CN109334590A - Pilotless automobile chassis control method, apparatus, equipment and storage medium - Google Patents
Pilotless automobile chassis control method, apparatus, equipment and storage medium Download PDFInfo
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- CN109334590A CN109334590A CN201811008847.9A CN201811008847A CN109334590A CN 109334590 A CN109334590 A CN 109334590A CN 201811008847 A CN201811008847 A CN 201811008847A CN 109334590 A CN109334590 A CN 109334590A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
Abstract
The present invention provides a kind of pilotless automobile chassis control method, apparatus, equipment and storage medium, when module by detecting main system existence exception in hot-backup system, truncation instruction is sent to control unit, so that control unit judges whether truncation instruction belongs to preset instructions set, the abnormal module of main system is truncated to the specific data that chassis system is sent according to truncation instruction if belonging to.Method of the invention can control hot-backup system adapter tube main system when main system occurs abnormal in time and control chassis system, and safety with higher.Furthermore can also realize can restore main system to the control of chassis system when main system is restored in time.
Description
Technical field
The present invention relates to field of communication technology more particularly to a kind of pilotless automobile chassis control method, apparatus, equipment
And storage medium.
Background technique
Pilotless automobile is a kind of unpiloted to realize by the interior smart machine based on computer system
Automobile integrates numerous technologies such as automatic control, architecture, artificial intelligence, vision calculating, is computer science, mode
The product of identification and intelligent control technology high development, and measure a national research strength and one of industrial level is important
Mark, has broad application prospects in national defence and national economy field.Development side of the automatic driving vehicle as future automobile
To being extensively studied by countries in the world.
In the prior art in order to guarantee the reliability of pilotless automobile system, hot-backup system is commonly provided with to monitor principal series
The abnormal conditions of system, when main system is abnormal, adapter tube main system carry out to chassis system control to control vehicle
Operation.But when vehicle chassis control and main system are restored by hot-backup system adapter tube main system in the prior art
Control can not be controlled accurately, therefore be a problem to be solved.
Summary of the invention
The present invention provides a kind of pilotless automobile chassis control method, apparatus, equipment and storage medium, with can be in master
System controls hot-backup system adapter tube main system when occurring abnormal in time and controls chassis system, and safety with higher
Property.
The first aspect of the present invention is to provide a kind of pilotless automobile chassis control method, and the pilotless automobile is set
It is equipped with main system, hot-backup system and control unit, which comprises
Described control unit receives the hot-backup system in detecting the main system when module of existence exception
The truncation of transmission instructs, and the truncation instruction includes the module id and truncation content of the module；
Described control unit judges whether the truncation instruction belongs to preset instructions set；
If belonging to, described control unit is truncated in the main system and the module id pair according to the module id
The specific data that the module answered is sent to chassis system, the specific data are data corresponding with the truncation content.
The second aspect of the present invention is to provide one kind, the pilotless automobile be provided with main system, hot-backup system and
Control unit, which comprises
The hot-backup system detects each module status of the main system；
When the hot-backup system detects that any module status of the main system is abnormal, then to described control unit transmission
Truncation instruction, the truncation instruction includes the module id and truncation content of the module, so that described control unit judges
Whether the truncation instruction belongs to preset instructions set, is truncated in the main system and institute if belonging to according to the module id
The specific data that the corresponding module of module id is sent to chassis system is stated, the specific data is corresponding with the truncation content
Data.
The third aspect of the present invention is to provide a kind of pilotless automobile chassis control device, and the pilotless automobile is set
It is equipped with main system, hot-backup system and control unit, described device includes:
Receiving module, for receiving the hot-backup system in detecting the main system when module of existence exception
The truncation of transmission instructs, and the truncation instruction includes the module id and truncation content of the module；
Judgment module, for judging whether the truncation instruction belongs to preset instructions set；
Processing module, if the master is truncated according to the module id for judging to belong to the preset instructions set
The specific data that module corresponding with the module id is sent to chassis system in system, the specific data are and described section
The disconnected corresponding data of content.
The fourth aspect of the present invention is to provide a kind of pilotless automobile chassis control device, and the pilotless automobile is set
It is equipped with main system, hot-backup system and control unit, described device includes:
Detection module, for detecting each module status of the main system；
Sending module, for when any module status exception for detecting the main system, then being sent out to described control unit
Truncation is sent to instruct, the truncation instruction includes the module id and truncation content of the module, so that described control unit is sentenced
Whether truncation instruction of breaking belongs to preset instructions set, if belonging to according to the module id be truncated in the main system with
The specific data that the corresponding module of the module id is sent to chassis system, the specific data are and the truncation content pair
The data answered.
The fifth aspect of the present invention is to provide a kind of control unit, comprising:
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor with reality
Now method as described in relation to the first aspect.
The sixth aspect of the present invention is to provide a kind of hot-backup system, comprising:
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor with reality
The now method as described in second aspect.
The seventh aspect of the present invention is to provide a kind of computer readable storage medium, is stored thereon with computer program；
Method as described in relation to the first aspect is realized when the computer program is executed by processor.
The eighth aspect of the present invention is to provide a kind of computer readable storage medium, is stored thereon with computer program；
The method as described in second aspect is realized when the computer program is executed by processor.
Pilotless automobile chassis control method, apparatus, equipment and storage medium provided by the invention, by hot standby system
When system detects the module of main system existence exception, truncation instruction is sent to control unit, so that control unit judgement is cut
Whether severed finger order belongs to preset instructions set, if belonging to according to truncation instruction to the abnormal module of main system to chassis system
The specific data of transmission is truncated.Method of the invention can control hot-backup system adapter tube in time when main system occurs abnormal
Main system controls chassis system, and safety with higher.
Detailed description of the invention
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 technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is pilotless automobile chassis control method flow diagram provided in an embodiment of the present invention；
Fig. 2 be another embodiment of the present invention provides pilotless automobile chassis control method flow diagram；
Fig. 3 be another embodiment of the present invention provides pilotless automobile chassis control method flow diagram；
Fig. 4 is the structure chart of pilotless automobile chassis control device provided in an embodiment of the present invention；
Fig. 5 be another embodiment of the present invention provides pilotless automobile chassis control device structure chart；
Fig. 6 is the structure chart of control unit provided in an embodiment of the present invention；
Fig. 7 is the structure chart of hot-backup system provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Pilotless automobile chassis control method provided by the invention, can be adapted for pilotless automobile system, wherein
The pilotless automobile is provided with main system, hot-backup system and control unit, and main system and hot-backup system can be to chassis
System sends control data, and wherein hot-backup system is used to monitor the state of main system, and master is taken over when main system is abnormal
System carries out chassis control.Pilotless automobile system can be based on ROS (Robot Operating System, robot manipulation
System) communications framework, other communications frameworks can also be used certainly, details are not described herein again.Below with reference to specific embodiment pair
Pilotless automobile chassis control process is described in detail.
Fig. 1 is pilotless automobile chassis control method flow diagram provided in an embodiment of the present invention.It present embodiments provides
A kind of pilotless automobile chassis control method, executing subject are control unit, and specific step is as follows for this method:
S101, described control unit receive the mould of hot-backup system existence exception in detecting the main system
The truncation instruction sent when block, the truncation instruction include the module id and truncation content of the module.
In the present embodiment, hot-backup system can in real-time detection main system each module state, wherein module may include:
The environmental perception modules such as radar module, image capture module, locating module and path planning module, vehicle oneself state are adopted
Collect module, vehicle control module etc..Wherein hot-backup system can also pass through publish/subscribe by the way of active detecting
The data that mode subscribes to each module publication of main system are passively detected.When hot-backup system detects a certain module of main system
When abnormal state, then truncation instruction being sent to control unit, truncation instruction includes the module id and truncation content of the module,
Wherein truncation content is for indicating which data is truncated.
S102, described control unit judge whether the truncation instruction belongs to preset instructions set.
In the present embodiment, a preset instructions set is previously stored in control unit, wherein preset instructions set is recorded
Which data of which module can be restored after being truncated and being truncated.Refer to when control unit receives truncation
After order, module id and truncation content are parsed, preset instructions set is further searched for.By described in judgement in the present embodiment
Whether truncation instruction, which belongs to preset instructions set, can decide whether it is the truncation instruction sent by hot-backup system, namely to hot standby
The identity of system is verified, and is avoided the data that main system is truncated by hackers, is improved the safety of pilotless automobile system
Property.It may also comprise other verification informations to hot-backup system authentication in truncation instruction in certain the present embodiment, have control single
Member carries out authentication according to verification information.
If S103, belonging to, described control unit is truncated in the main system and the module according to the module id
The specific data that corresponding module is sent to chassis system is identified, the specific data is number corresponding with the truncation content
According to.
In the present embodiment, when the truncation instruction that control unit judgement receives belongs to preset instructions set, then explanation should
Truncation instruction is sent by hot-backup system, then instructs the abnormal module that the main system is truncated to send out to chassis system according to truncation
The specific data sent, the specific data are corresponding with the truncation content, for example, may be to chassis system for abnormal module
System sends A data and B data, but to detect that A data that the abnormal module is sent exist abnormal for hot-backup system, and B data
Normally, then control unit control is truncated the abnormal module and sends A data to chassis system, without B data, and then chassis system is truncated
System is only capable of receiving the B data of abnormal module transmission, the A data without receiving abnormal module transmission again.
Pilotless automobile chassis control method provided in this embodiment, by detecting that main system exists in hot-backup system
When the module of abnormal state, to control unit send truncation instruction so that control unit judge truncation instruct whether belong to it is default
Instruction set carries out the specific data that the abnormal module of main system is sent to chassis system according to truncation instruction if belonging to
Truncation.The method of the present embodiment can control hot-backup system adapter tube main system to chassis system when main system occurs abnormal in time
It is controlled, and safety with higher.
On the basis of the above embodiments, further, may also include that after S103
Described control unit controls the hot-backup system and starts hot standby module corresponding with the module id, described in adapter tube
Module corresponding with the module id in main system sends data corresponding with the truncation content to the chassis system.
In the present embodiment, it after the specific data of the abnormal module in main system has been truncated in control system, controls hot standby
The corresponding module of system starts and sends the specific data to chassis system, so that hot-backup system adapter tube main system.Certainly,
Control unit can not also control the corresponding module starting of hot-backup system, but directly control pilotless automobile and stop, or
The control of person's others, details are not described herein again.
On the basis of the above embodiments, further, as shown in Fig. 2, the pilotless automobile chassis system controls
Method may also include that
S201, described control unit receive the module status that the hot-backup system is truncated in detecting the main system
The recovery instruction sent when restoring normal, it is described to restore the module id and restore content that instruction includes the module；
S202, described control unit judge whether the recovery instruction belongs to the preset instructions set；
If S203, belonging to, described control unit according to the module id restore in the main system with the module mark
Know the specific data that corresponding module is sent to the chassis system, the specific data is number corresponding with the recovery content
According to.
The process of main system recovery is provided in the present embodiment, with above-mentioned S101-S203 the step of is similar.Specifically
, the state of each module in hot-backup system real-time detection main system, when detecting that abnormal module (namely is truncated in main system
Module) state restore it is normal when, then to control unit send restore instruction, restore instruction include the module module id with
And restore content；Judge to restore whether instruction belongs to preset instructions likewise, control unit passes through when receiving and restoring instruction
Set verifies the identity of hot-backup system, improves nobody so that judging whether is the recovery instruction sent by hot-backup system
The safety of driving system.The verification information to hot-backup system authentication can also be similarly carried in restoring instruction.
Belong to preset instructions set when the recovery that control unit judgement receives instructs, then illustrates that recovery instruction is sent out by hot-backup system
It send, then according to the specific data for restoring that the abnormal module for restoring the main system is instructed to send to chassis system.For example,
A data and B data are truncated for abnormal module, but hot-backup system only detects that A data restore normal, then control unit is only
Restore data A, without restoring data B.
Further, mould corresponding with the module id in the main system is restored according to the module id described
After the specific data that block is sent to the chassis system, further includes:
Described control unit controls the hot-backup system and stops hot standby module corresponding with the module id to the bottom
Disc system sends data corresponding with the recovery content.
In the present embodiment, after the specific data that control unit has restored the module being truncated in main system, then controllably
The hot standby module for making current hot-backup system adapter tube stops sending the specific data to chassis system.It through the above scheme can be in master
System restores main system to the control of chassis system when restoring in time.
Fig. 3 is pilotless automobile chassis control method flow diagram provided in an embodiment of the present invention.It present embodiments provides
A kind of pilotless automobile chassis control method, executing subject are hot-backup system, and specific step is as follows for this method:
S301, the hot-backup system detect each module status of the main system.
S302, detect that any module status of the main system is abnormal when the hot-backup system, then singly to the control
Member sends truncation instruction, and the truncation instruction includes the module id and truncation content of the module, so that the control is single
Member judges whether the truncation instruction belongs to preset instructions set, and the main system is truncated according to the module id if belonging to
In the specific data that is sent to chassis system of module corresponding with the module id, the specific data be in the truncation
Hold corresponding data.
The method of the pilotless automobile chassis control method and above-mentioned control unit side that provide in the present embodiment is implemented
Example is corresponding, and technical effect having the same, details are not described herein again.
Further, the method also includes:
The hot-backup system starts hot standby module corresponding with the module id, take in the main system with the mould
The corresponding module of block identification sends data corresponding with the truncation content to the chassis system.
Further, the method also includes:
When the hot-backup system detects that the module status being truncated restores normal, then to described control unit transmission recovery
Instruction, it is described to restore the module id and restore content that instruction includes the module, so that described in described control unit judgement
Restore whether instruction belongs to the preset instructions set, if belonging to according to the module id restore in the main system with institute
The specific data that the corresponding module of module id is sent to the chassis system is stated, the specific data is and the recovery content
Corresponding data.
Further, described control unit according to the module id restore in the main system with the module id
After the specific data that corresponding module is sent to chassis system, further includes:
The hot-backup system stop hot standby module corresponding with the module id to chassis system transmission with it is described
Restore the corresponding data of content.
The method of the pilotless automobile chassis control method and above-mentioned control unit side that provide in the present embodiment is implemented
Example is corresponding, and technical effect having the same, details are not described herein again.
Pilotless automobile chassis control method provided in this embodiment, by detecting that main system exists in hot-backup system
When the module of abnormal state, to control unit send truncation instruction so that control unit judge truncation instruct whether belong to it is default
Instruction set carries out the specific data that the abnormal module of main system is sent to chassis system according to truncation instruction if belonging to
Truncation.The method of the present embodiment can control hot-backup system adapter tube main system to chassis system when main system occurs abnormal in time
It is controlled, and safety with higher.And it is possible to restore main system in time to chassis system when main system is restored
Control.
Fig. 4 is the structure chart of pilotless automobile chassis control device provided in an embodiment of the present invention.The unmanned vapour
Chassis control device specifically can be the control unit in above-described embodiment.Pilotless automobile chassis provided in this embodiment
Control device can execute the process flow that the pilotless automobile chassis control embodiment of the method for control unit side provides, and such as scheme
Shown in 4, the pilotless automobile chassis control device includes receiving module 41, judgment module 42 and processing module 43.
Wherein, receiving module 41, it is abnormal for receiving hot-backup system existence in detecting the main system
Module when send truncation instruction, it is described truncation instruction include the module module id and truncation content；
Judgment module 42, for judging whether the truncation instruction belongs to preset instructions set；
Processing module 43, if for judging to belong to the preset instructions set, according to module id truncation
The specific data that module corresponding with the module id is sent to chassis system in main system, the specific data be with it is described
The corresponding data of content are truncated.
Further, the processing module 43 is also used to:
Control the hot-backup system and start hot standby module corresponding with the module id, take in the main system with institute
The corresponding module of module id is stated, sends data corresponding with the truncation content to the chassis system.
Further, the receiving module 41 is also used to, and receives hot-backup system quilt in detecting the main system
Sent when the module status of truncation restores normal recovery instruction, it is described restore instruction include the module module id and
Restore content；
The judgment module 42 is also used to, and judges whether the recovery instruction belongs to the preset instructions set；
The processing module 43 is also used to, if judgement belongs to the preset instructions set, is restored according to the module id
The specific data that module corresponding with the module id is sent to the chassis system in the main system, the specific data
For data corresponding with the recovery content.
Further, the processing module 43 is also used to:
Control the hot-backup system stop hot standby module corresponding with the module id sent to the chassis system and
The corresponding data of the recovery content.
Pilotless automobile chassis control device provided in an embodiment of the present invention can be specifically used for executing above-mentioned Fig. 1 and figure
Embodiment of the method provided by 2, details are not described herein again for concrete function.
Pilotless automobile chassis control device provided in an embodiment of the present invention, by detecting main system in hot-backup system
When the module of existence exception, truncation instruction is sent to control unit, so that control unit judges whether truncation instruction belongs to
Preset instructions set, the specific data that the abnormal module of main system is sent to chassis system according to truncation instruction if belonging to
It is truncated.The method of the present embodiment can control hot-backup system adapter tube main system to chassis when main system occurs abnormal in time
System is controlled, and safety with higher.
Fig. 5 is the structure chart of pilotless automobile chassis control device provided in an embodiment of the present invention.The unmanned vapour
Chassis control device specifically can be the hot-backup system in above-described embodiment.Pilotless automobile chassis provided in this embodiment
Control device can execute the process flow that the pilotless automobile chassis control embodiment of the method for hot-backup system side provides, and such as scheme
Shown in 5, the pilotless automobile chassis control device includes detection module 51 and sending module 53.
Wherein, detection module 51, for detecting each module status of the main system；
Sending module 53 detects that any module status of the main system is abnormal for working as, then to described control unit
Truncation instruction is sent, the truncation instruction includes the module id and truncation content of the module, so that described control unit
Judge whether the truncation instruction belongs to preset instructions set, is truncated in the main system if belonging to according to the module id
The specific data that module corresponding with the module id is sent to chassis system, the specific data are and the truncation content
Corresponding data.
Further, the pilotless automobile chassis control device further include:
Processing module 52, for starting corresponding with the module id hot standby module, take in the main system with institute
The corresponding module of module id is stated, sends data corresponding with the truncation content to the chassis system.
Further, the sending module 53 is also used to:
When detecting that the module status recovery being truncated is normal, is then sent to described control unit and restore instruction, it is described extensive
Multiple instruction includes the module id of the module and restores content, so that whether described control unit judges the recovery instruction
Belong to the preset instructions set, if belonging to according to the module id restore in the main system with the module id pair
The specific data that the module answered is sent to the chassis system, the specific data are data corresponding with the recovery content.
Further, the processing module 52 is also used to:
It is corresponding with the recovery content to chassis system transmission to stop hot standby module corresponding with the module id
Data.
Pilotless automobile chassis control device provided in an embodiment of the present invention can be specifically used for the above-mentioned Fig. 3 of execution and be mentioned
The embodiment of the method for confession, details are not described herein again for concrete function.
Pilotless automobile chassis control device provided in an embodiment of the present invention, by detecting main system in hot-backup system
When the module of existence exception, truncation instruction is sent to control unit, so that control unit judges whether truncation instruction belongs to
Preset instructions set, the specific data that the abnormal module of main system is sent to chassis system according to truncation instruction if belonging to
It is truncated.The method of the present embodiment can control hot-backup system adapter tube main system to chassis when main system occurs abnormal in time
System is controlled, and safety with higher.
Fig. 6 be another embodiment of the present invention provides control unit structure chart.As shown in fig. 6, the present embodiment provides one
Kind control unit, described control unit includes: processor 61；Memory 62；And computer program.
Wherein, the computer program is stored in the memory 62, and is configured as being executed by the processor 61
To realize the process flow of the embodiment of the method offer of the control unit side such as Fig. 1 and Fig. 2 provided by, concrete function is herein no longer
It repeats.
More specifically, described control unit further includes receiver 63 and transmitter 64, and receiver 63 and transmitter 64 are handled
Device 61 is connected with memory 62 by bus.
Fig. 7 be another embodiment of the present invention provides hot-backup system structure chart.As shown in fig. 7, the present embodiment provides one
Kind hot-backup system, the hot-backup system includes: processor 71；Memory 72；And computer program.
Wherein, the computer program is stored in the memory 72, and is configured as being executed by the processor 71
To realize the process flow of the embodiment of the method offer of the hot-backup system side as provided by Fig. 3, details are not described herein again for concrete function.
More specifically, the hot-backup system further includes receiver 73 and transmitter 74, and receiver 73 and transmitter 74 are handled
Device 71 is connected with memory 72 by bus.
It should be noted that being suitable for the letter between the server and car-mounted terminal of pilotless automobile system due to the present invention
Breath interaction, therefore server and car-mounted terminal are provided with above-mentioned information transmitting apparatus and information receiving device.
Another embodiment of the present invention provides a kind of computer readable storage mediums, are stored thereon with computer program；
The computer program realizes that the information of control unit side as depicted in figs. 1 and 2 is sent when being executed by processor
Method, details are not described herein again for concrete function.
Another embodiment of the present invention provides a kind of computer readable storage mediums, are stored thereon with computer program；
The computer program realizes the method for sending information of hot-backup system side as shown in Figure 3 when being executed by processor,
Details are not described herein again for concrete function.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (20)
1. a kind of pilotless automobile chassis control method, which is characterized in that the pilotless automobile is provided with main system, heat
Standby system and control unit, which comprises
Described control unit receives the hot-backup system transmission when module of existence exception in detecting the main system
Truncation instruction, it is described truncation instruction include the module module id and truncation content；
Described control unit judges whether the truncation instruction belongs to preset instructions set；
If belonging to, described control unit is truncated corresponding with the module id in the main system according to the module id
The specific data that module is sent to chassis system, the specific data are data corresponding with the truncation content.
2. the method according to claim 1, wherein further include:
Described control unit controls the hot-backup system and starts hot standby module corresponding with the module id, takes over the principal series
Module corresponding with the module id in system sends data corresponding with the truncation content to the chassis system.
3. method according to claim 1 or 2, which is characterized in that further include:
Described control unit receives the module status that the hot-backup system is truncated in detecting the main system and restores normal
When send recovery instruction, it is described restore instruction include the module module id and restore content；
Described control unit judges whether the recovery instruction belongs to the preset instructions set；
If belonging to, described control unit restores mould corresponding with the module id in the main system according to the module id
The specific data that block is sent to the chassis system, the specific data are data corresponding with the recovery content.
4. according to the method described in claim 3, it is characterized in that, restoring the main system according to the module id described
In after the specific data that is sent to the chassis system of module corresponding with the module id, further includes:
Described control unit controls the hot-backup system and stops hot standby module corresponding with the module id to the chassis system
System sends data corresponding with the recovery content.
5. a kind of pilotless automobile chassis system control method, which is characterized in that the pilotless automobile is provided with principal series
System, hot-backup system and control unit, which comprises
The hot-backup system detects each module status of the main system；
When the hot-backup system detects that any module status of the main system is abnormal, then to described control unit transmission truncation
Instruction, the truncation instruction includes the module id and truncation content of the module, so that described in described control unit judgement
Whether truncation instruction belongs to preset instructions set, is truncated in the main system and the mould if belonging to according to the module id
The specific data that the corresponding module of block identification is sent to chassis system, the specific data are number corresponding with the truncation content
According to.
6. according to the method described in claim 5, it is characterized by further comprising:
The hot-backup system starts hot standby module corresponding with the module id, take in the main system with the module mark
Know corresponding module, sends data corresponding with the truncation content to the chassis system.
7. method according to claim 5 or 6, which is characterized in that further include:
When the hot-backup system detects that the module status being truncated restores normally, then to send and refer to described control unit
Enable, it is described restore instruction include the module module id and restore content so that described control unit judge it is described extensive
Whether multiple instruction belongs to the preset instructions set, if belonging to according to the module id restore in the main system with it is described
The specific data that the corresponding module of module id is sent to the chassis system, the specific data are and the recovery content pair
The data answered.
8. the method according to the description of claim 7 is characterized in that restoring institute according to the module id in described control unit
After stating the specific data that module corresponding with the module id is sent to chassis system in main system, further includes:
The hot-backup system stops hot standby module corresponding with the module id and sends and the recovery to the chassis system
The corresponding data of content.
9. a kind of pilotless automobile chassis control device, which is characterized in that the pilotless automobile is provided with main system, heat
Standby system and control unit, described device include:
Receiving module, for receiving the hot-backup system transmission when module of existence exception in detecting the main system
Truncation instruction, it is described truncation instruction include the module module id and truncation content；
Judgment module, for judging whether the truncation instruction belongs to preset instructions set；
Processing module, if the main system is truncated according to the module id for judging to belong to the preset instructions set
In the specific data that is sent to chassis system of module corresponding with the module id, the specific data be in the truncation
Hold corresponding data.
10. device according to claim 9, which is characterized in that the processing module is also used to:
Control the hot-backup system and start hot standby module corresponding with the module id, take in the main system with the mould
The corresponding module of block identification sends data corresponding with the truncation content to the chassis system.
11. device according to claim 9 or 10, which is characterized in that
The receiving module is also used to, and it is extensive to receive the module status that the hot-backup system is truncated in detecting the main system
The recovery instruction sent when multiple normal, it is described to restore the module id and restore content that instruction includes the module；
The judgment module is also used to, and judges whether the recovery instruction belongs to the preset instructions set；
The processing module is also used to, if judgement belongs to the preset instructions set, restores the master according to the module id
The specific data that module corresponding with the module id is sent to the chassis system in system, the specific data for institute
It states and restores the corresponding data of content.
12. device according to claim 11, which is characterized in that the processing module is also used to:
Control the hot-backup system stop hot standby module corresponding with the module id to chassis system transmission with it is described
Restore the corresponding data of content.
13. a kind of pilotless automobile chassis control device, which is characterized in that the pilotless automobile be provided with main system,
Hot-backup system and control unit, described device include:
Detection module, for detecting each module status of the main system；
Sending module, for when any module status exception for detecting the main system, then sending and cutting to described control unit
Severed finger enables, and the truncation instruction includes the module id and truncation content of the module, so that described control unit judges institute
State whether truncation instruction belongs to preset instructions set, if belonging to according to the module id be truncated in the main system with it is described
The specific data that the corresponding module of module id is sent to chassis system, the specific data are corresponding with the truncation content
Data.
14. device according to claim 13, which is characterized in that further include:
Processing module, for starting corresponding with the module id hot standby module, take in the main system with the module
Corresponding module is identified, sends data corresponding with the truncation content to the chassis system.
15. device according to claim 14, which is characterized in that the sending module is also used to:
When detecting that the module status recovery being truncated is normal, is then sent to described control unit and restore instruction, it is described to refer to
It enables the module id including the module and restores content, so that described control unit judges whether the recovery instruction belongs to
The preset instructions set restores corresponding with the module id in the main system according to the module id if belonging to
The specific data that module is sent to the chassis system, the specific data are data corresponding with the recovery content.
16. device according to claim 15, which is characterized in that the processing module is also used to:
Stop with the corresponding hot standby module of the module id to chassis system transmission number corresponding with the recovery content
According to.
17. a kind of control unit characterized by comprising
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor to realize such as
Method of any of claims 1-4.
18. a kind of hot-backup system characterized by comprising
Memory；
Processor；And
Computer program；
Wherein, the computer program stores in the memory, and is configured as being executed by the processor to realize such as
Method described in any one of claim 5-8.
19. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program；
Such as method of any of claims 1-4 is realized when the computer program is executed by processor.
20. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program；
The method as described in any one of claim 5-8 is realized when the computer program is executed by processor.
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