CN109308067A - A kind of pilotless automobile chassis drive system backup method - Google Patents
A kind of pilotless automobile chassis drive system backup method Download PDFInfo
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- CN109308067A CN109308067A CN201811351258.0A CN201811351258A CN109308067A CN 109308067 A CN109308067 A CN 109308067A CN 201811351258 A CN201811351258 A CN 201811351258A CN 109308067 A CN109308067 A CN 109308067A
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- vehicle
- drive system
- drive
- pilotless automobile
- automobile chassis
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of pilotless automobile chassis drive system backup methods, include: initialization, obtain external information and intelligent decision, fault detection, drive system performance degradation, system execution control instruction, to realize the back-up job of vehicle drive system, prevent vehicle drive system from going wrong rear vehicle the phenomenon that paralysing immediately, causing traffic accident or traffic congestion generation.
Description
Technical field
The present invention relates to a kind of pilotless automobile chassis drive system backup methods, and in particular to one kind has highly reliable
The carrying out safety backup method of the automatic driving vehicle chassis drive system of property.
Background technique
With the development and propulsion of unmanned technology, automatic driving vehicle chassis structure is increasingly becomed with control method
Instantly research hotspot, the relevant technologies achievement is also constantly to marketing.Common unmanned chassis structure is based on biography
The chassis of system vehicle is reequiped, and the drive system of vehicle is monistic drive system, once drive system breaks down, vehicle
It then runs out of steam and to be unable to complete normal traveling.
Driver is not present in pilotless automobile, vehicle cannot timely take maintenance and emergency measure once paralysing,
It is easy to produce traffic accident and traffic congestion.
Summary of the invention
To solve the above-mentioned problems, the present invention provides a kind of pilotless automobile chassis drive system backup method.
Include:
A. it initializes: completing to power on vehicle movement, Unmanned Systems' starting, and complete system initialization,
B. obtain external information and intelligent decision: domain controller receives external information and order, and completes corresponding analysis
It calculates,
C. fault detection: fault detection is carried out to pilotless automobile chassis drive system, is entered if without failure
Step e, if there is problem, system then carries out performance degradation step d,
D. drive system performance degradation: vehicle drive system carries out different degradation strategies for different fault modes,
E. system executes control instruction: each executing agency of pilotless automobile completes corresponding control instruction, and constantly will
Vehicle real time is fed back into domain controller；
The drive system performance degradation includes:
When the first line traffic control driving device or a set of drive system failure of the second drive-by-wire device, another set of driving system
System complete independently drive command, vehicle continue to current driving status, and alert is stopped after completing assigned tasks
Waiting is repaired；
When the first line traffic control driving device and the second drive-by-wire device simultaneous faults, vehicle carries out current vehicle body inertia
Assessment.When meeting by side condition, vehicle keeps to the side to stop；When being unsatisfactory for by side condition, ramp to stop at once.Vehicle deceleration stops
Alert and vehicle location while vehicle, waiting are repaired；
Or any one in above two countermeasure.
More preferred, the alert includes:
By the acoustic-optic alarm alert of vehicle itself,
Vehicle trouble warning message is sent to terminal platform by way of vehicle remote data interaction；
More preferred, the system executes control instruction and includes:
Vehicle is driven, including advances, retreat,
Vehicle is turned to,
Vehicle is braked, parking.
Detailed description of the invention
Fig. 1 is automatic driving vehicle chassis system structural schematic diagram
Fig. 2 is automatic driving vehicle chassis system control flow chart
Fig. 3 is drive system performance degradation flow chart
Specific embodiment
Pilotless automobile chassis drive system backup method of the invention is described in detail with reference to the accompanying drawing.
Fig. 1 is automatic driving vehicle chassis system structural schematic diagram, including domain controller 100, drive-by-wire chassis 200, line traffic control
Chassis master controller 300, safe pilot controller 400, drive-by-wire chassis 200 include the driving dress of first driving device 211, second again
Set the 212, first steer by wire apparatus 221, the second steer by wire apparatus 222, line control brake system 230, electronic brake dress
240, power supply system 250 is set, line control brake system 230 includes including brake-by-wire device 231 and wheel cylinder 232, power supply again
System 250 includes the first power supply system 251 and the second power supply system 252 again.
The signal data that wherein domain controller 100 is mainly passed to outside is handled, judged and is analyzed, and is ultimately formed certainly
Drive-by-wire chassis master controller 300 and safe pilot controller 400 are distributed in plan order；
Drive-by-wire chassis 200 includes driving device 210, transfer 220 and line control brake system 230, electronic parking system
Dynamic device 240, and these devices can independent control, while drive-by-wire chassis 200 further includes power supply system 250, brake-by-wire system
System 230 includes brake-by-wire device 231 (BBW) and wheel cylinder 232.
Wherein, driving device 210 includes first driving device 211 and the second driving device 212；
Wherein, transfer 220 includes the first steer by wire apparatus 221 and the second steer by wire apparatus 222；
Drive-by-wire chassis master controller 300 is by receiving domain controller 100, safe pilot controller 400, drive-by-wire chassis 200
The control instruction information and car status information that interior each system and device is sent control first driving device 211, the first steering-by-wire
Device 221 and line control brake system 230；Safe pilot controller 400 is by receiving domain controller 100, drive-by-wire chassis main control
The control instruction information and car status information that each system and device is sent in device 300, drive-by-wire chassis 200 control the second driving device
212, the second steer by wire apparatus 222 and electronic brake device 240；
Relevant information is fed back to domain controller 100 and drive-by-wire chassis master controller 300 by safe pilot controller 400；Line
Control chassis master controller 300 and safe pilot controller 400 can both cooperate, and can also work independently；
Fig. 2 is automatic driving vehicle chassis system control flow chart, and Fig. 3 is then to drop in Fig. 2 to drive system performance
The control flow chart that grade is further spread out.
Domain controller 100 receives external information and order, and carries out comprehensive analysis to information, form decision and send control
System instruction is to drive-by-wire chassis master controller 300 and safe pilot controller 400.
The upper control command information of the reception domain controller 100 of drive-by-wire chassis master controller 300 and safe pilot controller
400 auxiliary sent drive information of vehicles, according to dynamics of vehicle and kinematics characteristic, send control instruction and assist controlling to safety
Device 400 processed, and line control brake system 230, the first steer by wire apparatus 221 and first driving device 211 are controlled, realize vehicle
Dynamics and kinematics control
Safe pilot controller 400 receive the control instruction that domain controller 100 and drive-by-wire chassis master controller 300 send,
The information such as peripheral environment, vehicle-state are modified simultaneously the control instruction of vehicle by assisting the verifying of control algolithm safely
Drive-by-wire chassis master controller 300 is fed back to, while controlling electronic brake device 240, the second steer by wire apparatus 222 and
Two driving devices 212, cooperation drive-by-wire chassis master controller 400 realize the dynamics and kinematics control of vehicle.
Drive-by-wire chassis master controller 300 and safe pilot controller 400 Collaborative Control vehicle in the case where working properly
State, realize high-freedom degree, high-comfort, high security, low energy consumption drive demand, when one of controller fail
When, another set of controller can control a set of line control system executing agency in drive-by-wire chassis, realize the failure of vehicle drive system
The needs of backup, various driving performances degrade when meeting vehicle trouble.
Specific method the following steps are included:
A. it initializes: completing to power on vehicle movement, Unmanned Systems' starting, and complete system initialization,
B. obtain external information and intelligent decision: domain controller 100 receives external information and order, and completes corresponding point
Analysis calculates,
C. fault detection: to pilotless automobile chassis drive system 210 carry out fault detection, if without failure into
Enter step e, if there is problem, system then carries out performance degradation step d,
D. drive system performance degradation: vehicle drive system carries out different degradation strategies for different fault modes,
E. system executes control instruction: each executing agency of pilotless automobile completes corresponding control instruction, and constantly will
Vehicle real time is fed back into domain controller；
The drive system performance degradation includes:
It is another when a set of drive system failure in the first line traffic control driving device 211 or the second drive-by-wire device 212
Drive system complete independently drive command is covered, vehicle continues to current driving status, and alert completes set
Stop-for-waiting is repaired after business；
When the first line traffic control driving device 211 and the second drive-by-wire 212 simultaneous faults of device, vehicle comments inertia
Estimate, meet and lean on side condition, vehicle executes pulling over observing, is simultaneously emitted by warning message and vehicle location, and waiting is repaired；When being unsatisfactory for
When by side condition, vehicle ramp to stop at once is simultaneously emitted by warning message and vehicle location, and waiting is repaired；
Or any one in above two countermeasure.
More preferred, the alert includes:
By the acoustic-optic alarm alert of vehicle itself,
Vehicle trouble warning message is sent to terminal platform by way of vehicle remote data interaction；
More preferred, the system executes control instruction and includes:
Vehicle is driven, including advances, retreat,
Vehicle is turned to,
Vehicle is braked, parking.
Executing control instruction to the system may include:
By the driving device 210 of vehicle, vehicle is driven, drive mode includes advancing, retreating；
By the transfer 220 of vehicle, course changing control is carried out to vehicle；
By the line control brake system 230 of vehicle, the control for brake of vehicle is completed；
By the electronic brake device 240 of vehicle, the parking parking toll of vehicle is completed.
Claims (7)
1. a kind of pilotless automobile chassis drive system backup method, which comprises the following steps:
A. it initializes: completing to power on vehicle movement, Unmanned Systems' starting, and complete system initialization,
B. obtain external information and intelligent decision: domain controller receives external information and order, and completes corresponding analytical calculation,
C. fault detection: fault detection is carried out to pilotless automobile chassis drive system, is entered step if without failure
E, if there is problem, system then carries out performance degradation step d,
D. drive system performance degradation: vehicle drive system carries out different degradation strategies for different fault modes,
E. system executes control instruction: each executing agency of pilotless automobile completes corresponding control instruction, and constantly by vehicle
Real time information is fed back into domain controller.
2. pilotless automobile chassis drive system backup method according to claim 1, the drive system performance
Degradation includes:
When the first line traffic control driving device or a set of drive system failure of the second drive-by-wire device, another set of drive system is only
Vertical to complete drive command, vehicle continues to current driving status, and alert completes stop-for-waiting after assigned tasks
It repairs.
3. pilotless automobile chassis drive system backup method according to claim 1, the drive system performance
Degradation includes:
When the first line traffic control driving device and the second drive-by-wire device simultaneous faults, vehicle assesses inertia, and selection is not
Same ramp to stop strategy, and alert and vehicle location, waiting are repaired.
4. ramp to stop strategy according to claim 3 includes:
When vehicle inertia meets pulling over observing condition, vehicle executes pulling over observing at once, when vehicle is unsatisfactory for by side condition,
Vehicle ramp to stop at once.
5. pilotless automobile chassis drive system backup method according to claim 1, the drive system performance
Degradation includes:
When the first line traffic control driving device or a set of drive system failure of the second drive-by-wire device, another set of drive system is only
Vertical to complete drive command, vehicle continues to current driving status, and alert completes stop-for-waiting after assigned tasks
It repairs；
When the first line traffic control driving device and the second drive-by-wire device simultaneous faults, and when meeting pulling over observing condition, vehicle is vertical
It carves and executes pulling over observing, and alert and vehicle location, waiting is repaired；
When the first line traffic control driving device and the second drive-by-wire device simultaneous faults, and when being unsatisfactory for pulling over observing condition, vehicle
Ramp to stop, and alert and vehicle location are executed at once, and waiting is repaired.
6. pilotless automobile chassis drive system backup method according to claim 2 or 3, the sending alarm signal
Breath includes:
By the acoustic-optic alarm alert of vehicle itself,
Vehicle trouble warning message is sent to terminal platform by way of vehicle remote data interaction.
7. any one pilotless automobile chassis drive system backup method described in -5 according to claim 1, described is
System executes control instruction
Vehicle is driven, including advances, retreat,
Vehicle is turned to,
Vehicle is braked, parking.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811351258.0A CN109308067A (en) | 2018-11-12 | 2018-11-12 | A kind of pilotless automobile chassis drive system backup method |
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| CN201811351258.0A CN109308067A (en) | 2018-11-12 | 2018-11-12 | A kind of pilotless automobile chassis drive system backup method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114326476A (en) * | 2021-11-30 | 2022-04-12 | 际络科技(上海)有限公司 | Degradation control method and system for automatic driving controller |
| CN114701470A (en) * | 2022-04-12 | 2022-07-05 | 福建盛海智能科技有限公司 | Double-line control brake system and method for unmanned vehicle |
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Patent Citations (6)
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| JPH09288516A (en) * | 1996-04-19 | 1997-11-04 | Aoki Corp | Unmanned vehicle relieving method |
| CN101078933A (en) * | 2006-05-26 | 2007-11-28 | 都灵无线基金会 | Plastic optical fiber network for electronic cotrol units and power electronics in by-wire vehicles |
| CN105691209A (en) * | 2016-04-08 | 2016-06-22 | 同济大学 | Electrical system for controller with distribution type architecture and power supply redundancy electric intelligent vehicle |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114326476A (en) * | 2021-11-30 | 2022-04-12 | 际络科技(上海)有限公司 | Degradation control method and system for automatic driving controller |
| CN114701470A (en) * | 2022-04-12 | 2022-07-05 | 福建盛海智能科技有限公司 | Double-line control brake system and method for unmanned vehicle |
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| CB02 | Change of applicant information |
Address after: Room 1110-b, 11 / F, building 5, 2266 Taiyang Road, high speed rail new town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant after: Qingzhi automobile technology (Suzhou) Co.,Ltd. Address before: No. 15, Hongcheng Road, Huaming high tech Zone, Dongli District, Tianjin Applicant before: TIANJIN TSINTEL TECHNOLOGY Co.,Ltd. |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190205 |
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| RJ01 | Rejection of invention patent application after publication |