CN110626336B - Control system for automatic driving of L3-grade vehicle - Google Patents
Control system for automatic driving of L3-grade vehicle Download PDFInfo
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- CN110626336B CN110626336B CN201910903942.3A CN201910903942A CN110626336B CN 110626336 B CN110626336 B CN 110626336B CN 201910903942 A CN201910903942 A CN 201910903942A CN 110626336 B CN110626336 B CN 110626336B
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- 238000004891 communication Methods 0.000 claims description 14
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- 238000013500 data storage Methods 0.000 claims description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
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- 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
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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Abstract
The embodiment of the invention discloses a control system for automatic driving of an L3-grade vehicle, which comprises: the vehicle normal driving assembly comprises a function operation module, wherein the function operation module comprises a function activation unit, a driver taking-over unit, an automatic parking unit and a driver override unit. According to the technical scheme provided by the embodiment of the invention, the functional units corresponding to different driving modes of the vehicle in the automatic driving process are pre-configured in the functional operation module under the normal driving assembly of the vehicle, and the driving state of the vehicle in the automatic driving process is judged by setting the execution conditions of the different functional units, so that a set of overall scheme for clearly defining the L3-grade automatic driving function of the vehicle is realized, the automatic skip under different driving modes is ensured, and the accuracy of the automatic driving of the vehicle is improved.
Description
Technical Field
The embodiment of the invention relates to the field of vehicle driving data processing, in particular to an L3-level vehicle automatic driving control system.
Background
With the popularization of automatic automobile driving, the existing automobile driving technology can be divided into six levels of L0-L5 according to the definition of the American society of automotive Engineers; wherein, the L1-L2 level refers to an intelligent driving assistance system, and a driver is responsible for all driving tasks under the level; level L3 is a semi-automatic driving stage, which marks the entry into the automatic driving category, and the vehicle can realize automatic driving of most road conditions, take over a majority of driving functions of the vehicle, and monitor the driving environment in some cases, and the driver still needs to keep attention at the level L3, so as to take over the vehicle in time in case of emergency.
The L3-level automatic driving system can judge whether the current vehicle is located on an expressway or an urban expressway through a navigation map and positioning information in the vehicle, judge whether a driver is awake through camera monitoring, and identify and analyze the traffic condition of the vehicle driving direction through a camera and a radar sensor, so that the acceleration and deceleration of the vehicle are automatically controlled in the longitudinal direction, and the normal driving path of the vehicle is automatically controlled in the transverse direction; the L3 level automatic driving system presets internal and external conditions and applicable environments required by automatic driving, such as vehicle speed, traffic conditions, road types, weather, environment and the like, after the automatic driving system is started, the vehicle can be automatically driven on a highway or a structured road which is authenticated and covered by a high-precision map at a full speed of 0 km/h-130 km/h, and both hands of a driver can leave a steering wheel under a specified scene, so that the driver can be automatically driven by the vehicle completely, or the lateral and longitudinal control rights of the vehicle can be overridden at any time, and the automatic driving function is quitted.
However, for the problems of transient change of road traffic environment, sudden change of motion of traffic vehicles, taking over of vehicle control right by a driver and the like, a set of scheme for clearly defining the overall functional design of the L3-level automatic driving system is not developed at present, and due to the limitation of internal and external conditions and applicable environment specified by the L3-level automatic driving system, the condition that the specified conditions are not met often occurs in the running process of a vehicle on a structured road, so that the state control of automatic driving of the vehicle is influenced, and certain potential safety hazards exist.
Disclosure of Invention
The embodiment of the invention provides a control system for automatic driving of an L3-grade vehicle, which realizes a set of overall scheme for clearly defining the automatic driving function of the L3-grade vehicle, ensures the skipping of different driving modes of the vehicle in the automatic driving process and improves the safety of automatic driving of the vehicle.
In a first aspect, an embodiment of the present invention provides a control system for automatic driving of a vehicle of level L3, including: the vehicle normal driving assembly comprises a function operation module, wherein the function operation module comprises a function activation unit, a driver take-over unit, an automatic parking unit and a driver override unit; if the automatic driving function of the vehicle is detected to be started and the preset automatic driving condition is met, the function activating unit executes the automatic driving function of the vehicle after activation confirmation, and simultaneously monitors the driving state of the vehicle in real time in the automatic driving process; the driver takeover unit reminds a driver to take over driving control of the vehicle if the driving state does not meet the automatic driving condition; if the driving state meets a preset emergency stop condition, the automatic stop unit executes a brake stop operation; if the function activating unit monitors that the driver initiates a take-over request of a transverse or longitudinal driving function, the driver override unit executes an automatic driving function of the vehicle except the transverse or longitudinal driving function and executes the transverse or longitudinal driving function according to a driving control command after the driver takes over.
Further, if the taking-over reminding time length of the driver taking-over unit exceeds a preset taking-over threshold value, the automatic parking unit executes brake stopping operation.
Further, if it is detected that the driving state meets the automatic driving condition within a preset takeover threshold of the driver takeover unit, the driver takeover unit stops reminding the driver to take over driving control of the vehicle, and the function activation unit continues to execute an automatic driving function of the vehicle.
Further, if it is detected that the driver exits the control of the lateral or longitudinal driving function within a preset override threshold of the driver override unit and the driving state satisfies the automatic driving condition, the automatic driving function of the vehicle is continuously performed by the function activation unit.
Further, the function operating module further comprises an automatic driving standby unit, which is used for judging whether the current driving state of the vehicle meets a preset automatic driving condition when detecting that the automatic driving function of the vehicle is started.
Furthermore, the function operation module further comprises an automatic driving failure unit, which is used for setting the automatic driving function of the vehicle to be in a failure state when the automatic driving standby unit detects that the automatic driving fault exists, and after the automatic driving fault disappears and the fault duration is preset, the automatic driving standby unit converts the automatic driving function of the vehicle from the failure state to an effective state.
Further, the function operating module further comprises an automatic driving quitting unit for controlling the vehicle to switch from the automatic driving state to the driving state which is completely taken over by the driver, and after the driving control of the vehicle is completely taken over by the driver, the automatic driving standby unit continuously judges whether the current driving state of the vehicle meets the preset automatic driving condition.
Further, the function operation module further comprises a vehicle stopping unit for executing a pressure maintaining stopping operation of the vehicle after the automatic parking unit controls the vehicle to stop.
Further, the vehicle normal driving assembly further comprises a function closing module, which is used for closing the automatic driving function of the vehicle according to a closing request of the driver to the automatic driving function.
Further, the control system for automatic driving of the L3 class vehicle further includes: the system comprises a vehicle-mounted electronic control unit ECU awakening component, an initialization component, a program execution ending component, a chip communication dormancy component, a vehicle-mounted ECU dormancy component and a vehicle-mounted ECU restarting component; wherein the content of the first and second substances,
if a wake-up signal is received, the vehicle-mounted ECU wake-up component wakes up the vehicle-mounted ECU in the vehicle, and the initialization component executes corresponding initialization self-checking operation after the vehicle-mounted ECU is woken up; if the initialization fault is not detected, the vehicle normal driving component executes corresponding vehicle driving operation until the driving state of the vehicle meets a preset dormancy condition, and the program execution ending component stores the driving data of the vehicle; when the chip communication dormancy component finishes data storage or reaches a preset storage time, the chip communication dormancy component controls the vehicle-mounted ECU to disconnect communication and sends a dormancy signal of the vehicle-mounted ECU; the vehicle-mounted ECU dormancy component controls the vehicle-mounted ECU to be in a dormant state; and when the vehicle-mounted ECU restarting component detects an initialization fault or monitors the wake-up signal again, the vehicle-mounted ECU is restarted.
According to the control system for the automatic driving of the L3-level vehicle, the functional units corresponding to different driving modes of the vehicle in the automatic driving process are pre-configured in the functional operation module under the normal driving assembly of the vehicle, and the driving state of the vehicle in the automatic driving process is judged by setting the execution conditions of the different functional units, so that a set of overall scheme for clearly defining the automatic driving function of the L3-level vehicle is realized, automatic skipping under different driving modes is ensured, and the accuracy of automatic driving of the vehicle is improved.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:
fig. 1 is a schematic architecture diagram of a control system for automatic driving of an L3-class vehicle according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a control system for automatic driving of an L3-class vehicle according to a second embodiment of the present invention;
fig. 3 is a schematic diagram of a control system for automatic driving of an L3-class vehicle according to a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.
Example one
Fig. 1 is a schematic architecture diagram of a control system for automatic driving of an L3-class vehicle according to an embodiment of the present invention, and this embodiment may be applied to automatic driving of any type of L3-class vehicle. As shown in fig. 1, the control system for automatic driving of the L3 class vehicle in the present embodiment may include: the vehicle normal driving assembly 1 is composed of a function operating module 10, and the function operating module 10 may include a function activating unit 110, a driver taking-over unit 120, an automatic parking unit 130, and a driver override unit 140.
When a vehicle of level L3 normally runs on a road, and when conditions are met and an automatic driving function is turned on, a driver should not Control the opening degrees of a steering wheel and a pedal any more, at this time, automatic driving is completely executed by a vehicle-mounted Electronic Control Unit (ECU) arranged in the vehicle, and the driver is allowed to override the Control right of the automatic driving vehicle, and the automatic driving function is backed up when a man-machine co-driving mode exceeds a certain time threshold, at this time, the vehicle normal driving module 1 may turn on the automatic driving function arranged on the vehicle of level L3, so that the function operation module 10 is mainly used for executing driving functions of various driving modes such as the man-machine co-driving states of the automatic driving function activation, the driver taking over when the automatic driving capability is exceeded, the automatic brake under emergency, and the driving override in the driving process of the vehicle of level L3.
Optionally, if it is detected that the automatic driving function of the vehicle is turned on and meets a preset automatic driving condition, the function activation unit 110 executes the automatic driving function of the vehicle after activation confirmation, and simultaneously monitors the driving state of the vehicle in real time during the automatic driving process; if the driving state does not satisfy the automatic driving condition, the driver takeover unit 120 reminds the driver to take over the driving control of the vehicle; if the driving state satisfies a preset emergency stop condition, the automatic stop unit 130 performs a brake stop operation; if the function activation unit 110 monitors that the driver initiates a take-over request for the lateral or longitudinal driving function, the driver override unit 140 performs an automatic driving function of the vehicle other than the lateral or longitudinal driving function and performs the lateral or longitudinal driving function according to the driving control command after the driver takes over.
Specifically, when a driver drives an L3-class vehicle to normally run on a road, the automatic driving function of the vehicle is normally in an off state in an initial state, and the vehicle is driven manually by the driver, at this time, the vehicle-mounted ECU does not respond to a control instruction sent by any actuator set for the automatic driving function in the vehicle in the off state of the automatic driving function, when the driver needs to start the automatic driving function, the automatic driving function can be set to an "on" state by operating a central control soft switch set in the vehicle, at this time, the vehicle-mounted ECU detects that the automatic driving function of the vehicle is started, and further, whether the driving state of the vehicle currently running on the road meets a preset automatic driving condition is continuously judged, in this embodiment, the automatic driving condition may include whether the working state of an automatic driving function device set by the vehicle itself can ensure the normal start of automatic driving, and whether or not an Operational Design area (ODD) road environmental condition in which the vehicle is currently running is suitable for automatic driving of the vehicle. Furthermore, if it is detected that the automatic driving function of the vehicle is activated and a preset automatic driving condition is satisfied, the vehicle-mounted ECU feeds back an activation confirmation prompt of the automatic driving function to the driver, and receives a confirmation instruction that the driver confirms activation of the automatic driving function of the vehicle, the control function activation unit 110 activates all the automatic driving functions of the vehicle and executes the automatic driving function of the vehicle, and at this time, the vehicle-mounted ECU controls the vehicle to be in an automatic driving activation operation state, the driver can release the steering wheel, and at the same time, the driver does not need to control the brake pedal and the accelerator pedal, and only needs to keep attention to the front road condition during driving, so that the driver can take over the driving control right of the vehicle in time when the situation exceeding the automatic driving capability occurs, and at this time, the function activation unit 110 may execute lateral and longitudinal cooperative control of the vehicle when the automatic driving function of the vehicle is executed, the transverse control means automatically keeping the vehicle on a running path, and the longitudinal control means automatically controlling the vehicle to accelerate and decelerate so as to realize the transverse and longitudinal automatic driving function of the L3-level vehicle. Meanwhile, the function activating unit 110 may monitor the driving state of the vehicle in real time during the automatic driving process, so as to timely determine that the automatic driving condition is not satisfied, and then quit the automatic driving, and the driver takes over the driving control right of the vehicle.
Further, if the function activating unit 110 monitors that the driving state of the vehicle in the current driving process does not satisfy the automatic driving condition, it may detect that the ODD road environment condition of the vehicle in the driving process does not satisfy the automatic driving condition, or the working state of other sensors, controllers or actuators configured for the automatic driving function on the vehicle does not satisfy the automatic driving condition, or the driving state condition of other necessary vehicles around the current vehicle does not satisfy the automatic driving condition, at this time, the vehicle-mounted ECU may control the driver takeover unit 120 to remind the driver to take over the driving control of the vehicle, so that the vehicle jumps from the automatic driving activated running state to the driver takeover state.
Meanwhile, if the function activating unit 110 monitors that the driving status of the vehicle currently running meets a preset emergency stop condition, which may be a situation where the vehicle encounters a danger that the driver is not in time to take over during running, such as an automatic driving function failure of the vehicle itself, an excessively short distance when encountering an obstacle, and the like, the automatic stop unit 130 may perform a brake stop operation so as to timely control the vehicle to properly decelerate and stop on the road on which the vehicle is running.
In addition, after the driver takeover unit 120 reminds the driver to take over the driving control right of the vehicle, in order to ensure the driving safety of the vehicle, the driver is required to take over the vehicle as soon as possible, and the problem of driving failure caused by the error of the automatic driving function is avoided, so that a preset takeover threshold value is configured in the driver takeover unit 120, and if the takeover reminding duration of the driver takeover unit 120 exceeds the preset takeover threshold value, the automatic parking unit 130 executes the brake stop operation, so that when the driver does not take over the vehicle in time, the brake stop of the vehicle can be directly controlled, and the driving failure is avoided; the time period for taking over the reminding at this time can be a period from the beginning of reminding the driver of the driving control right for taking over the vehicle to the detection of the driver for taking over the vehicle. Meanwhile, if it is detected that the driving state of the vehicle in the current driving process meets the preset automatic driving condition again within the preset takeover threshold of the driver takeover unit 120, the driver takeover unit 120 reminds the driver that the automatic driving activation condition is met, and if the driver does not intervene in the vehicle control any more within the preset takeover threshold, the function activation unit 110 continues to execute the automatic driving function of the vehicle, so that the vehicle returns from the driver takeover state to the automatic driving activation operation state.
Further, the driver may actively take over the driving control authority of the vehicle during the automatic driving of the vehicle, which may include taking over the lateral and/or longitudinal driving control of the vehicle, when the function activating unit 110 monitors that the driver initiates a request for taking over the lateral or longitudinal driving function during the automatic driving of the vehicle, for example, when the driver has an intervention for an action of controlling the driving of the vehicle in the lateral or longitudinal direction alone, the driver override unit 140 performs the automatic driving function of the vehicle in addition to the lateral or longitudinal driving function, and performs the lateral or longitudinal driving function according to the driving control instruction after the driver takes over, that is, the vehicle currently jumps to the man-machine common driving state, and performs a part of the automatic driving function by the onboard ECU, and the driver overrides a part of the driving function.
Furthermore, the co-driving status of the driver override unit 140 is only for the case where the driver is currently intervening in the lateral or longitudinal driving control of the vehicle, and enters the co-driving status of the driver override unit 140 after the driver actively intervenes in the lateral or longitudinal driving control of the vehicle, and then if the driver exits the intervention in the lateral or longitudinal driving control of the vehicle within a preset override threshold of the override unit 140 and detects that the driving status of the vehicle during driving satisfies a preset automatic driving condition, the function activation unit 110 continues to perform the automatic driving function of the vehicle, and returns from the co-driving status to the automatic driving activation operating status; otherwise, the automatic driving function of the vehicle is quitted, and the vehicle-mounted ECU does not execute the automatic driving function any more.
According to the technical scheme provided by the embodiment, the functional units corresponding to different driving modes of the vehicle in the automatic driving process are pre-configured in the functional operation module under the normal driving assembly of the vehicle, and at the moment, the driving state of the vehicle in the automatic driving process is judged by setting the execution conditions of the different functional units, so that a set of overall scheme for clearly defining the L3-level automatic driving function of the vehicle is realized, automatic skip under different driving modes is ensured, and the accuracy of automatic driving of the vehicle is improved.
Example two
Fig. 2 is a schematic diagram of a control system for automatic driving of an L3-class vehicle according to a second embodiment of the present invention. The present embodiment is optimized based on the above embodiments. As shown in fig. 2, the vehicle normal driving assembly 1 in the present embodiment may further include a function shutdown module 20, and the function operation module 10 may further include an automatic driving standby unit 150, an automatic driving disabled unit 160, an automatic driving quit unit 170, and a vehicle stop unit 180.
Specifically, the function shutdown module 20 is configured to shut down the automatic driving function of the vehicle according to a shutdown request of the driver for the automatic driving function; when the driver drives the L3-class vehicle to normally run on the road, the automatic driving function of the vehicle is normally in the off state in the initial state, and the vehicle is driven manually by the driver, that is, the automatic driving function in the vehicle is turned off by the function turning-off module 20 in the initial state; in addition, in the automatic driving process of the vehicle, a driver can set the automatic driving function to be in an off state by operating a central control soft switch arranged in the vehicle, and at the moment, the vehicle-mounted ECU can receive a closing request of the driver for the automatic driving function, so that the automatic driving function of the vehicle is closed.
Further, the automatic driving standby unit 150 is configured to, when it is detected that the automatic driving function of the vehicle is turned on, determine whether a current driving state of the vehicle meets a preset automatic driving condition; at this time, after the automatic driving function is turned on, the function operating module 10 is first in a standby state corresponding to the automatic driving standby unit 150, and belongs to an initial state of the automatic driving function operation, and at this time, there is no intervention of any driving control function, and only whether the current driving state of the vehicle meets the preset automatic driving condition is determined.
Meanwhile, the automatic driving standby unit 150 may further determine whether there is a failure in the automatic driving function of the vehicle, and at this time, the automatic driving disabling unit 160 is configured to set the automatic driving function of the vehicle to a disabled state when the automatic driving standby unit 150 detects that there is an automatic driving failure, and after the automatic driving failure disappears for a preset failure time period, the automatic driving standby unit 150 converts the automatic driving function of the vehicle from the disabled state to an enabled state so that the automatic driving function of the vehicle is performed by the function activating unit 110 after activation confirmation when the automatic driving condition is satisfied.
In addition, the automated driving quitting unit 170 in the present embodiment is configured to control the transition of the vehicle from the automated driving state to the driver's full takeover driving state, and after the driver's full takeover driving control of the vehicle, the automated driving standby unit 150 continuously determines whether the current driving state of the vehicle satisfies the preset automated driving condition. At this time, after the driver takeover unit 120 reminds the driver to take over the driving control of the vehicle, if the driver gradually takes over the driving control right of the vehicle, either the automatic parking unit 130 controls the vehicle to brake off, or it is detected that the driving conditions have not been met with automatic driving conditions within preset override thresholds of the driver override unit 140, the driving control of the vehicle is taken over by the driver, the automated driving exit unit 170 gradually controls the exit of the automated driving function, that is, when the automated driving function is gradually exited, can jump from a man-machine common driving state of a driver taking over state, an automatic parking state or driver override to an automatic driving function quitting state, and then after the driver takes over the driving control of the vehicle completely, the vehicle jumps to a standby state, and the automatic driving standby unit 150 continuously judges whether the current driving state of the vehicle meets the preset automatic driving condition.
Further, the vehicle stopping unit 180 is configured to perform a vehicle pressure maintaining stopping operation after the automatic parking unit 130 controls the vehicle to stop, and control the vehicle to be locked.
According to the technical scheme provided by the embodiment, the functional units corresponding to different driving modes of the vehicle in the automatic driving process are pre-configured in the functional operation module under the normal driving assembly of the vehicle, and at the moment, the driving state of the vehicle in the automatic driving process is judged by setting the execution conditions of the different functional units, so that a set of overall scheme for clearly defining the L3-level automatic driving function of the vehicle is realized, automatic skip under different driving modes is ensured, and the accuracy of automatic driving of the vehicle is improved.
EXAMPLE III
Fig. 3 is a schematic diagram of a control system for automatic driving of an L3-class vehicle according to a third embodiment of the present invention. The present embodiment is optimized based on the above embodiments. As shown in fig. 3, the control system for automatic driving of the L3-class vehicle in the present embodiment may further include: the system comprises an on-board ECU awakening component 2, an initialization component 3, a program execution ending component 4, a chip communication dormancy component 5, an on-board ECU dormancy component 6 and an on-board ECU restarting component 7.
If the wake-up signal is received, the vehicle-mounted ECU wake-up component 2 wakes up the vehicle-mounted ECU in the vehicle, and the initialization component 3 executes corresponding initialization self-checking operation after the vehicle-mounted ECU is awakened; if the initialization fault is not detected, the vehicle normal driving component 1 executes corresponding vehicle driving operation until the driving state of the vehicle meets the preset dormancy condition, and the program execution ending component 4 stores the driving data of the vehicle; when the chip communication dormancy component 5 finishes data storage or reaches a preset storage time, the vehicle-mounted ECU is controlled to disconnect communication, and a dormancy signal of the vehicle-mounted ECU is sent out; the vehicle-mounted ECU dormancy component 6 controls the vehicle-mounted ECU to be in a dormant state; the on-vehicle ECU restart component 7 restarts the on-vehicle ECU when detecting an initialization fault or upon re-monitoring the wake-up signal.
Optionally, when the vehicle is in a parking state, the vehicle-mounted ECU is generally in a sleep mode, the output power of the vehicle-mounted storage battery is directly influenced by the static power consumption, the larger the static power consumption generated by the vehicle-mounted ECU is, the faster the electric quantity of the storage battery is consumed, the storage battery with a higher capacity requirement needs to be supported at the moment, if the storage battery is exhausted, the vehicle cannot be normally started, the use of a user is influenced, and the service life of the storage battery is also influenced, so that the static power consumption of the vehicle can be reduced by setting the working state of the vehicle-mounted ECU in different modes in the embodiment. When the vehicle is in a parking state, the vehicle-mounted ECU is set to be in a dormant state, so that the static power consumption of the vehicle-mounted ECU can be effectively reduced, and the static power consumption of the vehicle is reduced.
In this embodiment, when the vehicle is started, the vehicle-mounted ECU of the vehicle is waken up by the vehicle-mounted ECU wakening assembly 2, and the vehicle-mounted ECU is switched back to the operating mode from the modification mode, which is implemented by simultaneously adopting the following two control modes: key dormancy awakening and CAN dormancy awakening; the key dormancy awakening is to connect the vehicle-mounted ECU with an ignition switch, the vehicle-mounted ECU awakens to a normal working mode after detecting that the ignition key receives an ignition switch starting signal at an ON position in the process of powering ON and powering OFF the vehicle, and the vehicle-mounted ECU enters a dormant state when detecting that the ignition key receives an ignition switch closing signal at an OFF position; the CAN dormancy awakening is that the vehicle-mounted ECU performs data transmission through being connected with a CAN bus, receives and sends awakening and dormancy instructions by utilizing a broadcast type transmission mode, and the vehicle-mounted ECU identifies CAN signals belonging to the vehicle-mounted ECU according to CAN data message frame ID numbers to realize dormancy and awakening control of the vehicle-mounted ECU.
Specifically, the vehicle-mounted ECU wakeup component 2 is a soft module that switches the vehicle-mounted ECU from the sleep mode to the working mode after the vehicle is powered on, and the vehicle-mounted ECU can enter the working mode from the sleep mode when receiving the following wakeup signals: the KL15 has the power-on wake-up signal active (4V-16V) and the vehicle Ethernet wake-up signal active (9V-16V).
Further, the vehicle-mounted ECU can enter an initialization self-checking state through the initialization component 3 after being awakened, and when an initialization fault is detected, the vehicle-mounted ECU is restarted through the vehicle-mounted ECU restarting component 7; when the initialization fault is not detected, the corresponding vehicle driving operation is performed by the vehicle normal driving assembly 1 in the manner provided in the above-described embodiment.
Further, the vehicle normal driving component 1 directly stores driving data in the vehicle driving process through the program execution ending component 4 under the condition that the preset dormancy condition of the vehicle-mounted ECU is met and if the vehicle-mounted ECU does not need to execute the EOL offline test of the production line terminal; the preset sleep condition of the vehicle-mounted ECU is as follows: the KL15 wake-up signal is invalid (U <4V) or the main power supply and the standby power supply are both smaller than 6V.
At this time, the program execution ending component 4 in this embodiment is in a data storage state, so as to ensure that the driving data is not lost after being written in; the vehicle-mounted ECU with the automatic driving function provides a power-off delay function and necessary data storage is carried out before the vehicle enters the dormancy state.
Further, the chip communication dormancy component 5 controls the vehicle-mounted ECU to disconnect the communication chip after finishing data storage or reaching a preset storage time length, and ensures that a CAN communication data transmission sequence is closed in sequence, and simultaneously controls the vehicle-mounted ECU to be in a dormant state through the vehicle-mounted ECU dormancy component 6 when a certain time threshold value is met or a dormancy signal of the vehicle-mounted ECU exists on a CAN bus, the vehicle-mounted MCU is powered off in the dormant state, meanwhile, a CAN driving circuit is in a monitoring mode, and the vehicle-mounted MCU is in a low power consumption mode; when it is satisfied that the wake-up signal is received again, the on-vehicle ECU restart component 7 restarts the on-vehicle ECU.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. A control system for automatic driving of a class L3 vehicle, comprising: the vehicle normal driving assembly comprises a function operation module, wherein the function operation module comprises a function activation unit, a driver take-over unit, an automatic parking unit and a driver override unit; wherein the content of the first and second substances,
if the automatic driving function of the vehicle is detected to be started and the preset automatic driving condition is met, the function activating unit executes the automatic driving function of the vehicle after activation confirmation, and simultaneously monitors the driving state of the vehicle in real time in the automatic driving process; the driver takeover unit reminds a driver to take over driving control of the vehicle if the driving state does not meet the automatic driving condition; if the driving state meets a preset emergency stop condition, the automatic stop unit executes a brake stop operation; if the function activating unit monitors that the driver initiates a take-over request of a transverse or longitudinal driving function, the driver override unit executes an automatic driving function of the vehicle except the transverse or longitudinal driving function and executes the transverse or longitudinal driving function according to a driving control command after the driver takes over;
the transverse driving function is used for automatically keeping the vehicle on a running path of the vehicle, and the longitudinal driving function is used for automatically controlling the vehicle to accelerate and decelerate;
if the driving state meeting the automatic driving condition is detected in the preset takeover threshold value of the driver takeover unit, the driver takeover unit stops reminding a driver to take over the driving control of the vehicle, and the function activating unit continues to execute the automatic driving function of the vehicle.
2. The control system of claim 1, wherein the automatic parking unit performs a brake-off operation if a takeover reminder duration for the driver takeover unit exceeds a preset takeover threshold.
3. The control system of claim 1, wherein if a driver's exit from control of the lateral or longitudinal driving function is detected within a preset override threshold of the driver override unit and the driving state satisfies the autopilot condition, continuing execution of an autopilot function of the vehicle by the function activation unit.
4. The control system according to claim 1, wherein the function operation module further comprises an automatic driving standby unit for judging whether a current driving state of the vehicle satisfies a preset automatic driving condition when it is detected that an automatic driving function of the vehicle is turned on.
5. The control system according to claim 4, wherein the function operation module further includes an automatic driving disabling unit configured to set an automatic driving function of the vehicle to a disabled state when the automatic driving standby unit detects that there is an automatic driving fault, and the automatic driving standby unit switches the automatic driving function of the vehicle from the disabled state to an enabled state after a preset fault duration elapses after the automatic driving fault disappears.
6. The control system according to claim 4, wherein the function operation module further comprises an automatic driving exit unit for controlling a transition of the vehicle from an automatic driving state to a driver's full takeover driving state, and after the driver's full takeover driving control of the vehicle, the automatic driving standby unit continuously judges whether or not the current driving state of the vehicle satisfies a preset automatic driving condition.
7. The control system according to claim 1, wherein the function operation module further includes a vehicle stop unit for performing a stop pressure maintaining operation of the vehicle after the automatic parking unit controls the vehicle to stop.
8. The control system of claim 1, wherein the vehicle normal driving assembly further comprises a function shutdown module configured to shut down an autopilot function of the vehicle in response to a driver request to shut down the autopilot function.
9. The control system according to any one of claims 1 to 8, further comprising: the system comprises a vehicle-mounted electronic control unit ECU awakening component, an initialization component, a program execution ending component, a chip communication dormancy component, a vehicle-mounted ECU dormancy component and a vehicle-mounted ECU restarting component; wherein the content of the first and second substances,
if a wake-up signal is received, the vehicle-mounted ECU wake-up component wakes up the vehicle-mounted ECU in the vehicle, and the initialization component executes corresponding initialization self-checking operation after the vehicle-mounted ECU is woken up; if the initialization fault is not detected, the vehicle normal driving component executes corresponding vehicle driving operation until the driving state of the vehicle meets a preset dormancy condition, and the program execution ending component stores the driving data of the vehicle; when the chip communication dormancy component finishes data storage or reaches a preset storage time, the chip communication dormancy component controls the vehicle-mounted ECU to disconnect communication and sends a dormancy signal of the vehicle-mounted ECU; the vehicle-mounted ECU dormancy component controls the vehicle-mounted ECU to be in a dormant state; and when the vehicle-mounted ECU restarting component detects an initialization fault or monitors the wake-up signal again, the vehicle-mounted ECU is restarted.
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