CN110341723A - A kind of control method for vehicle, apparatus and system - Google Patents
A kind of control method for vehicle, apparatus and system Download PDFInfo
- Publication number
- CN110341723A CN110341723A CN201910570350.4A CN201910570350A CN110341723A CN 110341723 A CN110341723 A CN 110341723A CN 201910570350 A CN201910570350 A CN 201910570350A CN 110341723 A CN110341723 A CN 110341723A
- Authority
- CN
- China
- Prior art keywords
- control unit
- micro
- vehicle
- sensing results
- forward sight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Abstract
The embodiment of the present application discloses a kind of control method for vehicle, apparatus and system, the system may include the micro-control unit, trailer-mounted radar and system on chip interconnected two-by-two, the wherein available metrical information from trailer-mounted radar of micro-control unit, when determining that system on chip breaks down, illustrate that system on chip no longer receives the metrical information of trailer-mounted radar, also no longer the metrical information of trailer-mounted radar is handled, then micro-control unit can obtain the first sensing results according to the metrical information obtained from trailer-mounted radar, and then be controlled according to the first sensing results vehicle.That is, the metrical information of the available trailer-mounted radar of micro-control unit, even if system on chip breaks down, micro-control unit can also perceive vehicle-periphery according to the metrical information of acquisition, and then vehicle is controlled, it will not influence the normally travel of vehicle, be provided with the processing mode under system on chip failure conditions for vehicle, provide the safety of automatic driving vehicle traveling.
Description
Technical field
The present invention relates to vehicular fields, more particularly to a kind of control method for vehicle, apparatus and system.
Background technique
Currently, automobile as a kind of vehicles, occupies higher status in people's daily life.Wherein, automatically
Driving be it is a kind of vehicle is controlled by intelligence system, to make the unpiloted technology of vehicle realization, specifically, can be with
Domain controller is set on vehicle and obtains the sensor of environmental information, system on chip (System can be carried in domain controller
On Chip, SoC) and micro-control unit (Microcontroller Unit, MCU), sensor can be obtained by SoC
Environmental information carries out comprehensive analysis and obtains the sensing results to ambient enviroment, and MCU controls vehicle according to sensing results.
In the control process to vehicle, it is understood that there may be the case where failure, such as SoC breaks down, then vehicle will face
Danger, therefore, crash handling are the last guard wires of automatic Pilot, how effectively to carry out crash handling, improve vehicle driving
Safety is an important problem.
Summary of the invention
In order to solve the above technical problems, the embodiment of the present application provides a kind of control method for vehicle, apparatus and system, carry out
Effective crash handling improves the safety of vehicle driving.
The embodiment of the present application provides a kind of control system, the system comprises:
Micro-control unit, trailer-mounted radar and the system on chip interconnected two-by-two；
The micro-control unit obtains the metrical information from the trailer-mounted radar；Determine that event occurs in the system on chip
Barrier, obtains the first sensing results according to the metrical information；Vehicle is controlled according to first sensing results.
Optionally, the micro-control unit determines that the system on chip breaks down, comprising:
The micro-control unit determines the second perception not received in the first preset time from the system on chip
As a result or status information, the second sensing results system on chip are handled to obtain to the metrical information；
Or, the micro-control unit receives the first wrong reasons from the system on chip.
Optionally, the trailer-mounted radar includes at least one of forward-looking radar and angle radar.
Optionally, the system also includes connecting forward sight controller with the micro-control unit, and with the forward sight control
The forward sight camera of device connection processed；The forward sight camera is used for for obtaining forward sight image, the forward sight controller to described
Aforementioned image is handled to obtain third sensing results；
The micro-control unit is also used to: receiving the third sensing results from the forward sight controller；
The micro-control unit controls vehicle according to first sensing results, comprising:
Vehicle is controlled according to first sensing results and the third sensing results.
Optionally, the forward sight controller is also used to:
Obtain the forward sight data from forward-looking radar；
It determines that the micro-control unit breaks down, then obtains the 4th sense according to the forward sight image and the forward sight data
Know result；
Vehicle is controlled according to the 4th sensing results.
Optionally, the forward sight controller determines that micro-control unit breaks down, comprising:
The forward sight controller determines the state letter not received in the second preset time from the micro-control unit
Breath；
Or, the forward sight controller receives the second wrong reasons from the micro-control unit.
The embodiment of the present application provides a kind of control method for vehicle, is applied to micro-control unit, comprising:
Obtain the metrical information from trailer-mounted radar；
It determines that the system on chip connecting with the micro-control unit breaks down, then obtains first according to the metrical information
Sensing results；
Vehicle is controlled according to first sensing results.
Optionally, the system on chip that the determination is connect with the micro-control unit breaks down, comprising:
Determine second not received in the first preset time from the system on chip connecting with the micro-control unit
Sensing results or status information, second sensing results are that the system on chip is handled to obtain to the metrical information
's；
Or, receiving the first wrong reasons from the system on chip.
Optionally, the trailer-mounted radar includes at least one of forward-looking radar and angle radar.
Optionally, the method also includes:
Receive the third sensing results from forward sight controller；The third sensing results are by obtaining forward sight camera
Forward sight image procossing obtain；
It is described that vehicle is controlled according to first sensing results, comprising:
Vehicle is controlled according to first sensing results and the third sensing results.
The embodiment of the present application provides another control method for vehicle, is applied to forward sight controller, comprising:
Obtain the forward sight data from forward-looking radar, and the forward sight image from forward sight camera；
Determine the micro-control unit failure connecting with the forward sight controller, then according to the forward sight image and described
Forward sight data obtain the 4th sensing results；
Vehicle is controlled according to the 4th sensing results.
Optionally, the determining micro-control unit breaks down, comprising:
Determination does not receive the status information from the micro-control unit in the second preset time；
Or, receiving the second wrong reasons from the micro-control unit.
The embodiment of the present application provides a kind of controller of vehicle, is applied to micro-control unit, comprising:
Metrical information acquiring unit, for obtaining the metrical information from trailer-mounted radar；
First sensing results acquiring unit, for determining that the system on chip connecting with the micro-control unit breaks down,
The first sensing results are then obtained according to the metrical information；
First control unit, for being controlled according to first sensing results vehicle.
Optionally, the first sensing results acquiring unit, is specifically used for:
Determine second not received in the first preset time from the system on chip connecting with the micro-control unit
Sensing results or status information, second sensing results are that the system on chip is handled to obtain to the metrical information
's；Or, receiving the first wrong reasons from the system on chip；
The first sensing results are obtained according to the metrical information.
Optionally, the trailer-mounted radar includes at least one of forward-looking radar and angle radar.
Optionally, described device further include:
Third sensing results acquiring unit, for receiving the third sensing results from forward sight controller；The third sense
Know that result is obtained by the forward sight image procossing obtained to forward sight camera；
The first control unit is specifically used for:
Vehicle is controlled according to first sensing results and the third sensing results.
The embodiment of the present application provides another control device, is applied to forward sight controller, comprising:
Look ahead information acquiring unit, for obtaining the forward sight data from forward-looking radar, and from forward sight camera
Forward sight image；
4th sensing results acquiring unit, for determining that event occurs in the micro-control unit connecting with the forward sight controller
Barrier, then obtain the 4th sensing results according to the forward sight image and the forward sight data；
Second control unit, for being controlled according to the 4th sensing results vehicle.
Optionally, second control unit, is specifically used for:
Determination does not receive the status information from the micro-control unit in the second preset time；Come or, receiving
From the second wrong reasons of the micro-control unit；
Vehicle is controlled according to the 4th sensing results.
The embodiment of the present application provides a kind of control method for vehicle, apparatus and system, which may include interconnecting two-by-two
Micro-control unit, trailer-mounted radar and system on chip, the wherein available metrical information from trailer-mounted radar of micro-control unit,
When determining that system on chip breaks down, illustrate that system on chip no longer receives the metrical information of trailer-mounted radar, also no longer to vehicle-mounted thunder
The metrical information reached is handled, then micro-control unit can obtain the first perception according to the metrical information obtained from trailer-mounted radar
As a result, being controlled in turn according to the first sensing results vehicle.That is, in the embodiment of the present application, micro-control unit
The metrical information of available trailer-mounted radar, even if system on chip breaks down, micro-control unit can also be according to the survey of acquisition
Amount information perceives vehicle-periphery, and then controls vehicle, will not influence the normally travel of vehicle, is vehicle
Provided with the processing mode under system on chip failure conditions, the safety of automatic driving vehicle traveling is provided.
Detailed description of the invention
In order to more clearly explain the technical solutions in the embodiments of the present application, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations as described in this application
Example, for those of ordinary skill in the art, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of structural block diagram of vehicle control system provided by the embodiments of the present application；
Fig. 2 is a kind of operation schematic diagram of vehicle control system provided by the embodiments of the present application；
Fig. 3 is the operation schematic diagram of another vehicle control system provided by the embodiments of the present application；
Fig. 4 is the operation schematic diagram of another vehicle control system provided by the embodiments of the present application；
Fig. 5 is a kind of flow chart of control method for vehicle provided by the embodiments of the present application；
Fig. 6 is the flow chart of another control method for vehicle provided by the embodiments of the present application；
Fig. 7 is a kind of structural block diagram of controller of vehicle provided by the embodiments of the present application；
Fig. 8 is the structural block diagram of another controller of vehicle provided by the embodiments of the present application.
Specific embodiment
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Currently, can be controlled by intelligence system vehicle, so that it is unmanned to realize vehicle.Specifically, from
Domain controller and sensor has can be set on vehicle in dynamic drive, wherein the metrical information of the available vehicle of sensor, such as
The running environment information of vehicle periphery, the metrical information that domain controller can be obtained according to sensor, controls vehicle.
Specifically, can carry system on chip and micro-control unit in domain controller, wherein system on chip can be with sensing
Device connection carries out comprehensive analysis for obtaining the metrical information of sensor acquisition, and to metrical information, obtains the sense to sensor
Know as a result, micro-control unit can control vehicle according to sensing results, so that vehicle is avoided with suitable driving status
The barrier of vehicle periphery, to arrive at the destination.
For example, sensor may include trailer-mounted radar and/or camera, the available barrier of radar and vehicle
Relative position, camera can shoot to obtain the characteristics such as the shape of barrier, and system on chip can be according to the measurement of trailer-mounted radar
As a result and/or the image that shoots of camera, sensing results are obtained.Usually, sensing results may include barrier
Type, distance and bearing etc..
However, inventor has found that in the control process to vehicle, it is understood that there may be the case where failure, such as
System on chip breaks down, then system on chip will no longer obtain the metrical information of sensor, or cannot be to the sensor of acquisition
Metrical information handled, that is to say, that system on chip cannot obtain sensing results.Therefore, micro-control unit will acquire
Less than the sensing results to vehicle-periphery, whole system loses environment sensing ability, and micro-control unit can not be to vehicle
Correct control is made, automatic Pilot will be in the state that can not be worked, and for the vehicle, this is breakneck.
Therefore, crash handling is the last guard wire of automatic Pilot, how effectively to carry out crash handling, improves vehicle driving
Safety, be a kind of important problem.
Based on this, the embodiment of the present application provides a kind of control method for vehicle, apparatus and system, which may include two
Micro-control unit, trailer-mounted radar and the system on chip of two interconnection, the wherein available survey from trailer-mounted radar of micro-control unit
Information is measured, when determining that system on chip breaks down, illustrates that system on chip no longer receives the metrical information of trailer-mounted radar, it is also no longer right
The metrical information of trailer-mounted radar is handled, then micro-control unit can obtain according to the metrical information obtained from trailer-mounted radar
One sensing results, and then vehicle is controlled according to the first sensing results.That is, in the embodiment of the present application, micro-control
The metrical information of the available trailer-mounted radar of unit processed, even if system on chip breaks down, micro-control unit can also be according to obtaining
The metrical information taken perceives vehicle-periphery, and then controls vehicle, will not influence the normally travel of vehicle,
It is provided with the processing mode under system on chip failure conditions for vehicle, provides the safety of automatic driving vehicle traveling.
With reference to the accompanying drawing, be described in detail by embodiment a kind of control method for vehicle provided by the embodiments of the present application,
The specific implementation of apparatus and system.
Refering to what is shown in Fig. 1, being a kind of structural block diagram of vehicle control system provided by the embodiments of the present application, which can be with
It include: the micro-control unit 300, trailer-mounted radar 100 and system on chip 200 interconnected two-by-two.
In the embodiment of the present application, the sensor of the environmental information for obtaining vehicle periphery may include trailer-mounted radar
100 and camera 400.Sensor can detect the environment of vehicle periphery, obtain metrical information.Metrical information is used for body
The environment of existing vehicle periphery.
Refering to what is shown in Fig. 2, being a kind of operation schematic diagram of vehicle control system provided by the embodiments of the present application.Specifically,
The metrical information of trailer-mounted radar 100 can be distance, direction etc. of the barrier relative to radar, and trailer-mounted radar 100 is, for example, milli
Metre wave radar, ultrasonic radar etc..Wherein, trailer-mounted radar 100 may include 101 kinds of forward-looking radar 102 and angle radar extremely
One few, forward-looking radar 102 may be mounted at lower section in front bumper, for measuring the barrier in front relative to vehicle
Position, and angle radar 101 can be multiple, be separately mounted to the other positions of vehicle, for measuring vehicle two sides and rear
Position of the barrier relative to vehicle.
Specifically, the metrical information of camera can be the image of the barrier of vehicle periphery, camera 400 may include
Forward sight camera 402 and at least one of look around camera 401, forward sight camera 402 may be mounted at radix saposhnikoviae before car
At glass, for shooting the image of right ahead, and looks around camera 401 and can be multiple, be separately mounted to vehicle its
His position, for shooting the image of vehicle two sides and rear.
In the embodiment of the present application, sensor can be connect with system on chip 200, i.e., system on chip 200 can with it is vehicle-mounted
Radar 100 and camera 400 connect, and after trailer-mounted radar 100 and camera 400 get metrical information, measurement can be believed
Breath is sent to system on chip 200.
The metrical information that system on chip 200 can get trailer-mounted radar 100 and camera 400 is analyzed, and is obtained
Second perception information, the second perception information may include distance and direction and barrier itself of the barrier relative to vehicle
Shape, color, mobility etc..Such as can distance according to same barrier relative to different radars and direction, obtain
Accurate location and direction of the barrier relative to vehicle, or can according to same barrier in different time relative to same
The distance of radar and direction obtain the mobility of the barrier, or can be obtained according to the measurement result and camera of radar
The image taken obtains the features such as position, color, the shape of a certain barrier.
System on chip 200 can be connect with micro-control unit 300, specifically, system on chip 200 and micro-control unit 300
It can be set in domain controller.In normal work, the second perception information that can will must be obtained is sent to system on chip 200
In micro-control unit 300.
In some possible implementations, refering to what is shown in Fig. 2, it is also provided with forward sight controller 500 in the car,
Forward sight controller 500 includes forward sight system on chip 501 and forward sight micro-control unit 502, and forward sight system on chip 501 and forward sight image
First 402 and forward-looking radar 102 connect, the metrical information that can be got to forward sight camera 402 is handled, micro- by forward sight
Processing result is sent to the system on chip 200 in domain controller by control unit 502, so that system on chip 200 be made to carry out information
Fusion obtains the second perception information.It, can be with when it is implemented, forward sight controller 500, forward sight camera 402 and forward-looking radar 102
Setting is set at the front windshield of vehicle jointly in forward sight fusion all-in-one machine.
Micro-control unit 300 can control vehicle according to the second perception information after receiving the second perception information
System.Specifically, the planning of route or travel by vehicle can be carried out in conjunction with the traveling destination of the second perception information and vehicle, with
And the planning in current vehicle speed and direction, to be controlled by vehicle actuator 600 vehicle, information in the whole process
Flow direction can be with reference to the direction of arrow instruction in Fig. 2.
For example, advanced if the second sensing results are front vehicles with 80 kilometers (km/h) per hour of speed, and it is micro-
Control unit 300 can control vehicle and be travelled with the speed of 80km/h；If the speed that the second sensing results are front vehicles reduces
To 60km/h, then the speed that micro-control unit 300 can control vehicle is reduced to 60km/h；If the second sensing results are front vehicle
Stop traveling, then micro-control unit 300 can control according to the other information in the second sensing results and vehicle cut-ins or subtract
Speed parking.
Refering to what is shown in Fig. 3, for the operation schematic diagram of another vehicle control system provided by the embodiments of the present application, if on piece
System 200 breaks down, then system on chip 200 cannot obtain the metrical information that trailer-mounted radar 100 and camera 400 obtain, or
Person cannot be handled the metrical information got, therefore system on chip 200 cannot obtain the second perception information again, will not
The second perception information is sent to micro-control unit 300, micro-control unit 300 will acquire less than the perception knot to vehicle-periphery
Fruit, whole system lose environment sensing ability, and micro-control unit 300 can not make correct control, automatic Pilot to vehicle
It will be in the state that can not be worked, and for the vehicle, this is breakneck.
Therefore, in the embodiment of the present application, it can connect micro-control unit 300 and trailer-mounted radar 100, with millimetre-wave radar
For trailer-mounted radar, the interface of millimetre-wave radar can be divided into 2 tunnels in the circuit board, wherein 1 tunnel connects system on chip
200, another 1 tunnel connects micro-control unit 300.It is understood that the number of sensors connecting with micro-control unit 300 can root
It determines according to the data-handling capacity of micro-control unit 300, if the data-handling capacity of micro-control unit 300 is weaker, can make
Micro-control unit 300 only connects a trailer-mounted radar, such as connect micro-control unit 300 with forward-looking radar 102, such micro-control
Unit 300 processed only needs to handle the metrical information of forward-looking radar 102, if the data-handling capacity of micro-control unit 300 is stronger,
Micro-control unit 300 can be made to connect with multiple trailer-mounted radars, such as make micro-control unit 300 and forward-looking radar 102 and one
A angle radar 101 connects, or connect micro-control unit 300 with forward-looking radar 102 and multiple angle radars 101.
It, then, can after trailer-mounted radar 100 gets metrical information since trailer-mounted radar 100 and micro-control unit 300 connect
To send metrical information to micro-control unit 300.If system on chip 200 works normally, micro-control unit 300 is got from vehicle
After the metrical information for carrying radar 100, metrical information can not be handled.Once micro-control unit 300 determines system on chip
200 break down, and micro-control unit 300 can be handled the metrical information got, obtain the first sensing results, and root
Vehicle is controlled according to the first sensing results.In this way, micro-control unit 300 can directly obtain metrical information, even if on piece
System 200 breaks down, and micro-control unit 300 will not lose the sensing capability to the environment of vehicle periphery, therefore will not shadow
Ring the control ability to vehicle.
In order to realize monitoring of the micro-control unit 300 to the working condition of system on chip 200, system on chip 200 can week
Phase property sends status information to micro-control unit 300, indicates that the working condition of system on chip 200, working condition for example can be with
It is working properly, if micro-control unit 300 does not receive the status information from system on chip 200 in the first preset time,
It may be considered that system on chip 200 breaks down；Or system on chip 200 can be when breaking down, to micro-control unit 300
The first wrong reasons are sent, the operational failure of system on chip 200 are indicated, if micro-control unit 300 is received from system on chip
200 the first wrong reasons, then it is assumed that system on chip 200 breaks down；Or micro-control unit 300 can be determined first in advance
If the second sensing results from system on chip 200 are not received in the time, then it is assumed that system on chip 200 breaks down.
When determining that system on chip 200 breaks down, micro-control unit 300 handles metrical information to obtain the first sense
Know as a result, and vehicle is controlled according to the first sensing results, such as can pass through vehicle actuator 600 control vehicle row
Speed, direction etc. are sailed, to guarantee vehicle and the safety of member.For example, if the first sensing results are front clear,
Then micro-control unit 300 can control vehicle deceleration and go slowly；If the first sensing results are that front has barrier, micro-control unit
300 can control vehicle pulling over observing.
It is understood that the forward sight system on chip 501 at this time in forward sight controller 500 is available from forward sight camera shooting
First 402 forward sight image, and forward sight image is handled to obtain third sensing results, it can by forward sight micro-control unit 502
Third sensing results to be sent to the micro-control unit 300 in domain controller, micro-control unit 300 can be in conjunction with the first perception
As a result vehicle is controlled with third sensing results, information flow direction in the whole process can be with reference to arrow instruction in Fig. 3
Direction.
In addition, refering to what is shown in Fig. 4, be another vehicle control system provided by the embodiments of the present application operation schematic diagram,
System on chip 200 and micro-control unit 300 in domain controller can pass through forward sight there may be the possibility of failure simultaneously at this time
The control of the progress vehicle of controller 500.
Specifically, forward sight controller 500 can be connect with forward-looking radar 102, and be obtained before forward-looking radar 102
Depending on data, while forward sight controller 500 can be connect with forward sight camera 402, and obtain the forward sight from forward sight camera 402
Image can obtain the 4th perception letter when determining that micro-control unit 300 breaks down according to forward sight data and forward sight image
Breath, controls vehicle according to the 4th perception information.
In order to realize monitoring of the forward sight controller 500 to the working condition of micro-control unit 300, micro-control unit 300 can
Status information is sent with the forward sight micro-control unit 502 periodically into forward sight controller 500, when breaking down, is stopped
Status information is sent to forward sight micro-control unit 502, if then forward sight micro-control unit 502 does not receive in the second preset time
Status information from micro-control unit 300, then it is assumed that micro-control unit 300 breaks down；Micro-control unit 300 can also be
When failure, the second wrong reasons are sent to forward sight micro-control unit 502, then forward sight micro-control unit 502 is receiving
When from the second wrong reasons of micro-control unit 300, it is believed that micro-control unit 300 fails.
The embodiment of the present application provides a kind of vehicle control system, which may include the microcontroller list interconnected two-by-two
Member, trailer-mounted radar and system on chip, wherein the available metrical information from trailer-mounted radar of micro-control unit, determines on piece system
When system breaks down, illustrate that system on chip no longer receives the metrical information of trailer-mounted radar, also no longer the measurement of trailer-mounted radar is believed
Breath is handled, then micro-control unit can obtain the first sensing results according to the metrical information obtained from trailer-mounted radar, in turn
Vehicle is controlled according to the first sensing results.That is, in the embodiment of the present application, the available vehicle of micro-control unit
The metrical information of radar is carried, even if system on chip breaks down, micro-control unit can also be according to the metrical information of acquisition to vehicle
Ambient enviroment is perceived, and then is controlled vehicle, will not influence the normally travel of vehicle, is provided on piece for vehicle
Processing mode in the case of thrashing provides the safety of automatic driving vehicle traveling.In addition, occurring in micro-control unit
When failure, vehicle can also be controlled by forward sight controller, be provided with dual fail-safe for vehicle, further improve vehicle
The safety of form.
A kind of flow chart of control method for vehicle provided by the embodiments of the present application is shown with reference to Fig. 5, this method can answer
For micro-control unit, micro-control unit be can be set in domain controller, specifically, the control method for vehicle may include with
Lower step.
S101 obtains the metrical information from trailer-mounted radar.
Specifically, the metrical information of trailer-mounted radar 100 can be distance, direction etc. of the barrier relative to radar, it is vehicle-mounted
Radar 100 is, for example, millimetre-wave radar, ultrasonic radar etc..Wherein, trailer-mounted radar 100 may include forward-looking radar 102 and
At least one of 101 kinds of angle radar, forward-looking radar 102 may be mounted at lower section in front bumper, for measuring the barrier in front
Hinder position of the object relative to vehicle, and angle radar 101 can be multiple, the other positions of vehicle is separately mounted to, for measuring
Position of the barrier at vehicle two sides and rear relative to vehicle.
In the embodiment of the present application, micro-control unit 300 and trailer-mounted radar 100 be can connect, to make micro-control unit
300 obtain the metrical information from trailer-mounted radar 100.It is understood that the number of sensors being connect with micro-control unit 300
It can be determined according to the data-handling capacity of micro-control unit 300, if the data-handling capacity of micro-control unit 300 is weaker,
Micro-control unit 300 can be made only to connect a trailer-mounted radar, such as connect micro-control unit 300 with forward-looking radar 102, this
Sample micro-control unit 300 only needs to handle the metrical information of forward-looking radar 102, if the data-handling capacity of micro-control unit 300
It is relatively strong, then micro-control unit 300 can be made to connect with multiple trailer-mounted radars, such as make micro-control unit 300 and forward-looking radar 102
And an angle radar 101 connects, or connect micro-control unit 300 with forward-looking radar 102 and multiple angle radars 101.
S102 determines that the system on chip connecting with micro-control unit breaks down, obtains the first perception according to metrical information
As a result.
If system on chip breaks down, system on chip cannot obtain the metrical information of the acquisition of trailer-mounted radar 100, or not
The metrical information got can be handled, therefore system on chip cannot obtain the second perception information again, it will not be to micro-control
Unit processed sends the second perception information, and micro-control unit will acquire less than the sensing results to vehicle-periphery, whole system
Environment sensing ability is lost, micro-control unit can not make correct control to vehicle, and automatic Pilot will be in and can not work
State, and for the vehicle, this is breakneck.
Therefore, in the embodiment of the present application, if micro-control unit determines that system on chip breaks down, measurement can be believed
Breath is handled, and obtains the first sensing results, and control vehicle according to the first sensing results.In this way, micro-control unit
Metrical information can be directly obtained, even if system on chip breaks down, micro-control unit will not lose the ring to vehicle periphery
The sensing capability in border, therefore will not influence the control ability to vehicle.
S103 controls vehicle according to the first sensing results.
Micro-control unit can control vehicle according to the first sensing results, example after obtaining the first sensing results
Travel speed, the direction that vehicle can be such as controlled by vehicle actuator 600, to guarantee vehicle and the safety of member.It lifts
For example, if the second sensing results are front clear, micro-control unit 300 can control vehicle deceleration and go slowly；If the
Two sensing results are that front has barrier, then micro-control unit 300 can control vehicle pulling over observing.The embodiment of the present application provides
A kind of control method for vehicle, the micro-control unit available metrical information from trailer-mounted radar determine that system on chip occurs
When failure, illustrate that system on chip no longer receives the metrical information of trailer-mounted radar, also no longer the metrical information of trailer-mounted radar is carried out
Processing, then micro-control unit can obtain the first sensing results according to the metrical information obtained from trailer-mounted radar, and then according to the
One sensing results control vehicle.That is, in the embodiment of the present application, the available trailer-mounted radar of micro-control unit
Metrical information, even if system on chip break down, micro-control unit can also be according to the metrical information of acquisition to vehicle periphery
Environment is perceived, and then is controlled vehicle, will not influence the normally travel of vehicle, is that vehicle loses provided with system on chip
Processing mode in the case of effect provides the safety of automatic driving vehicle traveling.
It show the flow chart of another control method for vehicle provided by the embodiments of the present application with reference to Fig. 6, this method can be with
Applied to forward sight controller, the micro-control unit 300 in forward sight micro-control unit 502 and domain controller in forward sight controller connects
It connects, specifically, the control method for vehicle may comprise steps of.
S201 obtains the forward sight data from forward-looking radar 102, and the forward sight image from forward sight camera 402.
Forward sight camera 402 can be used for obtaining the forward sight image of vehicle front, and to connecting with forward sight camera 402
Forward sight controller 500 sends forward sight image；Forward-looking radar 102 is used to obtain the forward sight data of vehicle front, embodies vehicle front
Barrier position, forward-looking radar 102 can send forward sight data to the forward sight controller 500 that connect with forward-looking radar 102.
Forward sight camera 402 and forward sight controller 500 can be set in forward sight fusion all-in-one machine, be installed on vehicle jointly
Front windshield at.Forward-looking radar 102 may be mounted at lower section in front bumper.
S202 determines that the micro-control unit connecting with forward sight controller breaks down, then according to forward sight image and forward sight number
According to obtaining the 4th sensing results.
S203 controls vehicle according to the 4th sensing results.
There may be the possibility of failure simultaneously for system on chip 200 and micro-control unit 300 in domain controller, at this time can be with
The 4th sensing results are obtained according to forward sight image and forward sight data by the forward sight system on chip 501 in forward sight controller 500, it is preceding
The control of vehicle can be carried out according to the 4th sensing results depending on the forward sight micro-control unit 502 in controller 500.
The embodiment of the present application provides another control method for vehicle, when micro-control unit breaks down, can also lead to
It crosses forward sight controller to control vehicle, is provided with dual fail-safe for vehicle, further improves the safety of vehicle form.
Based on one of the above control method for vehicle, the embodiment of the present application also provides a kind of controller of vehicle, the devices
Applied to micro-control unit, micro-control unit be can be set in domain controller, refering to what is shown in Fig. 7, mentioning for the embodiment of the present application
A kind of structural block diagram of the controller of vehicle supplied, described device include:
Metrical information acquiring unit 110, for obtaining the metrical information from trailer-mounted radar；
First sensing results acquiring unit 120, for determining that event occurs in the system on chip connecting with the micro-control unit
Barrier, then obtain the first sensing results according to the metrical information；
First control unit 130, for being controlled according to first sensing results vehicle.
Optionally, the first sensing results acquiring unit, is specifically used for:
Determine second not received in the first preset time from the system on chip connecting with the micro-control unit
Sensing results or status information, second sensing results are that the system on chip is handled to obtain to the metrical information
's；Or, receiving the first wrong reasons from the system on chip；
The first sensing results are obtained according to the metrical information.
Optionally, the trailer-mounted radar includes at least one of forward-looking radar and angle radar.
Optionally, described device further include:
Third sensing results acquiring unit, for receiving the third sensing results from forward sight controller；The third sense
Know that result is obtained by the forward sight image procossing obtained to forward sight camera；
The first control unit is specifically used for:
Vehicle is controlled according to first sensing results and the third sensing results.
The embodiment of the present application provides a kind of controller of vehicle, and wherein micro-control unit is available comes from trailer-mounted radar
Metrical information, determine system on chip break down when, illustrate that system on chip no longer receives the metrical information of trailer-mounted radar, also not
The metrical information of trailer-mounted radar is handled again, then micro-control unit can be obtained according to the metrical information obtained from trailer-mounted radar
Vehicle is controlled to the first sensing results, and then according to the first sensing results.That is, in the embodiment of the present application,
The metrical information of the available trailer-mounted radar of micro-control unit, even if system on chip breaks down, micro-control unit can also root
Vehicle-periphery is perceived according to the metrical information of acquisition, and then vehicle is controlled, will not influence the normal of vehicle
Traveling is provided with the processing mode under system on chip failure conditions for vehicle, provides the safety of automatic driving vehicle traveling.
Based on the above another control method for vehicle, the embodiment of the present application also provides another controller of vehicle, should
Method can be applied to forward sight controller, and forward sight controller is connect with domain controller, refering to what is shown in Fig. 8, being the embodiment of the present application
The structural block diagram of another controller of vehicle of offer, described device include:
Look ahead information acquiring unit 210 for obtaining the forward sight data from forward-looking radar, and comes from forward sight camera
Forward sight image；
4th sensing results acquiring unit 220, for determining that the micro-control unit connecting with the forward sight controller occurs
Failure then obtains the 4th sensing results according to the forward sight image and the forward sight data；
Second control unit 230, for being controlled according to the 4th sensing results vehicle.
Optionally, second control unit, is specifically used for:
Determination does not receive the status information from the micro-control unit in the second preset time；Come or, receiving
From the second wrong reasons of the micro-control unit；
Vehicle is controlled according to the 4th sensing results.
The embodiment of the present application provides another controller of vehicle, when micro-control unit breaks down, can also lead to
It crosses forward sight controller to control vehicle, is provided with dual fail-safe for vehicle, further improves the safety of vehicle form.
" first " in the titles such as " first ... " mentioned in the embodiment of the present application, " first ... " is used only to do name
Word mark, does not represent first sequentially.The rule is equally applicable to " second " etc..
As seen through the above description of the embodiments, those skilled in the art can be understood that above-mentioned implementation
All or part of the steps in example method can add the mode of general hardware platform to realize by software.Based on this understanding,
The technical solution of the application can be embodied in the form of software products, which can store is situated between in storage
In matter, such as read-only memory (English: read-only memory, ROM)/RAM, magnetic disk, CD etc., including some instructions to
So that a computer equipment (can be the network communication equipments such as personal computer, server, or router) executes
Method described in certain parts of each embodiment of the application or embodiment.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for method reality
For applying example and apparatus embodiments, since it is substantially similar to system embodiment, so describe fairly simple, related place ginseng
See the part explanation of system embodiment.Equipment and system embodiment described above is only schematical, wherein making
It may or may not be physically separated for the module of separate part description, the component shown as module can be
Or it may not be physical module, it can it is in one place, or may be distributed over multiple network units.It can be with
Some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment according to the actual needs.The common skill in this field
Art personnel can understand and implement without creative efforts.
The above is only the preferred embodiment of the application, is not intended to limit the protection scope of the application.It should refer to
Out, for those skilled in the art, it under the premise of not departing from the application, can also make several improvements
And retouching, these improvements and modifications also should be regarded as the protection scope of the application.
Claims (18)
1. a kind of control system, which is characterized in that the system comprises:
Micro-control unit, trailer-mounted radar and the system on chip interconnected two-by-two；
The micro-control unit obtains the metrical information from the trailer-mounted radar；Determine that the system on chip breaks down, root
The first sensing results are obtained according to the metrical information；Vehicle is controlled according to first sensing results.
2. system according to claim 1, which is characterized in that the micro-control unit determines that event occurs in the system on chip
Barrier, comprising:
The micro-control unit determination does not receive the second sensing results from the system on chip in the first preset time
Or status information, the second sensing results system on chip are handled to obtain to the metrical information；
Or, the micro-control unit receives the first wrong reasons from the system on chip.
3. system according to claim 1 or 2, which is characterized in that the trailer-mounted radar includes forward-looking radar and angle radar
At least one of.
4. system according to claim 1, which is characterized in that before being connect with the micro-control unit
Depending on controller, and the forward sight camera being connect with the forward sight controller；The forward sight camera is used to obtain forward sight image,
The forward sight controller to the aforementioned image for being handled to obtain third sensing results；
The micro-control unit is also used to: receiving the third sensing results from the forward sight controller；
The micro-control unit controls vehicle according to first sensing results, comprising:
Vehicle is controlled according to first sensing results and the third sensing results.
5. system according to claim 4, which is characterized in that the forward sight controller is also used to:
Obtain the forward sight data from forward-looking radar；
It determines that the micro-control unit breaks down, then obtains the 4th perception according to the forward sight image and the forward sight data and tie
Fruit；
Vehicle is controlled according to the 4th sensing results.
6. system according to claim 4, which is characterized in that the forward sight controller determines that event occurs in micro-control unit
Barrier, comprising:
The forward sight controller determination does not receive the status information from the micro-control unit in the second preset time；
Or, the forward sight controller receives the second wrong reasons from the micro-control unit.
7. a kind of control method for vehicle, which is characterized in that be applied to micro-control unit, comprising:
Obtain the metrical information from trailer-mounted radar；
It determines that the system on chip connecting with the micro-control unit breaks down, then the first perception is obtained according to the metrical information
As a result；
Vehicle is controlled according to first sensing results.
8. the method according to the description of claim 7 is characterized in that the on piece system that the determination is connect with the micro-control unit
System breaks down, comprising:
It determines and does not receive the second perception from the system on chip connecting with the micro-control unit in the first preset time
As a result or status information, the second sensing results system on chip are handled to obtain to the metrical information；
Or, receiving the first wrong reasons from the system on chip.
9. method according to claim 7 or 8, which is characterized in that the trailer-mounted radar includes forward-looking radar and angle radar
At least one of.
10. the method according to the description of claim 7 is characterized in that the method also includes:
Receive the third sensing results from forward sight controller；Before the third sensing results are by obtaining forward sight camera
Visible image handles to obtain；
It is described that vehicle is controlled according to first sensing results, comprising:
Vehicle is controlled according to first sensing results and the third sensing results.
11. a kind of control method for vehicle, which is characterized in that be applied to forward sight controller, comprising:
Obtain the forward sight data from forward-looking radar, and the forward sight image from forward sight camera；
Determine that the micro-control unit connecting with the forward sight controller breaks down, then according to the forward sight image and the forward sight
Data obtain the 4th sensing results；
Vehicle is controlled according to the 4th sensing results.
12. according to the method for claim 11, which is characterized in that the determining micro-control unit breaks down, comprising:
Determination does not receive the status information from the micro-control unit in the second preset time；
Or, receiving the second wrong reasons from the micro-control unit.
13. a kind of controller of vehicle, which is characterized in that be applied to micro-control unit, comprising:
Metrical information acquiring unit, for obtaining the metrical information from trailer-mounted radar；
First sensing results acquiring unit breaks down, then root for the determining system on chip connecting with the micro-control unit
The first sensing results are obtained according to the metrical information；
First control unit, for being controlled according to first sensing results vehicle.
14. device according to claim 13, which is characterized in that the first sensing results acquiring unit is specifically used for:
It determines and does not receive the second perception from the system on chip connecting with the micro-control unit in the first preset time
As a result or status information, the second sensing results system on chip are handled to obtain to the metrical information；Or,
Receive the first wrong reasons from the system on chip；
The first sensing results are obtained according to the metrical information.
15. device described in 3 or 14 according to claim 1, which is characterized in that the trailer-mounted radar includes forward-looking radar and angle thunder
At least one of up to.
16. device according to claim 13, which is characterized in that described device further include:
Third sensing results acquiring unit, for receiving the third sensing results from forward sight controller；The third perception knot
Fruit is obtained by the forward sight image procossing obtained to forward sight camera；
The first control unit is specifically used for:
Vehicle is controlled according to first sensing results and the third sensing results.
17. a kind of control device, which is characterized in that be applied to forward sight controller, comprising:
Look ahead information acquiring unit, for obtaining the forward sight data from forward-looking radar, and the forward sight from forward sight camera
Image；
4th sensing results acquiring unit, for determining that the micro-control unit connecting with the forward sight controller breaks down, then
The 4th sensing results are obtained according to the forward sight image and the forward sight data；
Second control unit, for being controlled according to the 4th sensing results vehicle.
18. device according to claim 17, which is characterized in that second control unit is specifically used for:
Determination does not receive the status information from the micro-control unit in the second preset time；Or, receiving from institute
State the second wrong reasons of micro-control unit；
Vehicle is controlled according to the 4th sensing results.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910570350.4A CN110341723B (en) | 2019-06-27 | 2019-06-27 | Vehicle control method, device and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910570350.4A CN110341723B (en) | 2019-06-27 | 2019-06-27 | Vehicle control method, device and system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110341723A true CN110341723A (en) | 2019-10-18 |
| CN110341723B CN110341723B (en) | 2021-12-03 |
Family
ID=68177198
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910570350.4A Active CN110341723B (en) | 2019-06-27 | 2019-06-27 | Vehicle control method, device and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110341723B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815636A (en) * | 2021-09-28 | 2021-12-21 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle safety monitoring method and device, electronic equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103998315A (en) * | 2012-03-14 | 2014-08-20 | E-Aam传动系统公司 | Multi-level vehicle integrity and quality control mechanism |
| CN104512356A (en) * | 2013-10-01 | 2015-04-15 | 福特全球技术公司 | Vehicle autonomous mode deactivation |
| KR20160074199A (en) * | 2014-12-18 | 2016-06-28 | 현대오트론 주식회사 | Electronic control apparatus for supporting emergency mode and operating method thereof |
| CN107933567A (en) * | 2017-11-28 | 2018-04-20 | 东风商用车有限公司 | A kind of vehicle body network controller limping control system and its control method |
| CN109562764A (en) * | 2016-08-10 | 2019-04-02 | 日立汽车系统株式会社 | Controller of vehicle |
-
2019
- 2019-06-27 CN CN201910570350.4A patent/CN110341723B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103998315A (en) * | 2012-03-14 | 2014-08-20 | E-Aam传动系统公司 | Multi-level vehicle integrity and quality control mechanism |
| CN104512356A (en) * | 2013-10-01 | 2015-04-15 | 福特全球技术公司 | Vehicle autonomous mode deactivation |
| KR20160074199A (en) * | 2014-12-18 | 2016-06-28 | 현대오트론 주식회사 | Electronic control apparatus for supporting emergency mode and operating method thereof |
| CN109562764A (en) * | 2016-08-10 | 2019-04-02 | 日立汽车系统株式会社 | Controller of vehicle |
| CN107933567A (en) * | 2017-11-28 | 2018-04-20 | 东风商用车有限公司 | A kind of vehicle body network controller limping control system and its control method |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113815636A (en) * | 2021-09-28 | 2021-12-21 | 国汽(北京)智能网联汽车研究院有限公司 | Vehicle safety monitoring method and device, electronic equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110341723B (en) | 2021-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108569295B (en) | Method and system for environmental detection | |
| EP3644294B1 (en) | Vehicle information storage method, vehicle travel control method, and vehicle information storage device | |
| CN105842684B (en) | Enhancing is estimated using the vehicle movement of radar data | |
| US10532740B2 (en) | Method and arrangement for monitoring and adapting the performance of a fusion system of an autonomous vehicle | |
| EP3665061A1 (en) | Fault-tolerant control of an autonomous vehicle with multiple control lanes | |
| JPWO2019098353A1 (en) | Vehicle position estimation device and vehicle control device | |
| CN112700668B (en) | Remote control method for automatic driving, automatic driving vehicle and cloud equipment | |
| CN107792077A (en) | For confirming that road section is appropriate for the method and system that autonomous vehicle drives | |
| CN112622930A (en) | Unmanned vehicle driving control method, device and equipment and automatic driving vehicle | |
| CN109815832A (en) | Driving method for early warning and Related product | |
| WO2023071442A1 (en) | Data processing method and apparatus | |
| CN109085620A (en) | Automatic driving vehicle positions abnormal calibration method, apparatus, equipment and storage medium | |
| CN111710158B (en) | Vehicle data processing method and related equipment | |
| CN110825106B (en) | Obstacle avoidance method of aircraft, flight system and storage medium | |
| CN109887321B (en) | Unmanned vehicle lane change safety judgment method and device and storage medium | |
| CN110210361B (en) | Test scene creating method and device and vehicle-mounted terminal | |
| CN110341723A (en) | A kind of control method for vehicle, apparatus and system | |
| CN109774726A (en) | Detection method, device, equipment and the storage medium of vehicle performance | |
| CN112884892A (en) | Unmanned mine car position information processing system and method based on road side device | |
| CN105774728A (en) | System and method for preventing mistakenly detecting collision of vehicle | |
| CN116203925A (en) | Testing method for domain controller | |
| CN114274975A (en) | End-to-end automatic driving control method and device, electronic equipment and storage medium | |
| CN114323693A (en) | Test method, device, equipment and storage medium for vehicle road cloud perception system | |
| CN108162966A (en) | The method and apparatus that the signal that at least two vehicles are run along the first track is provided | |
| CN111427037B (en) | Obstacle detection method and device, electronic equipment and vehicle-end equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |