CN111661062A - Automatic driving control method, device and system - Google Patents

Automatic driving control method, device and system Download PDF

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Publication number
CN111661062A
CN111661062A CN201910162649.6A CN201910162649A CN111661062A CN 111661062 A CN111661062 A CN 111661062A CN 201910162649 A CN201910162649 A CN 201910162649A CN 111661062 A CN111661062 A CN 111661062A
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China
Prior art keywords
vehicle
computer system
path planning
planning information
driving path
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CN201910162649.6A
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Chinese (zh)
Inventor
黄宇
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Wuzhou Online E Commerce Beijing Co ltd
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Alibaba Group Holding Ltd
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Priority to CN201910162649.6A priority Critical patent/CN111661062A/en
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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
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/023—Avoiding failures by using redundant parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • 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
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The embodiment of the application discloses an automatic driving control method, a device and a system, wherein the system comprises: the system comprises a sensor system, a computer system and an industrial personal computer system, wherein the sensor system is used for acquiring state data of a vehicle and surrounding environment, the computer system is used for generating first driving path planning information and second driving path planning information according to the state data of the vehicle and the surrounding environment, the first driving path planning information is used for generating control messages and is sent to a vehicle chassis system to control the motion of the vehicle, and the second driving path planning information is used for being provided for the industrial personal computer system in real time; and the industrial personal computer system is used for storing second driving path planning information provided by the computer system and monitoring the running state of the computer system, and when the computer system is abnormal, the industrial personal computer system controls the vehicle to stop at the side by utilizing the second driving path planning information and state data of the vehicle and the surrounding environment transmitted by the sensor system. Through this application embodiment, can promote the reliability of autopilot car.

Description

Automatic driving control method, device and system
Technical Field
The present application relates to the field of automatic driving technologies, and in particular, to an automatic driving control method, apparatus, and system.
Background
The automatic driving automobile is characterized in that under the condition that no driver exists, state data of the automatic driving automobile and the external environment are collected through a sensor, and are analyzed and processed through a positioning module, a sensing module and a decision planning module of a computing platform, and then a control instruction is sent to a chassis of the automobile through a control module to be controlled, so that the automobile is driven automatically according to a planned path. The stable and reliable automatic driving automobile can greatly change the trip or logistics mode of human beings, reduce traffic accidents, improve the logistics efficiency, save the labor cost and enable the human beings to freely enjoy various life and entertainment services during the trip.
The primary test faced by an automatic driving automobile is the reliability of the automatic driving automobile, and how to ensure timely early warning and emergency treatment when a fault occurs is the most important link of safety. For example, if a fault occurs, the autonomous vehicle can actively warn and stop at the side to wait for rescue. The control module receives the trajectory planning data of the upper control layer and controls the action of the automobile chassis, and the control module is the only module which interacts with the automobile chassis, so that the control module plays a decisive role in the safety of the automobile. In the conventional automatic driving automobile, a control module runs on the conventional computing platform, so that great potential safety hazards exist, and once the computing platform is blocked, crashes and the like, the automobile is out of control.
Therefore, how to further improve the reliability of the autonomous vehicle and effectively handle the abnormality even when the computing platform fails has become a technical problem that needs to be solved by those skilled in the art.
Disclosure of Invention
The application provides an automatic driving control method, device and system, which can further improve the reliability of an automatic driving automobile and can effectively process abnormity when a computing platform breaks down.
The application provides the following scheme:
an automatic driving control system comprising:
the system comprises a sensor system, a computer system and an industrial personal computer system, wherein the sensor system is used for acquiring state data of a vehicle and surrounding environment, the computer system is used for generating first driving path planning information and second driving path planning information according to the state data of the vehicle and the surrounding environment, the first driving path planning information is used for generating control messages and is sent to a vehicle chassis system to control the motion of the vehicle, and the second driving path planning information is used for being provided for the industrial personal computer system in real time;
and the industrial personal computer system is used for storing second driving path planning information provided by the computer system and monitoring the running state of the computer system, and if the computer system is abnormal, the vehicle is controlled to execute emergency treatment by using the second driving path planning information and state data of the vehicle and the surrounding environment transmitted by the sensor system.
An automatic driving control method comprising:
the computer system generates first driving path planning information and second driving path planning information according to state data of the vehicle and the surrounding environment, wherein the state data are transmitted by the sensor system;
generating a first control message according to the first driving path planning information, and sending the first control message to a vehicle chassis system to control the motion of the vehicle;
and providing the second driving path planning information for an industrial personal computer system, so that when the computer system is abnormal, the industrial personal computer system controls the vehicle to execute emergency treatment according to the second driving path planning information.
An automatic driving control method comprising:
the industrial personal computer system receives second driving path planning information provided by the computer system and monitors the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
and if the computer system is abnormal, controlling the vehicle to carry out emergency treatment by utilizing the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system.
An automatic driving control system comprising:
the computer system is used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, generating a first control message according to the first driving path planning information and transmitting the first control message to the vehicle chassis system so as to control the motion of the vehicle;
and the industrial personal computer system is used for monitoring the running state of the computer system, controlling the vehicle to decelerate if the computer system is abnormal, generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system in a low-speed running state, generating a second control message, and transmitting the second control message to the vehicle chassis system to control the vehicle to execute emergency treatment.
An automatic driving control method comprising:
the method comprises the following steps that an industrial personal computer system monitors the running state of a computer system, and the computer system is used for periodically generating first driving path planning information according to vehicle and surrounding environment state data transmitted by a sensor system in a normal state and controlling the motion of the vehicle;
if the computer system is abnormal, controlling the vehicle to decelerate, and generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a low-speed driving state;
and generating a second control message according to the second driving path planning information, and sending the second control message to a vehicle chassis system to control the vehicle to execute emergency treatment.
An automatic driving control system comprising:
the system comprises a computer system, a sensor system and a vehicle chassis system, wherein the computer system is used for monitoring the running state of a vehicle, periodically generating first driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, if the vehicle is in a first running state, generating a first control message according to the first driving path planning information, and transmitting the first control message to the vehicle chassis system to control the motion of the vehicle, and if the vehicle enters a second state, stopping the motion control of the vehicle;
and the industrial personal computer system is used for monitoring the running state of the vehicle, controlling the vehicle to decelerate if the vehicle enters a second running state, periodically generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, generating a second control message according to the second driving path planning information, and transmitting the second control message to the vehicle chassis system to control the motion of the vehicle.
A method for controlling automatic driving of a vehicle,
the vehicle chassis system controls the vehicle to move according to the first control message provided by the computer system;
and if the computer system is abnormal or the vehicle enters a second driving state, performing emergency treatment on the vehicle according to a second control message provided by the industrial personal computer system.
An automatic driving control apparatus comprising:
the route planning unit is used for generating first driving route planning information and second driving route planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system;
the motion control unit is used for generating a first control message according to the first driving path planning information and sending the first control message to a vehicle chassis system to control the motion of the vehicle;
and the information providing unit is used for providing the second driving path planning information to the industrial personal computer system so that the industrial personal computer system controls the vehicle to execute emergency treatment according to the second driving path planning information when the computer system is abnormal.
An automatic driving control apparatus comprising:
the monitoring unit is used for receiving second driving path planning information provided by a computer system and monitoring the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
and the motion control unit is used for controlling the vehicle to execute emergency treatment by utilizing the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, if the computer system is abnormal.
An automatic driving control apparatus comprising:
the monitoring unit is used for monitoring the running state of a computer system, and the computer system is used for periodically generating first driving path planning information and controlling the motion of the vehicle according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state;
the path planning unit is used for controlling the vehicle to decelerate if the computer system is abnormal, and generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a low-speed running state;
and the motion control unit is used for generating a second control message according to the second driving path planning information and sending the second control message to a vehicle chassis system to control the vehicle to execute emergency treatment.
An automatic driving control device applied to a vehicle chassis system comprises:
the first control unit is used for controlling the motion of the vehicle according to the first control message provided by the computer system;
and the second control unit is used for carrying out emergency treatment on the vehicle according to a second control message provided by the industrial personal computer system if the computer system is abnormal or the vehicle enters a second driving state.
A computer system, comprising:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
generating first driving path planning information and second driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by a sensor system;
generating a first control message according to the first driving path planning information, and sending the first control message to a vehicle chassis system to control the motion of the vehicle;
and providing the second driving path planning information for an industrial personal computer system so that the industrial personal computer system controls the vehicle to carry out emergency treatment according to the second driving path planning information when the computer system is abnormal.
An industrial personal computer system comprising:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
receiving second driving path planning information provided by a computer system, and monitoring the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
and when the computer system is abnormal, controlling the vehicle to carry out emergency treatment by using the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system.
An industrial personal computer system comprising:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
monitoring the running state of a computer system, wherein the computer system is used for periodically generating first driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by a sensor system, in a normal state and controlling the motion of the vehicle;
when the computer system is abnormal, the vehicle is controlled to decelerate, and in a low-speed running state, the sensor system transmits state data of the vehicle and the surrounding environment to generate second driving path planning information;
and generating a second control message according to the second driving path planning information, and sending the second control message to a vehicle chassis system to control the vehicle to carry out emergency treatment.
According to the specific embodiments provided herein, the present application discloses the following technical effects:
according to the embodiment of the application, the industrial personal computer system can be provided for the computer system to serve as a backup, and in a normal state, the computer system can generate normal first path planning information and second path planning information and transmit the second path planning information to the industrial personal computer system; the industrial personal computer system can monitor the running state of the computer system, once the computer system is abnormal, the industrial personal computer system can take over the control task and only needs to correct on the basis of the second path planning data without re-planning the path. Therefore, the specific control process of the industrial personal computer system has the following characteristics: the first path planning data obtained in advance does not need to be planned from zero, and only needs to be corrected on the basis; second, the control time is relatively short. Based on the characteristics, the calculation force requirement on the industrial personal computer is low, and high reliability of vehicle control can be realized on the premise of small volume, low power consumption and low performance, so that the vehicle can be controlled to stop at the side with high reliability under the condition that a computer system is abnormal, and the vehicle is prevented from losing control.
In a preferred implementation mode, after the industrial personal computer finds that the computer is abnormal, the industrial personal computer can firstly control the vehicle to decelerate and then control the vehicle to stop at the side, so that specific side-by-side parking control can be realized in a slow speed state, and the requirement on the calculation force of the industrial personal computer is further reduced.
Of course, it is not necessary for any product to achieve all of the above-described advantages at the same time for the practice of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a system architecture provided by an embodiment of the present application;
FIG. 2 is a flow chart of a first method provided by an embodiment of the present application;
FIG. 3 is a flow chart of a second method provided by embodiments of the present application;
FIG. 4 is a flow chart of a third method provided by embodiments of the present application;
FIG. 5 is a flow chart of a fourth method provided by embodiments of the present application;
FIG. 6 is a schematic diagram of a first apparatus provided by an embodiment of the present application;
FIG. 7 is a schematic diagram of a second apparatus provided by an embodiment of the present application;
FIG. 8 is a schematic diagram of a third apparatus provided by an embodiment of the present application;
FIG. 9 is a schematic diagram of a fourth apparatus provided by an embodiment of the present application;
FIG. 10 is a schematic diagram of a computer system provided by an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments that can be derived from the embodiments given herein by a person of ordinary skill in the art are intended to be within the scope of the present disclosure.
In the embodiment of the present application, in order to improve the reliability of the automatic driving system, an existing control system is improved, specifically, a backup system is provided for a computer system, and in order to facilitate understanding of the technical solution provided by the embodiment of the present application, first, a simple description is given to a backup technology. The backup technology is a common means for improving the reliability of the system, and the simplest and most conceivable backup mode is to provide a backup computer completely consistent with a main computer system, and when the main computer is abnormal, the backup computer takes over the work of the computer to ensure the normal running of the vehicle. However, in an application scenario of automatic driving, because the vehicle is driven at a high speed and the vehicle and the surrounding environment are complicated and variable, the computational power requirement on a computer is usually very high, and the computer is required to perform route planning accurately and constantly at a very high frequency and control the driving state of the vehicle. This makes the computer bulky and consumes a lot of power, and in addition, since the computer needs to implement various functions, the reliability of one of the functions is necessarily sacrificed. It can be seen that if the primary and secondary computer systems use the same configuration, the size and power consumption of the system can be multiplied, which is simply unacceptable for an on-board control system. In addition, since the reliability of one of the two identical computer systems is not emphasized because the reliability of the two identical computer systems is substantially the same in each aspect, and since the principles of the two identical computer systems are the same, when one of the two computer systems is abnormal, the other computer system is also abnormal at a high probability, and the backup function is assumed to be dummy.
Based on the consideration, the embodiment of the application provides a further improved scheme, in the scheme, the backup computer can exist in the form of an industrial personal computer, and specifically can be an embedded industrial personal computer with the characteristics of high reliability, vehicle specification, low performance, low power consumption, small size and the like. In addition, in the embodiment of the application, the computer can simultaneously generate an emergency driving path when generating a normal driving path, and the emergency driving path can be sent to the industrial personal computer in real time and stored by the industrial personal computer. Meanwhile, the industrial personal computer can also monitor the running state of the computer in real time, and once the computer is abnormal, the recently received emergency driving path can be utilized to control the vehicle to stop at the side. That is, since the specific emergency driving path is planned by the computer, the industrial personal computer does not need to additionally plan the path, but only needs to correct the emergency driving path according to the real-time state change conditions of the vehicle and the surrounding environment. In addition, during specific implementation, once the industrial personal computer finds that the computer is abnormal, the industrial personal computer can firstly control the vehicle to decelerate, so that the industrial personal computer can control the vehicle under the condition that the vehicle running speed is relatively low, the control difficulty is relatively reduced, and in addition, the vehicle is only required to be controlled to stop at the side, so the time required for control is relatively short, the calculation force requirement on the industrial personal computer is relatively low, the reliability of a calculation result is favorably improved, and in addition, the high reliability realized under low power consumption and small size is possible.
The following describes in detail specific implementations provided in embodiments of the present application.
Example one
The first embodiment provides an automatic driving control system, and referring to fig. 1, the system may specifically include:
the system comprises a computer system 101, a vehicle chassis system and an industrial personal computer system, wherein the computer system 101 is used for generating first driving path planning information and second driving path planning information according to state data of the vehicle and the surrounding environment, the state data is transmitted by a sensor system, the first driving path planning information is used for generating control messages and is transmitted to the vehicle chassis system to control the motion of the vehicle, and the second driving path planning information is used for being provided for the industrial personal computer system in real time;
and the industrial personal computer system 102 is used for storing second driving path planning information provided by the computer, monitoring the running state of the computer system, and controlling the vehicle to carry out emergency treatment by using the second driving path planning information and state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, if the computer system is abnormal.
The computer system may adopt a high-performance computing platform to ensure computing power, and the computer system runs an automatic driving system software, as shown in fig. 1, the automatic driving system software may specifically include a sensing module 1011, a decision planning module 1012, a motion control module 1013, and a monitoring module 1014, and implements an automatic driving function after receiving positioning module data in real time. The industrial personal computer adopts the embedded industrial personal computer with the characteristics of high reliability, vehicle gauge, low performance, low power consumption, small size and the like, and the main operation data monitoring and storing module 1021, the motion control module 1022, the millimeter wave radar and ultrasonic radar sensing data processing module 1023 realize the automatic driving and side parking function in a short time.
The decision planning module 1011 in the computer system may specifically generate two paths in real time: the first driving path planning data (mainly used for motion control in a normal state) and the second driving path planning data (mainly used for motion control in an emergency state). The first driving path planning data and the second driving path planning data may be generated in real time at preset time intervals, for example, once every 100ms, and so on. After a set of first driving path planning data and second driving path planning data is generated each time, on one hand, the first driving path planning data CAN be provided to the motion control module 1013 of the computer system through a protocol such as UDP, and the motion control module 1013 generates a control message after receiving the first driving path planning data, and sends the control message to the chassis system of the vehicle through a CAN bus or the like to perform motion control on the vehicle. On the other hand, the second driving path planning data may be forwarded to the monitoring and storage module 1021 of the industrial personal computer through the monitoring module 1014 through a LAN port or the like. The second driving path planning data may carry a packet timestamp and a packet sequence number.
After receiving the emergency planning data, the monitoring and storage module 1021 of the industrial personal computer can record all LAN bus data, and can also feed back the frame serial number of the current message to the monitoring module 1014 of the computer system, and the monitoring module 1014 of the computer system takes the frame serial number fed back by the industrial personal computer as a heartbeat signal of the industrial personal computer, and if the number of the continuous lost LAN heartbeat signals of the industrial personal computer exceeds a certain threshold value, the LAN heartbeat signal of the industrial personal computer can be considered to be abnormal.
In addition, the monitoring and storage module 1021 of the industrial personal computer can also determine the running state of the computer system by monitoring information such as the frequency of the second driving path planning data sent by the computer system. For example, if new second driving path planning data is not received for a long time after the second driving path planning data is received last time, it may be determined that an abnormality occurs in the computer system, and so on.
Because the computer and the industrial personal computer CAN communicate with the automobile chassis through the CAN bus interface to realize the control of the vehicle. Therefore, the CAN interface of the industrial personal computer CAN also monitor, record and analyze all CAN bus data in real time, so that the industrial personal computer CAN also take the serial number in the CAN bus control command as a heartbeat signal of the computer, and when the serial number is continuously lost and exceeds a certain threshold value, the CAN heartbeat signal of the computer CAN be considered to be abnormal. Of course, in specific implementation, the two modes can be used in combination to mutually verify specific monitoring results.
In addition, the industrial personal computer CAN analyze CAN messages sent by the computer, monitor and store the frequency, amplitude, CAN bus state and the like of the CAN messages, upload health data to the cloud in real time to communicate with engineering maintenance personnel, and the engineering maintenance personnel CAN also implement remote assistance through the cloud.
The control instruction of the computer and the control instruction of the industrial personal computer contain different IDs, and in the specific control process, the following extreme conditions may occur: and the automobile chassis controller receives the control command of the computer and the control command of the industrial personal computer at the same time, and at the moment, the automobile chassis controller can preferentially execute the control command of the computer according to the ID of the control command.
On the basis of the inter-module communication mechanism, the control process of the vehicle specifically can be as follows:
under normal conditions, the computer system controls the motion state of the vehicle, namely, a specific control message is generated through the first driving path planning data and is sent to the vehicle chassis control system through the CAN bus so as to control the running state of the vehicle. Meanwhile, the industrial personal computer system can monitor the running state of the computer system, and if abnormity is found, emergency treatment can be carried out as follows:
step 1: when the monitoring module 1021 of the industrial personal computer system monitors that the loss of the computer CAN heartbeat signal exceeds a certain threshold value, or monitors that the frequency of sending second path planning data by the computer system is abnormal, and the like, the motion control module 1022 of the industrial personal computer system CAN be immediately informed that the computer is in a fault at this time, and automatic driving cannot be continuously executed; in addition, during specific implementation, the vehicle can be controlled to open double flashes, decelerate, report fault reasons through a wireless network, request remote assistance and the like;
step 2: a motion control module 1022 of the industrial personal computer system immediately sends a CAN message control instruction to an automobile chassis according to the received second path planning data, controls the vehicle to execute an automatic driving function of parking while parking, and CAN also receive positioning data, surrounding vehicle speed, position data and the like in real time during the process of parking while parking so as to correct the second path planning data;
and step 3: in the correction process, when the distance between the surrounding vehicles is smaller than the safe distance threshold of the automatic driving vehicle, the online local path re-planning realizes obstacle avoidance, such as operations of speed reduction, detour and the like, and the side parking is continuously executed according to the path planning data after the obstacle avoidance;
and 4, step 4: when the ultrasonic radar and the like monitor that the roadside guard rail is parked, the industrial personal computer continuously controls the vehicles to slowly approach the guard rail in parallel, and the vehicles are parked for waiting for rescue.
Namely, an embedded industrial personal computer with high reliability, low vehicle specification level, low performance, low power consumption and small size is introduced into a high-speed automatic driving automobile emergency system as a backup of the functions of a computer system. The industrial personal computer has the functions of fault monitoring, early warning, data recording, data uploading, remote assistance request, emergency parking beside and the like. Under normal conditions, the computer sends the second path planning data to the industrial personal computer in real time, and the industrial personal computer prepares for executing emergency control according to the second path planning data when the computer is abnormal. The industrial personal computer CAN take over the vehicle by taking the CAN message and the second path planning data sent by the computer system as heartbeat signals, and when the industrial personal computer monitors that the heartbeat signals of the computer are continuously lost and exceed a certain threshold value (the threshold value CAN be set dynamically according to the vehicle speed). And the industrial personal computer executes emergency control according to the second path planning data received by the latest frame. In the process of parking near the side, the vehicle and the surrounding environment may be changed continuously, so the industrial personal computer system can also correct the second path planning data through the sensing data of the sensor and the like so as to control the vehicle to perform emergency treatment, for example, safe parking near the side.
It can be seen that, after taking over the control task, the industrial personal computer system only needs to correct on the basis of the second path planning data, and does not need to carry out path planning again. Therefore, the specific control process of the industrial personal computer system has the following characteristics: the first path planning data obtained in advance does not need to be planned from zero, and only needs to be corrected on the basis; secondly, the control time is shorter; third, the vehicle speed is relatively slow. Based on the characteristics, the calculation force requirement on the industrial personal computer is low, and high reliability of vehicle control can be realized on the premise of small volume, low power consumption and low performance, so that the emergency treatment of the vehicle can be controlled with high reliability under the condition that the computer system is abnormal, and the vehicle is prevented from losing control.
After the control vehicle is parked close to the side, the industrial personal computer system can report information such as fault reasons and vehicle positions to the cloud control system, so that the cloud control system can send specific technical personnel for rescue, and the current fault vehicle can wait for rescue at the roadside.
In addition, in practical application, the industrial personal computer system can be abnormal, so that the computer system can also monitor the industrial personal computer system, and the specific monitoring mode can be various. For example, in one mode, since the computer needs to send the second path planning data to the industrial personal computer system, the industrial personal computer system may also return a response message after receiving the second path planning data each time to indicate that the second path planning data has been correctly received. Therefore, the computer can take the response message returned by the industrial personal computer system as the heartbeat signal of the industrial personal computer system, and if the heartbeat signal is lost or exceeds a certain time threshold value, the secondary industrial personal computer system can be considered to be abnormal. At this time, the computer system may perform the following processing:
step 1: sending a restart instruction to an industrial personal computer system;
step 2: after a period of time, if the monitoring module of the computer system monitors that the heartbeat signal of the industrial personal computer system is recovered to be normal, the normal automatic driving function is continuously executed; if the heartbeat signal of the industrial personal computer system cannot be monitored after a period of time, the computer monitoring module can control the vehicle to open double flashes, and can report the fault reason and request remote assistance through a wireless network;
and step 3: the computer system monitoring module immediately informs the computer decision planning module of the fault occurrence at the moment, the computer decision planning module plans an edge parking track to the computer control module, and finally the computer motion control module sends a control message to control the vehicle to safely park along the edge according to decision planning data. Alternatively, in another mode, since the computer system previously generates the second path plan data, which may be a path plan for parking alongside, the vehicle may be controlled to park alongside by directly using the second path plan data without separately planning.
Example two
The second embodiment corresponds to the first embodiment, and provides an automatic driving control method from the perspective of a computer system, and referring to fig. 2, the method may specifically include:
s201: the computer system generates first driving path planning information and second driving path planning information according to state data of the vehicle and the surrounding environment, wherein the state data are transmitted by the sensor system;
s202: generating a first control message according to the first driving path planning information, and sending the first control message to a vehicle chassis system to control the motion of the vehicle;
s203: and providing the second driving path planning information to an industrial personal computer system so that if the computer system is abnormal, the industrial personal computer system controls the vehicle to execute emergency treatment according to the second driving path planning information.
In specific implementation, a response message returned by the industrial personal computer system after receiving the second driving path planning information can be used as a heartbeat signal of the industrial personal computer system, when the heartbeat signal is abnormal, the abnormal condition of the industrial personal computer system is determined, and a restarting control instruction is immediately sent to the industrial personal computer system, so that the abnormal condition of the industrial personal computer system is eliminated in a restarting mode.
In addition, if the industrial personal computer system fails to restart or the heartbeat signal is still abnormal after the industrial personal computer system is restarted, the vehicle can be controlled to stop by the side.
Specifically, when the vehicle is controlled to stop by side, the second driving path planning information may include a side stopping path, so that the vehicle may be controlled to stop by side according to the second driving path planning information generated last time, and the second driving path planning information may be corrected according to the real-time state change conditions of the vehicle and the surrounding environment during the side stopping process.
Or, because the computer has enough calculation power, the computer can plan the route information of the vehicle parking near according to the current state of the vehicle and the surrounding environment, control the vehicle parking near according to the route planning information, and correct the planning information according to the real-time state change condition of the vehicle and the surrounding environment in the process of parking near.
In addition, during specific implementation, if the restart of the industrial personal computer system fails or the heartbeat signal is still abnormal after the restart, the vehicle can be controlled to decelerate.
Moreover, if the industrial personal computer system fails to restart or the heartbeat signal is still abnormal after the industrial personal computer system is restarted, the abnormal reason and the current position information of the vehicle can be submitted to a server.
EXAMPLE III
The third embodiment also corresponds to the first embodiment, and an automatic driving control method is provided from the perspective of an industrial personal computer system, and referring to fig. 3, the method may specifically include:
s301: the industrial personal computer system receives second driving path planning information provided by the computer system and monitors the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
s302: and if the computer system is abnormal, controlling the vehicle to carry out emergency treatment by utilizing the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system.
In specific implementation, when the computer system is abnormal, the vehicle can be controlled to decelerate so as to control the vehicle to carry out emergency treatment in a state that the vehicle runs at a low speed.
When the running state of the computer system is monitored, the state of the computer system can be monitored by monitoring the frequency of the computer sending the second driving path planning information.
Alternatively, the state of the computer may be monitored by monitoring the frequency at which the computer system sends control messages to the vehicle chassis system.
During specific implementation, the industrial personal computer system can also monitor the control message sent to the vehicle chassis system by the computer and upload the monitored data to the cloud control system.
Specifically, when the vehicle is controlled to stop by the side, the second driving path planning information may be corrected according to the state data of the vehicle and the surrounding environment, which is transmitted by the sensor system, and the vehicle is controlled to stop by the side.
Particularly, when the distance between the surrounding vehicles is smaller than the safe distance threshold value during the correction, the local path can be re-planned to avoid the obstacle. If the sensor system detects a roadside guard rail, the control may approach the guard rail in parallel with the vehicle.
Example four
In the foregoing embodiments, the computer system calculates in real time to obtain the first driving path planning information and the second driving path planning information, and provides the second driving path planning information to the industrial personal computer system in real time, so that, once the computer system finds that an abnormality occurs in the computer system, the industrial personal computer system can obtain the second driving path planning information according to the latest frame of information received from the computer system, and control the vehicle to stop at the side based on the second driving path planning information.
In the fourth embodiment, another scheme is provided, in which the computer system does not need to forward the second path planning information to the industrial personal computer system in real time, but the industrial personal computer system automatically plans a path for parking beside after finding that the computer system is abnormal, and then controls the vehicle to park beside. In order to reduce the requirement on the computing power of the industrial personal computer, the vehicle can be controlled to decelerate immediately after the computer is found to be abnormal, so that the vehicle can be controlled to stop at the side under the low-speed state, and the aim of accurate control in low speed and short time can be fulfilled. Certainly, compared with the first embodiment, the industrial personal computer needs to perform route planning of parking beside the vehicle by itself, and the requirement on computing power is relatively high, but because the required planning time is relatively short, the vehicle running speed is relatively slow, and therefore reliable control of parking beside the vehicle can be basically met on the premise of small size, low power consumption and low performance.
Specifically, the fourth embodiment provides an automatic driving control system, including:
the computer system is used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, generating a first control message according to the first driving path planning information and transmitting the first control message to the vehicle chassis system so as to control the motion of the vehicle;
and the industrial personal computer system is used for monitoring the running state of the computer system, controlling the vehicle to decelerate if the computer system is abnormal, generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a low-speed running state, generating a second control message, and transmitting the second control message to the vehicle chassis system to control the vehicle to execute emergency treatment.
EXAMPLE five
The fifth embodiment corresponds to the fourth embodiment, and provides an automatic driving control method from the perspective of an industrial personal computer, and referring to fig. 4, the method may specifically include:
s401: the method comprises the following steps that an industrial personal computer system monitors the running state of a computer system, and the computer system is used for periodically generating first driving path planning information according to vehicle and surrounding environment state data transmitted by a sensor system in a normal state and controlling the motion of the vehicle;
s402: if the computer system is abnormal, controlling the vehicle to decelerate, and generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a low-speed driving state;
s403: and generating a second control message according to the second driving path planning information, and sending the second control message to a vehicle chassis system to control the vehicle to execute emergency treatment.
EXAMPLE six
In the embodiments, after the computer system is abnormal, the industrial personal computer system takes over a specific control task to control the vehicle chassis system so as to realize emergency treatment. In other implementation schemes, mutual cooperation between the computer system and the industrial personal computer system can be realized according to the specific vehicle driving state. For example, the control may be performed by a computer system in a first driving state in which the vehicle is normally traveling, and the control may be performed by an industrial personal computer system having a higher local performance in a second driving state in which the vehicle is driven in a special manner, such as in a reverse or parking at the side. To this end, in a sixth embodiment, there is provided another automatic driving control system including:
the system comprises a computer system, a sensor system and a vehicle chassis system, wherein the computer system is used for monitoring the running state of a vehicle, periodically generating first driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, if the vehicle is in a first running state, generating a first control message according to the first driving path planning information, and transmitting the first control message to the vehicle chassis system to control the motion of the vehicle, and if the vehicle enters a second state, stopping the motion control of the vehicle;
and the industrial personal computer system is used for monitoring the running state of the vehicle, controlling the vehicle to decelerate if the vehicle enters a second running state, periodically generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, generating a second control message according to the second driving path planning information, and transmitting the second control message to the vehicle chassis system to control the motion of the vehicle.
The information on the driving state of the vehicle may be obtained in various ways, for example, through a CAN bus, and the like.
EXAMPLE seven
The seventh embodiment provides an automatic driving control method from the perspective of a vehicle chassis control system, and in particular, referring to fig. 5, the method may specifically include:
s501: the vehicle chassis system controls the vehicle to move according to the first control message provided by the computer system;
s502: and if the computer system is abnormal or the vehicle enters a second driving state, performing emergency treatment on the vehicle according to a second control message provided by the industrial personal computer system.
If control messages sent by a computer system and the industrial personal computer system are received at the same time, one control message is selected from the control messages for motion control of the vehicle according to the priority information of the computer system and the industrial personal computer system. Specifically, the priority information is different according to different driving states of the vehicle; the priority of the computer system is higher than that of the industrial personal computer system when the vehicle is in the first driving state, and the priority of the industrial personal computer system is higher than that of the computer system when the vehicle is in the second driving state.
For the parts of the second to seventh embodiments that are not described in detail, reference may be made to the description of the first embodiment, which is not repeated herein.
Corresponding to the second embodiment, the embodiment of the present application further provides an automatic driving control device, referring to fig. 6, the device may include:
the route planning unit 601 is configured to generate first driving route planning information and second driving route planning information according to state data of the vehicle and the surrounding environment, which are transmitted by the sensor system;
the motion control unit 602 is configured to generate a first control message according to the first driving path planning information, and send the first control message to a vehicle chassis system to perform motion control on a vehicle;
and an information providing unit 603, configured to provide the second driving path planning information to an industrial personal computer system, so that when the computer system is abnormal, the industrial personal computer system controls the vehicle to execute emergency processing according to the second driving path planning information.
In a specific implementation, the apparatus may further include:
the monitoring unit is used for taking a response message returned by the industrial personal computer system after receiving the second driving path planning information as a heartbeat signal of the industrial personal computer system, and determining that the industrial personal computer system is abnormal when the heartbeat signal is abnormal;
and the restarting indication unit is used for sending a restarting control instruction to the industrial personal computer system so as to eliminate the abnormity of the industrial personal computer system in a restarting mode.
In addition, the motion control unit may be further configured to:
and if the restarting of the industrial personal computer system fails or the heartbeat signal is still abnormal after the restarting, controlling the vehicle to stop by the side.
In particular, the motion control unit may be configured to:
and controlling the vehicle to stop at the side according to the second driving path planning information generated at the last time, and correcting the second driving path planning information according to the real-time state change conditions of the vehicle and the surrounding environment in the process of stopping at the side.
Alternatively, the path planning unit may be further configured to:
planning the route information of the vehicle parking near the side according to the current states of the vehicle and the surrounding environment, controlling the vehicle parking near the side according to the route planning information, and correcting the planning information according to the real-time state change conditions of the vehicle and the surrounding environment in the process of parking near the side.
Additionally, the motion control unit may be further configured to:
and if the restarting of the industrial personal computer system fails or the heartbeat signal is still abnormal after the restarting, controlling the vehicle to decelerate.
Furthermore, the apparatus may further include:
and the information submitting unit is used for submitting the abnormal reason and the current position information of the vehicle to a server if the industrial personal computer system fails to restart or the heartbeat signal is still abnormal after the industrial personal computer system is restarted.
Corresponding to the three phases of the embodiment, the embodiment of the present application further provides an automatic driving control device, referring to fig. 7, the device may specifically include:
the monitoring unit 701 is used for receiving second driving path planning information provided by a computer system and monitoring the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
and the motion control unit 702 is configured to, if an abnormality occurs in the computer system, control the vehicle to perform emergency processing by using the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system.
In particular implementations, the motion control unit may be further configured to:
and when the computer system is abnormal, controlling the vehicle to decelerate so as to control the vehicle to stop at the side under the condition that the vehicle runs at a low speed.
Wherein, the monitoring unit may specifically be configured to:
and monitoring the state of the computer by monitoring the frequency of the computer for sending the second driving path planning information.
Alternatively, the monitoring unit may also be configured to:
and monitoring the state of the computer by monitoring the frequency of the control message sent by the computer system to the vehicle chassis system.
In addition, the apparatus may further include:
and the information submitting unit is used for monitoring the control message sent to the vehicle chassis system by the computer and uploading the monitored data to the cloud control system.
Wherein the motion control unit may be specifically configured to:
and correcting the second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, and controlling the vehicle to stop at the side.
When the distance between the surrounding vehicles is smaller than the safety distance threshold value, local path re-planning is carried out to achieve obstacle avoidance.
Corresponding to the fifth embodiment, the embodiment of the present application further provides an automatic driving control device, referring to fig. 8, where the device may specifically include:
the monitoring unit 801 is configured to monitor an operating state of a computer system, where the computer system is configured to periodically generate first driving path planning information according to state data of the vehicle and a surrounding environment, which are transmitted by a sensor system, in a normal state, and perform motion control on the vehicle;
a path planning unit 802, configured to control the vehicle to decelerate if the computer system is abnormal, and generate second driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by the sensor system in a low-speed driving state;
and the motion control unit 803 is configured to generate a second control message according to the second driving path planning information, and send the second control message to a vehicle chassis system to control the vehicle to execute emergency processing.
Corresponding to the seventh embodiment, the present application further provides an automatic driving control device, applied to a vehicle chassis system, and referring to fig. 9, the device may include:
a first control unit 901, configured to control motion of a vehicle according to a first control packet provided by a computer system;
and the second control unit 902 is configured to perform emergency processing on the vehicle according to a second control message provided by the industrial personal computer system if the computer system is abnormal or the vehicle enters a second driving state.
If control messages sent by a computer system and the industrial personal computer system are received at the same time, one control message is selected from the control messages for motion control of the vehicle according to the priority information of the computer system and the industrial personal computer system.
The priority information is different according to different driving states of the vehicle; the priority of the computer system is higher than that of the industrial personal computer system when the vehicle is in the first driving state, and the priority of the industrial personal computer system is higher than that of the computer system when the vehicle is in the second driving state.
In addition, an embodiment of the present application further provides a computer system, including:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
generating first driving path planning information and second driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by a sensor system;
generating a first control message according to the first driving path planning information, and sending the first control message to a vehicle chassis system to control the motion of the vehicle;
and providing the second driving path planning information to an industrial personal computer system so that if the computer system is abnormal, the industrial personal computer system controls the vehicle to execute emergency treatment according to the second driving path planning information.
A computer system, comprising:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
receiving second driving path planning information provided by a computer system, and monitoring the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
and if the computer system is abnormal, controlling the vehicle to execute emergency treatment by using the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system.
A computer system, comprising:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
monitoring the running state of a computer system, wherein the computer system is used for periodically generating first driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by a sensor system, in a normal state and controlling the motion of the vehicle;
if the computer system is abnormal, controlling the vehicle to decelerate, and generating second driving path planning information according to the state data of the vehicle and the surrounding environment transmitted by the sensor system in a low-speed driving state;
and generating a second control message according to the second driving path planning information, and sending the second control message to a vehicle chassis system to control the vehicle to execute emergency treatment.
Fig. 10 illustrates an architecture of a computer system, which may specifically include a processor 1010, a video display adapter 1011, a disk drive 1012, an input/output interface 1013, a network interface 1014, and a memory 1020. The processor 1010, the video display adapter 1011, the disk drive 1012, the input/output interface 1013, and the network interface 1014, and the memory 1020 may be communicatively connected by a communication bus 1030.
The processor 1010 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits, and is configured to execute related programs to implement the technical solution provided by the present Application.
The Memory 1020 may be implemented in the form of a ROM (Read Only Memory), a RAM (Random access Memory), a static storage device, a dynamic storage device, or the like. The memory 1020 may store an operating system 1021 for controlling the operation of the computer system 1000, a Basic Input Output System (BIOS) for controlling low-level operations of the computer system 1000. In addition, a web browser 1023, a data storage management system 1024, an automated driving processing system 1025, and the like may also be stored. The automatic driving processing system 1025 can be an application program that implements the operations of the foregoing steps in this embodiment of the present application. In summary, when the technical solution provided in the present application is implemented by software or firmware, the relevant program codes are stored in the memory 1020 and called for execution by the processor 1010.
The input/output interface 1013 is used for connecting an input/output module to realize information input and output. The i/o module may be configured as a component in a device (not shown) or may be external to the device to provide a corresponding function. The input devices may include a keyboard, a mouse, a touch screen, a microphone, various sensors, etc., and the output devices may include a display, a speaker, a vibrator, an indicator light, etc.
The network interface 1014 is used for connecting a communication module (not shown in the figure) to realize the communication interaction between the device and other devices. The communication module can realize communication in a wired mode (such as USB, network cable and the like) and also can realize communication in a wireless mode (such as mobile network, WIFI, Bluetooth and the like).
Bus 1030 includes a path that transfers information between various components of the device, such as processor 1010, video display adapter 1011, disk drive 1012, input/output interface 1013, network interface 1014, and memory 1020.
In addition, the computer system 1000 may also obtain information of specific obtaining conditions from the virtual resource object obtaining condition information database 1041, so as to perform condition judgment, and the like.
It should be noted that although the above devices only show the processor 1010, the video display adapter 1011, the disk drive 1012, the input/output interface 1013, the network interface 1014, the memory 1020, the bus 1030, etc., in a specific implementation, the device may also include other components necessary for normal operation. Furthermore, it will be understood by those skilled in the art that the apparatus described above may also include only the components necessary to implement the solution of the present application, and not necessarily all of the components shown in the figures.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be essentially or partially implemented in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the system or system embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the descriptions of the method embodiments for related points. The above-described system and system embodiments are only illustrative, wherein the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The method, the device and the system for controlling automatic driving provided by the application are introduced in detail, a specific example is applied in the description to explain the principle and the implementation mode of the application, and the description of the embodiment is only used for helping to understand the method and the core idea of the application; meanwhile, for a person skilled in the art, according to the idea of the present application, the specific embodiments and the application range may be changed. In view of the above, the description should not be taken as limiting the application.

Claims (30)

1. An automatic driving control system, characterized by comprising:
the system comprises a sensor system, a computer system and an industrial personal computer system, wherein the sensor system is used for acquiring state data of a vehicle and surrounding environment, the computer system is used for generating first driving path planning information and second driving path planning information according to the state data of the vehicle and the surrounding environment, the first driving path planning information is used for generating control messages and is sent to a vehicle chassis system to control the motion of the vehicle, and the second driving path planning information is used for being provided for the industrial personal computer system in real time;
and the industrial personal computer system is used for storing second driving path planning information provided by the computer system and monitoring the running state of the computer system, and if the computer system is abnormal, the vehicle is controlled to execute emergency treatment by using the second driving path planning information and state data of the vehicle and the surrounding environment transmitted by the sensor system.
2. The system of claim 1,
the industrial personal computer is also used for controlling the vehicle to decelerate when the computer system is abnormal so as to control the vehicle to execute emergency treatment in a low-speed state.
3. An automatic driving control method characterized by comprising:
the computer system generates first driving path planning information and second driving path planning information according to state data of the vehicle and the surrounding environment, wherein the state data are transmitted by the sensor system;
generating a first control message according to the first driving path planning information, and sending the first control message to a vehicle chassis system to control the motion of the vehicle;
and providing the second driving path planning information for an industrial personal computer system, so that when the computer system is abnormal, the industrial personal computer system controls the vehicle to execute emergency treatment according to the second driving path planning information.
4. The method of claim 3, further comprising:
taking a response message returned by the industrial personal computer system after receiving second driving path planning information as a heartbeat signal of the industrial personal computer system, and determining that the industrial personal computer system is abnormal when the heartbeat signal is abnormal;
and sending a restart control instruction to the industrial personal computer system so that the industrial personal computer system can eliminate the abnormality in a restart mode.
5. The method of claim 4, further comprising:
and if the restarting of the industrial personal computer system fails or the heartbeat signal is still abnormal after the restarting, controlling the vehicle to stop by the side.
6. The method of claim 5,
the controlling the vehicle to park alongside includes:
and controlling the vehicle to stop at the side according to the second driving path planning information generated at the last time, and correcting the second driving path planning information according to the real-time state change conditions of the vehicle and the surrounding environment in the process of stopping at the side.
7. The method of claim 5,
the controlling the vehicle to park alongside includes:
planning the route information of the vehicle parking near the side according to the current states of the vehicle and the surrounding environment, controlling the vehicle parking near the side according to the route planning information, and correcting the planning information according to the real-time state change conditions of the vehicle and the surrounding environment in the process of parking near the side.
8. The method of claim 5, further comprising:
and if the restarting of the industrial personal computer system fails or the heartbeat signal is still abnormal after the restarting, controlling the vehicle to decelerate.
9. The method of claim 5, further comprising:
and if the restarting of the industrial personal computer system fails or the heartbeat signal is still abnormal after the restarting, submitting the abnormal reason and the current position information of the vehicle to a server.
10. An automatic driving control method characterized by comprising:
the industrial personal computer system receives second driving path planning information provided by the computer system and monitors the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
and if the computer system is abnormal, controlling the vehicle to carry out emergency treatment by utilizing the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system.
11. The method of claim 10, further comprising:
when the computer system is abnormal, the vehicle is controlled to decelerate so as to control the vehicle to carry out emergency treatment under the condition that the vehicle runs at a low speed.
12. The method of claim 10,
the monitoring the operation state of the computer system comprises:
and monitoring the state of the computer system by monitoring the frequency of the computer system sending the second driving path planning information.
13. The method of claim 10,
the monitoring the operation state of the computer system comprises:
and monitoring the state of the computer system by monitoring the frequency of the control message sent by the computer system to the vehicle chassis system.
14. The method of claim 10, further comprising:
and monitoring the control message sent to the vehicle chassis system by the computer system, and uploading the monitored data to a cloud control system.
15. The method of claim 10,
the control of the vehicle for emergency treatment includes:
and correcting the second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, and controlling the vehicle to carry out emergency treatment.
16. The method of claim 15,
the correcting the second driving path planning information includes:
and when the distance of the surrounding vehicle is smaller than the safe distance threshold value, replanning the local path to avoid the obstacle.
17. The method of claim 15,
the correcting the second driving path planning information and controlling the vehicle to carry out emergency treatment includes:
and if the sensor system detects a roadside guardrail, controlling the vehicle to approach the guardrail in parallel.
18. An automatic driving control system, characterized by comprising:
the computer system is used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, generating a first control message according to the first driving path planning information and transmitting the first control message to the vehicle chassis system so as to control the motion of the vehicle;
and the industrial personal computer system is used for monitoring the running state of the computer system, controlling the vehicle to decelerate if the computer system is abnormal, generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system in a low-speed running state, generating a second control message, and transmitting the second control message to the vehicle chassis system to control the vehicle to execute emergency treatment.
19. An automatic driving control method characterized by comprising:
the method comprises the following steps that an industrial personal computer system monitors the running state of a computer system, and the computer system is used for periodically generating first driving path planning information according to vehicle and surrounding environment state data transmitted by a sensor system in a normal state and controlling the motion of the vehicle;
if the computer system is abnormal, controlling the vehicle to decelerate, and generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a low-speed driving state;
and generating a second control message according to the second driving path planning information, and sending the second control message to a vehicle chassis system to control the vehicle to execute emergency treatment.
20. An automatic driving control system, characterized by comprising:
the system comprises a computer system, a sensor system and a vehicle chassis system, wherein the computer system is used for monitoring the running state of a vehicle, periodically generating first driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, if the vehicle is in a first running state, generating a first control message according to the first driving path planning information, and transmitting the first control message to the vehicle chassis system to control the motion of the vehicle, and if the vehicle enters a second state, stopping the motion control of the vehicle;
and the industrial personal computer system is used for monitoring the running state of the vehicle, controlling the vehicle to decelerate if the vehicle enters a second running state, periodically generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, generating a second control message according to the second driving path planning information, and transmitting the second control message to the vehicle chassis system to control the motion of the vehicle.
21. An automatic driving control method is characterized in that,
the vehicle chassis system controls the vehicle to move according to the first control message provided by the computer system;
and if the computer system is abnormal or the vehicle enters a second driving state, performing emergency treatment on the vehicle according to a second control message provided by the industrial personal computer system.
22. The method of claim 21, further comprising:
and if the control messages sent by the computer system and the industrial personal computer system are received at the same time, selecting one control message from the control messages for controlling the motion of the vehicle according to the priority information of the computer system and the industrial personal computer system.
23. The method of claim 22,
the priority information is different according to different driving states of the vehicle; the priority of the computer system is higher than that of the industrial personal computer system when the vehicle is in the first driving state, and the priority of the industrial personal computer system is higher than that of the computer system when the vehicle is in the second driving state.
24. An automatic driving control apparatus, characterized by comprising:
the route planning unit is used for generating first driving route planning information and second driving route planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system;
the motion control unit is used for generating a first control message according to the first driving path planning information and sending the first control message to a vehicle chassis system to control the motion of the vehicle;
and the information providing unit is used for providing the second driving path planning information to the industrial personal computer system so that the industrial personal computer system controls the vehicle to execute emergency treatment according to the second driving path planning information when the computer system is abnormal.
25. An automatic driving control apparatus, characterized by comprising:
the monitoring unit is used for receiving second driving path planning information provided by a computer system and monitoring the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
and the motion control unit is used for controlling the vehicle to execute emergency treatment by utilizing the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, if the computer system is abnormal.
26. An automatic driving control apparatus, characterized by comprising:
the monitoring unit is used for monitoring the running state of a computer system, and the computer system is used for periodically generating first driving path planning information and controlling the motion of the vehicle according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state;
the path planning unit is used for controlling the vehicle to decelerate if the computer system is abnormal, and generating second driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a low-speed running state;
and the motion control unit is used for generating a second control message according to the second driving path planning information and sending the second control message to a vehicle chassis system to control the vehicle to execute emergency treatment.
27. An automatic driving control device, which is applied to a vehicle chassis system, comprising:
the first control unit is used for controlling the motion of the vehicle according to the first control message provided by the computer system;
and the second control unit is used for carrying out emergency treatment on the vehicle according to a second control message provided by the industrial personal computer system if the computer system is abnormal or the vehicle enters a second driving state.
28. A computer system, comprising:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
generating first driving path planning information and second driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by a sensor system;
generating a first control message according to the first driving path planning information, and sending the first control message to a vehicle chassis system to control the motion of the vehicle;
and providing the second driving path planning information for an industrial personal computer system so that the industrial personal computer system controls the vehicle to carry out emergency treatment according to the second driving path planning information when the computer system is abnormal.
29. An industrial personal computer system, comprising:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
receiving second driving path planning information provided by a computer system, and monitoring the running state of the computer system; the computer system is also used for periodically generating first driving path planning information according to the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system, in a normal state and controlling the motion of the vehicle;
and when the computer system is abnormal, controlling the vehicle to carry out emergency treatment by using the second driving path planning information and the state data of the vehicle and the surrounding environment, which are transmitted by the sensor system.
30. An industrial personal computer system, comprising:
one or more processors; and
a memory associated with the one or more processors for storing program instructions that, when read and executed by the one or more processors, perform operations comprising:
monitoring the running state of a computer system, wherein the computer system is used for periodically generating first driving path planning information according to state data of the vehicle and the surrounding environment, which are transmitted by a sensor system, in a normal state and controlling the motion of the vehicle;
when the computer system is abnormal, the vehicle is controlled to decelerate, and in a low-speed running state, the sensor system transmits state data of the vehicle and the surrounding environment to generate second driving path planning information;
and generating a second control message according to the second driving path planning information, and sending the second control message to a vehicle chassis system to control the vehicle to carry out emergency treatment.
CN201910162649.6A 2019-03-05 2019-03-05 Automatic driving control method, device and system Pending CN111661062A (en)

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