamp of each control data, really
Fixed at least one history control data corresponding with the current control data；Wherein, the history control data are to receive
The control data received before the current control data；According to each history control data and preset vehicle control threshold
Value carries out logic verify to the current control data.
Preferably,
Each described redundant manipulator includes：Control threshold verifies subelement, most Value Data verification subelement and error
Verify subelement；Wherein,
The control threshold verifies subelement, for determining whether the current control data are not more than the vehicle control
Threshold value, if so, most Value Data described in triggering verifies subelement, otherwise, it determines the current control data do not pass through logic school
It tests；
The most Value Data verifies subelement, for determining that the most value in each history control data controls data；
Wherein, the most value control data bag includes minimum control data and maximum control data；And determine that the current control data are
It is no to be less than the minimum control data, if so, triggering the error checking subelement；Otherwise, it determines the current control number
According to whether be more than it is described it is maximum control data, if so, triggering the error checking subelement, otherwise determine the current control
Data pass through logic verify；
The error checking subelement, for determining the difference between the current control data and most value control data
Whether value is less than default error threshold, if so, determine the current control data by logic verify, it is otherwise determining described in work as
Preceding control data do not pass through logic verify.
Preferably,
The motion control device is further used for the quantity for the control data that determination receives, and described in determination
Whether the quantity for controlling data is more than preset amount threshold, if so, determining the quantity of the control data and the redundancy
Whether the quantity of controller is identical, if so, whether each control data for executing the determining reception are identical, otherwise,
It determines the redundant manipulator for not sending the control data, and is controlled the redundant manipulator determined as fault redundance
Device.
Preferably,
The motion control device is further used for after determining the fault redundance controller, generates exception
Reason instruction, and the exception handling instruction is sent to target redundancy controller；Wherein, the target redundancy controller is：Institute
State any other one or more redundancy in addition to the fault redundance controller at least two redundant manipulators
Controller；When receiving the exception information that the target redundancy controller is sent, exception is carried out to the vehicle to be controlled
Reason；Wherein, the abnormality processing includes：Reduce travel speed, pulling over observing and send out in alarm any one or it is more
Kind；
The target redundancy controller, for being repaiied to the fault redundance controller according to the exception handling instruction
It is multiple, and start timing, determine the restoration information that the fault redundance controller is sent whether is received in preset duration, such as
Fruit is that the restoration information is sent to the motion control device, otherwise, the exception is sent to the motion control device
Information；
Preferably,
The motion control device, when being further used for determining that each control data transformation is identical, to described
Vehicle to be controlled carries out the abnormality processing.
Second aspect, an embodiment of the present invention provides a kind of redundancy control systems pair provided using any of the above-described embodiment
The method that automatic driving vehicle is controlled, including：
The operating parameter of vehicle to be controlled is acquired using central computation unit, and superfluous to each according to the operating parameter
Remaining controller sends control data；
The control data are received using redundant manipulator described in each；
Logic verify is carried out to the control data, when the control data pass through logic verify, by the control number
According to being sent to motion control device；
The control data that each redundant manipulator is sent are received using the motion control device；
Determine whether each control data received are identical, if so, being waited for described according to the control data
Control vehicle is controlled.
Preferably,
It is described that logic verify is carried out to the control data, including：
Using redundant manipulator described in each when receiving the control data each time, affiliated control data are generated
Corresponding timestamp；
When this receives current control data, according to the corresponding timestamp of each control data, determination and institute
The corresponding at least one history control data of current control data are stated, and execute following steps；Wherein, the history controls data
For the control data that receive before receiving the current control data,
A1：Determine whether the current control data are not more than preset vehicle control threshold value, if so, A2 is executed, it is no
Then execute A8；
A2：Determine the most value control data in each history control data；Wherein, the most value control data bag includes
Minimum control data and maximum control data；
A3：Determine whether the current control data are less than the minimum control data and are otherwise held if so, executing A5
Row A6；
A5：Determine whether the difference between the current control data and most value control data is less than default error threshold
Otherwise value executes A8 if so, executing A7；
A6：Determine whether the current control data are more than the maximum control data and are otherwise held if so, executing A5
Row A7；
A7：Determine that the current control data pass through logic verify；
A8：Determine that the current control data do not pass through logic verify.
Preferably,
Before whether the determining each control data received are identical, further comprise：
The quantity for receiving the control data is determined using the motion control device；
Determine whether the quantity of the control data is more than preset amount threshold, if so, determining the control data
Quantity it is whether identical as the quantity of the redundant manipulator；
If so, whether each control data for executing the determining reception are identical, otherwise, it determines not sending described
The redundant manipulator of data is controlled, and using the redundant manipulator determined as fault redundance controller.
Preferably,
It is described using the redundant manipulator determined as fault redundance controller after, further comprise：
Exception handling instruction is generated using the motion control device, and it is superfluous that the exception handling instruction is sent to target
Remaining controller；Wherein, the target redundancy controller is：The fault redundance control is removed at least two redundant manipulator
Any other one or more redundant manipulator other than device processed；
The fault redundance controller is repaiied according to the exception handling instruction using the target redundancy controller
It is multiple, and start timing；
It determines and whether receives the restoration information that the fault redundance control is sent in preset duration, if so, will
The restoration information is sent to the motion control device, otherwise, exception information is sent to the motion control device；
When the motion control receives the exception information that the target redundancy controller is sent, to the vehicle to be controlled
Carry out abnormality processing；Wherein, the abnormality processing includes：It reduces travel speed, pulling over observing and sends out in alarm
Any one or more.
An embodiment of the present invention provides a kind of redundancy control system of automatic driving vehicle and method, central computation unit roots
According to collected operating parameter, corresponding control data are sent to each redundant manipulator, when each redundant manipulator determines
When control data pass through logic verify, motion control device is just transmitted control data to.Then, motion control device is in determination
When going out the control data all same that each redundant manipulator is sent, illustrate that each redundant manipulator and central computation unit are in
Normal operating condition, at this time motion control device just according to control data vehicle to be controlled is controlled, to ensure control number
According to accuracy and automatic driving vehicle traveling reliability, to improve the safety of automatic driving vehicle.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of structural representation of the redundancy control system of automatic driving vehicle provided by one embodiment of the present invention
Figure；
Fig. 2 is a kind of structural representation of the redundancy control system for automatic driving vehicle that another embodiment of the present invention provides
Figure；
Fig. 3 is a kind of flow chart of the redundancy control method of automatic driving vehicle provided by one embodiment of the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figure 1, an embodiment of the present invention provides a kind of redundancy control system of automatic driving vehicle, the Redundant Control
System may include：Central computation unit 101, at least two redundant manipulators 102 and motion control device 103；Wherein,
The central computation unit 101, the operating parameter for acquiring vehicle to be controlled, and according to the operating parameter to
Each described redundant manipulator sends control data；
Each described redundant manipulator 102 carries out logic for receiving the control data, and to the control data
The control data when the control data pass through logic verify, are sent to the motion control device 103 by verification；
The motion control device 103, the control data sent for receiving each redundant manipulator 102,
And determine whether each control data received are identical, if so, according to the control data to the vehicle to be controlled
It is controlled.
In above-described embodiment, corresponding control data are sent to by central computation unit according to collected operating parameter
Each redundant manipulator is just transmitted control data to when each redundant manipulator determines that control data pass through logic verify
Motion control device.Then, motion control device is said when determining the control data all same of each redundant manipulator transmission
Bright each redundant manipulator and central computation unit are in normal operating condition, and motion control device is just according to control number at this time
It is controlled according to vehicle to be controlled, to ensure the accuracy of control data and the reliability of automatic driving vehicle traveling, to
Improve the safety of automatic driving vehicle.
In one embodiment of the invention, each described redundant manipulator 102, for receiving the control each time
When data, the corresponding timestamp of the control data is generated；When this receives current control data, according to each control
The corresponding timestamp of data processed determines at least one history control data corresponding with the current control data；Wherein, described
History control data are the control data received before receiving the current control data；Number is controlled according to each history
According to preset vehicle control threshold value, logic verify is carried out to the current control data.
Specifically, as shown in Fig. 2, each described redundant manipulator includes：Control threshold verification subelement 1021 is most worth
Data check subelement 1022 and error checking subelement 1023；Wherein,
The control threshold verifies subelement 1021, for determining whether the current control data are not more than the vehicle
Control threshold, if so, most Value Data described in triggering verifies subelement 1022, otherwise, it determines the current control data are not led to
Cross logic verify；
The most Value Data verifies subelement 1022, for determining that the most value in each history control data controls number
According to；Wherein, the most value control data bag includes minimum control data and maximum control data；And determine the current control data
Whether the minimum control data are less than, if so, triggering the error checking subelement 1023；Otherwise, it determines described current
Otherwise whether control data are more than the maximum control data determines institute if so, triggering the error checking subelement 1023
It states current control data and passes through logic verify；
The error checking subelement 1023, for determining between the current control data and most value control data
Difference whether be less than default error threshold, if so, determine the current control data by logic verify, otherwise determining institute
It states current control data and does not pass through logic verify.
By taking the speed for automatically controlling vehicle as an example, when the quantity of redundant manipulator is two, two redundant manipulators
Input terminal is connected with the Decision Control output end of central computation unit, the output ends of two redundant manipulators respectively with motion control
Device is connected.Central computation unit get vehicle to be controlled real-time speed and running environment (such as surface evenness with
And adjacent driving vehicle) etc. after operating parameters, determine vehicle to be controlled lower a road section speed, according to determining down all the way
The speed of section generates control data, such as the control data are 10m/s, then by Decision Control output end to each redundancy control
Device processed exports the current control data (10m/s).Two redundant manipulators receive the current control conducive to the input terminal of itself respectively
Data processed, and the timestamp of the current control data is generated, such as redundant manipulator A is 12:00 receives the current control number
According to being 12 at the time of the timestamp that then generates refers to:00,12:The 00 control data being previously received are then the current control
The corresponding history of data controls data.
Before each redundant manipulator brings into operation, it is provided with one-time write in each redundant manipulator and can not change
Vehicle control threshold value, such as speed control threshold in vehicle control threshold value is 15m/s, receive current control data it
Afterwards, it is first determined whether current control data are not more than vehicle control threshold value, herein, as determine that the speed of lower a road section is
It is no to be more than speed control threshold, due to 10m/s<15m/s need to continue through history control data to be carried out to currently controlling data
Logic verify.For example, history speed control data bag includes：8m/s, 10m/s and 12m/s, then in history speed control data most
For the least dominating number according to being 8m/s, maximum control data are 12m/s.Determine whether current control data are less than most the least dominating number first
According to, herein, 10m/s>8m/s then continues to judge currently to control whether data are more than maximum control data, herein, 10m/s<
12m/s, then continue to judge whether the difference currently controlled between data and maximum control data is less than default error threshold, at this
In, if default error threshold is 3m/s, the current data that control are by logic verify, if default error threshold is 1m/s, when
Preceding control data do not pass through logic verify.
As a result, by carrying out logic verify to control data, it is ensured that the reasonability for controlling data avoids calculating due to center
After unit breaks down, generates unreasonable control data and reduce the reliability that automatic running vehicle travels.
In one embodiment of the invention, the motion control device 103 is further used for determining the control received
The quantity of data, and determine whether the quantity of the control data is more than preset amount threshold, if so, determining the control
Whether the quantity of data is identical as the quantity of the redundant manipulator, if so, executing the determining each control received
Whether data processed are identical, otherwise, it determines the redundant manipulator of the control data is not sent, and the redundancy control that will be determined
Device processed is as fault redundance controller.
After motion control device receives the control data that each redundant manipulator is sent, the number of control data is determined
Whether amount is more than preset amount threshold, if the quantity of the control data received is not more than preset amount threshold, illustrates
The control data received are very few, this may be since event occurs in the communication connection of each redundant manipulator and motion control device
Barrier, or correctly control data are not sent out since central computation unit breaks down, motion control device carries out different at this time
Often processing.If the quantity for controlling data is more than preset amount threshold, continue the quantity and Redundant Control that determine control data
Whether the quantity of device is identical, that is, judges whether each redundant manipulator has sent control data, if it is not, then control will not sent
The redundant manipulator of data processed is as fault redundance controller.It is thus achieved that central computation unit, redundant manipulator and movement
The cross monitoring of control device is conducive to the reliability for further ensureing automatic running vehicle.
In one embodiment of the invention, the motion control device 103 is further used for determining the fault redundance
After controller, exception handling instruction is generated, and the exception handling instruction is sent to target redundancy controller；Wherein, institute
Stating target redundancy controller is：Other in addition to the fault redundance controller at least two redundant manipulator
The one or more redundant manipulators of meaning；When receiving the exception information that the target redundancy controller is sent, to described
Vehicle to be controlled carries out abnormality processing；Wherein, the abnormality processing includes：It reduces travel speed, pulling over observing and sends out alarm
Any one or more in prompt；
The target redundancy controller, for being repaiied to the fault redundance controller according to the exception handling instruction
It is multiple, and start timing, determine the restoration information that the fault redundance controller is sent whether is received in preset duration, such as
Fruit is that the restoration information is sent to the motion control device, otherwise, the exception is sent to the motion control device
Information.
For example, when determining that fault redundance controller is redundant manipulator A, then motion control device generates abnormality processing and refers to
It enables, and exception handling instruction is sent to target redundancy controller B, target redundancy controller B can be according to exception handling instruction pair
Redundant manipulator A is repaired, such as is controlled redundant manipulator A according to exception handling instruction and restarted, when redundant manipulator A is restarted
After success, restoration information is sent to target redundancy controller B, so that target redundancy controller B knows that redundant manipulator A has been repaiied
Multiple success.Then, which is sent to motion control device by target redundancy controller B, so that motion control device is known
It is recovered normal to know redundant manipulator A.
If target redundancy controller B does not receive the restoration information that Redundant Control A is sent in preset duration, illustrate redundancy
More serious failure has occurred in controller A, and target redundancy controller B sends exception information to motion control device at this time, with
Motion control device is set to carry out abnormality processing according to this exception information, such as control vehicle to be controlled to reduce travel speed, keep to the side
Stop and send out alarm etc..As a result, in redundant manipulator, the mistake of central computation unit and motion control device cross monitoring
Cheng Zhong, however, it is determined that be out of order redundant manipulator, can be repaired automatically, and the automation journey of automatic driving vehicle thus can be improved
Degree is conducive to improve user experience.If fault redundance controller does not repair success in preset duration, exception can be carried out
Reason, to be conducive to ensure the traveling reliability of automatic driving vehicle.
Each redundant manipulator can be the lightweight built-in industrial control machine for meeting vehicle rule design, may include CPU, interior
It deposits, memory, black box and input/output port and independent power supply module, wherein black box can record control
Data and fault log can not be changed or be wiped, and be conducive to be managed each redundant manipulator.
In one embodiment of the invention, the motion control device 103 is further used for determining each control number
According to it is not exactly the same when, the abnormality processing is carried out to the vehicle to be controlled.
When motion control device determines that the control data that each redundant manipulator is sent differ, exception is also carried out
Reason, to ensure the accuracy of control data and the reliability of automatic driving vehicle.
As shown in figure 3, an embodiment of the present invention provides a kind of redundancy control systems provided using any of the above-described embodiment
To the method that automatic driving vehicle is controlled, this method may comprise steps of：
Step 301：Acquire the operating parameter of vehicle to be controlled using central computation unit, and according to the operating parameter to
Each redundant manipulator sends control data；
Step 302：The control data are received using redundant manipulator described in each；
Step 303：Logic verify is carried out to the control data, when the control data pass through logic verify, by institute
It states control data and is sent to motion control device；
Step 304：The control data that each redundant manipulator is sent are received using the motion control device；
Step 305：Determine whether each control data received are identical, if so, according to the control data
The vehicle to be controlled is controlled.
In one embodiment of the invention, the specific implementation mode of step 303 may include：
Using redundant manipulator described in each when receiving the control data each time, affiliated control data are generated
Corresponding timestamp；
When this receives current control data, according to the corresponding timestamp of each control data, determination and institute
The corresponding at least one history control data of current control data are stated, and execute following steps；Wherein, the history controls data
For the control data that receive before receiving the current control data,
A1：Determine whether the current control data are not more than preset vehicle control threshold value, if so, A2 is executed, it is no
Then execute A8；
A2：Determine the most value control data in each history control data；Wherein, the most value control data bag includes
Minimum control data and maximum control data；
A3：Determine whether the current control data are less than the minimum control data and are otherwise held if so, executing A5
Row A6；
A5：Determine whether the difference between the current control data and most value control data is less than default error threshold
Otherwise value executes A8 if so, executing A7；
A6：Determine whether the current control data are more than the maximum control data and are otherwise held if so, executing A5
Row A7；
A7：Determine that the current control data pass through logic verify；
A8：Determine that the current control data do not pass through logic verify.
In one embodiment of the invention, before step 305, it may further include：
The quantity for receiving the control data is determined using the motion control device；
Determine whether the quantity of the control data is more than preset amount threshold, if so, determining the control data
Quantity it is whether identical as the quantity of the redundant manipulator；
If so, whether each control data for executing the determining reception are identical, otherwise, it determines not sending described
The redundant manipulator of data is controlled, and using the redundant manipulator determined as fault redundance controller.
In one embodiment of the invention, it is described using the redundant manipulator determined as fault redundance controller after,
Further comprise：
Exception handling instruction is generated using the motion control device, and it is superfluous that the exception handling instruction is sent to target
Remaining controller；Wherein, the target redundancy controller is：The fault redundance control is removed at least two redundant manipulator
Any other one or more redundant manipulator other than device processed；
The fault redundance controller is repaiied according to the exception handling instruction using the target redundancy controller
It is multiple, and start timing；
It determines and whether receives the restoration information that the fault redundance control is sent in preset duration, if so, will
The restoration information is sent to the motion control device, otherwise, exception information is sent to the motion control device；
When the motion control receives the exception information that the target redundancy controller is sent, to the vehicle to be controlled
Carry out abnormality processing；Wherein, the abnormality processing includes：It reduces travel speed, pulling over observing and sends out in alarm
Any one or more.
The contents such as information exchange, the implementation procedure between each step in the above method, due to implementing with present system
Example is based on same design, and particular content can be found in the narration in present system embodiment, and details are not described herein again.
In conclusion each redundant manipulator is separately connected the central computation unit and motion control dress of automatic driving vehicle
It sets.When vehicle launch, central computation unit, each vehicle redundant manipulator carry out whether cross monitoring normally starts；Vehicle is transported
In dynamic, three mutually monitors its operating status in real time.If by monitoring, if equipment therein is monitored to abnormal, carry out
Abnormality processing, and intersect the fault recovery for carrying out equipment.During use, each redundant manipulator receives center and calculates list simultaneously
The control data that member is sent out carry out timestamp record, and will control data and the record of historical time stamp and vehicle control threshold value etc.
Logic verify is carried out, judges the logic reasonability for controlling data.Logic is reasonably controlled data by each redundant manipulator respectively
Output is to motion control device, if the control data of each redundant manipulator output are consistent, motion control device response control life
It enables, if inconsistent, carries out abnormality processing, to ensure the accuracy of control data and the reliability of automatic driving vehicle traveling.
The method can be applied to autonomous driving vehicle and intelligent network connection automobile etc., be led with evading information technoloy equipment failure in automatic driving vehicle
The risk out of control caused, to ensure that the automatic safe in autonomous driving vehicle operational process controls.
An embodiment of the present invention provides a kind of readable mediums, including execute instruction, when the processor of storage control executes
Described when executing instruction, the storage control executes the method that any of the above-described embodiment of the present invention provides.
An embodiment of the present invention provides a kind of storage controls, including：Processor, memory and bus；The memory
It is executed instruction for storing, the processor is connect with the memory by the bus, when the storage control is run
When, the processor executes the described of memory storage and executes instruction, so that the storage control executes in the present invention
The method that any embodiment offer is provided.
In conclusion more than the present invention each embodiment at least has the advantages that：
1, in embodiments of the present invention, central computation unit will control data accordingly according to collected operating parameter
It is sent to each redundant manipulator, when each redundant manipulator determines that control data pass through logic verify, will just control data
It is sent to motion control device.Then, motion control device is determining that the control data that each redundant manipulator is sent are homogeneous
Meanwhile illustrating that each redundant manipulator and central computation unit are in normal operating condition, motion control device ability root at this time
Vehicle to be controlled is controlled according to control data, is travelled with the accuracy and automatic driving vehicle that ensure control data reliable
Property, to improve the safety of automatic driving vehicle.
2, in embodiments of the present invention, by carrying out logic verify to control data, it is ensured that the reasonability for controlling data is kept away
Exempt from after being broken down due to central computation unit, generates unreasonable control data and reduce the reliable of automatic running vehicle traveling
Property.
3, in embodiments of the present invention, when motion control device receive control data that each redundant manipulator is sent it
Afterwards, determine whether the quantity of control data is more than preset amount threshold, if the quantity of the control data received is no more than pre-
If amount threshold, motion control device carry out abnormality processing.If the quantity for controlling data is more than preset amount threshold, after
Whether the continuous quantity for determining control data and the quantity of redundant manipulator are identical, if it is not, then the superfluous of control data will not sent
Remaining controller is as fault redundance controller.It is thus achieved that central computation unit, redundant manipulator and motion control device
Cross monitoring is conducive to the reliability for further ensureing automatic running vehicle.
4, in embodiments of the present invention, in redundant manipulator, central computation unit and motion control device cross monitoring
In the process, however, it is determined that be out of order redundant manipulator, can be repaired automatically, and the automation journey of automatic driving vehicle thus can be improved
Degree is conducive to improve user experience.If fault redundance controller does not repair success in preset duration, exception can be carried out
Reason, to be conducive to ensure the traveling reliability of automatic driving vehicle.
5, in embodiments of the present invention, when motion control device determines the control data of each redundant manipulator transmission not
When identical, abnormality processing is also carried out, with the further reliability for ensureing the accuracy and automatic driving vehicle that control data.
It should be noted that herein, such as first and second etc relational terms are used merely to an entity
Or operation is distinguished with another entity or operation, is existed without necessarily requiring or implying between these entities or operation
Any actual relationship or order.Moreover, the terms "include", "comprise" or its any other variant be intended to it is non-
It is exclusive to include, so that the process, method, article or equipment including a series of elements includes not only those elements,
But also include other elements that are not explicitly listed, or further include solid by this process, method, article or equipment
Some elements.In the absence of more restrictions, the element limited by sentence " including one ", is not arranged
Except there is also other identical factors in the process, method, article or apparatus that includes the element.
One of ordinary skill in the art will appreciate that：Realize that all or part of step of above method embodiment can pass through
The relevant hardware of program instruction is completed, and program above-mentioned can be stored in computer-readable storage medium, the program
When being executed, step including the steps of the foregoing method embodiments is executed；And storage medium above-mentioned includes：ROM, RAM, magnetic disc or light
In the various media that can store program code such as disk.
Finally, it should be noted that：The foregoing is merely presently preferred embodiments of the present invention, is merely to illustrate the skill of the present invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of redundancy control system of automatic driving vehicle, which is characterized in that including：It is central computation unit, at least two superfluous
Remaining controller and motion control device；Wherein,
The central computation unit, the operating parameter for acquiring vehicle to be controlled, and according to the operating parameter to each
The redundant manipulator sends control data；
Each described redundant manipulator carries out logic verify for receiving the control data, and to the control data, when
When the control data pass through logic verify, the control data are sent to the motion control device；
The motion control device, the control data sent for receiving each redundant manipulator, and determine and receive
Each control data it is whether identical, if so, being controlled the vehicle to be controlled according to the control data.
2. redundancy control system according to claim 1, which is characterized in that
Each described redundant manipulator, for when receiving the control data each time, generating the control data pair
The timestamp answered；When this receives current control data, according to the corresponding timestamp of each control data, determine and
The corresponding at least one history of the current control data controls data；Wherein, the history control data are described in reception
The control data received before current control data；Data and preset vehicle control threshold value are controlled according to each history,
Logic verify is carried out to the current control data.
3. redundancy control system according to claim 2, which is characterized in that
Each described redundant manipulator includes：Control threshold verifies subelement, most Value Data verification subelement and error checking
Subelement；Wherein,
The control threshold verifies subelement, for determining whether the current control data are not more than the vehicle control threshold
Value, if so, most Value Data described in triggering verifies subelement, otherwise, it determines the current control data do not pass through logic verify；
The most Value Data verifies subelement, for determining that the most value in each history control data controls data；Wherein,
The most value control data bag includes minimum control data and maximum control data；And determine whether the current control data are less than
The minimum control data, if so, triggering the error checking subelement；Otherwise, it determines the current control data whether
Otherwise determine that the current control data are logical if so, triggering the error checking subelement more than the maximum control data
Cross logic verify；
The error checking subelement, for determine it is described it is current control data and the most value control data between difference be
It is no to be less than default error threshold, if so, determining that the current control data by logic verify, otherwise determine the current control
Data processed do not pass through logic verify.
4. redundancy control system according to claim 1, which is characterized in that
The motion control device is further used for determining the quantity of the control data received, and determines the control
Whether the quantity of data is more than preset amount threshold, if so, determining the quantity of the control data and the Redundant Control
Whether the quantity of device is identical, if so, whether each control data for executing the determining reception are identical, otherwise, it determines
The redundant manipulator of the control data is not sent, and using the redundant manipulator determined as fault redundance controller.
5. redundancy control system according to claim 4, which is characterized in that
The motion control device is further used for after determining the fault redundance controller, generates abnormality processing and refers to
It enables, and the exception handling instruction is sent to target redundancy controller；Wherein, the target redundancy controller is：It is described extremely
Any other one or more Redundant Control in addition to the fault redundance controller in few two redundant manipulators
Device；When receiving the exception information that the target redundancy controller is sent, abnormality processing is carried out to the vehicle to be controlled；Its
In, the abnormality processing includes：It reduces travel speed, pulling over observing and sends out any one or more in alarm；
The target redundancy controller, for being repaired to the fault redundance controller according to the exception handling instruction,
And start timing, determine the restoration information that the fault redundance controller is sent whether is received in preset duration, if
It is that the restoration information is sent to the motion control device, otherwise, the abnormal letter is sent to the motion control device
Breath.
6. redundancy control system according to claim 5, which is characterized in that
The motion control device, when being further used for determining that each control data transformation is identical, to described to be controlled
Vehicle processed carries out the abnormality processing.
7. a kind of method that automatic driving vehicle is controlled using claim 1 to 6 any redundancy control system,
It is characterised in that it includes：
Acquire the operating parameter of vehicle to be controlled using central computation unit, and according to the operating parameter to each redundancy control
Device processed sends control data；
The control data are received using redundant manipulator described in each；
Logic verify is carried out to the control data, when the control data pass through logic verify, the control data are sent out
Give motion control device；
The control data that each redundant manipulator is sent are received using the motion control device；
Determine whether each control data received are identical, if so, according to the control data to described to be controlled
Vehicle is controlled.
8. the method according to the description of claim 7 is characterized in that
It is described that logic verify is carried out to the control data, including：
Using redundant manipulator described in each when receiving the control data each time, generates affiliated control data and correspond to
Timestamp；
When this receives current control data, according to the corresponding timestamp of each control data, determines and work as with described
The corresponding at least one history of preceding control data controls data, and executes following steps；Wherein, history control data be
The control data received before the current control data are received,
A1：It determines whether the current control data are not more than preset vehicle control threshold value, if so, executing A2, otherwise holds
Row A8；
A2：Determine the most value control data in each history control data；Wherein, the most value control data bag includes minimum
Control data and maximum control data；
A3：Determine whether the current control data are less than the minimum control data and otherwise execute A6 if so, executing A5；
A5：Determine whether the difference between the current control data and most value control data is less than default error threshold,
If so, executing A7, A8 is otherwise executed；
A6：Determine whether the current control data are more than the maximum control data and otherwise execute A7 if so, executing A5；
A7：Determine that the current control data pass through logic verify；
A8：Determine that the current control data do not pass through logic verify.
9. the method according to the description of claim 7 is characterized in that
Before whether the determining each control data received are identical, further comprise：
The quantity for receiving the control data is determined using the motion control device；
Determine whether the quantity of the control data is more than preset amount threshold, if so, determining the number of the control data
Whether amount is identical as the quantity of the redundant manipulator；
If so, whether each control data for executing the determining reception are identical, otherwise, it determines not sending the control
The redundant manipulator of data, and using the redundant manipulator determined as fault redundance controller.
10. according to the method described in claim 9, it is characterized in that,
It is described using the redundant manipulator determined as fault redundance controller after, further comprise：
Exception handling instruction is generated using the motion control device, and the exception handling instruction is sent to target redundancy control
Device processed；Wherein, the target redundancy controller is：The fault redundance controller is removed at least two redundant manipulator
Any other one or more redundant manipulator in addition；
The fault redundance controller is repaired according to the exception handling instruction using the target redundancy controller, and
Start timing；
It determines and whether receives the restoration information that the fault redundance control is sent in preset duration, if so, will be described
Restoration information is sent to the motion control device, otherwise, exception information is sent to the motion control device；
When the motion control receives the exception information that the target redundancy controller is sent, to the vehicle to be controlled into
Row abnormality processing；Wherein, the abnormality processing includes：It reduces travel speed, pulling over observing and sends out arbitrary in alarm
It is one or more.
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| CN109901381A (en) * | 2019-02-28 | 2019-06-18 | 重庆零壹空间航天科技有限公司 | A kind of rocket flight data redundancy processing system and method |
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