CN111976623A - Chassis domain controller for intelligent automobile, control method of vehicle and vehicle - Google Patents
Chassis domain controller for intelligent automobile, control method of vehicle and vehicle Download PDFInfo
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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
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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
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- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0275—Fault isolation and identification, e.g. classify fault; estimate cause or root of failure
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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Abstract
The chassis domain controller comprises a signal processing unit, a logic checking unit and a model calculating unit which are connected with one another, wherein the signal processing unit is connected with a plurality of sensors of the vehicle and is used for acquiring original signals detected by the sensors, processing the original signals to obtain driving signals reflecting the vehicle state or the road environment and sending the driving signals to the logic checking unit and the model calculating unit; the model resolving unit is used for receiving the driving signals, performing model resolving based on the driving signals and determining a decision result; the logic checking unit is connected with the sensors and used for determining a checking signal according to the original signal, comparing the checking signal with the driving signal to check the driving signal, performing checking calculation according to the checking signal to determine a checking result, and comparing the checking result with the decision result to check the decision result.
Description
Technical Field
The application relates to the technical field of automobiles, in particular to a chassis domain controller for an intelligent automobile, a control method for the intelligent automobile and the intelligent automobile.
Background
With the continuous improvement of automobile technology, the use of advanced sensors and intelligent algorithms on automobiles is continuously increased. However, these advanced algorithms and sensors are often dependent on the actuators of the chassis of the vehicle, and at the same time, these algorithms and sensors themselves may have the possibility of their own functional failure or lack of expected functionality.
The evolution of a controller on a vehicle has two directions, one is that the number of Electronic Control Units (ECUs) of an automobile chassis is increased continuously, so that the dispersion of functional sub-modules of the chassis is not uniform and is easy to be falsely triggered by the change of information of other modules, and a dimension reduction model with the dispersed chassis cannot cope with the uncertainty of the existing complex vehicle running condition and road environment, so that an intelligent vehicle faces uncontrollable factors during running under the condition and is difficult to cope with the emergency dangerous condition. On the other hand, on the sensor level, a heterogeneous computing mode of a single industrial personal computer and a GPU (Graphics Processing Unit, display chip) is often adopted to fuse sensor information such as a laser radar, a millimeter wave radar and a camera, and such a computing mode is difficult to fully utilize sensor signals, so that the determined driving decision is too conservative, and the actual performance of the whole vehicle and the road surface cannot be fully utilized. In addition, the existing intelligent driving is difficult to identify the low adhesion state of the road surface, the driving state of the vehicle is idealized, and meanwhile, the robustness of software and hardware is not strong, so that potential safety hazards are easy to appear.
Disclosure of Invention
The embodiment of the application aims to provide a chassis domain controller for an intelligent automobile, a control method of the automobile and the automobile, so that the reliability of the chassis domain controller is improved, and a safe and reliable basis is provided for application of advanced sensors, algorithms and the like on the automobile.
In order to achieve the above object, embodiments of the present application are implemented as follows:
in a first aspect, an embodiment of the present application provides an intelligent automobile-oriented chassis domain controller, where the chassis domain controller includes a signal processing unit, a logic checking unit, and a model calculating unit, which are connected to each other, and the signal processing unit is connected to a plurality of sensors of a vehicle, and is configured to acquire original signals detected by the plurality of sensors, process the original signals to obtain driving signals reflecting a vehicle state or a road environment, and send the driving signals to the logic checking unit and the model calculating unit; the model calculating unit is used for receiving the driving signal, performing model calculation based on the driving signal and determining a decision result; the logic checking unit is connected with the sensors and used for determining checking signals according to the original signals, comparing the checking signals with the driving signals to check the driving signals, performing checking calculation according to the checking signals to determine checking results, and comparing the checking results with the decision results to check the decision results.
In the embodiment of the application, the signal is acquired and processed by the signal processing unit, and the model calculating unit calculates based on the signal to obtain the decision result. And the logic checking unit acquires the signal, processes the signal and calculates the signal to obtain a checking signal and a checking result, so that the signal and the decision result are checked. By the double-redundancy calculation mode, the safe and stable operation of the chassis domain controller is guaranteed, and the reliability of the chassis domain controller is improved. And the logic checking unit, the signal processing unit and the model calculating unit are overlapped in function, and when one unit fails, the operation of the chassis domain controller can be ensured, so that the reliability of the chassis domain controller is further improved, and a safe and reliable basis is provided for the application of advanced sensors, algorithms and the like on automobiles.
With reference to the first aspect, in a first possible implementation manner of the first aspect, the signal processing unit includes a signal processing chip, the logic checking unit includes a logic checking chip, and the model solving unit includes a model solving chip.
In the implementation mode, independent chips are provided for each unit, independent and stable operation of each unit can be guaranteed, and mutual influence of each unit on a hardware structure is reduced, so that the calculation accuracy and the verification accuracy are guaranteed as much as possible, and the reliability of the chassis domain controller is further improved. And when one chip fails, the chassis domain controller has a simpler, more convenient and more reliable working mode on the chip function replacement of the chassis domain controller.
With reference to the first possible implementation manner of the first aspect, in a second possible implementation manner of the first aspect, the signal processing chip, the logic check chip, and the model solution chip have different chip architectures.
In the implementation mode, chips with different chip architectures are used as the signal processing chip, the logic check chip and the model calculation chip, so that common cause failure of the chips (namely, the chips fail due to the same reason because a plurality of chips have the same chip architecture) can be avoided, and the reliability of the chassis domain controller is further improved.
With reference to the first possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the chassis domain controller further includes a safety logic unit, configured to: when one of the signal processing chip, the logic verification chip and the model calculation chip is used for inputting or outputting, three state values respectively determined by the signal processing chip, the logic verification chip and the model calculation chip based on the judgment on whether the working state of the chip is normal are obtained; judging whether at least two state values exist in the three state values to indicate that the working state of the chip is normal; and when at least two state values indicate that the working state of the chip is normal, determining that the safety logic is effective, and inputting or outputting by the chip.
In the implementation mode, when one of the signal processing chip, the logic verification chip and the model calculation chip is used for inputting or outputting, the safety logic unit acquires three state values which are respectively determined by each chip based on the judgment on whether the working state of the chip is normal, so that the safety logic verification of the chip is realized, the problem of data abnormity caused by abnormal working state of the chip is avoided, the reliability of the input and output data of the chip is ensured, and the reliability of the chassis domain controller is improved.
With reference to the third possible implementation manner of the first aspect, in a fourth possible implementation manner of the first aspect, the state value includes two values, and the safety logic unit is further configured to: when two consistent state values in the three state values indicate that the chip is normal, determining another chip giving inconsistent state values as a fault chip; and when at least two consistent state values in the three state values indicate that the chip is abnormal, determining that the chip is a fault chip.
In the implementation mode, the fault chip is checked by a few principles which obey most principles, and the accuracy of checking the fault chip can be ensured as much as possible, so that the fault chip is accurately determined.
With reference to the fourth possible implementation manner of the first aspect, in a fifth possible implementation manner of the first aspect, after the safety logic unit determines the faulty chip, the chassis domain controller is further configured to shield data of the faulty chip in a subsequent data processing process, complete the subsequent data processing process through two chips except the faulty chip, and reset the faulty chip, where the data processing process includes a signal processing process, a model resolving process, and a logic checking process.
In the implementation mode, after the fault chip is determined, the data of the fault chip can be shielded in the subsequent data processing process, and the accuracy of the data is ensured. And the subsequent data processing process is completed by utilizing the two chips except the fault chip, and the fault chip is reset, so that the function replacement can be realized when one fault chip exists in the chassis domain controller, and the stable operation of the chassis domain controller is maintained.
With reference to the first aspect, or with reference to any one of the first to fifth possible implementation manners of the first aspect, in a sixth possible implementation manner of the first aspect, the chassis domain controller further includes an intelligent driving domain interface and/or a network connection domain interface, the model solution unit and/or the logic check unit of the chassis domain controller are connected to an external intelligent driving domain controller through the intelligent driving domain interface, and the intelligent driving domain controller is configured to: acquiring a visual signal detected by a visual sensor of a vehicle, a driving signal and a vehicle state parameter sent by a chassis domain controller, determining decision control information according to the visual signal, the driving signal and the vehicle state parameter, and sending the decision control information to the chassis domain controller, so that the chassis domain controller determines a stable boundary according to the decision control information and outputs a control signal within the stable boundary range, wherein the stable boundary represents a control signal range of safe driving of the vehicle, and the control signal is determined based on a decision result of a model resolving unit and/or a check result of a logic check unit; the model resolving unit and/or the logic checking unit of the chassis domain controller are/is connected with an external network domain controller through a network domain interface, and the network domain controller is used for: vehicle type matching is achieved based on data output by the chassis domain controller and a cloud database, vehicle faults are diagnosed on line, and the V2X function of the vehicle is achieved, wherein the data output by the chassis domain controller is determined based on a decision result of the model resolving unit and/or a check result of the logic check unit.
In the implementation mode, the chassis domain controller is provided with the intelligent driving domain interface and/or the network connection domain interface and other extension interfaces, so that the connection between the chassis domain controller and the intelligent driving domain controller and the network connection domain controller is realized, and the extension of functions is realized. For example, perception information of a vehicle to a driving environment is processed, and a driving decision is made based on the perception information, so that a more accurate and reasonable stable boundary can be determined by a chassis domain controller; or vehicle model matching, online diagnosis of vehicle faults, realization of the V2X function of the vehicle, and the like. In addition, since the processing of the external networking signals and the calculation of the core chassis domain are completed by chips with different architectures, the external signals are processed by the networking domain chip and then input into the core chassis domain, so that the hacking attack from the external Ethernet can be avoided, and the driving safety can be further ensured. Therefore, the chassis domain controller has strong expansion function and stronger universality, and the application range of the chassis domain controller is expanded.
With reference to the first aspect, or with reference to any one of the first to fifth possible implementation manners of the first aspect, in a seventh possible implementation manner of the first aspect, the chassis domain controller further includes a power supply unit, where the power supply unit includes at least two power supplies, and each power supply can independently supply power to the chassis domain controller and the plurality of sensors on the vehicle.
In this implementation, the reliability of the chassis domain controller can be further ensured by providing dual redundant independent power supplies to the chassis domain controller and to a plurality of sensors on the vehicle.
In a second aspect, an embodiment of the present application provides a vehicle control method, which is applied to the first aspect or any one of the possible implementation manners of the first aspect, where the method includes: the signal processing unit acquires original signals detected by the sensors, processes the original signals to obtain driving signals reflecting vehicle states or road environments, and sends the driving signals to the logic checking unit and the model resolving unit; the model resolving unit receives the driving signal, performs model resolving based on the driving signal and determines a decision result; the logic checking unit determines a checking signal according to the original signal, compares the checking signal with the driving signal to check the driving signal, performs checking calculation according to the checking signal to determine a checking result, and compares the checking result with the decision result to check the decision result.
In a third aspect, an embodiment of the present application provides a vehicle, including: the intelligent automobile-oriented chassis domain controller according to the first aspect or any possible implementation manner of the first aspect, the plurality of sensors mounted on the vehicle, and a driving control component of the vehicle, wherein the chassis domain controller is connected to the plurality of sensors, and is configured to generate a driving instruction for controlling driving of the vehicle based on data detected by the sensors and an operation instruction input by the driving control component, so as to implement driving of the vehicle.
In order to make the aforementioned objects, features and advantages of the present application more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a schematic diagram of a vehicle equipped with a chassis domain controller according to an embodiment of the present application.
Fig. 2 is a schematic diagram of a chassis domain controller according to an embodiment of the present application.
Fig. 3 is a schematic diagram of data processing among the signal processing unit, the model solution unit, and the logic check unit according to the embodiment of the present application.
Fig. 4 is a flowchart of a control method of a vehicle according to an embodiment of the present application.
Icon: 10-a vehicle; 100-chassis domain controller; 110-a signal processing unit; 120-a model solution unit; 130-logical check unit; 140-smart driving domain interface; 150-a network networking domain interface; 160-a power supply unit; 200-a sensor; 210-IMU; 220-brake pressure sensor; 230-steering wheel angle sensor; 240-wheel speed sensor; 250-engine sensor.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
Referring to fig. 1, fig. 1 is a schematic diagram of a vehicle 10 with a chassis domain controller 100 installed therein according to an embodiment of the present disclosure.
In this embodiment, the chassis domain controller 100 facing the intelligent automobile may be disposed on the vehicle 10, and the vehicle 10 may further be disposed with a plurality of sensors 200, and the sensors 200 may detect a driving state of the vehicle, and collect state information, environmental information, and the like of the vehicle. For example, an IMU (Inertial measurement unit, which is a device that measures the three-axis attitude angle and acceleration of an object) 210 may be provided at the center of gravity of the vehicle 10, and may detect the body attitude, acceleration, and the like of the vehicle 10; the brake pressure sensor 220 may be provided at a brake wheel cylinder of the vehicle 10, and may detect a brake pressure of the vehicle 10; the steering wheel angle sensor 230 may be provided under the steering wheel of the vehicle 10, and may detect the steering wheel angle of the vehicle 10; the wheel speed sensor 240 may be provided at a wheel axle of the vehicle 10, and may detect the wheel speed of each wheel of the vehicle 10; an engine sensor 250 (which may include an engine speed sensor and an engine torque sensor) may be provided at the engine of the vehicle 10 for detecting the engine output power of the vehicle 10 (e.g., by detecting the speed and torque of the engine).
Of course, other sensors may be disposed on the vehicle 10, such as a vision sensor, a night vision device, etc., without limitation. For example, the lidar may be mounted on a roof of a vehicle for capturing the surroundings of the vehicle 10; the dead ahead of vehicle 10 that the camera can set up, millimeter wave radar can set up four corners etc. at vehicle 10, and it is not repeated here that one is not necessary, can set up according to actual need.
The chassis area controller 100 may be connected to a plurality of sensors 200 to acquire data detected by the plurality of sensors 200. And, the chassis domain controller 100 may be further connected to a driving control component of the vehicle 10, and the chassis domain controller 100 may determine, based on the data detected by the sensor 200 and based on an operation command input by the driving control component, that the control command controls the electronic execution unit to regulate the vehicle state of the vehicle 10 (e.g., to regulate deceleration, acceleration, steering, etc. of the vehicle by actuators such as braking, driving, steering, etc.).
In this embodiment, the information collected by the sensor 200 is an unprocessed signal, or a signal pre-processed only by the sensor 200 itself can be regarded as an original signal, so as to distinguish the original signal from the signal processed by the chassis domain controller 100.
Referring to fig. 2, fig. 2 is a schematic diagram of a chassis domain controller 100 according to an embodiment of the present application.
In this embodiment, the chassis domain controller 100 may include a signal processing unit 110, a logic checking unit 130, and a model solution unit 120, and the signal processing unit 110, the logic checking unit 130, and the model solution unit 120 are connected to each other.
Referring to fig. 3, fig. 3 is a schematic diagram illustrating data processing among the signal processing unit 110, the model solution unit 120, and the logic check unit 130 according to an embodiment of the disclosure.
In the present embodiment, the signal processing unit 110 is also connected to a plurality of sensors 200. The signal processing unit 110 may acquire the raw signal detected by the sensor 200, process the raw signal to obtain a driving signal reflecting a vehicle state or a road environment, and send the driving signal to the logic checking unit 130 and the model calculating unit 120. The model calculating unit 120 may receive the driving signal, perform model calculation based on the driving signal, and determine a decision result. The logic verification unit 130 may be connected to the plurality of sensors 200, and configured to determine a verification signal according to the original signal, and compare the verification signal with the driving signal to verify the driving signal. And the logic checking unit 130 may perform checking calculation according to the checking signal, determine a checking result, and compare the checking result with the decision result to check the decision result. Therefore, the chassis domain controller 100 can control the output result according to the checking signal and the checking result obtained by the logic checking unit 130, the driving signal processed by the signal processing unit 110 and the decision result calculated by the model calculating unit 120.
For example, when the difference between the check signal and the driving signal is within a first preset range and the check result and the decision result are within a second preset range, the chassis domain controller 100 may output the decision result or the check result, or output the decision result and the check result at the same time, or output an average value or an operation value (a value obtained by a certain calculation method, such as a weighted average) obtained based on the decision result and the check result, which is not limited herein.
When the difference between the check signal and the driving signal is within the first preset range and the difference between the check result and the decision result is not within the second preset range, the logic check unit 130 may determine that the check does not pass, so as to send an instruction to enable the model solution unit 120 to perform the re-solution. When the difference between the check signal and the driving signal is not within the first preset range and the difference between the check result and the decision result is not within the second preset range, the logic check unit 130 may send an instruction to enable the signal processing unit 110 to re-process the check signal and enable the model solution unit 120 to re-solve the check signal and the driving signal.
Of course, the above data processing method and the verification method are only exemplary, and may be other methods, which should not be construed as limiting the present application. For example, the signal processing unit 110 may process an original signal to obtain a driving signal, the logic checking unit 130 may process the original signal to obtain a checking signal, compare the driving signal with the checking signal, and when it is determined that a difference between the checking signal and the driving signal is within a first preset range, send a result parameter of the signal checking to the model calculating unit 120, and the model calculating unit 120 may continue to perform model calculation according to the driving signal to obtain a decision result.
By the double-redundancy calculation mode, the safe and stable operation of the chassis domain controller can be guaranteed, and the reliability of the chassis domain controller is improved. And the logic checking unit, the signal processing unit and the model calculating unit are overlapped in function, and when one unit fails, the operation of the chassis domain controller can be ensured, so that the reliability of the chassis domain controller is further improved, and a safe and reliable basis is provided for the application of advanced sensors, algorithms and the like on automobiles.
In this embodiment, the logic checking unit 130 may also detect a working state of the sensor, for example, power supply of the sensor, information of a return working state, and the like, so as to ensure stable operation of the chassis domain controller 100, and further improve reliability of the chassis domain controller 100.
In this embodiment, in order to improve the operation efficiency of the chassis area controller 100, the signal processing unit 110 and the model solution unit 120 may perform data processing and calculation with a higher frequency (e.g., 300 mhz) relative to the logic check unit 130, so as to realize high-frequency real-time solution of data. The logic verification unit 130 may perform data verification at a relatively low frequency (e.g., 100 mhz), so as to ensure the operating efficiency of the chassis area controller and ensure the real-time performance of the data while performing the verification.
In this embodiment, the signal processing unit 110 may include a signal processing chip, the logic checking unit 130 may include a logic checking chip, and the model solution unit 120 may include a model solution chip.
By providing an independent chip for each unit, independent and stable operation of each unit can be ensured, and mutual influence of each unit on a hardware structure is reduced, so that the calculation accuracy and the verification accuracy are ensured as much as possible, and the reliability of the chassis domain controller is further improved. And when one chip fails, the function of the chip of the chassis domain controller is replaced, so that the realization is simpler, more convenient and more reliable.
In order to further improve the reliability of the chassis domain controller, in this embodiment, the signal processing chip, the logic check chip, and the model calculation chip may adopt chips with different chip architectures. By adopting chips with different chip architectures as the signal processing chip, the logic check chip and the model resolving chip, common cause failure of the chips (namely, the chips with a plurality of chip architectures of the same type cause chip failure due to the same factor) can be avoided, so that the reliability of the chassis domain controller is further improved.
In order to ensure the performance of the chassis domain controller, for example, a suitable chip may be selected according to the difference of the functions, the working requirements, the working characteristics, and the like of the signal processing unit 110, the model calculating unit 120, and the logic checking unit 130.
For example, for a signal processing chip, which mainly processes input and output of signals, a high-performance signal processing chip may be selected. For example, a DSP (Digital Signal Processing), an FPGA (Field Programmable Gate Array), or the like can be used. The signal processing chip has various general signal processing functions, can realize high reliability, high real-time performance and high-precision sampling of signals such as radar and wheel speed, and meanwhile, the signal processing chip has a certain protection mechanism at an input end and an output end, so that the accuracy of the signals can be guaranteed.
For example, as for the model calculation chip, the chip mainly provides a reliable operation environment for a system (a system that can be mounted in a chassis domain controller and can control the signal processing unit 110 to process signals, the model calculation unit 120 to perform calculation, the logic verification unit 130 to verify calculation results, etc.), and can ensure the real-time performance of the operation through a real-time operation system, and further ensure the reliability of the system through a dual-core step locking mechanism. Therefore, the model solution chip can be small packaged chip, such as British flying TC270 or AURIXTMThe chip of the TC3xx family (xx is a number indicating a different model of the family), thereby reducing the cost and layout pressure of the chassis domain controller 100. The model resolving chip can receive signals from the signal processing part and the logic checking part and has strong operation performance, for example, a fifteen-degree-of-freedom dynamic model of the whole vehicle can be operated in real time, and a corresponding safety domain is calculated by combining the dynamic model of the whole vehicle.
For example, for a logic verification chip, the chip mainly verifies the input/output result of the chassis domain controller 100 again, and the control of the signal may be implemented by a logic gate chip on the chassis domain controller 100. Therefore, the logic check chip can be a chip with balanced performance, larger package and more signal interfaces. Moreover, the internal algorithm of the logic check chip mainly takes logic check as a main part, so that a chip with a lower main frequency, such as a chip of nxpc 57xxMCUs series (strong functional security), such as 5744P or 5748G, can be selected.
In order to ensure the normal operation of the chassis domain controller 100 as much as possible, it is avoided that the normal operation of the chassis domain controller 100 is affected by an abnormality of a certain chip. In this embodiment, the chassis domain controller 100 may further include a security logic unit. The safety logic unit may be an independent unit (e.g., a chip), an additional circuit (e.g., a logic circuit connected to the signal processing chip, the logic verification chip, and the model solution chip), or a part of the signal processing chip, the logic verification chip, or the model solution chip, which is not limited herein, depending on the actual needs.
In this embodiment, the safety logic unit may acquire three state values that are respectively determined by each chip (the signal processing chip, the logic verification chip, and the model solution chip) based on the determination of whether the operating state of the chip is normal or not, when one of the signal processing chip, the logic verification chip, and the model solution chip performs input or output. And the safety logic unit may further determine whether at least two of the three state values indicate that the working state of the chip is normal, and when the at least two state values indicate that the working state of the chip is normal, may determine that the safety logic is in effect (i.e., the chip may perform normal input or output).
The input and output of the chip can be verified on the safety logic through the safety logic unit, the problem of data abnormity caused by abnormal working state of the chip is avoided, the reliability of the input and output data of the chip is ensured, and therefore the reliability of the chassis domain controller is improved.
It should be noted that, the safety logic unit may verify the chip input and output on the safety logic, so as to avoid data calculation errors caused by abnormal chip operating state of the chassis domain controller 100 as much as possible. However, the inaccurate problem of data processing (for example, the running signal processed by the signal processing chip does not pass the verification, the decision result calculated by the model calculation chip does not pass the verification, etc.) is a data processing process performed after the safety logic becomes effective, and is not a problem that the chip is abnormal in the safety logic verification.
For example, the status value determined by each chip may be one of two values, for example, "0" and "1", where "0" indicates abnormal and "1" indicates normal, and of course, "1" may also indicate abnormal and "0" indicates normal, which is not limited herein. The safety logic unit can also determine that another chip giving inconsistent state values is a fault chip when two consistent state values exist in the three state values and indicate that the chip is normal. And when at least two consistent state values in the three state values indicate that the chip is abnormal, determining that the chip is a fault chip. The troubleshooting of the fault chip is realized by a few principles which obey most of the fault chips, and the accuracy of troubleshooting of the fault chip can be ensured as much as possible, so that the fault chip can be accurately determined.
Of course, the method for troubleshooting the faulty chip can be well applied to the chassis domain controller of the embodiment, and extremely high troubleshooting accuracy can be guaranteed. However, this method is also only exemplary and should not be considered as limiting the present application, and other examination methods may be available, which are not limited herein.
In this embodiment, after the safety logic unit determines the faulty chip, the chassis domain controller 100 may further shield data of the faulty chip in a subsequent data processing process, complete a subsequent data processing process through two chips except the faulty chip, and reset the faulty chip, where the data processing process includes a signal processing process (i.e., a process in which the signal processing unit processes an original signal to obtain a driving signal), a model resolving process (i.e., a process in which the model resolving unit resolves according to the driving signal to determine a decision result), and a logic checking process (i.e., a process in which the logic checking unit determines a checking signal according to the original signal and calculates a checking result based on the checking signal).
For example, when the signal processing chip has a fault, the data processing process of the signal processing chip may be completed by the logic check chip instead (to ensure efficiency, the logic check chip may also increase the operation frequency, and perform signal processing with an operation frequency higher than that during checking), and the processed signal (which may be referred to as a driving signal because the signal is a basis for the model solution chip to perform solution) may be sent to the model solution chip so that the model solution chip performs solution to obtain a decision result.
For example, when the model calculation chip has a fault, the data processing process of the model calculation chip may be completed by the logic check chip instead (to ensure efficiency, the logic check chip may also increase the operation frequency, and perform calculation with an operation frequency higher than that during the check), and the result after calculation (which may be referred to as a decision result because the result is used for output rather than the check) may be output.
For another example, when the logic verification chip has a fault, the chassis domain controller may perform a data processing process (a signal processing process and a model solution process) through the signal processing chip and the model solution chip, instead of performing a data verification process (i.e., a logic verification process).
After the fault chip is determined, the subsequent data processing process can shield the data of the fault chip, and the accuracy of the data is ensured. And the subsequent data processing process is completed by utilizing the two chips except the fault chip, and the fault chip is reset, so that the function replacement can be realized when one fault chip exists in the chassis domain controller, and the stable operation of the chassis domain controller is maintained.
To further extend the functionality of the chassis domain controller 100, in this embodiment, the chassis domain controller 100 may further include a smart drive domain interface 140 and/or a networking domain interface 150. For example, one or both interfaces may be included, and even more types of interfaces may be included to extend more functions.
The model solution unit 120 and/or the logic check unit 130 of the chassis domain controller 100 may be connected to an external smart driving domain controller through the smart driving domain interface 140 (in some possible manners, the output of the chassis domain controller 100 is controlled by the model solution unit 120 or the logic check unit 130, so that the connection between the chassis domain controller 100 and the smart driving domain controller may be realized by the model solution unit 120 or the logic check unit 130; in other possible manners, the output of the chassis domain controller 100 is controlled by both the model solution unit 120 and the logic check unit 130, so that the connection between the chassis domain controller 100 and the smart driving domain controller may be realized by the model solution unit 120 or the logic check unit 130), and the smart driving domain controller is configured to obtain a visual signal, a millimeter wave signal, and a millimeter wave signal detected by a visual sensor (e.g., a laser radar, a camera, etc, The driving signal and the vehicle state parameter (which may be calculated by the model calculating unit 120 based on the driving signal) sent by the chassis domain controller determine decision control information according to the visual signal, the driving signal and the vehicle state parameter and send the decision control information to the chassis domain controller 100, so that the chassis domain controller 100 determines a stable boundary according to the decision control information and outputs a control signal within the stable boundary range, wherein the stable boundary represents a control signal range in which the vehicle 10 safely runs, and the control signal is determined based on a decision result of the model calculating unit 120 and/or a check result of the logic checking unit 130.
Based on a similar connection manner, the model calculation unit 120 and/or the logic check unit 130 of the chassis domain controller 100 may be connected to an external network domain controller through the network domain interface 150, and the network domain controller is configured to implement Vehicle type matching based on data output by the chassis domain controller 100 and a cloud database, perform online diagnosis of Vehicle faults, and implement a V2X function of the Vehicle 10, where V2X is Vehicle-to-event, which is one of support technologies of an intelligent Vehicle and intelligent traffic. For example, V2V (Vehicle-to-Vehicle), V2I (Vehicle-to-Infrastructure), V2P (Vehicle-to-Pedestrian), V2N (Vehicle-to-Network), and the like. Wherein, the data output by the chassis domain controller 100 is determined based on the decision result of the model solution unit 120 and/or the check result of the logic check unit 130.
The chassis domain controller is provided with an intelligent driving domain interface and/or a network connection domain interface and other extension interfaces, so that the chassis domain controller is connected with the intelligent driving domain controller and the network connection domain controller, and the function extension is realized. In addition, since the processing of the external networking signals and the calculation of the core chassis domain are completed by chips with different architectures, the external signals are processed by the networking domain chip and then input into the core chassis domain, so that the hacking attack from the external Ethernet can be avoided, and the driving safety can be further ensured. Therefore, the chassis domain controller has a strong expansion function and stronger universality, the application range of the chassis domain controller is expanded, and the safety is improved. And compared with the smart driving domain and the internet domain (the reliability of selected parts is usually lower than that of a chassis domain), the safety is higher.
To further ensure the reliability of the chassis area controller 100, the chassis area controller 100 may further include a power supply unit 160 with multiple power supplies. The power supply unit 160 may include at least two power sources, each capable of independently powering the chassis domain controller 100 and the plurality of sensors 200 on the vehicle 10.
For example, the power supply unit 160 may include two power supplies (power supply a and power supply B), and a power management circuit is attached, and when a failure of the main power supply (for example, power supply a is the main power supply) is detected, the standby power supply (power supply B) may be switched to, so as to implement dual redundancy of the power supplies and guarantee system safety.
The reliability of the chassis area controller can be further ensured by performing dual redundant independent power supply for the chassis area controller and a plurality of sensors on the vehicle.
Referring to fig. 4, fig. 4 is a flowchart illustrating a control method of a vehicle according to an embodiment of the present disclosure. In the present embodiment, the control method of the vehicle may be applied to the intelligent car-oriented chassis domain controller provided in the present embodiment, and the control method of the vehicle may include step S10, step S20, and step S30.
Step S10: the signal processing unit acquires original signals detected by the sensors, processes the original signals to obtain driving signals reflecting vehicle states or road environments, and sends the driving signals to the logic checking unit and the model calculating unit.
Step S20: and the model resolving unit receives the driving signals, performs model resolving based on the driving signals and determines a decision result.
Step S30: the logic checking unit determines a checking signal according to the original signal, compares the checking signal with the driving signal to check the driving signal, performs checking calculation according to the checking signal to determine a checking result, and compares the checking result with the decision result to check the decision result.
The chassis domain controller can perform dual redundancy calculation by executing the method (step S10, step S20 and step S30), so as to guarantee the safe and stable operation of the chassis domain controller, thereby improving the reliability of the chassis domain controller. And the logic checking unit, the signal processing unit and the model calculating unit are overlapped in function, and when one unit fails, the operation of the chassis domain controller can be ensured, so that the reliability of the chassis domain controller is further improved, and a safe and reliable basis is provided for the application of advanced sensors, algorithms and the like on automobiles.
In this embodiment, the signal processing unit includes a signal processing chip, the logic checking unit includes a logic checking chip, the model calculating unit includes a model calculating chip, and the chassis domain controller further includes a safety logic unit. When one of the signal processing chip, the logic check chip and the model calculation chip performs input or output, the method further includes:
the safety logic unit acquires three state values which are respectively determined by the signal processing chip, the logic check chip and the model resolving chip based on the judgment whether the working state of the chip is normal or not; judging whether at least two state values exist in the three state values to indicate that the working state of the chip is normal; and when at least two state values indicate that the working state of the chip is normal, determining that the safety logic is effective, and inputting or outputting by the chip.
In this embodiment, the state values include two values, and when two consistent state values exist in the three state values and indicate that the chip is normal, the safety logic unit determines that another chip giving an inconsistent state value is a faulty chip; and when at least two consistent state values in the three state values indicate that the chip is abnormal, determining that the chip is a fault chip.
In this embodiment, after the safety logic unit determines the faulty chip, the chassis domain controller shields the data of the faulty chip in the subsequent data processing process, and the subsequent data processing process is completed through the two chips except the faulty chip, and the faulty chip is reset, where the data processing process includes a signal processing process, a model calculation process, and a logic verification process.
In addition, in the specific implementation manner of the control method for the vehicle, reference may be made to the description in the chassis domain controller, and details are not repeated here.
In summary, the embodiment of the application provides a chassis domain controller for an intelligent automobile, a control method for a vehicle and a vehicle. And the logic checking unit acquires the signal, processes the signal and calculates the signal to obtain a checking signal and a checking result, so that the signal and the decision result are checked. By the double-redundancy calculation mode, the safe and stable operation of the chassis domain controller is guaranteed, and the reliability of the chassis domain controller is improved. And the logic checking unit, the signal processing unit and the model calculating unit are overlapped in function, and when one unit fails, the operation of the chassis domain controller can be ensured, so that the reliability of the chassis domain controller is further improved, and a safe and reliable basis is provided for the application of advanced sensors, algorithms and the like on automobiles.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and 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 units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, 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.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. A chassis domain controller for an intelligent automobile is characterized by comprising a signal processing unit, a logic checking unit and a model resolving unit which are connected with each other,
the signal processing unit is connected with a plurality of sensors of the vehicle and used for acquiring original signals detected by the sensors, processing the original signals to obtain driving signals reflecting vehicle states or road environments and sending the driving signals to the logic checking unit and the model resolving unit;
the model calculating unit is used for receiving the driving signal, performing model calculation based on the driving signal and determining a decision result;
the logic checking unit is connected with the sensors and used for determining checking signals according to the original signals, comparing the checking signals with the driving signals to check the driving signals, performing checking calculation according to the checking signals to determine checking results, and comparing the checking results with the decision results to check the decision results.
2. The chassis domain controller of claim 1, wherein the signal processing unit includes a signal processing chip, the logic checking unit includes a logic checking chip, and the model solution unit includes a model solution chip.
3. The chassis domain controller of claim 2, wherein the signal processing chip, the logic check chip, and the model solution chip have different chip architectures.
4. The chassis domain controller of claim 2, further comprising a security logic unit to:
when one of the signal processing chip, the logic verification chip and the model calculation chip is used for inputting or outputting, three state values respectively determined by the signal processing chip, the logic verification chip and the model calculation chip based on the judgment on whether the working state of the chip is normal are obtained;
judging whether at least two state values exist in the three state values to indicate that the working state of the chip is normal;
and when at least two state values indicate that the working state of the chip is normal, determining that the safety logic is effective, and inputting or outputting by the chip.
5. The chassis domain controller of claim 4, wherein the status value includes two values, the safety logic unit further to:
when two consistent state values in the three state values indicate that the chip is normal, determining another chip giving inconsistent state values as a fault chip;
and when at least two consistent state values in the three state values indicate that the chip is abnormal, determining that the chip is a fault chip.
6. The chassis domain controller according to claim 5, wherein after the safety logic unit determines a faulty chip, the chassis domain controller is further configured to shield data of the faulty chip in a subsequent data processing process, complete the subsequent data processing process through two chips other than the faulty chip, and reset the faulty chip, wherein the data processing process includes a signal processing process, a model solution process, and a logic verification process.
7. The chassis domain controller according to any of the claims 1 to 6, further comprising a Smart-drive domain interface and/or a network-connected domain interface,
the model resolving unit and/or the logic checking unit of the chassis domain controller are/is connected with an external intelligent driving domain controller through an intelligent driving domain interface, and the intelligent driving domain controller is used for: acquiring a visual signal detected by a visual sensor of a vehicle, a driving signal and a vehicle state parameter sent by a chassis domain controller, determining decision control information according to the visual signal, the driving signal and the vehicle state parameter, and sending the decision control information to the chassis domain controller, so that the chassis domain controller determines a stable boundary according to the decision control information and outputs a control signal within the stable boundary range, wherein the stable boundary represents a control signal range of safe driving of the vehicle, and the control signal is determined based on a decision result of a model resolving unit and/or a check result of a logic check unit;
the model resolving unit and/or the logic checking unit of the chassis domain controller are/is connected with an external network domain controller through a network domain interface, and the network domain controller is used for: vehicle type matching is achieved based on data output by the chassis domain controller and a cloud database, vehicle faults are diagnosed on line, and the V2X function of the vehicle is achieved, wherein the data output by the chassis domain controller is determined based on a decision result of the model resolving unit and/or a check result of the logic check unit.
8. The chassis domain controller according to any of claims 1 to 6, further comprising a power supply unit,
the power supply unit includes at least two power sources, each capable of independently powering the chassis domain controller and a plurality of sensors on the vehicle.
9. A control method of a vehicle, applied to the intelligent automobile-oriented chassis domain controller of any one of claims 1 to 8, the method comprising:
the signal processing unit acquires original signals detected by the sensors, processes the original signals to obtain driving signals reflecting vehicle states or road environments, and sends the driving signals to the logic checking unit and the model resolving unit;
the model resolving unit receives the driving signal, performs model resolving based on the driving signal and determines a decision result;
the logic checking unit determines a checking signal according to the original signal, compares the checking signal with the driving signal to check the driving signal, performs checking calculation according to the checking signal to determine a checking result, and compares the checking result with the decision result to check the decision result.
10. A vehicle, characterized by comprising: the intelligent automobile-oriented chassis domain controller of any one of claims 1 to 8, a plurality of sensors mounted on the vehicle, a driving control component of the vehicle, the chassis domain controller being connected with the plurality of sensors and used for generating a driving instruction for controlling the driving of the vehicle based on data detected by the sensors and an operation instruction input by the driving control component, so as to realize the driving of the vehicle.
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