CN110533947A - Control system, method, electronic equipment and the computer storage medium of the vehicles - Google Patents
Control system, method, electronic equipment and the computer storage medium of the vehicles Download PDFInfo
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- CN110533947A CN110533947A CN201910975258.6A CN201910975258A CN110533947A CN 110533947 A CN110533947 A CN 110533947A CN 201910975258 A CN201910975258 A CN 201910975258A CN 110533947 A CN110533947 A CN 110533947A
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- Prior art keywords
- control instruction
- vehicles
- controller
- master controller
- pilot
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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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
Abstract
Embodiment of the disclosure is related to a kind of for the control system of the vehicles, method, electronic equipment and computer readable storage medium, can be used for vehicle electric field, especially automatic Pilot field.The system includes master controller, is configured as sending the main control instruction of the automatic Pilot for the vehicles.The system further includes pilot controller, is communicated to connect with the master controller, is configured to respond to detect that the master controller is in abnormal operation state, sends auxiliary control instruction.In addition, the system further comprises bottom controller, communicated to connect respectively with the master controller and the pilot controller, is configured as receiving the instruction of at least one of the main control instruction and the auxiliary control instruction to control the vehicles.The security level that the technical solution of the disclosure promotes intelligent driving by arranging pilot controller for master controller.
Description
Technical field
Embodiment of the disclosure relates generally to automatic Pilot field, and more particularly, to the control for the vehicles
System, method, electronic equipment and computer readable storage medium processed.
Background technique
When intelligent automobile executes automatic Pilot, if there is the system failure, vehicle would be at precarious position, when serious
The life security of crisis driver, passenger or even the public.During the technology of current automatic Pilot is realized, for safety factor
Consider, technical staff can be in intelligent control level application Redundancy Design.For example, controller local area network all the way usually can be used
(CAN) bus uses software redundancy scheme, to solve safety issue.To which anti-locking system breaks down, and go out in system
The safe handling responded when existing failure.Specifically, error detection result is fed back to master controller by redundant manipulator, then
Master controller controls vehicle or redundant manipulator is controlled by the CAN communication interface of master controller.However,
Such Redundancy Design depends on the working condition of master controller.Once master controller occurs crashing, shuts down and even invaded, this
Redundancy Design cannot effectively solve safety problem.
Summary of the invention
According to an example embodiment of the present disclosure, a kind of control program for the vehicles is provided.
In the first aspect of the disclosure, a kind of control system for the vehicles is provided.The system includes master control
Device processed is configured as sending the main control instruction of the automatic Pilot for the vehicles.The system further includes auxiliary control
Device communicates to connect with the master controller, is configured to respond to detect that the master controller is in abnormal operation state, sends out
Send auxiliary control instruction.In addition, the system further comprises bottom controller, controlled respectively with the master controller and the auxiliary
Device communication connection processed is configured as receiving the instruction of at least one of the main control instruction and the auxiliary control instruction to control
Make the vehicles.
In the second aspect of the disclosure, a kind of control method for the vehicles is provided.This method include via
Communication network receives the automatic Pilot for the vehicles from the master controller and pilot controller of the vehicles
Control instruction, the control instruction include that the main control from the master controller instructs and from the auxiliary of the pilot controller
Help at least one in control instruction.In addition, this method further includes based on the control instruction, so that the vehicles execute
Operation associated with the control instruction.
In the third aspect of the disclosure, a kind of control method for the vehicles is provided.This method includes being based on
Monitoring to the main control instruction of the automatic Pilot for the vehicles from master controller, determines the master controller
Whether abnormal operation state is in.This method further includes that abnormal operation state is in response to the determination master controller, is generated
Assist control instruction.In addition, this method further comprises sending the auxiliary control instruction to bottom controller.
In the fourth aspect of the disclosure, a kind of equipment, including one or more processors are provided；And storage dress
It sets, for storing one or more programs, when one or more programs are executed by one or more processors, so that one or more
A processor realize according to the disclosure second and third in terms of method.
In the 5th aspect of the disclosure, a kind of computer readable storage medium is provided, computer journey is stored thereon with
Sequence, when which is executed by processor realize according to the disclosure second and third in terms of method.
It should be appreciated that content described in Summary be not intended to limit embodiment of the disclosure key or
Important feature, it is also non-for limiting the scope of the present disclosure.The other feature of the disclosure will become easy reason by description below
Solution.
Detailed description of the invention
It refers to the following detailed description in conjunction with the accompanying drawings, the above and other feature, advantage and aspect of each embodiment of the disclosure
It will be apparent.In the accompanying drawings, the same or similar attached drawing mark indicates the same or similar element, in which:
Multiple embodiments that Fig. 1 shows the disclosure being capable of showing in the vehicles as example context wherein realized
It is intended to；
Fig. 2A shows the schematic block diagram of the control system for the vehicles according to first embodiment of the present disclosure；
Fig. 2 B shows the schematic block diagram of the control system for the vehicles according to second embodiment of the present disclosure；
Fig. 3 shows the flow chart of the control process according to an embodiment of the present disclosure for the vehicles；
Fig. 4 shows the flow chart of another control process according to an embodiment of the present disclosure for the vehicles；
Fig. 5 A shows the schematic block diagram of bottom controller according to an embodiment of the present disclosure；
Fig. 5 B shows the schematic block diagram of pilot controller according to an embodiment of the present disclosure；And
Fig. 6 shows the block diagram that can implement the calculating equipment of multiple embodiments of the disclosure.
Specific embodiment
Embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although showing the certain of the disclosure in attached drawing
Embodiment, it should be understood that, the disclosure can be realized by various forms, and should not be construed as being limited to this
In the embodiment that illustrates, providing these embodiments on the contrary is in order to more thorough and be fully understood by the disclosure.It should be understood that
It is that being given for example only property of the accompanying drawings and embodiments effect of the disclosure is not intended to limit the protection scope of the disclosure.
In the description of embodiment of the disclosure, term " includes " and its similar term should be understood as that opening includes,
I.e. " including but not limited to ".Term "based" should be understood as " being based at least partially on ".Term " one embodiment " or " reality
Apply example " it should be understood as " at least one embodiment ".Term " first ", " second " etc. may refer to different or identical right
As.Hereafter it is also possible that other specific and implicit definition.
In the description of embodiment of the disclosure, term " includes " and its similar term should be understood as that opening includes,
I.e. " including but not limited to ".Term "based" should be understood as " being based at least partially on ".Term " one embodiment " or " reality
Apply example " it should be understood as " at least one embodiment ".Term " first ", " second " etc. may refer to different or identical right
As.Hereafter it is also possible that other specific and implicit definition.
In the description of embodiment of the disclosure, as understood by those skilled in the art, term " vehicles " is main
Refer to the loading for automatic Pilot or person-carrying vehicle, load-carrying vehicle, car, bus, subway, train etc..Certainly,
" vehicles " are not limited in automatic driving vehicle, may also indicate that manned vehicle.
As mentioned above, automatic driving vehicle needs to acquire information next life related with road conditions by multiple sensing devices
At relatively reasonable driving strategy.It is to be appreciated that there are multiple security risks for the generating process of driving strategy.For example, sense
It surveys device to break down, the computational algorithm of driving strategy is not perfect, and the master controller of automatic driving vehicle crashes, shuts down even incident
By security attack etc..In order to ensure the safety of driver, passenger etc., need to carry out redundancy to the control system of automatic driving vehicle
Design.
Traditional Redundancy Design is all based on the Redundancy Design scheme of software, for example, redundant manipulator is by error detection knot
Fruit feeds back to master controller, and then master controller controls vehicle or redundant manipulator is logical by the CAN of master controller
Communication interface is controlled.However, such Redundancy Design depends on the working condition of master controller, when can not working for master controller
When, such Redundancy Design just cannot play the role of protection.In recent years, unmanned technology is gradually shown up prominently.It is more and more
Enterprise start to put into unpiloted research and development and production.It is envisioned that will will appear on road in following a period of time
Part automatic driving vehicle.How to promote the security performance of automatic driving vehicle is current urgent problem to be solved.
In accordance with an embodiment of the present disclosure, a kind of control program for the vehicles is proposed.In this scenario, traffic work
The bottom controller of tool by provide one or two CAN network two CAN physical interfaces respectively with two controllers (such as
Industrial personal computer) physical connection.When two controllers are in same CAN network, bottom controller is distinguished by different CAN ID
Different sending node, so that two controllers can send control instruction to bottom controller.When two controllers
When in two different CAN networks, in addition to aforesaid way, identical CAN ID can also be directly used, and by not
Same CAN network distinguishes different sending nodes.Two controllers by wired or wireless communication connection by that can be cooperateed with
It carries out automatic Pilot and makes to can request that, the orders such as steering instructions request are sent.
Hereinafter reference will be made to the drawings to specifically describe embodiment of the disclosure.Fig. 1 shows multiple embodiment energy of the disclosure
The schematic diagram of enough vehicles 100 in such as vehicle as example context wherein realized.In the example context, traffic
Tool 100 has control system 110 and multiple cameras, such as, positioned at the sensing device 120 of the front of the vehicles 100, position
Sensing device 130 in the left front portion of the vehicles 100, is located at the sensing device 140 of the right front portion positioned at the vehicles 100
The sensing device 150 in the left back portion of the vehicles 100 and sensing device 160 positioned at the right rear portion of the vehicles 100.At this
Wen Zhong, the vehicles 100, which can be, can carry people and/or object and any type mobile by dynamical systems such as engines
Vehicle, including but not limited to car, truck, bus, motorcycle, caravan, train etc..The vehicles 100 are that have centainly
The vehicle of automatic Pilot ability, such vehicle are also referred to as automatic driving vehicle.
As shown in Figure 1, control system 110 can be embedded in the vehicles 100.Control system 110 is also possible to hand over
Entity outside logical tool 100, and can be communicated via wireless network with the vehicles 100.Control system 110 can be by reality
Now calculate equipment to be one or more, include at least processor, memory and other be typically found in general purpose computer
Component, to realize the functions such as calculating, storage, communication, control.It is discussed in detail below associated with control system 110
Control system for the vehicles.
Fig. 2A shows the signal of the control system 110 for the vehicles 100 according to first embodiment of the present disclosure
Block diagram.Control system 110 usually may include master controller 210, pilot controller 220 and bottom controller 240.Such as figure
Shown in 2A, master controller 210 can send the main control instruction for the automatic Pilot of the vehicles 100.Pilot controller 220
It is communicated to connect with master controller 210, when detecting that master controller 210 is in abnormal operation state, pilot controller 220 can be with
Send auxiliary control instruction.In addition, bottom controller 240 can respectively with 220 communication link of master controller 210 and pilot controller
It connects, to receive in the main control instruction from master controller 210 and the auxiliary control instruction from pilot controller 220 extremely
A few instruction executes driver behavior to control the vehicles 100.
In certain embodiments, the main control instruction from master controller 210 and the auxiliary control from pilot controller 220
System instruction is transferred to bottom controller 240 via same communication network 230.As an example, main control instruction is for identifying
Master controller 210, and assist control instruction for identifying pilot controller 220.In certain embodiments, communication network 230
It can be controller local area network (CAN), master controller 210 and pilot controller 220 pass control instruction via CAN bus
Transport to bottom controller 240.
In certain embodiments, when receiving above-mentioned auxiliary control instruction, bottom controller 240 makes the vehicles 100
Execute operation associated with the auxiliary control instruction.As an example, when having detected that control instruction enters bottom controller 240
When, if the control instruction is the auxiliary control instruction from pilot controller 220, bottom controller 240, which no longer executes, to be come
The main control of autonomous control device 210 instructs, but executes the auxiliary control instruction.
In certain embodiments, bottom controller 240 is configured such that preferentially execution carrys out autonomous control to the vehicles 100
It include the control instruction of predetermined instruction in the main control instruction of device 210 and the auxiliary control instruction from pilot controller 220.Make
For example, instruct and when bottom controller 240 receives the main control from master controller 210 simultaneously from pilot controller
When 220 auxiliary control instruction, if comprising the predetermined instruction such as to brake in main control instruction, preferential execution main control refers to
It enables, and if includes the predetermined instruction such as to brake, preferential execution auxiliary control instruction in auxiliary control instruction.
In addition to main control described in above-described embodiment instructs and control instruction is assisted to carry out via same communication network 230
Except the mode of transmission, main control instruction and auxiliary control instruction can be transmitted via different communication networks respectively.Figure
2B shows the schematic block diagram of the control system 110 ' for the vehicles 100 according to second embodiment of the present disclosure.Such as figure
Shown in 2B, main control from master controller 210 instruction and the auxiliary control instruction from pilot controller 220 are respectively via the
One communication network 230A and the second communication network 230B are transferred to bottom controller 240.As an example, due to having passed through difference
Communication network distinguished, main control instruction assists control instruction without mark without identifying master controller 210
Pilot controller 220.
The control process for the vehicles 100 is described in more detail hereinafter with reference to Fig. 3.Fig. 3 is shown according to this public affairs
The flow chart of the control process 300 for the vehicles 100 for the embodiment opened.Process 300 can be by Fig. 2A and Fig. 2 B
Bottom controller 240 realizes that the bottom controller 240 can be embedded into the vehicles 100, positioned at the control system of Fig. 2A
In the control system 110 ' of 110 or Fig. 2 B.In order to facilitate discussion, process 300 will be described in conjunction with Fig. 2A and Fig. 2 B.
310, bottom controller 240 can be via communication network 230 from the master controller 210 of the vehicles 100 and auxiliary
The control instruction for the automatic Pilot for helping controller 220 to receive for the vehicles 100.As an example, the control instruction can wrap
Include at least one in the main control instruction from master controller 210 and the auxiliary control instruction from pilot controller 220.In
In some embodiments, as shown in Figure 2 B, bottom controller 240 can be concurrently via the first communication network 230A from the vehicles
100 master controller 210 receives the main control instruction of the automatic Pilot for the vehicles 100, and via the second communication network
The auxiliary control that network 230B receives the automatic Pilot for the vehicles 100 from the pilot controller 220 of the vehicles 100 refers to
It enables.After receiving at least one in main control instruction and auxiliary control instruction, process marches to 320.
320, bottom controller 240 can make the vehicles 100 execute and the control instruction phase based on control instruction
Associated operation.As an example, the identity information in the available control instruction of bottom controller 240, for example, the control refers to
CAN ID in order.Later, if the identity information corresponds to pilot controller 220, i.e., if the identity information indicates the control
System instruction comes from pilot controller 220, then executes the vehicles 100 and control with the auxiliary from the pilot controller 220
Instruct associated operation.By this method, pilot controller is arranged for master controller, to improve the safety of intelligent driving
Grade.Pilot controller 220 is used as safety governor, once receive the control instruction from safety governor, then bottom control
Device 240 processed preferentially executes the control instruction.
Alternatively or additionally, bottom controller 240 can also first determine the received main control instruction of institute and auxiliary control
The control instruction in the two comprising predetermined instruction is instructed, it is later, preferential to execute operation associated with identified control instruction.
That is, bottom controller 240 first determines which of master controller 210 and pilot controller 220 have issued predetermined finger
It enables, the priority for issuing the controller of the predetermined instruction is just set as highest later, to preferentially execute controller sending
Instruction.
Further below the control process for being used for the vehicles 100 will be described in more detail with reference to Fig. 4 from another point of view.Fig. 4 shows
The flow chart of another control process 400 according to an embodiment of the present disclosure for the vehicles 100 is gone out.Process 400 can be with
It is realized by the pilot controller 220 in Fig. 2A and Fig. 2 B.In order to facilitate discussion, process will be described in conjunction with Fig. 2A and Fig. 2 B
400。
410, pilot controller 220 can be based on to the driving automatically for the vehicles 100 from master controller 210
Whether the monitoring for the main control instruction sailed determines master controller 210 in abnormal operation state.In certain embodiments, when
When not receiving main control instruction in predetermined amount of time, pilot controller 220 can determine that master controller 210 is in abnormal operation
State.Alternatively or additionally, pilot controller 220 is based on sensing device connected to it and obtains information of road surface, and generates and drive
Sail the decision condition of strategy.If it is above-mentioned that pilot controller 220 monitors that the main control instruction that master controller 210 issues is not met
Decision condition can then determine that master controller 210 is in abnormal operation state.
420, whether pilot controller 220 may determine that master controller 210 in abnormal operation state.If main control
Device 210 is in abnormal operation state, then enters 430.
430, auxiliary control instruction is can be generated in pilot controller 220.In certain embodiments, pilot controller 220
The identity information of pilot controller 220 can be included in auxiliary control instruction layer.Alternatively or additionally, auxiliary control is being generated
When system instruction, the identity information for indicating pilot controller 220 is just contained in the auxiliary control instruction.Later, it 440, assists
Controller 220 can send the auxiliary control instruction to bottom controller 240.By this method, auxiliary is arranged for master controller
Controller, to improve the security level of intelligent driving.
It should be understood that pilot controller 220 can monitor master controller by connecting with the direct communication of master controller 210
210 mode of operation.Alternatively or additionally, pilot controller 220 can pass through communication network 230, the 230A of such as bus
Or 230B forms the indirect communication with master controller 210, to monitor the mode of operation of master controller 210.In addition, working as master controller
210 with the forms of broadcasting send main control instruction when, pilot controller 220 can also monitor the broadcasting instructions of master controller 210.
It should also be understood that " abnormal operation state " mentioned by this paper can be since sensing device breaks down, drives plan
Driving strategy error condition caused by the reasons such as computational algorithm is not perfect slightly, is also possible to the master controller of the vehicles 100
210 crash, shutdown are even by the state of security attack.
Compared with the controlling mechanism for being traditionally used for automatic Pilot, the bottom controller 240 of the vehicles 100 of the disclosure
By provide one or two CAN (for example, the first communication network 230A in communication network 230 or Fig. 2 B in Fig. 2A and
Second communication network 230B) respectively with master controller 210 and 220 physical connection of pilot controller or communication connection.Work as main control
When device 210 and pilot controller 220 are in same CAN network (that is, communication network 230 in Fig. 2A), bottom controller 240 is logical
It crosses different CAN ID and distinguishes different control instruction sending nodes, so that master controller 210 and pilot controller 220 are equal
Control instruction can be sent to bottom controller 240.When master controller 210 and pilot controller 220 are in two different CAN
When network, in addition to aforesaid way, identical CAN ID can also be directly used, and by different CAN networks (that is, figure
The first communication network 230A and the second communication network 230B in 2B) distinguish different sending nodes.Master controller 210 and auxiliary
Controller 220 carries out that automatic Pilot makes to can request that, steering instructions are asked by that can cooperate with by wired or wireless communication connection
The orders such as ask to send.
The redundancy control for Function for Automatic Pilot based on the vehicles 100 under some exemplary scenes is discussed above
The controlling mechanism of system 110,110 ' processed.It will be appreciated, however, that the descriptions of these scenes only for explaining by way of example
Bright embodiment of the disclosure.Redundancy described above can be equally used under different or similar scene depending on actual needs
Controlling mechanism.For example, oil exploitation based on remote control technology, detector, which such as drive at the scenes, can equally have and be previously mentioned
Various advantages.
Fig. 5 A shows the schematic block diagram of bottom controller 240 according to an embodiment of the present disclosure.Device 500A can be by
Including in the control system 110 of Fig. 2A or Fig. 2 B or the bottom controller 240 that is implemented as in control system 110.Such as figure
Shown in 5A, device 500A may include control instruction receiving module 510, be configured as via communication network 230 from traffic work
The master controller 210 and pilot controller 220 of tool 100 receive the control instruction of the automatic Pilot for the vehicles 100.As
Example, the control instruction include that the main control instruction from master controller 210 and the auxiliary control from pilot controller 220 refer to
At least one of in order.Device 500A can also include vehicle control modules 520, be configured as referring to based on control
It enables, so that the vehicles 100 execute operation associated with control instruction.
In certain embodiments, vehicle control modules 520 may include: identity information acquisition module (not shown),
It is configured as obtaining the identity information in control instruction；And operation control module (not shown), it is configured to respond to identity
Information corresponds to pilot controller 220, so that the vehicles 100 execute operation associated with auxiliary control instruction.
In certain embodiments, vehicle control modules 520 may include: determining module (not shown), be configured as
Determine the control instruction comprising predetermined instruction in institute's received main control instruction and auxiliary control instruction the two；And operator precedence
Module (not shown) is configured as preferentially executing operation associated with identified control instruction.
Fig. 5 B shows the schematic block diagram of sub-controlling unit 220 according to an embodiment of the present disclosure.Device 500B can be with
The sub-controlling unit 220 for being included in the control system 110 of Fig. 2A or Fig. 2 B or being implemented as in control system 110.
As shown in Figure 5 B, device 500B may include abnormal operation state determining module 530, be configured as based on to from master controller
Whether the monitoring of the main control instruction of 210 automatic Pilot for the vehicles 100 determines master controller 210 in abnormal
Mode of operation.Device 500B can also include auxiliary control instruction generation module 540, be configured to respond to determine master controller
210 are in abnormal operation state, generate auxiliary control instruction.In addition, device 500B can also include that auxiliary control instruction is sent
Module 550 is configured as sending auxiliary control instruction to bottom controller 240.
In certain embodiments, auxiliary control instruction generation module 540 may include identity information module (not shown), quilt
It is configured to include in auxiliary control instruction by the identity information of pilot controller 220.
In certain embodiments, abnormal operation state determining module 530 can be configured as in response in predetermined amount of time
It does not receive main control instruction inside, determines that master controller 210 is in abnormal operation state.
In certain embodiments, the vehicles 100 may include at least one of the following: freight truck；Car；
Bus；Subway；And train.
Fig. 6 shows the block diagram that can implement the calculating equipment 600 of multiple embodiments of the disclosure.Equipment 600 can be used
Pilot controller 220 or bottom controller 240 in realization Fig. 2A, Fig. 2 B.As shown, equipment 600 includes centre
Unit (CPU) 601 is managed, it can be according to the computer program instructions being stored in read-only memory (ROM) 602 or from storage
Unit 608 is loaded into the computer program instructions in random access storage device (RAM) 603, come execute it is various it is appropriate movement and
Processing.In RAM 603, it can also store equipment 600 and operate required various programs and data.CPU 601, ROM 602 and
RAM 603 is connected with each other by bus 604.Input/output (I/O) interface 605 is also connected to bus 604.
Multiple components in equipment 600 are connected to I/O interface 605, comprising: input unit 606, such as keyboard, mouse etc.；
Output unit 607, such as various types of displays, loudspeaker etc.；Storage unit 608, such as disk, CD etc.；And it is logical
Believe unit 609, such as network interface card, modem, wireless communication transceiver etc..Communication unit 609 allows equipment 600 by such as
The computer network of internet and/or various telecommunication networks exchange information/data with other equipment.
Processing unit 601 executes each method as described above and processing, such as process 300,400.For example, some
In embodiment, process 300,400 can be implemented as computer software programs, be tangibly embodied in machine readable media, example
Such as storage unit 608.In some embodiments, some or all of of computer program can be via ROM 602 and/or communication
Unit 609 and be loaded into and/or be installed in equipment 600.When computer program loads are executed to RAM 603 and by CPU 601
When, the one or more steps of procedures described above 300,400 can be executed.Alternatively, in other embodiments, CPU
601 can be configured as implementation procedure 200,300,400 by other any modes (for example, by means of firmware) appropriate.
Function described herein can be executed at least partly by one or more hardware logic components.Example
Such as, without limitation, the hardware logic component for the exemplary type that can be used includes: field programmable gate array (FPGA), dedicated
Integrated circuit (ASIC), Application Specific Standard Product (ASSP), the system (SOC) of system on chip, load programmable logic device
(CPLD) etc..
For implement disclosed method program code can using any combination of one or more programming languages come
It writes.These program codes can be supplied to the place of general purpose computer, special purpose computer or other programmable data processing units
Device or controller are managed, so that program code makes defined in flowchart and or block diagram when by processor or controller execution
Function/operation is carried out.Program code can be executed completely on machine, partly be executed on machine, as stand alone software
Is executed on machine and partly execute or executed on remote machine or server completely on the remote machine to packet portion.
In the context of the disclosure, machine readable media can be tangible medium, may include or is stored for
The program that instruction execution system, device or equipment are used or is used in combination with instruction execution system, device or equipment.Machine can
Reading medium can be machine-readable signal medium or machine-readable storage medium.Machine readable media can include but is not limited to electricity
Son, magnetic, optical, electromagnetism, infrared or semiconductor system, device or equipment or above content any conjunction
Suitable combination.The more specific example of machine readable storage medium will include the electrical connection of line based on one or more, portable meter
Calculation machine disk, hard disk, random access memory (RAM), read-only memory (ROM), Erasable Programmable Read Only Memory EPROM (EPROM
Or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage facilities or
Any appropriate combination of above content.
Although this should be understood as requiring operating in this way with shown in addition, depicting each operation using certain order
Certain order out executes in sequential order, or requires the operation of all diagrams that should be performed to obtain desired result.
Under certain environment, multitask and parallel processing be may be advantageous.Similarly, although containing several tools in being discussed above
Body realizes details, but these are not construed as the limitation to the scope of the present disclosure.In the context of individual embodiment
Described in certain features can also realize in combination in single realize.On the contrary, in the described in the text up and down individually realized
Various features can also realize individually or in any suitable subcombination in multiple realizations.
Although having used specific to this theme of the language description of structure feature and/or method logical action, answer
When understanding that theme defined in the appended claims is not necessarily limited to special characteristic described above or movement.On on the contrary,
Special characteristic described in face and movement are only to realize the exemplary forms of claims.
Claims (16)
1. a kind of control system for the vehicles, comprising:
Master controller is configured as sending the main control instruction of the automatic Pilot for the vehicles；
Pilot controller is communicated to connect with the master controller, is configured to respond to detect that the master controller is in different
Normal mode of operation sends auxiliary control instruction；
Bottom controller communicates to connect with the master controller and the pilot controller respectively, is configured as receiving the master
At least one of control instruction and the auxiliary control instruction are instructed to control the vehicles.
2. control system according to claim 1, wherein the bottom controller be configured to respond to receive it is described
Control instruction is assisted, so that the vehicles execute operation associated with the auxiliary control instruction.
3. control system according to claim 1, wherein the bottom controller is configured such that the vehicles
Preferentially execute the control instruction comprising predetermined instruction in the main control instruction and the auxiliary control instruction.
4. control system according to claim 1, wherein main control instruction and the auxiliary control instruction are via phase
With communication network be transferred to the bottom controller, master controller described in the main control command identification, and described auxiliary
Control instruction is helped to identify the pilot controller.
5. control system according to claim 1, wherein main control instruction and the auxiliary control instruction pass through respectively
The bottom controller is transferred to by the first communication network and the second communication network.
6. control system according to claim 1, wherein the vehicles include at least one of the following:
Freight truck；
Car；
Bus；
Subway；And
Train.
7. a kind of control method for the vehicles, comprising:
Oneself for being used for the vehicles is received from the master controller and pilot controller of the vehicles via communication network
The dynamic control instruction driven, the control instruction include that the main control from the master controller is instructed and controlled from the auxiliary
At least one of in the auxiliary control instruction of device processed；And
Based on the control instruction, so that the vehicles execute operation associated with the control instruction.
8. control method according to claim 7, wherein it is related to the control instruction to execute the vehicles
The operation of connection includes:
Obtain the identity information in the control instruction；And
Correspond to the pilot controller in response to the identity information, is controlled so that the vehicles are executed with the auxiliary
Instruct associated operation.
9. control method according to claim 7, wherein it is related to the control instruction to execute the vehicles
The operation of connection includes:
Determine the control instruction comprising predetermined instruction in institute's received main control instruction and auxiliary control instruction the two；And
It is preferential to execute operation associated with identified control instruction.
10. control method according to claim 7, wherein the vehicles include at least one of the following:
Freight truck；
Car；
Bus；
Subway；And
Train.
11. a kind of control method for the vehicles, comprising:
Based on to the automatic Pilot for the vehicles from master controller main control instruction monitoring, determine described in
Whether master controller is in abnormal operation state；
It is in abnormal operation state in response to the determination master controller, generates auxiliary control instruction；And
The auxiliary control instruction is sent to bottom controller.
12. control method according to claim 11, wherein generating the auxiliary control instruction and including:
Identity information by the pilot controller includes in the auxiliary control instruction.
13. control method according to claim 11, wherein determining whether the master controller is in abnormal operation state
Include:
In response to not receiving the main control instruction within a predetermined period of time, determine that the master controller is in the abnormal behaviour
Make state.
14. control method according to claim 11, wherein the vehicles include at least one of the following:
Freight truck；
Car；
Bus；
Subway；And
Train.
15. a kind of electronic equipment, the electronic equipment include:
One or more processors；And
Storage device, for storing one or more programs, when one or more of programs are by one or more of processing
Device executes, so that one or more of processors realize the method as described in any one of claim 7-10 or 11-14.
16. a kind of computer readable storage medium is stored thereon with computer program, realization when described program is executed by processor
Method as described in any one of claim 7-10 or 11-14.
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Application publication date: 20191203 |