CN112092824B - Automatic driving control method, system, equipment and storage medium - Google Patents
Automatic driving control method, system, equipment and storage medium Download PDFInfo
- Publication number
- CN112092824B CN112092824B CN202010836424.7A CN202010836424A CN112092824B CN 112092824 B CN112092824 B CN 112092824B CN 202010836424 A CN202010836424 A CN 202010836424A CN 112092824 B CN112092824 B CN 112092824B
- Authority
- CN
- China
- Prior art keywords
- backup
- main
- execution module
- corresponding function
- control instruction
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
-
- 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
- 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
- B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The application discloses an automatic driving control method, a system, equipment and a storage medium, wherein the method comprises the steps that a main controller sends a main control instruction to at least two main execution modules with different functions; each main execution module forwards the main control instruction to the backup execution module with the corresponding function; the backup controller acquires a backup control instruction; the backup controller sends the backup control instruction to a backup execution module with a corresponding function; each backup execution module monitors first running state information of a corresponding function; when any backup execution module determines that the first running state information of the corresponding function meets the first preset condition, the backup execution module starts to respond to the backup control instruction, and the backup execution modules of the corresponding functions independently judge whether the switching is needed or not without mutual influence, so that the stability and the control performance of the automatic driving system under the fault condition are improved, the resource waste is reduced, and the automatic driving system is flexible and reliable.
Description
Technical Field
The invention relates to the technical field of automatic driving of vehicles, in particular to an automatic driving control method, system, equipment and storage medium.
Background
Nowadays, automobiles are developing in four fields of automation, networking, electromotion and sharing, wherein an automatic driving technology is the most important of the current automobile industry development, not only has a great influence on the industry development, but also leads to a great change of future travel modes. With the development of the current vehicle automatic driving technology, high automatic driving needs to execute a driving task with higher reliability to enable a driver to be liberated from the driving task, and in order to realize such a high reliability system, a controller and an actuator of a vehicle need to achieve functional Safety reliability of an ASIL D Level (automatic Safety integrity Level, car Safety integrity Level, ASIL has four levels, which are a, B, C, and D, where a is the lowest Level and D is the highest Level). At present, only a single ECU and architecture cannot realize ASIL D level reliability, and therefore, a backup controller and a backup execution mechanism need to be introduced to be backed up with a main controller and a main execution mechanism, respectively.
Because there are many situations in the automatic vehicle driving system in which a single point of failure of the controller or the actuator exists, information interaction among the main controller, the backup controller, the main actuator and the backup actuator is very complicated, and in the prior art, when any one of the main controller or the main actuator fails, the automatic vehicle control mode is switched from the path of the main control system to the backup control path as a whole, which affects the system stability and performance of automatic driving and may cause resource waste, therefore, a more effective scheme needs to be provided.
Disclosure of Invention
In order to solve the problems of the prior art, the invention provides an automatic driving control method, an automatic driving control system, computer equipment and a storage medium. The technical scheme is as follows:
one aspect of the present application provides an automatic driving control method, including:
the main controller sends a main control instruction to at least two main execution modules with different functions;
each main execution module forwards the main control instruction to a backup execution module with a corresponding function;
the backup controller acquires a backup control instruction;
the backup controller sends the backup control instruction to a backup execution module with a corresponding function;
each backup execution module monitors first running state information of a corresponding function;
and when any backup execution module determines that the first running state information of the corresponding function meets a first preset condition, the backup execution module starts to respond to the backup control instruction.
Another aspect of the present application provides an automatic driving control system, including:
the system comprises a main controller, a backup controller, at least two main execution modules with different functions and backup execution modules corresponding to the at least two main execution modules with different functions;
the main controller is used for sending a main control instruction to at least two main execution modules with different functions;
the backup controller is used for acquiring a backup control instruction and sending the backup control instruction to the backup execution module with the corresponding function;
the main execution modules with at least two different functions are used for forwarding the main control instruction to the backup execution module with the corresponding function;
and the backup execution modules corresponding to the main execution modules with at least two different functions are used for monitoring the first running state information of the corresponding function, and when any backup execution module determines that the first running state information of the corresponding function meets a first preset condition, the backup execution module starts to respond to the backup control instruction.
Another aspect of the present application provides an apparatus comprising a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the automatic driving control method.
Another aspect of the present application provides a computer-readable storage medium, in which at least one instruction or at least one program is stored, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the automatic driving control method.
The automatic driving control method, the automatic driving control system, the automatic driving control equipment and the storage medium have the following technical effects:
the method comprises the steps that a main controller sends a main control instruction to at least two main execution modules with different functions; each main execution module forwards the main control instruction to a backup execution module with a corresponding function; the backup controller acquires a backup control instruction; the backup controller sends the backup control instruction to a backup execution module with a corresponding function; the backup controller and the backup executing mechanism are led in and respectively correspond to the main controller and the main executing mechanism with corresponding functions, and the reliability of the automatic driving control system is improved. Each backup execution module monitors first running state information of a corresponding function; when any backup execution module determines that the first running state information of the corresponding function meets a first preset condition, the backup execution module starts to respond to the backup control instruction, and the backup execution modules of the corresponding functions independently judge whether switching is needed or not without mutual influence, so that the stability and the control performance of the automatic driving system under the fault condition can be improved, the resource waste can be reduced, and the automatic driving system is more flexible and reliable.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions and advantages of the embodiments or the prior art of the present application, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the description below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of an embodiment of an autopilot control system provided by an embodiment of the present application;
FIG. 2 is a flow chart of an automatic driving control method provided by an embodiment of the present application;
FIG. 3 is a flow chart of another automatic driving control method provided by an embodiment of the present application;
FIG. 4 is a flow chart of another automatic driving control method provided by the embodiment of the application;
FIG. 5 is a schematic structural diagram of an embodiment of an automatic driving control system provided in an embodiment of the present application;
fig. 6 is a block diagram of a hardware structure of a server for automatic driving control according to 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, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. Examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or server that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Referring to fig. 1, fig. 1 is a schematic diagram of an embodiment of an automatic driving control system according to the present disclosure, and as shown in fig. 1, the automatic driving control system may include a main controller 100, a backup controller 200, at least two main execution modules 300 with different functions, and a corresponding backup execution module 400.
In this embodiment, the main controller 100 may be configured to send a main control instruction to the main execution module 300 with at least two different functions, specifically, the main controller 100 may include a network communication unit, a processor, a memory, and the like, in this embodiment, the main controller 100 may be implemented by one server that operates independently, which is not intended to limit the present invention, and in practical applications, the main controller 100 may also include a distributed server or a server cluster composed of multiple servers; in a specific embodiment, the main controller 100 may include an ECU (Electronic Control Unit).
In this embodiment, the backup controller 200 may be configured to obtain a backup control instruction and send the backup control instruction to the backup execution module 400 of the corresponding function, specifically, the backup controller 200 may include a network communication unit, a processor, a memory, and the like, in this embodiment, the backup controller 200 may be implemented by a server operating independently, which is not used to limit the present invention, and in an actual application, the backup controller 200 may also include a distributed server or a server cluster including a plurality of servers; in a specific embodiment, the backup controller 200 may include an ECU (Electronic Control Unit).
In this embodiment, the main execution module 300 may be configured to forward the main control instruction to the backup execution module 400 corresponding to the function, and in practical applications, the automatic driving control system may include at least two main execution modules 300 with different functions and corresponding backup execution modules 400 (for example, a main execution module of function a, a main execution module of function B, and the like), and in this embodiment, the at least two main execution modules 300 with different functions may include, but are not limited to: the main braking executing module, the main steering executing module and the main power executing module; accordingly, the backup execution module 400 corresponding to the main execution module 300 of the at least two different functions may include, but is not limited to: the backup braking execution module, the backup steering execution module and the backup power execution module; in practical application, the backup execution module corresponds to the main execution module one by one according to functions. Specifically, the main execution module 300 may include a network communication unit, a processor, a memory, and the like, in this specification, the main execution module 300 may be implemented by a server that operates independently, which is not limited to the invention, and in practical applications, the main execution module 300 may also include a distributed server or a server cluster composed of multiple servers; in a specific embodiment, the main execution module 300 may include an ECU (Electronic Control Unit).
In this embodiment of the present disclosure, the backup execution module 400 may monitor first operation state information of the corresponding function, and start to respond to the backup control instruction when any backup execution module 400 determines that the first operation state information of the corresponding function satisfies a first preset condition; specifically, the backup execution module 400 may include a network communication unit, a processor, a memory, and the like, in this embodiment of the present disclosure, the backup execution module 400 may be implemented by a server running independently, which is not to be construed as limiting the present disclosure, and in practical applications, the backup execution module 400 may also include a distributed server or a server cluster formed by a plurality of servers; in a specific embodiment, the backup execution module 400 may include an ECU (Electronic Control Unit), and the backup controller and the backup execution mechanism are introduced to correspond to the main controller and the main execution mechanism with corresponding functions, respectively, which is beneficial to improving the reliability of the automatic driving Control system.
Referring to fig. 1, in practical applications, a main controller 100 sends a main control command to at least two main execution modules 300 with different functions; each main execution module 300 forwards the main control instruction to the backup execution module 400 with the corresponding function; the backup controller 200 acquires a backup control instruction; the backup controller 200 sends the backup control command to the backup execution module 400 with the corresponding function; each backup execution module 400 monitors first operation state information of the corresponding function; when any backup execution module 400 determines that the first operating status information of the corresponding function satisfies the first preset condition, the backup execution module 400 starts to respond to the backup control instruction.
In addition, it should be noted that fig. 1 is only an embodiment of the automatic driving control system provided in the embodiment of the present application, and the present invention is not limited thereto.
Fig. 2 is a flowchart of an automatic driving control method provided in an embodiment of the present application, and referring to fig. 2, the automatic driving control method provided in the embodiment of the present application includes the following steps:
s201: and the main controller sends the main control instruction to at least two main execution modules with different functions.
In the embodiment of the present specification, the main execution module and the backup execution module corresponding to the main execution module with at least two different functions may include, but are not limited to: the main brake executing module and the backup executing module, the main steering executing module and the backup steering executing module, and the main power executing module and the backup power executing module; in practical application, the backup execution module corresponds to the main execution module one by one according to functions.
Accordingly, the main control instruction may include control instructions of at least two different functions, and in this embodiment, the main control instruction may include, but is not limited to: a main braking command, a main steering command and a main power command.
In one embodiment, when the main execution modules of the at least two different functions include a main braking execution module and a main steering execution module, the main control instruction may include a main braking instruction and a main steering instruction, and at this time, the main controller may send the main braking instruction to the main braking execution module and send the main steering instruction to the main steering execution module; in another embodiment, when the at least two main execution modules with different functions include a main brake execution module and a main power execution module, the main control command may include a main brake command and a main power command, and at this time, the main controller may send the main brake command to the main brake execution module and send the main power command to the main power execution module, which is not limited in the present invention.
In practical applications, the main controller may send the main control instruction to the main execution modules of at least two different functions at intervals of a first preset time, specifically, the first preset time may be set according to requirements of practical applications, and in a specific embodiment, the first preset time may include 10 milliseconds.
The backup controller and the backup execution module are led in and respectively correspond to the main controller and the main execution module with corresponding functions, so that the reliability of the automatic driving control system is improved.
S202: and each main execution module forwards the main control instruction to the backup execution module with the corresponding function.
In this embodiment, each main execution module can forward the main control instruction to a backup execution module with a corresponding function, for example, the main brake execution module forwards the main brake instruction to the backup brake execution module; the main steering execution module forwards the main steering instruction to the backup steering execution module; and the main power execution module forwards the main power instruction to the backup power execution module.
S203: the backup controller obtains a backup control instruction.
Specifically, the obtaining of the backup control instruction by the backup controller may include any one of:
(1) And the backup controller receives the main control instruction packet sent by the main controller and decomposes the main control instruction packet to obtain a backup control instruction.
In this embodiment, the backup controller may receive a primary control instruction packet sent by the primary controller every second preset time, and decompose the primary control instruction packet to obtain a backup control instruction. Specifically, the backup control commands may include, but are not limited to, a backup brake command, a backup steering command, and a backup power command. In practical applications, the second preset time may specifically include, for example, 10 milliseconds.
In a specific embodiment, when the backup execution module includes a backup braking module and a backup steering module, the backup controller may decompose the main control instruction packet, decompose the main control instruction packet into a main braking instruction and a main steering instruction, use the main braking instruction as the backup braking instruction, and use the main steering instruction as the backup steering instruction.
In this embodiment, when the main controller fails and cannot send the main control command in real time, the backup controller may decompose the main control command packet pre-stored before the failure to obtain the backup control command, because the backup controller receives the main control command packet sent by the main controller every second preset time (the second preset time is short).
(2) The backup controller generates a backup control instruction based on current travel data of a target vehicle.
In the embodiment of the description, the backup controller can also autonomously generate the backup control instruction based on the current driving data of the target vehicle, and the accuracy and the real-time performance are strong.
The backup controller can acquire the backup control command by receiving the main control command packet sent by the main controller and decomposing the main control command packet to obtain the backup control command or generating the backup control command by the backup controller based on the current driving data of the target vehicle.
S204: and the backup controller sends the backup control instruction to a backup execution module with a corresponding function.
In a specific embodiment, when the backup execution module includes a backup braking module and a backup steering module, the backup controller may decompose the main control instruction packet, decompose the main control instruction packet into a main braking instruction and a main steering instruction, use the main braking instruction as the backup braking instruction, and use the main steering instruction as the backup steering instruction. At this time, the sending, by the backup controller, the backup control instruction to the backup execution module of the corresponding function includes: and the backup controller sends the backup braking instruction to a backup braking execution module, and the backup controller sends the backup steering instruction to a backup steering execution module.
S205: each backup execution module monitors first operating state information of the corresponding function.
In an embodiment of the present specification, the first operation state information may include:
the working state of the main controller, the communication state between the main controller and the main execution module corresponding to the function, the working state of the main execution module corresponding to the function and the communication state between the main execution module corresponding to the function and the backup execution module corresponding to the function.
In a specific embodiment, when the backup execution module includes a backup brake execution module, the first operation state information monitored by the backup brake execution module may include: the working state of the main controller, the communication state between the main controller and the main brake execution module, the working state of the main brake execution module and the communication state between the main brake execution module and the backup brake execution module; when the backup execution module includes a backup shift execution module, the first operating state information monitored by the backup shift execution module may include: the working state of the main controller, the communication state between the main controller and the main steering execution module, the working state of the main steering execution module and the communication state between the main steering execution module and the backup steering execution module.
Through only monitoring the first running state information of the corresponding function by each backup execution module, the related states of all the control modules are not required to be monitored, for example, the backup braking module only needs to monitor the running state information related to braking, the running state information related to steering is not required to be monitored, the resource waste can be reduced, and the working efficiency is improved.
S206: and when any backup execution module determines that the first running state information of the corresponding function meets a first preset condition, the backup execution module starts to respond to the backup control instruction.
The first preset condition may include at least any one of the following conditions:
(1) The working state of the main controller is abnormal;
(2) The communication state between the main controller and the main execution module with the corresponding function is abnormal;
specifically, the abnormal communication state between the main controller and the main execution module of the corresponding function may include: the communication between the main controller and the main execution module with the corresponding function is overtime; or; and the communication interruption between the main controller and the main execution module of the corresponding function exceeds a third preset time. The third preset time can be set according to actual application requirements.
(3) The working state of the main execution module of the corresponding function is abnormal;
(4) And the communication state between the main execution module of the corresponding function and the backup execution module of the corresponding function is abnormal.
Specifically, the abnormal communication state between the main execution module of the corresponding function and the backup execution module of the corresponding function may include: the communication between the main execution module of the corresponding function and the backup execution module of the corresponding function is overtime; or; and the communication interruption between the main execution module of the corresponding function and the backup execution module of the corresponding function exceeds a fourth preset time. The fourth preset time can be set according to actual application requirements.
In a specific embodiment, when the backup execution module includes a backup brake execution module and a backup steering execution module (correspondingly, the main execution module also includes a main brake execution module and a main steering execution module), the starting, by any backup execution module, of the response to the backup control command when the backup execution module determines that the first operation state information of the corresponding function satisfies the first preset condition may include:
when the backup brake execution module determines that the monitored first operation state information meets the following conditions:
the working state of the main controller is abnormal;
or;
the communication state between the main controller and the main brake execution module is abnormal;
or;
the working state of the main brake execution module is abnormal;
or;
and when at least any one of the communication states between the main brake execution module and the backup brake execution module is abnormal, the backup brake execution module starts to respond to the backup brake instruction.
When the backup steering execution module determines that the monitored first running state information meets the following conditions:
the working state of the main controller is abnormal;
or;
the communication state between the main controller and the main steering execution module is abnormal;
or;
the working state of the main steering execution module is abnormal;
or;
and when at least any one of the communication states between the main steering execution module and the backup steering execution module is abnormal, the backup steering execution module starts to respond to the backup steering instruction.
In the embodiment of the present specification, when any backup execution module determines that the first operating state information of the corresponding function satisfies the first preset condition, the backup execution module starts to respond to the backup control instruction, that is, the backup execution module of each corresponding function independently determines whether switching is required, and the switching is not affected, for example, the backup brake module only needs to monitor the operating state information related to braking, and when a fault occurs in the brake mechanism, the backup brake execution module starts to respond to the backup brake instruction, which has no influence on the steering execution module and the power execution module, so that the stability and the control performance of the automatic driving system under the fault condition can be improved, and resource waste can be reduced, and the automatic driving system is more flexible and reliable.
In practical application, the scheme of integral switching and the scheme of independent judgment of each function execution module can be combined according to practical application requirements, for example, in a specific embodiment, the power execution module has special execution requirements, the backup brake execution module only needs to monitor the running state information related to braking, the backup steering execution module only needs to monitor the running state information related to steering, and the backup power execution module needs to monitor all the running state information, that is, when the backup brake execution module monitors that the running state information related to braking meets corresponding abnormal conditions, the backup brake execution module starts to respond to a backup braking instruction, and the backup steering execution module is similar, but the power execution module starts to respond to the backup power instruction as long as the power execution module monitors that any single point in the controller, the brake mechanism, the steering mechanism or the power mechanism is abnormal, and the invention is not limited by this.
In one embodiment, each main execution module and the corresponding backup execution module execute corresponding functions, when an automatic driving system of a vehicle works normally (the controller and each execution module are not abnormal), the backup execution module executes corresponding vehicle control functions based on the main control command forwarded by the main execution module, and starts to respond to the backup control command when a fault occurs. In another embodiment, for example, when the execution capability of the main execution module is sufficient, and when the automatic driving system of the vehicle is operating normally (the controller and each execution module are not abnormal), the backup execution module may receive the corresponding main control instruction and backup control instruction, but does not execute the corresponding vehicle control function, and when a failure occurs, although the backup execution mechanism starts to respond to the backup control instruction, because the backup execution module always receives the main control instruction forwarded by the main execution module of the corresponding function, the communication connection is stable, the efficiency is higher when switching is performed, and the stability is stronger; in practical application, a developer may select whether the backup execution module is required to always work according to a requirement of practical application, and the embodiment of the present invention is not limited thereto.
In this embodiment, as shown in fig. 3, the method may further include:
s301: each main execution module monitors second operating state information of the corresponding function.
In an embodiment of the present specification, the second operation state information of the corresponding function may include:
the working state of the main controller and the communication state between the main controller and the main execution module with the corresponding function.
In a specific embodiment, when the main execution module includes a main brake execution module, the second operation state information monitored by the main brake execution module may include: the working state of the main controller and the communication state between the main controller and the main brake execution module; when the main execution module includes a main steering execution module, the second operation state information monitored by the main steering execution module may include: the working state of the main controller and the communication state between the main controller and the main steering execution module;
s302: and when any main execution module determines that the second running state information of the corresponding function meets a second preset condition, the main execution module sends a response signal to the backup execution module of the corresponding function.
Specifically, the response signal may include a signal requesting the backup execution module of the corresponding function to start responding to the backup control instruction.
In an embodiment of the present specification, the second preset condition may include:
the working state of the main controller is abnormal;
and/or;
and the communication state between the main controller and the main execution module with the corresponding function is abnormal.
In a specific embodiment, when the main execution module includes a main brake execution module and a main steering execution module (correspondingly, the backup execution module includes a backup brake execution module and a backup steering execution module), the sending, by the main execution module, a response signal to the backup execution module of the corresponding function when any one of the main execution modules determines that the second operation state information of the corresponding function satisfies the second preset condition includes:
when the second running state information monitored by the main brake execution module meets the following conditions:
the working state of the main controller is abnormal;
and/or;
and when the communication state between the main controller and the main execution module with the corresponding function is abnormal, the main brake execution module sends a response signal to the backup brake execution module.
When the second running state information monitored by the main steering execution module meets the following conditions:
the working state of the main controller is abnormal;
and/or;
and when the communication state between the main controller and the main steering execution module is abnormal, the main steering execution module sends a response signal to the backup steering execution module.
S303: and the backup control module of the corresponding function starts to respond to the backup control instruction based on the response signal.
In this embodiment of the present specification, each main execution module monitors second operation state information of a corresponding function, when any main execution module determines that the second operation state information of the corresponding function satisfies a second preset condition, the main execution module sends a response signal to a backup execution module of the corresponding function, and the backup control module of the corresponding function starts to respond to a backup control instruction based on the response signal, that is, except that the backup execution module autonomously obtains the operation state information to determine whether switching is required, the main execution module can also be used to perform partial operation state monitoring, and the response signal sent to the backup execution module of the corresponding function by the main execution module starts to respond to the backup control instruction, which is equivalent to dual guarantee, thereby improving reliability and safety of automatic driving control.
In this embodiment of the present specification, as shown in fig. 4, while the backup execution module starts to respond to the backup control instruction, the method further includes:
s401: and the backup execution module generates fault prompt information.
In practical application, when the backup execution module starts to respond to the backup control instruction, the backup execution module generates fault prompt information to prompt a vehicle driver to automatically drive and send a fault and request the driver to take over the automatic driving system, so that the driving safety of the automatic driving vehicle is improved, safe parking control can be implemented, and the reliability of the automatic driving vehicle is improved.
In the embodiment of the description, a main control instruction is sent to at least two main execution modules with different functions through a main controller, each main execution module forwards the main control instruction to a backup execution module with a corresponding function, and the main control instruction is led into a backup controller and a backup execution mechanism which respectively correspond to the main controller and the main execution module with the corresponding function, so that the reliability of an automatic driving control system is improved; the backup controller acquires a backup control instruction, wherein the backup controller acquiring the backup control instruction may include the backup controller receiving a main control instruction packet sent by the main controller and decomposing the main control instruction packet to obtain the backup control instruction; or; the backup controller generates a backup control instruction based on the current driving data of the target vehicle, and specifically can be selected according to actual application requirements, so that the backup controller is flexible and convenient and has strong adaptability. The backup controller sends the backup control instruction to the backup execution modules with corresponding functions, each backup execution module monitors first running state information of the corresponding function, when any backup execution module determines that the first running state information of the corresponding function meets a first preset condition, the backup execution module starts to respond to the backup control instruction, namely, the backup execution modules with the corresponding functions independently judge whether switching is needed or not without mutual influence, for example, the backup brake module only needs to monitor running state information related to braking, when a brake mechanism breaks down, the backup brake execution module starts to respond to the backup brake instruction, the process has no influence on the steering execution module and the power execution module, the stability and the control performance of the automatic driving system under the condition of the breakdown can be improved, the waste of resources can be reduced, and the automatic driving system is more flexible and reliable. And the method can also comprise that each main execution module monitors second running state information of a corresponding function, when any main execution module determines that the second running state information of the corresponding function meets a second preset condition, the main execution module sends a response signal to a backup execution module of the corresponding function, the backup control module of the corresponding function starts to respond to a backup control instruction based on the response signal, the backup execution module can be used for monitoring partial running states besides automatically acquiring the running state information to judge whether switching is needed, and the main execution module starts to respond to the backup control instruction through the response signal sent by the main execution module to the backup execution module of the corresponding function, which is equivalent to double guarantee and improves the reliability and safety of automatic driving control. When the backup execution module starts to respond to the backup control instruction, the method also comprises the step that the backup execution module generates fault prompt information to prompt a vehicle driver to automatically drive and send a fault, so that the driving safety of the automatically driven vehicle is improved.
An embodiment of the present invention further provides an embodiment of an automatic driving control system, as shown in fig. 5, the system may include:
a main controller 510, a backup controller 520, at least two main execution modules 530 with different functions, and a backup execution module 540 corresponding to the at least two main execution modules with different functions;
the main controller 510 is configured to send a main control instruction to at least two main execution modules with different functions;
the backup controller 520 is configured to obtain a backup control command and send the backup control command to a backup execution module with a corresponding function;
the main execution module 530 with at least two different functions is configured to forward the main control instruction to the backup execution module with the corresponding function;
the backup execution modules 540 corresponding to the main execution modules with at least two different functions are configured to monitor first operating status information of the corresponding function, and start to respond to the backup control instruction when any backup execution module determines that the first operating status information of the corresponding function meets a first preset condition.
In one embodiment, the backup controller 520 obtaining the backup control instruction may include:
the backup controller 520 receives the main control instruction packet sent by the main controller, and decomposes the main control instruction packet to obtain a backup control instruction;
or;
the backup controller 520 generates a backup control instruction based on the current traveling data of the target vehicle.
In another embodiment, the first operation state information of the corresponding function may include:
the working state of the main controller, the communication state between the main controller and the main execution module corresponding to the function, the working state of the main execution module corresponding to the function and the communication state between the main execution module corresponding to the function and the backup execution module corresponding to the function.
The first preset condition may include:
the working state of the main controller is abnormal;
or
The communication state between the main controller and the main execution module with the corresponding function is abnormal;
or;
the working state of the main execution module of the corresponding function is abnormal;
or;
and at least any one of communication state abnormalities between the main execution module corresponding to the function and the backup execution module corresponding to the function.
In another embodiment, each main execution module 530 may be further configured to monitor second operation status information of the corresponding function; when any main execution module determines that the second running state information of the corresponding function meets a second preset condition, the main execution module sends a response signal to the backup execution module of the corresponding function;
the backup control module 540 of the corresponding function may be further configured to start responding to the backup control command based on the response signal.
The second operation state information of the corresponding function may include:
the working state of the main controller and the communication state between the main controller and the main execution module with the corresponding function;
the second preset condition may include:
the working state of the main controller is abnormal;
and/or;
and the communication state between the main controller and the main execution module with the corresponding function is abnormal.
In another embodiment, the backup execution module 540 may be further configured to generate a failure indication message while the backup execution module starts to respond to the backup control command.
The embodiment of the invention provides computer equipment, which comprises a processor and a memory, wherein at least one instruction or at least one program is stored in the memory, and the at least one instruction or the at least one program is loaded and executed by the processor to realize the automatic driving control method provided by the method embodiment.
The memory may be used to store software programs and modules, and the processor may execute various functional applications and data processing by operating the software programs and modules stored in the memory. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs needed by functions and the like; the storage data area may store data created according to use of the apparatus, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device. Accordingly, the memory may also include a memory controller to provide the processor access to the memory.
The method embodiments provided by the embodiments of the present invention may be executed in a mobile terminal, a computer terminal, a server, or a similar computing device, that is, the computer device may include a mobile terminal, a computer terminal, a server, or a similar computing device. Taking the operation on a server as an example, fig. 6 is a hardware structure block diagram of the server of the automatic driving control method according to the embodiment of the present invention. As shown in FIG. 6, the server 600 may have a relatively large difference due to different configurations or performances, and may include one or more than oneA Central Processing Unit (CPU) 610 (processor 610 may include, but is not limited to, a Processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 630 for storing data, one or more storage media 620 (e.g., one or more mass storage devices) storing applications 623 or data 622. Memory 630 and storage medium 620 may be, among other things, transient or persistent storage. The program stored on the storage medium 620 may include one or more modules, each of which may include a sequence of instructions operating on a server. Still further, the central processor 610 may be configured to communicate with the storage medium 620 to execute a series of instruction operations in the storage medium 620 on the server 600. The Server 600 may also include one or more power supplies 660, one or more wired or wireless network interfaces 650, one or more input-output interfaces 640, and/or one or more operating systems 621, such as a Windows Server TM ，Mac OS X TM ，Unix TM ,Linux TM ，FreeBSD TM And so on.
The input/output interface 640 may be used to receive or transmit data via a network. Specific examples of the network described above may include a wireless network provided by a communication provider of the server 600. In one example, i/o Interface 640 includes a Network adapter (NIC) that may be coupled to other Network devices via a base station to communicate with the internet. In one example, the input/output interface 640 may be a Radio Frequency (RF) module, which is used for communicating with the internet in a wireless manner.
It will be understood by those skilled in the art that the structure shown in fig. 6 is only an illustration and is not intended to limit the structure of the electronic device. For example, server 600 may also include more or fewer components than shown in FIG. 6, or have a different configuration than shown in FIG. 6.
Embodiments of the present invention further provide a computer-readable storage medium, where the storage medium may be disposed in a server to store at least one instruction or at least one program for implementing an automatic driving control method in the method embodiments, and the at least one instruction or the at least one program is loaded and executed by the processor to implement the automatic driving control method provided in the method embodiments.
Alternatively, in this embodiment, the storage medium may be located in at least one network server of a plurality of network servers of a computer network. Optionally, in this embodiment, the storage medium may include, but is not limited to: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
It can be seen from the above embodiments of the automatic driving control method, system, computer device or storage medium provided by the present invention that the main controller sends the main control instruction to at least two main execution modules with different functions, each main execution module forwards the main control instruction to the backup execution module with the corresponding function, and the backup controller and the backup execution mechanism are introduced and respectively correspond to the main controller and the main execution mechanism with the corresponding function, which is beneficial to improving the reliability of the automatic driving control system; the backup controller acquires a backup control instruction, wherein the backup controller acquiring the backup control instruction may include the backup controller receiving a main control instruction packet sent by the main controller and decomposing the main control instruction packet to obtain the backup control instruction; or; the backup controller generates the backup control instruction based on the current driving data of the target vehicle, can be selected according to actual application requirements, and is flexible, convenient and high in adaptability. The backup controller sends the backup control command to the backup execution modules with corresponding functions, each backup execution module monitors first running state information of the corresponding function, when any backup execution module determines that the first running state information of the corresponding function meets a first preset condition, the backup execution module starts to respond to the backup control command, namely, each backup execution module with the corresponding function independently judges whether switching is needed or not without mutual influence, for example, the backup brake module only monitors the running state information related to braking, when a brake mechanism breaks down, the backup brake execution module starts to respond to the backup brake command, the process has no influence on the steering execution module and the power execution module, the stability and the control performance of the automatic driving system under the condition of the breakdown can be improved, the waste of resources can be reduced, and the automatic driving system is more flexible and reliable. And the method can also comprise that each main execution module monitors second running state information of a corresponding function, when any main execution module determines that the second running state information of the corresponding function meets a second preset condition, the main execution module sends a response signal to a backup execution module of the corresponding function, the backup control module of the corresponding function starts to respond to a backup control instruction based on the response signal, the backup execution module can be used for monitoring partial running states besides automatically acquiring the running state information to judge whether switching is needed, and the main execution module starts to respond to the backup control instruction through the response signal sent by the main execution module to the backup execution module of the corresponding function, which is equivalent to double guarantee and improves the reliability and safety of automatic driving control. When the backup execution module starts to respond to the backup control instruction, the method also comprises the step that the backup execution module generates fault prompt information to prompt a vehicle driver to automatically drive and send a fault, so that the driving safety of the automatically driven vehicle is improved.
It should be noted that: the precedence order of the above embodiments of the present invention is only for description, and does not represent the merits of the embodiments. And specific embodiments thereof have been described above. Other embodiments are within the scope of the following claims. In some cases, the actions or steps recited in the claims may be performed in a different order than in the embodiments and still achieve desirable results. In addition, the processes depicted in the accompanying figures do not necessarily require the particular order shown, or sequential order, to achieve desirable results. In some embodiments, multitasking and parallel processing may also be possible or may be advantageous.
All 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 other embodiments. In particular, for the apparatus, device and storage medium embodiments, since they are substantially similar to the method embodiments, the description is relatively simple and reference may be made to the partial description of the method embodiments for relevant points.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. An automatic driving control method, characterized in that the method comprises:
the main controller sends a main control instruction to at least two main execution modules with different functions;
each main execution module forwards the main control instruction to a backup execution module with a corresponding function;
the backup controller acquires a backup control instruction;
the backup controller sends the backup control instruction to a backup execution module with a corresponding function;
each backup execution module monitors first running state information of a corresponding function;
when any backup execution module determines that the first running state information of the corresponding function meets a first preset condition, the backup execution module starts to respond to the backup control instruction;
the first operation state information of the corresponding function includes:
the working state of the main controller, the communication state between the main controller and the main execution module with the corresponding function, the working state of the main execution module with the corresponding function and the communication state between the main execution module with the corresponding function and the backup execution module with the corresponding function;
and when the backup execution module starts to respond to the backup control instruction, the backup execution module generates fault prompt information.
2. The method of claim 1, wherein the backup controller retrieving backup control instructions comprises:
the backup controller receives a main control instruction packet sent by the main controller and decomposes the main control instruction packet to obtain a backup control instruction;
or;
the backup controller generates a backup control instruction based on the current travel data of the target vehicle.
3. The method according to claim 1, wherein the first preset condition comprises:
the working state of the main controller is abnormal;
or
The communication state between the main controller and the main execution module with the corresponding function is abnormal;
or;
the working state of the main execution module of the corresponding function is abnormal;
or;
and at least any one of communication state abnormity between the main execution module with the corresponding function and the backup execution module with the corresponding function.
4. The method of claim 1, further comprising:
each main execution module monitors second running state information of the corresponding function;
when any main execution module determines that the second running state information of the corresponding function meets a second preset condition, the main execution module sends a response signal to the backup execution module of the corresponding function;
and the backup control module of the corresponding function starts to respond to the backup control instruction based on the response signal.
5. The method of claim 4, wherein the second operating state information of the corresponding function comprises:
the working state of the main controller and the communication state between the main controller and the main execution module with the corresponding function;
the second preset condition comprises:
the working state of the main controller is abnormal;
and/or;
and the communication state between the main controller and the main execution module with the corresponding function is abnormal.
6. An automatic driving control system, characterized in that the system comprises:
the system comprises a main controller, a backup controller, at least two main execution modules with different functions and backup execution modules corresponding to the at least two main execution modules with different functions;
the main controller is used for sending a main control instruction to at least two main execution modules with different functions;
the backup controller is used for acquiring a backup control instruction and sending the backup control instruction to the backup execution module with the corresponding function;
the main execution modules with at least two different functions are used for forwarding the main control instruction to the backup execution module with the corresponding function;
and the backup execution modules corresponding to the main execution modules with at least two different functions are used for monitoring the first running state information of the corresponding function, and when any backup execution module determines that the first running state information of the corresponding function meets a first preset condition, the backup execution module starts to respond to the backup control instruction.
7. An autopilot control apparatus, characterized in that the apparatus comprises a processor and a memory, in which at least one instruction or at least one program is stored, which is loaded and executed by the processor to implement the autopilot control method according to one of claims 1 to 5.
8. A computer-readable storage medium, wherein at least one instruction or at least one program is stored in the storage medium, and the at least one instruction or the at least one program is loaded and executed by a processor to implement the autopilot control method according to any one of claims 1 to 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010836424.7A CN112092824B (en) | 2020-08-19 | 2020-08-19 | Automatic driving control method, system, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010836424.7A CN112092824B (en) | 2020-08-19 | 2020-08-19 | Automatic driving control method, system, equipment and storage medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112092824A CN112092824A (en) | 2020-12-18 |
| CN112092824B true CN112092824B (en) | 2023-04-14 |
Family
ID=73753993
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010836424.7A Active CN112092824B (en) | 2020-08-19 | 2020-08-19 | Automatic driving control method, system, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112092824B (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660158B (en) * | 2020-12-28 | 2022-12-16 | 嬴彻科技(浙江)有限公司 | Driving assistance control system |
| CN114228782A (en) * | 2020-12-29 | 2022-03-25 | 长沙市轨道交通集团有限公司 | Method and device for stably switching main BCUs and main BCUs in braking system, train and readable storage medium |
| CN113232641A (en) * | 2021-06-04 | 2021-08-10 | 北京车和家信息技术有限公司 | Vehicle braking method, system, storage medium, electronic device and vehicle |
| CN114167713B (en) * | 2021-10-29 | 2024-04-19 | 际络科技(上海)有限公司 | Driving mode switching system and method |
| CN114237175B (en) * | 2021-12-01 | 2023-11-17 | 北京福田戴姆勒汽车有限公司 | Monitoring system and monitoring method for vehicle manufacturing assembly workshop equipment |
| CN117440907A (en) * | 2022-01-12 | 2024-01-23 | 烟台杰瑞石油服务集团股份有限公司 | Control method and control device for vehicle, processor and vehicle system |
| CN114852033B (en) * | 2022-04-29 | 2023-02-28 | 中汽创智科技有限公司 | Brake control method, device, equipment and storage medium |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4848027B2 (en) * | 2004-01-30 | 2011-12-28 | 日立オートモティブシステムズ株式会社 | Vehicle control device |
| CN109229102A (en) * | 2017-07-04 | 2019-01-18 | 百度在线网络技术（北京）有限公司 | Automatic driving vehicle control system, method and apparatus |
| CN109367544B (en) * | 2018-09-07 | 2021-01-05 | 百度在线网络技术（北京）有限公司 | Autonomous vehicle control method, device and storage medium |
| CN109917779A (en) * | 2019-03-26 | 2019-06-21 | 中国第一汽车股份有限公司 | Redundancy control system towards L3 automatic Pilot |
| CN110682920B (en) * | 2019-12-09 | 2020-04-21 | 吉利汽车研究院（宁波）有限公司 | Automatic driving control system, control method and equipment |
| CN110745144B (en) * | 2019-12-23 | 2020-04-21 | 吉利汽车研究院（宁波）有限公司 | Automatic driving control system, control method and equipment |
-
2020
- 2020-08-19 CN CN202010836424.7A patent/CN112092824B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN112092824A (en) | 2020-12-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112092824B (en) | Automatic driving control method, system, equipment and storage medium | |
| CN111994094B (en) | Remote control take-over method, device, system, medium and unmanned vehicle | |
| CN112109728B (en) | Automatic driving fault control method, system, equipment and storage medium | |
| EP4049910A1 (en) | Automatic driving control system, control method and device | |
| US20220315021A1 (en) | Autonomous driving control system and control method and device | |
| CN111133412A (en) | Software incremental update and anomaly detection for building vehicle ECU software based on tool chain | |
| US20190340116A1 (en) | Shared backup unit and control system | |
| CN111873974B (en) | Brake redundancy control method and system and automatic driving vehicle | |
| CN111745650B (en) | Operation method of robot operation system and control method of robot | |
| CN110262822B (en) | Multi-split system and upgrading method and device thereof | |
| CN113497819A (en) | Remote upgrade security guarantee method and system and vehicle-mounted Tbox equipment | |
| CN113341955A (en) | Control method, device and equipment for automatic driving vehicle and storage medium | |
| CN111301433B (en) | Management system, method and device for computing nodes of automatic driving vehicle | |
| CN104396218A (en) | A device for operating a vehicle mountable controller in a computer network method, the vehicle mountable controller and a method | |
| CN110928299A (en) | Unmanned vehicle control method and unmanned vehicle | |
| CN116095120A (en) | EIP object model-based data acquisition method and gateway | |
| CN117148824B (en) | Fault recovery method and device, electronic equipment, storage medium and vehicle | |
| CN113678101A (en) | Information processing apparatus, moving object, and information processing method | |
| CN116349216A (en) | Edge computing method and system, edge device and control server | |
| CN111506441B (en) | Method, device, equipment and storage medium for monitoring Raid card information | |
| CN110955210B (en) | AGV scheduling method, device and system | |
| CN113824620A (en) | Partition switching method, device, vehicle and storage medium | |
| US11016462B2 (en) | Method, system and apparatus for communication of operational status of controllers on a vehicle | |
| CN117412319A (en) | Switching method, device, equipment and storage medium of abnormality detection program | |
| CN116424355A (en) | Fault post-processing method and system for unmanned mine car and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |