CN111252017B - Low-speed unmanned driving system and method - Google Patents
Low-speed unmanned driving system and method Download PDFInfo
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- CN111252017B CN111252017B CN201811458284.3A CN201811458284A CN111252017B CN 111252017 B CN111252017 B CN 111252017B CN 201811458284 A CN201811458284 A CN 201811458284A CN 111252017 B CN111252017 B CN 111252017B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
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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
- B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
- B60T8/17—Using electrical or electronic regulation means to control braking
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Abstract
The invention provides a low-speed unmanned system and a method thereof. The intelligent controller may determine a first controller for performing a braking operation from the brake controller and the backup brake controller to perform braking by the first controller in the event that any one or more of the gear controller, the power controller, the steering controller, the first CAN bus, the second CAN bus, and the gateway is in a failure state. The intelligent controller may further determine a second controller for performing a parking operation from the parking controller and the backup parking controller to park by the second controller in a case where the vehicle is braked to a stationary state. Based on the system, the vehicle can be braked and parked in time when any functional module fails, the vehicle is ensured to enter a safe state, and the functional safety requirement under a low-speed scene is met at relatively low cost, so that the traffic participants are prevented from being injured.
Description
Technical Field
The invention relates to the technical field of intelligent driving and functional safety, in particular to a low-speed unmanned driving system and a low-speed unmanned driving method.
Background
At present, the unmanned vehicle integrates the key technology in visual and auditory calculation, the vehicle state perception, the vehicle control technology and the like, so that the intelligent behaviors made by the unmanned vehicle are simultaneously influenced by the output results of the functional modules such as the natural environment perception, the intelligent behavior decision, the vehicle state perception, the vehicle control and the like.
And once any functional module fails, the vehicle loses control, thereby causing injury to traffic participants.
Disclosure of Invention
In view of the above, in order to solve the above problems, the present invention provides a low-speed unmanned driving system and method, and the technical solution is as follows:
the utility model provides a low-speed unmanned driving system, includes unmanned driving system, unmanned driving system is including setting up gear controller and the power controller on first CAN bus, setting up intelligent control ware, steering controller, parking controller and the brake control ware on the second CAN bus, just first CAN bus with communication connection is established through the gateway to the second CAN bus, low-speed unmanned driving system still includes:
the backup brake controller is arranged on the first CAN bus or the second CAN bus, and the backup parking controller is arranged on the first CAN bus or the second CAN bus;
the intelligent controller is used for determining a first controller used for executing braking operation from the brake controller and the backup brake controller based on the running state of the brake controller; sending a braking request to the first controller if any one or more of the gear controller, the power controller, the steering controller, the first CAN bus, the second CAN bus and the gateway is in a failure state;
the first controller is used for executing braking operation based on the braking request;
the intelligent controller is further used for determining a second controller used for executing parking operation from the parking controller and the backup parking controller based on the running state of the parking controller; sending a parking request to the second controller in the case that the vehicle is braked to a stationary state;
the second controller is configured to perform a parking operation based on the parking request.
Preferably, the backup brake controller is arranged on the first CAN bus, and the backup parking controller is arranged on the second CAN bus; or
The backup brake controller is arranged on the second CAN bus, and the backup parking controller is arranged on the first CAN bus.
Preferably, the intelligent controller is further configured to:
entering a silent state if the intelligent controller is detected to be in a failure state;
the first controller is further used for executing braking operation under the condition that the intelligent controller is determined to enter the silent state.
Preferably, the intelligent controller is further configured to:
under the condition that the second controller parking operation execution is determined to be finished, sending a torque release request to the first controller, wherein the torque release request is used for requesting to release braking torque;
the first controller is further configured to perform a braking torque release operation based on the torque release request.
A low-speed unmanned driving method applied to an intelligent controller in the low-speed unmanned driving system, wherein the low-speed unmanned driving method comprises the following steps:
determining a first controller for performing a braking operation from the brake controller and the backup brake controller based on an operational state of the brake controller;
transmitting a braking request to the first controller in a case where any one or more of the gear controller, the power controller, the steering controller, the first CAN bus, the second CAN bus, and the gateway are in a failure state, so that the first controller performs a braking operation based on the braking request;
determining a second controller for performing a parking operation from the parking controller and the backup parking controller based on the operation state of the parking controller;
in the case where the vehicle is braked to a stationary state, a parking request is sent to the second controller to cause the second controller to perform a parking operation based on the parking request.
Preferably, the method further comprises:
and entering a silent state in the case that the intelligent controller is detected to be in the failure state, so that the first controller executes a braking operation in the case that the intelligent controller is determined to enter the silent state.
Preferably, the method further comprises:
and sending a torque release request to the first controller to enable the first controller to execute a braking torque release operation based on the torque release request, wherein the torque release request is used for requesting to release braking torque, and the second controller is used for executing the braking torque release operation.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a low-speed unmanned system and a method thereof, and the system is additionally provided with a backup brake controller and a backup parking controller on the basis of the existing unmanned system. The intelligent controller may determine a first controller for performing a braking operation from the brake controller and the backup brake controller, which may be braked by the first controller in the event that any one or more of the gear controller, the power controller, the steering controller, the first CAN bus, the second CAN bus and the gateway is in a failure state. In addition, the intelligent controller can also determine a second controller for executing the parking operation from the parking controller and the backup parking controller, so that the parking can be carried out by the second controller when the vehicle is braked to a static state. Based on the system disclosed by the invention, the vehicle can be braked and parked in time when any functional module fails, the vehicle is ensured to enter a safe state, and the functional safety requirement under a low-speed scene is met at relatively low cost, so that the injury to traffic participants is avoided.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic diagram of an unmanned system;
FIG. 2 is a schematic structural diagram of a low-speed unmanned system according to an embodiment of the invention;
fig. 3 is a flowchart of a method of a low-speed unmanned driving method according to an embodiment of the invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The intelligent controller: the intelligent vehicle behavior decision-making system comprises a natural environment sensing module and an intelligent behavior decision-making module, wherein the environment sensing module is responsible for data acquisition of natural environment, and the intelligent behavior decision-making module is responsible for effectively fusing natural environment data and vehicle information and making real-time path planning and vehicle behavior decision according to fused data.
A power controller: and the intelligent controller is responsible for providing driving torque information for decision making of the intelligent controller and correctly providing or cutting off power according to the decision making of the intelligent controller.
A steering controller: and providing the actual turning angle of the vehicle for decision of the intelligent controller, and correctly providing or cutting off the steering capacity of the vehicle according to the decision of the intelligent controller.
A brake controller: the intelligent controller is responsible for providing the vehicle speed and the braking torque for decision making of the intelligent controller, and the braking torque is correctly provided or cut off according to the instruction of the intelligent controller.
A gear controller: and the intelligent controller is responsible for transmitting the gear intention of the intelligent controller to the power controller or transmitting parking or the parking intention of the intelligent controller to the parking controller.
A parking controller: the parking torque is provided to prevent the vehicle from sliding; in addition, the parking system should not provide parking torque when the vehicle speed is more than 5kph, so as to prevent the vehicle from drifting.
Fig. 1 shows a conventional unmanned system, which includes a gear controller 10 and a power controller 20 that are disposed on a first CAN bus 1, an intelligent controller 30 that is disposed on a second CAN bus 2, a steering controller 40, a parking controller 50, and a brake controller 60, and the first CAN bus 1 and the second CAN bus 2 establish a communication connection through a gateway 3.
On the basis of the unmanned system shown in fig. 1, an embodiment of the present invention provides a low-speed unmanned system, which further includes:
a backup brake controller 70 disposed on the first CAN bus 1 or the second CAN bus 2, and a backup parking controller 80 disposed on the first CAN bus 1 or the second CAN bus 2.
In the embodiment of the present invention, the CAN bus on which the backup brake controller 70 and the backup parking controller 80 are located is not limited. Of course, to ensure the network load factor, the backup brake controller 70 and the backup parking controller 80 may be respectively disposed on one CAN bus, specifically, the backup brake controller 70 is disposed on the first CAN bus 1, and the backup parking controller 80 is disposed on the second CAN bus 2, or the backup brake controller 70 is disposed on the second CAN bus 2, and the backup parking controller 80 is disposed on the first CAN bus 1.
Fig. 2 shows an example of the low-speed unmanned system in which the backup brake controller 70 is provided on the second CAN bus 2 and the backup parking controller 80 is provided on the first CAN bus 1.
An intelligent controller 30 for determining a first controller for performing a braking operation from the brake controller 60 and the backup brake controller 70 based on an operation state of the brake controller 60; in the case where any one or more of the gear controller 10, the power controller 20, the steering controller 40, the first CAN bus 1, the second CAN bus 2, and the gateway 3 is in a failure state, a braking request is sent to the first controller.
In an embodiment of the present invention, the initial state defaults to activating the brake controller 60 and the parking controller 50. The brake controller 60 may monitor its operational status and upon monitoring that it is in a failed state, send a signal to the smart server 30 and the backup brake controller 70 indicating that the brake controller 60 is in a failed state. At this time, the smart controller 30 may determine that the backup brake controller 70 is the first controller for performing the braking operation while the backup brake controller 70 is activated. On the contrary, the intelligent controller 30 determines the brake controller 60 as the first controller for performing the braking operation.
It should be noted that, in order to ensure the driving safety, once the brake controller 60 is in the failure state, the operation performed by the backup brake controller 70 is only the braking operation.
In addition, the smart controller 30 may determine that the gear controller 10 is in the disabled state if the gear following state does not correspond to the gear instruction by sending the gear instruction to the gear controller 10 and monitoring the gear following state.
The power controller 20 may perform self-diagnosis according to preset diagnosis rules to obtain its own operation state (including a failure state and a normal state) and transmit it to the intelligent controller 30.
The smart controller 30 may determine that the steering controller 40 is in the failed state if the following state of the steering system does not correspond to the steering command by transmitting the steering command to the steering controller 40 and monitoring the following state of the steering system.
The intelligent controller 30 may monitor the communication signals of the first CAN bus 1 and the second CAN bus 2, and determine that the first CAN bus 1 is in a failure state if the first CAN bus 1 has a condition that the communication signals are lost. Similarly, if the second CAN bus 2 has a condition that the communication signal is lost, it is determined that the second CAN bus 2 is in a failure state.
The intelligent controller 30 may also detect the operation state (including the failure state and the normal state) of the gateway 3 using the security communication measure E2E (end to end).
A first controller for performing a braking operation based on the braking request.
The intelligent controller 30, further used for determining a second controller for executing the parking operation from the parking controller 50 and the backup parking controller 80 based on the running state of the parking controller 50; in the event that the vehicle is braked to a standstill, a parking request is sent to the second controller.
In an embodiment of the present invention, the initial state defaults to activating the brake controller 60 and the parking controller 50. The parking controller 50 may monitor its own operating state, and once it is monitored that it is in a failure state, send a signal indicating that the parking controller 50 is in the failure state to the smart server 30 and the backup parking controller 80. At this time, the intelligent controller 30 may determine that the backup parking controller 80 is the second controller for performing the parking operation while the backup parking controller 80 is activated. On the contrary, the smart controller 30 determines the parking controller 50 as a second controller for performing the parking operation.
It should be noted that, in order to ensure the driving safety, once the parking controller 50 is in the failure state, the operation performed by the backup parking controller 80 is only the parking operation.
A second controller for performing a parking operation based on the parking request.
In some other embodiments, to avoid the situation where the intelligent controller fails to operate and the vehicle is out of control, the intelligent controller 30 is further configured to:
in the event that the intelligent controller 30 is detected to be in a failure state, a silent state is entered.
In the embodiment of the present invention, the intelligent controller 30 may perform self-diagnosis according to a preset diagnosis rule to obtain its own operation state (including a failure state and a normal state).
The first controller is also used for executing the braking operation under the condition that the intelligent controller 30 is determined to enter the silent state.
In the embodiment of the present invention, if the first controller does not receive the signal fed back by the intelligent controller in several consecutive clock cycles, it is determined that the intelligent controller 30 enters the silent state, and at this time, the first controller actively performs braking.
In other embodiments, to protect the brake actuator, the intelligent controller 30 is further configured to:
under the condition that the execution of the parking operation of the second controller is determined to be finished, sending a torque release request to the first controller, wherein the torque release request is used for requesting to release the braking torque;
and the first controller is also used for executing the braking torque releasing operation based on the torque releasing request.
In an embodiment of the present invention, the first controller may control the brake actuator, typically the hydraulic system, to release the braking torque at the end of parking.
The low-speed unmanned system provided by the embodiment of the invention can realize timely braking and parking of the vehicle when any functional module fails, ensure that the vehicle enters a safe state, and meet the functional safety requirement in a low-speed scene at relatively low cost, thereby avoiding the damage to traffic participants.
Based on the low-speed unmanned system provided by the above embodiment, an embodiment of the present invention provides a low-speed unmanned method, where the method is applied to an intelligent controller in the low-speed unmanned system, and a flow chart of the method is shown in fig. 3, and includes the following steps:
and S10, determining a first controller for performing a braking operation from the brake controller and the backup brake controller based on the operational state of the brake controller.
And S20, when any one or more of the gear controller, the power controller, the steering controller, the first CAN bus, the second CAN bus and the gateway is in a failure state, sending a braking request to the first controller so as to enable the first controller to execute braking operation based on the braking request.
S30, determining a second controller for performing the parking operation from the parking controller and the backup parking controller based on the operation state of the parking controller.
And S40, sending a parking request to the second controller when the vehicle is braked to a static state, so that the second controller executes a parking operation based on the parking request.
In other embodiments, in order to avoid the situation that the intelligent controller fails to work and the vehicle is out of control, on the basis of the low-speed unmanned driving method shown in fig. 3, the method further includes the following steps:
and entering a silent state in the case that the intelligent controller is detected to be in the failure state, so that the first controller executes the braking operation in the case that the intelligent controller is determined to enter the silent state.
In other embodiments, to protect the brake actuator, the method for low-speed unmanned driving shown in fig. 3 further includes the following steps:
in a case where it is determined that the second controller parking operation execution is ended, a torque release request is sent to the first controller to cause the first controller to execute a braking torque release operation based on the torque release request, the torque release request being for requesting release of the braking torque.
The low-speed unmanned driving method provided by the embodiment of the invention can realize timely braking and parking of the vehicle when any functional module fails, ensure that the vehicle enters a safe state, and meet the functional safety requirement in a low-speed scene at relatively low cost, thereby avoiding the damage to traffic participants.
The present invention provides a low-speed unmanned system and method, which is described in detail above, and the principle and implementation of the present invention are explained herein by using specific examples, and the description of the above examples is only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (7)
1. The utility model provides a low-speed unmanned driving system, includes unmanned driving system, unmanned driving system is including setting up gear controller and the power controller on first CAN bus, setting up intelligent control ware, steering controller, parking controller and the brake control ware on the second CAN bus, just first CAN bus with second CAN bus passes through the gateway and establishes communication connection, its characterized in that, low-speed unmanned driving system still includes:
the backup brake controller is arranged on the first CAN bus or the second CAN bus, and the backup parking controller is arranged on the first CAN bus or the second CAN bus;
the intelligent controller is used for determining a first controller used for executing braking operation from the brake controller and the backup brake controller based on the running state of the brake controller; sending a braking request to the first controller if any one or more of the gear controller, the power controller, the steering controller, the first CAN bus, the second CAN bus and the gateway is in a failure state;
the first controller is used for executing braking operation based on the braking request;
the intelligent controller is further used for determining a second controller used for executing parking operation from the parking controller and the backup parking controller based on the running state of the parking controller; sending a parking request to the second controller in the case that the vehicle is braked to a stationary state;
the second controller is configured to perform a parking operation based on the parking request.
2. The system of claim 1 wherein the backup brake controller is disposed on the first CAN bus and the backup parking controller is disposed on the second CAN bus; or
The backup brake controller is arranged on the second CAN bus, and the backup parking controller is arranged on the first CAN bus.
3. The system of claim 1, wherein the smart controller is further configured to:
entering a silent state if the intelligent controller is detected to be in a failure state;
the first controller is further used for executing braking operation under the condition that the intelligent controller is determined to enter the silent state.
4. The system of claim 1, wherein the smart controller is further configured to:
under the condition that the second controller parking operation execution is determined to be finished, sending a torque release request to the first controller, wherein the torque release request is used for requesting to release braking torque;
the first controller is further configured to perform a braking torque release operation based on the torque release request.
5. A low-speed unmanned driving method applied to an intelligent controller in the low-speed unmanned driving system of any one of claims 1 to 4, the low-speed unmanned driving method comprising:
determining a first controller for performing a braking operation from the brake controller and the backup brake controller based on an operational state of the brake controller;
transmitting a braking request to the first controller in a case where any one or more of the gear controller, the power controller, the steering controller, the first CAN bus, the second CAN bus, and the gateway are in a failure state, so that the first controller performs a braking operation based on the braking request;
determining a second controller for performing a parking operation from the parking controller and the backup parking controller based on the operation state of the parking controller;
in the case where the vehicle is braked to a stationary state, a parking request is sent to the second controller to cause the second controller to perform a parking operation based on the parking request.
6. The method of claim 5, further comprising:
and entering a silent state in the case that the intelligent controller is detected to be in the failure state, so that the first controller executes a braking operation in the case that the intelligent controller is determined to enter the silent state.
7. The method of claim 5, further comprising:
and sending a torque release request to the first controller to enable the first controller to execute a braking torque release operation based on the torque release request, wherein the torque release request is used for requesting to release braking torque, and the second controller is used for executing the braking torque release operation.
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| CN201811458284.3A CN111252017B (en) | 2018-11-30 | 2018-11-30 | Low-speed unmanned driving system and method |
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| CN201811458284.3A CN111252017B (en) | 2018-11-30 | 2018-11-30 | Low-speed unmanned driving system and method |
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| CN111252017B true CN111252017B (en) | 2022-03-22 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112249000A (en) * | 2020-10-30 | 2021-01-22 | 东风商用车有限公司 | System and method for improving running safety of automatic driving vehicle |
| CN113359572A (en) * | 2021-06-30 | 2021-09-07 | 中船重工海为郑州高科技有限公司 | Dual-mode hot backup unmanned control system and method |
| CN113602243B (en) * | 2021-08-31 | 2022-10-14 | 东风商用车有限公司 | Emergency braking device for unmanned vehicle |
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