CN114348027A - Vehicle control method, device, platform and storage medium - Google Patents
Vehicle control method, device, platform and storage medium Download PDFInfo
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Abstract
The embodiment of the application discloses a vehicle control method, a vehicle control device, a vehicle control platform and a storage medium. The platform includes: the system comprises a redundant automatic driving control system, a redundant vehicle control system, a redundant execution system and a redundant whole vehicle control system; the redundant vehicle control system comprises a first vehicle control unit and a second vehicle control unit, wherein the first vehicle control unit is respectively connected with the redundant execution system and the redundant vehicle control system through a main communication network and a redundant communication network and is connected with the redundant automatic driving control system through an upper communication network; the second vehicle control unit is respectively connected with the redundancy execution system and the redundancy whole vehicle control system through the main communication network and the redundancy communication network and is connected with the redundancy automatic driving control system through an upper layer communication network; the first vehicle control unit is connected with the second vehicle control unit through an upper-layer communication network, and the second vehicle control unit is a redundant vehicle control unit of the second vehicle control unit, so that full redundancy of each system and the communication network in the whole vehicle control platform is realized.
Description
Technical Field
The embodiment of the application relates to the technical field of vehicle control, in particular to a vehicle control method, a vehicle control device, a vehicle control platform and a storage medium.
Background
With the development of science and technology, the automatic driving technology is continuously developed, wherein the automatic driving has very high requirements on the control of the vehicle, in order to reduce the influence of faults on the running of the vehicle in the control process of the vehicle, the redundant setting is usually carried out on the actuators of the vehicle, one actuator breaks down, and the redundant controller is switched to in time to continue to control the vehicle.
However, in the current vehicle control platform, redundancy is usually only provided for part of equipment, but in the automatic driving process, a fault may occur in the equipment which is not provided with redundancy, and at this time, the automatic driving cannot continue normal operation, and the automatic driving technology of the L4 level cannot be realized.
Disclosure of Invention
The embodiment of the application provides a vehicle control method, a vehicle control device, a vehicle control platform and a storage medium, so that the reliability of automatic driving is improved.
In a first aspect, an embodiment of the present application provides a vehicle control platform, which includes: the system comprises a redundant automatic driving control system, a redundant vehicle control system, a redundant execution system and a redundant whole vehicle control system;
the redundant vehicle control system comprises a first vehicle control unit and a second vehicle control unit, wherein the first vehicle control unit is respectively connected with the redundant execution system and the redundant vehicle control system through a main communication network and a redundant communication network and is connected with the redundant automatic driving control system through an upper-layer communication network;
the second vehicle control unit is respectively connected with the redundancy execution system and the redundancy whole vehicle control system through a main communication network and a redundancy communication network and is connected with the redundancy automatic driving control system through the upper layer communication network;
the first vehicle control unit is connected with the second vehicle control unit through the upper layer communication network, and the second vehicle control unit is a redundant vehicle control unit of the second vehicle control unit.
In a second aspect, an embodiment of the present application further provides a vehicle control method, where the method includes:
the first vehicle control unit and the second vehicle control unit receive a control instruction sent by a redundant automatic driving control system through the upper communication network;
the first vehicle control unit and the second vehicle control unit respectively generate vehicle control instructions according to the control instructions;
if the second vehicle control unit is in a non-take-over state, setting the control state in the vehicle control command generated by the second vehicle control unit as a non-enabled state so that a system receiving the vehicle control command generated by the second vehicle control unit does not execute the vehicle control command;
and if the second vehicle control unit is in a take-over state, setting the control state in the vehicle control command generated by the second vehicle control unit as an enabling state, so that a system receiving the vehicle control command generated by the second vehicle control unit executes the vehicle control command.
In a third aspect, an embodiment of the present application further provides a vehicle control apparatus, which is characterized by including:
the receiving module is used for receiving a control instruction sent by the redundant automatic driving control system through the upper communication network by the first vehicle control unit and the second vehicle control unit;
the generating module is used for generating vehicle control instructions by the first vehicle control unit and the second vehicle control unit according to the control instructions respectively;
the first state setting module is used for setting the control state in the vehicle control command generated by the second vehicle control unit to be a non-enabled state if the second vehicle control unit is in a non-take-over state, so that a system receiving the vehicle control command generated by the second vehicle control unit does not execute the vehicle control command;
and the second state setting module is used for setting the control state in the vehicle control command generated by the second vehicle control unit as an enabling state if the second vehicle control unit is in a take-over state, so that a system receiving the vehicle control command generated by the second vehicle control unit executes the vehicle control command.
In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement a vehicle control method as provided in any embodiment of the present application.
According to the technical scheme of the embodiment of the application, the redundant automatic driving control system, the redundant vehicle control system, the redundant execution system and the redundant vehicle control system are arranged in the vehicle control platform, so that the full redundancy of all systems in the whole vehicle control platform is realized, and the main communication network and the redundant communication network are arranged, so that the full redundancy of the communication network in the vehicle control platform is realized.
Drawings
Fig. 1 is a schematic structural diagram of a vehicle control platform according to a first embodiment of the present disclosure;
fig. 2 is a schematic flowchart of a vehicle control method according to a second embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle control device according to a fourth embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to the following drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the application and are not limiting of the application. It should be further noted that, for the convenience of description, only some of the structures related to the present application are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a schematic structural diagram of a vehicle control platform provided in an embodiment of the present application, where the embodiment is applicable to a vehicle control scenario, and specifically may include:
the system comprises a redundant automatic driving control system, a redundant vehicle control system, a redundant execution system and a redundant whole vehicle control system;
the redundant vehicle control system comprises a first vehicle control unit and a second vehicle control unit, wherein the first vehicle control unit is respectively connected with the redundant execution system and the redundant vehicle control system through a main communication network and a redundant communication network and is connected with the redundant automatic driving control system through an upper communication network;
the second vehicle control unit is respectively connected with the redundancy execution system and the redundancy whole vehicle control system through the main communication network and the redundancy communication network and is connected with the redundancy automatic driving control system through an upper layer communication network;
the first vehicle control unit is connected with the second vehicle control unit through an upper-layer communication network, and the second vehicle control unit is a redundant vehicle control unit of the second vehicle control unit.
Wherein the upper layer communication network may include a first upper layer communication link, a second upper layer communication link, and a third upper layer communication link; the redundant autopilot control system includes a first autopilot control unit and a second autopilot control unit.
It should be noted that the redundant automatic driving control system is a control center for automatic driving, and can generate a control command according to the vehicle state information to control the entire vehicle to realize automatic driving. Specifically, in this embodiment, in order to ensure the reliability of the automatic driving control system, a redundant automatic driving control system is provided, which includes a first automatic driving control unit and a second automatic driving control unit, where the second automatic driving control unit is a redundant unit of the first automatic driving control unit.
In addition, in order to ensure that the communication between the first automatic driving control unit and the second automatic driving control unit and the first vehicle control unit and the second vehicle control unit is smooth, an upper layer communication network including a first upper layer communication link, a second upper layer communication link and a third upper layer communication link is provided.
The first automatic driving control unit is connected with the first vehicle control unit through a first upper-layer communication link; the second automatic driving unit is connected with the second vehicle control unit through a second upper-layer communication link; the first upper layer communication link is communicated with the second upper layer communication link through a third upper layer communication link.
Based on the structure, the first automatic driving control unit and the second automatic driving control unit can be communicated with the first vehicle control unit or the second vehicle control unit, meanwhile, the first automatic driving control unit and the second automatic driving control unit can also be communicated with each other, and the first vehicle control unit and the second vehicle control unit can also be communicated with each other.
It should be noted that, because the first vehicle control unit and the second vehicle control unit are in a redundant relationship, the processing procedures of the first vehicle control unit and the second vehicle control unit are the same, such as a procedure of generating a vehicle control command according to a control command of the automatic driving control system, a procedure of managing a fault, a procedure of routing a signal, a procedure of taking over control, a procedure of state feedback, and the like.
Taking the first vehicle control unit as an example (hereinafter referred to as a vehicle control unit), in the process of generating the vehicle control command according to the control command of the automatic driving control system, a plurality of processing procedures of the vehicle control unit may be involved, such as diagnosis, coordination, timeout, integration, filtering, amplitude limiting, conversion, compensation, handshake and other processing procedures.
For diagnosis, the purpose is to perform fault diagnosis on a control command sent by a redundant automatic driving control system, and mainly comprises communication fault diagnosis and validity judgment. Specifically, the communication fault diagnosis can be realized by actively sending a diagnosis signal to the automatic driving control system and judging whether the communication between the vehicle control unit and the automatic driving control system has a fault or not through whether feedback exists or not; and for the validity judgment, judging whether the format of the received control instruction is a preset format, verifying the control instruction by using a verification field in the control instruction, and if the verification is passed, indicating that the control instruction has validity.
For the coordination, mainly because the redundant automatic driving control system is provided with the first automatic driving control unit and the second automatic driving control unit, the vehicle control unit can carry out priority distribution on control instructions respectively sent by the first automatic driving control unit and the second automatic driving control unit so as to ensure that the responses to the control instructions of the first automatic driving control unit and the second automatic driving control unit do not conflict.
Specifically, the first automatic driving control unit may be further connected to the first vehicle control unit or the second vehicle control unit through the main communication network, and the vehicle control unit preferentially executes a control instruction sent by the first automatic driving control unit through the first upper layer communication link in a default case, executes the control instruction sent by the first automatic driving control unit through the main communication network if the control instruction is diagnosed as a fault or invalid, and executes the control instruction sent by the second automatic driving control unit through the second upper layer communication link if the control instruction is diagnosed as a fault or invalid.
If the time-out indicates that the three control commands (the control command sent by the first automatic driving control unit through the first upper communication link, the control command sent by the first automatic driving control unit through the main communication network, and the control command sent by the second automatic driving control unit through the second upper communication link) simultaneously fail or are invalid, the vehicle control unit enters a time-out processing program and outputs the vehicle control commands according to a preset flow, such as deceleration, parking, P-gear engagement and EPB locking.
For integration, it is meant that the control commands issued by the redundant autopilot control system may be separate signals, need to be integrated according to actual physical significance, and then be subsequently processed. The filtering is performed to prevent sudden signal changes of the generated vehicle control command, and particularly relates to a control command of a lateral steering angle and a longitudinal acceleration/torque, and the sudden signal changes are filtered and smoothed. The specific way may be to filter in a limited slope, increment, etc.
For the conversion, because the vehicle platforms are different, the line control interfaces of the actuators are also different, and accordingly, the types of the vehicle control instructions that can be accepted by the actuators are also different, and are mainly embodied in the instruction formats, the vehicle control platform of this embodiment can perform individual conversion on the control instructions so as to adapt to the line control interfaces of the actuators of different vehicle platforms.
For compensation, because performance optimization problems such as delay, overshoot, and steady-state error often exist in an actual control process, delay, overshoot, and steady-state error can be reduced by using a specific algorithm, it should be noted that the specific algorithm may refer to related technologies, and details are not described here.
For handshaking, it refers to an interaction manner between the vehicle control unit and the actuators in other systems, and a handshaking communication manner is adopted, and the specific principle of the handshaking communication may refer to related technologies, and is not described herein again.
In addition, the second vehicle control unit may have a self-diagnosis function in addition to the above functions, where the self-diagnosis function means that there is a possibility of misdiagnosis when the fault management module of the redundant vehicle control unit monitors the control command sent by the vehicle control unit, that is, the redundant vehicle control unit diagnoses a communication fault, and if the control command sent by the vehicle control unit is not faulty, but the redundant vehicle control unit triggers the takeover logic due to the misdiagnosis, but the control command sent by the vehicle control unit monitored by the bottom layer execution system is always normal and still responds to the control command sent by the vehicle control unit, thereby causing the logic of the redundant vehicle control unit to be faulty, so the self-diagnosis function is introduced.
Specifically, the self-diagnosis module can deduce whether the misdiagnosis condition occurs or not according to the control input of the upper automatic driving control system/the redundant automatic driving control system, the state feedback of the bottom execution system and the logic state of the redundant vehicle control unit, and once the misdiagnosis occurs, the mislogic can be corrected in time and the control state returns to the normal control state.
Further, in the present embodiment, the redundant execution system includes a redundant steering execution subsystem and a redundant braking execution subsystem; the redundant steering execution subsystem comprises a first steering actuator and a second steering actuator; the redundant brake execution subsystem comprises a first brake actuator and a second brake actuator; the second steering actuator is a redundant steering actuator of the first steering actuator, and the second brake actuator is a redundant brake actuator of the first brake actuator.
For the redundant steering execution subsystem, the first steering actuator and the second steering actuator are mutually independent, the first steering actuator executes the vehicle control command sent to the main communication network by the first vehicle control unit under the state that the second vehicle control unit does not take over, and when the vehicle control command on the main communication network is abnormal and the vehicle control command on the redundant communication network is normal, the second steering actuator executes the vehicle control command sent to the redundant communication network by the first vehicle control unit.
When the control state of the first vehicle control unit suddenly fails, the vehicle control commands on the main communication network and the redundant communication network are abnormal at the same time, and at the moment, the first steering controller executes the steering control command sent to the main communication network by the second vehicle control unit, and the network redundancy is not considered in the situation. Control redundancy, communication redundancy and steering execution redundancy are realized through the strategies.
For the redundant brake actuation subsystem, reference may be made to the control logic of the redundant steering actuation subsystem, which is not described herein again.
In addition, the redundant whole vehicle control system comprises a first driving motor and a second driving motor; the second drive motor is a redundant drive motor of the first drive motor.
Specifically, in a normal control state of the first vehicle control unit (in a non-take-over state of the second vehicle control unit), the redundant vehicle control system receives driving, virtual accelerator and gear shifting vehicle control instructions sent to the main communication network by the first vehicle control unit, adopts related algorithms to respectively allocate the driving instructions to the first driving motor and the second driving motor, and simultaneously completes the driving control function of the first driving motor and the second driving motor, and respectively sends the virtual accelerator and the gear shifting vehicle control instructions to the next-stage controller to complete the EPB unlocking and the gear shifting function.
When the vehicle control instruction on the main communication network is abnormal and the vehicle control instruction on the redundant communication network is normal, the redundant whole vehicle control system receives the driving, virtual accelerator and gear shifting vehicle control instruction sent to the redundant communication network by the first vehicle control unit, and the specific instruction execution mode is the same as the above.
When any one of the first driving motor and the second driving motor is in failure, the motor in a non-failure state independently completes the driving function.
When the control state of the first vehicle control unit breaks down suddenly (the second vehicle control unit takes over the state), the redundant vehicle control system receives driving, virtual accelerator and gear shifting vehicle control instructions sent to the main communication network by the second vehicle control unit, and the network redundancy is not considered under the condition. Control redundancy, communication redundancy and drive execution redundancy are realized through the strategies.
In this embodiment, the full redundancy of each system in the entire vehicle control platform is realized by arranging the redundant automatic driving control system, the redundant vehicle control system, the redundant execution system, and the redundant vehicle control system in the vehicle control platform, and the full redundancy of the communication network in the vehicle control platform is realized by arranging the main communication network and the redundant communication network.
Example two
Referring to fig. 2, fig. 2 is a schematic flowchart of a vehicle control method according to a second embodiment of the present application, which specifically includes the following steps:
In this step, the first vehicle control unit and the second vehicle control unit belong to the redundant vehicle control system, and the second vehicle control unit is a redundant vehicle control unit of the first vehicle control unit. The first vehicle control unit is respectively connected with the redundant execution system and the redundant vehicle control system through a main communication network and a redundant communication network, and is connected with the redundant automatic driving control system through an upper-layer communication network; the second vehicle control unit is respectively connected with the redundancy execution system and the redundancy whole vehicle control system through the main communication network and the redundancy communication network and is connected with the redundancy automatic driving control system through the upper layer communication network.
Therefore, the first vehicle control unit and the second vehicle control unit in the step can receive the control instruction sent by the redundant automatic driving control system through the upper-layer communication universal screw rod.
In this step, both the first vehicle control unit and the second vehicle control unit receive the same control command sent by the redundant automatic driving control system, and the first vehicle control unit and the second vehicle control unit perform the same processing on the control command, where the processing may include diagnosis, coordination, timeout, integration, filtering, amplitude limiting, conversion, compensation, handshake, and other processing.
Specifically, for each processing procedure, reference may be made to relevant contents of the foregoing first embodiment, and details are not described here.
It should be noted that the conversion processing in the processing procedure may specifically include: the method comprises the steps that after a first vehicle control unit or a second vehicle control unit generates a vehicle control command, the type of a target drive-by-wire interface of a current vehicle is obtained; and converting the vehicle control instruction into a vehicle control instruction of an instruction type corresponding to the target drive-by-wire interface type.
The command type may include a command format, a data format therein, a check format, and the like, a mapping relationship between the drive-by-wire interface type and the command type may be stored in advance, after the target drive-by-wire interface type of the current vehicle is acquired, a target command type corresponding to the target drive-by-wire interface type is found from the mapping relationship, and the control command is converted into a control command corresponding to the target command type.
And step 203, if the second vehicle control unit is in the non-take-over state, setting the control state in the vehicle control command generated by the second vehicle control unit as a non-enabled state, so that the system receiving the vehicle control command generated by the second vehicle control unit does not execute the vehicle control command.
And 204, if the second vehicle control unit is in a take-over state, setting the control state in the vehicle control command generated by the second vehicle control unit as an enabling state, so that a system receiving the vehicle control command generated by the second vehicle control unit executes the vehicle control command.
It should be noted that the second vehicle control unit determines whether to switch the take-over state and the non-take-over state by monitoring the first vehicle control unit. Specifically, the second vehicle control unit monitors whether the first vehicle control unit is in a fault state in real time; if the first vehicle control unit is in a fault state, the second vehicle control unit is converted into a take-over state; otherwise, the second vehicle control unit remains in the non-take-over state.
The fault state refers to that the first vehicle control unit is in a system fault or a communication fault, and the first vehicle control unit can be considered to be in the fault state. The first vehicle control unit can self-diagnose whether the first vehicle control unit is in a fault state, for system faults, the sent vehicle control command is detected without feedback, and for communication faults, communication interruption between the first vehicle control unit and each redundant system can be detected.
When the second vehicle control unit is in the take-over state, the whole platform can be determined to be in the fault degradation state, and in order to improve the safety of vehicle running, part of functions can be limited, for example, the maximum vehicle speed is limited to 60 kilometers per hour.
In addition, the second vehicle control unit can perform self-diagnosis on the pipe taking state, in particular to deal with the situation that the first vehicle control unit is in the fault state and the second vehicle control unit is in the pipe taking state due to misdiagnosis. Specifically, whether a misdiagnosis condition occurs or not is deduced according to the control input of the first automatic driving control unit or the second automatic driving control unit, the state feedback of the bottom layer execution system and the logic state of the second vehicle control unit, and once the misdiagnosis occurs, the wrong logic can be corrected in time, and the vehicle returns to the non-takeover state.
In addition, the redundant vehicle control system of the embodiment may further implement feedback of target vehicle information, specifically, for the first vehicle control unit or the second vehicle control unit, the first vehicle state information and the second vehicle state information are respectively obtained from the main communication network and the redundant communication network; screening target vehicle information from the first vehicle state information and the second vehicle state information according to a vehicle fault result monitored in advance; and feeding back the target vehicle information to the redundant automatic driving control system.
The slave communication network can receive first vehicle state information, the slave redundant communication network can receive second vehicle state information, and the first vehicle state information and the second vehicle state information are fed back by the same system and transmitted through different networks.
In addition, the result of the vehicle fault detected in advance is the result detected by the fault management module of the first vehicle control unit or the second vehicle control unit, and the fault management module performs fault diagnosis on the redundant automatic driving control system, the redundant vehicle control system, the redundant execution system and the redundant vehicle control system, specifically including communication fault and system fault. It should be noted that, for a specific method for diagnosing communication faults and system faults, reference may be made to the related art and the related description of the foregoing embodiments, and details are not repeated here.
EXAMPLE III
Referring to fig. 3, fig. 3 is a schematic structural diagram of a vehicle control device according to a third embodiment of the present application. The vehicle control device provided by the embodiment of the application can execute the vehicle control method provided by any embodiment of the application, and has corresponding functional modules and beneficial effects of the execution method. The device can be implemented by software and/or hardware, as shown in fig. 3, the vehicle control device specifically includes: the device comprises a receiving module 301, a generating module 302, a first state setting module 303 and a second state setting module 304.
The receiving module is used for receiving a control instruction sent by the redundant automatic driving control system through the upper communication network by the first vehicle control unit and the second vehicle control unit;
the generating module is used for generating vehicle control instructions by the first vehicle control unit and the second vehicle control unit respectively according to the control instructions;
the first state setting module is used for setting the control state in the vehicle control command generated by the second vehicle control unit as a non-enabled state if the second vehicle control unit is in a non-take-over state, so that a system receiving the vehicle control command generated by the second vehicle control unit does not execute the vehicle control command;
and the second state setting module is used for setting the control state in the vehicle control command generated by the second vehicle control unit as an enabling state if the second vehicle control unit is in a take-over state, so that a system receiving the vehicle control command generated by the second vehicle control unit executes the vehicle control command.
In this embodiment, the full redundancy of each system in the entire vehicle control platform is realized by arranging the redundant automatic driving control system, the redundant vehicle control system, the redundant execution system, and the redundant vehicle control system in the vehicle control platform, and the full redundancy of the communication network in the vehicle control platform is realized by arranging the main communication network and the redundant communication network.
Further, the device further comprises:
the fault monitoring module is used for monitoring whether the first vehicle control unit is in a fault state in real time by the second vehicle control unit;
the first state conversion module is used for converting the second vehicle control unit into a take-over state if the first vehicle control unit is monitored to be in a fault state;
and the second state conversion module is used for keeping the second vehicle control unit in the non-take-over state if the second vehicle control unit is not in the take-over state.
Further, the device further comprises:
the vehicle state information acquisition module is used for acquiring first vehicle state information and second vehicle state information from the main communication network and the redundant communication network respectively for the first vehicle control unit or the second vehicle control unit;
the screening module is used for screening out target vehicle information from the first vehicle state information and the second vehicle state information according to a vehicle fault result monitored in advance;
and the feedback module is used for feeding back the target vehicle information to the redundant automatic driving control system.
Further, the device further comprises:
the target line control interface type acquisition module is used for acquiring the target line control interface type of the current vehicle after the first vehicle control unit or the second vehicle control unit generates a vehicle control command;
and the command conversion module is used for converting the vehicle control command into a vehicle control command of a command type corresponding to the target drive-by-wire interface type.
Example four
A storage medium containing computer-executable instructions that, when executed by a computer processor, perform a method for vehicle control, the method comprising:
the first vehicle control unit and the second vehicle control unit receive a control instruction sent by the redundant automatic driving control system through an upper-layer communication network;
the first vehicle control unit and the second vehicle control unit respectively generate vehicle control instructions according to the control instructions;
if the second vehicle control unit is in the non-take-over state, setting the control state in the vehicle control command generated by the second vehicle control unit as a non-enabled state so that a system receiving the vehicle control command generated by the second vehicle control unit does not execute the vehicle control command;
and if the second vehicle control unit is in a take-over state, setting the control state in the vehicle control command generated by the second vehicle control unit as an enabling state so that a system receiving the vehicle control command generated by the second vehicle control unit executes the vehicle control command.
Of course, the storage medium provided in the embodiments of the present application contains computer-executable instructions, and the computer-executable instructions are not limited to the operations of the method described above, and may also perform related operations in the vehicle control method provided in any embodiments of the present application.
From the above description of the embodiments, it is obvious for those skilled in the art that the present application can be implemented by software and necessary general hardware, and certainly can be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the methods of the embodiments of the present application.
It should be noted that, in the embodiment of the above search apparatus, each included unit and module are merely divided according to functional logic, but are not limited to the above division as long as the corresponding functions can be implemented; in addition, specific names of the functional units are only used for distinguishing one functional unit from another, and are not used for limiting the protection scope of the application.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present application and the technical principles employed. It will be understood by those skilled in the art that the present application is not limited to the particular embodiments illustrated herein, and that various obvious changes, rearrangements and substitutions may be made therein by those skilled in the art without departing from the scope of the application. Therefore, although the present application has been described in more detail with reference to the above embodiments, the present application is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present application, and the scope of the present application is determined by the scope of the appended claims.
Claims (10)
1. A vehicle control platform, comprising: the system comprises a redundant automatic driving control system, a redundant vehicle control system, a redundant execution system and a redundant whole vehicle control system;
the redundant vehicle control system comprises a first vehicle control unit and a second vehicle control unit, wherein the first vehicle control unit is respectively connected with the redundant execution system and the redundant vehicle control system through a main communication network and a redundant communication network and is connected with the redundant automatic driving control system through an upper-layer communication network;
the second vehicle control unit is respectively connected with the redundancy execution system and the redundancy whole vehicle control system through a main communication network and a redundancy communication network and is connected with the redundancy automatic driving control system through the upper layer communication network;
the first vehicle control unit is connected with the second vehicle control unit through the upper layer communication network, and the second vehicle control unit is a redundant vehicle control unit of the second vehicle control unit.
2. The vehicle control platform of claim 1, wherein the upper layer communication network comprises a first upper layer communication link, a second upper layer communication link, and a third upper layer communication link; the redundant autopilot control system includes a first autopilot control unit and a second autopilot control unit;
the first automatic driving control unit is connected with the first vehicle control unit through the first upper-layer communication link;
the second automatic driving unit is connected with the second vehicle control unit through the second upper-layer communication link;
the first upper layer communication link is communicated with the second upper layer communication link through the third upper layer communication link, and the second automatic driving unit is a redundant automatic driving control unit of the first automatic driving control unit.
3. The vehicle control platform of claim 1, wherein the redundant actuation system includes a redundant steering actuation subsystem and a redundant braking actuation subsystem;
the redundant steering actuation subsystem comprises a first steering actuator and a second steering actuator; the redundant brake actuation subsystem comprises a first brake actuator and a second brake actuator;
the second steering actuator is a redundant steering actuator of the first steering actuator, and the second brake actuator is a redundant brake actuator of the first brake actuator.
4. The vehicle control platform of claim 1, wherein the redundant vehicle control system comprises a first drive motor and a second drive motor;
the second drive motor is a redundant drive motor of the first drive motor.
5. A vehicle control method applied to the vehicle control platform of any one of claims 1 to 4, the method comprising:
the first vehicle control unit and the second vehicle control unit receive a control instruction sent by a redundant automatic driving control system through the upper communication network;
the first vehicle control unit and the second vehicle control unit respectively generate vehicle control instructions according to the control instructions;
if the second vehicle control unit is in a non-take-over state, setting the control state in the vehicle control command generated by the second vehicle control unit as a non-enabled state so that a system receiving the vehicle control command generated by the second vehicle control unit does not execute the vehicle control command;
and if the second vehicle control unit is in a take-over state, setting the control state in the vehicle control command generated by the second vehicle control unit as an enabling state, so that a system receiving the vehicle control command generated by the second vehicle control unit executes the vehicle control command.
6. The method of claim 5, further comprising:
the second vehicle control unit monitors whether the first vehicle control unit is in a fault state in real time;
if the first vehicle control unit is monitored to be in a fault state, the second vehicle control unit is converted into a take-over state;
otherwise, the second vehicle control unit remains in the non-take-over state.
7. The method of claim 5, further comprising:
for the first vehicle control unit or the second vehicle control unit, acquiring first vehicle state information and second vehicle state information from a main communication network and a redundant communication network respectively;
screening out target vehicle information from the first vehicle state information and the second vehicle state information according to a vehicle fault result monitored in advance;
and feeding back the target vehicle information to the redundant automatic driving control system.
8. The method of claim 5, further comprising:
the first vehicle control unit or the second vehicle control unit acquires the type of a target drive-by-wire interface of the current vehicle after generating the vehicle control command;
and converting the vehicle control instruction into a vehicle control instruction of an instruction type corresponding to the target drive-by-wire interface type.
9. A vehicle control apparatus, characterized by comprising:
the receiving module is used for receiving a control instruction sent by the redundant automatic driving control system through the upper communication network by the first vehicle control unit and the second vehicle control unit;
the generating module is used for generating vehicle control instructions by the first vehicle control unit and the second vehicle control unit according to the control instructions respectively;
the first state setting module is used for setting the control state in the vehicle control command generated by the second vehicle control unit to be a non-enabled state if the second vehicle control unit is in a non-take-over state, so that a system receiving the vehicle control command generated by the second vehicle control unit does not execute the vehicle control command;
and the second state setting module is used for setting the control state in the vehicle control command generated by the second vehicle control unit as an enabling state if the second vehicle control unit is in a take-over state, so that a system receiving the vehicle control command generated by the second vehicle control unit executes the vehicle control command.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when executed by a processor, implements a vehicle control method according to any one of claims 5-8.
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