CN114750773B

CN114750773B - Drive-by-wire chassis control method, system, device, controller and storage medium

Info

Publication number: CN114750773B
Application number: CN202210549543.3A
Authority: CN
Inventors: 徐晓辉; 付盈; 白志刚; 刘聪; 张学博; 冯元; 王静怡
Original assignee: FAW Jiefang Automotive Co Ltd
Current assignee: FAW Jiefang Automotive Co Ltd
Filing date: 2022-05-20
Publication date: 2024-07-09
Anticipated expiration: 2042-05-20

Abstract

The application relates to a drive-by-wire chassis control method, a drive-by-wire chassis control device, a drive-by-wire chassis control controller and a storage medium. The method comprises the following steps: acquiring at least one item of fault information related to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis; determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of a hazard event; based on each item of fault information related to the drive-by-wire chassis and hazard factors respectively matched with each item of fault information, calculating to obtain a safety factor corresponding to the drive-by-wire chassis; and determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level, so that the current overall fault is automatically classified, and different processing strategies are automatically executed aiming at different fault levels. By adopting the method, the damage caused by the failure can be effectively evaluated, the failure can be accurately dealt with, and the potential safety hazard is eliminated.

Description

Drive-by-wire chassis control method, system, device, controller and storage medium

Technical Field

The present application relates to the field of autopilot technology, and in particular, to a drive-by-wire chassis control method, a system device, a controller, a storage medium, and a computer program product.

Background

With rapid development of automobile intellectualization, intelligent driving technology is increasingly widely used in various operation scenes. The safety and reliability of an intelligent driving vehicle are key factors for whether the intelligent driving vehicle can be commercialized for landing.

The intelligent driving vehicle mainly uses a drive-by-wire chassis to carry an intelligent driving system to realize transportation operation, the drive-by-wire chassis is used as a collection of intelligent driving system execution mechanisms, whether the drive-by-wire chassis can safely and stably execute commands of the intelligent driving system is important, and particularly, the drive-by-wire chassis applied to L4-level and above automatic driving vehicles is required to have fault monitoring and processing capacity so as to timely feed back fault grades and take corresponding actions to ensure running safety when faults occur.

However, the existing drive-by-wire chassis system cannot effectively evaluate the damage caused by the failure, so that the failure is not accurately handled, and potential safety hazards exist.

Disclosure of Invention

In view of the foregoing, it is desirable to provide a chassis control by wire method, system, apparatus, controller, computer readable storage medium, and computer program product that enable fault level assessment of faults and automatic execution of corresponding processing strategies.

In a first aspect, the present application provides a method for controlling a chassis by wire. The method comprises the following steps:

acquiring at least one item of fault information related to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis;

Determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of a hazard event;

Based on each item of fault information related to the drive-by-wire chassis and hazard factors respectively matched with each item of fault information, calculating to obtain a safety factor corresponding to the drive-by-wire chassis;

and determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level.

In one embodiment, the drive-by-wire chassis comprises a plurality of subsystems, wherein the subsystems at least comprise one or more of a power system, a steering system, a braking system and a lamplight system;

based on the working parameters of the drive-by-wire chassis, obtaining at least one item of fault information related to the drive-by-wire chassis comprises:

based on the working parameters of each subsystem of the drive-by-wire chassis, fault information corresponding to each subsystem is obtained and used as at least one item of fault information related to the drive-by-wire chassis.

In one embodiment, determining a hazard factor that matches fault information includes:

Searching sample fault information matched with the fault information from a line control chassis fault database; the line control chassis fault database stores a plurality of sample fault information and hazard factors which are set corresponding to each sample fault information;

And taking the hazard factors configured corresponding to the found sample fault information in the line control chassis fault database as the hazard factors matched with the fault information.

In one embodiment, the method for constructing the chassis fault database includes:

Performing fault analysis on each subsystem contained in the linear control chassis by adopting a fault tree analysis method to obtain various sample fault information;

Determining hazard events corresponding to the fault information of each sample respectively based on a driving scene of the drive-by-wire chassis, and determining occurrence probability and hazard degree of the hazard events;

And respectively configuring corresponding hazard factors for each sample fault information according to the occurrence probability and hazard degree of the hazard event, and taking the hazard factors as the corresponding relations between each fault information and each hazard factor.

In one embodiment, determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor and generating drive-by-wire chassis control information matching the target fault level includes:

Generating first drive-by-wire chassis control information under the condition that the safety factor is larger than a first preset threshold value and is not larger than a second preset threshold value, wherein the first drive-by-wire chassis control information is used for prompting target control quantity of the drive-by-wire chassis;

generating second drive-by-wire chassis control information under the condition that the safety factor is larger than a second preset threshold value and is not larger than a third preset threshold value, wherein the control quantity of the second drive-by-wire chassis control information for controlling the drive-by-wire chassis is not higher than the constraint control quantity;

Generating third linear control chassis control information under the condition that the safety factor is larger than a third preset threshold value, wherein the third linear control chassis control information is used for controlling the linear control chassis to decelerate and stop;

The third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold.

In a second aspect, the present application also provides a chassis control by wire system, the system comprising:

the chassis safety controller is used for determining a safety factor corresponding to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis, determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level; wherein the drive-by-wire chassis control information includes first drive-by-wire chassis control information, second drive-by-wire chassis control information, or third drive-by-wire chassis control information;

the intelligent driving controller is used for determining a target control quantity of the wire control chassis based on the first wire control chassis control information under the condition that the first wire control chassis control information is received, and outputting at least one selectable control quantity of the wire control chassis according to the target control quantity;

The intelligent driving controller is further used for determining the constraint control quantity of the drive-by-wire chassis based on the second drive-by-wire chassis control information under the condition that the second drive-by-wire chassis control information is received, and controlling the control quantity of the drive-by-wire chassis to be not higher than the constraint control quantity;

and the wire control chassis is used for controlling the wire control chassis to stop at a reduced speed according to the third wire control chassis control information under the condition that the third wire control chassis control information is received.

In one embodiment, a system includes:

the intelligent driving controller is further used for driving a first warning lamp of the drive-by-wire chassis to be lighted under the condition that the first drive-by-wire chassis control information is received;

The intelligent driving controller is also used for driving a second warning lamp of the drive-by-wire chassis to be lighted under the condition of receiving the control information of the second drive-by-wire chassis;

The drive-by-wire chassis is further used for driving a third warning lamp of the drive-by-wire chassis to light under the condition that the control information of the third drive-by-wire chassis is received.

In a third aspect, the application further provides a drive-by-wire chassis control device. The device comprises:

the fault detection module is used for acquiring at least one item of fault information related to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis;

The parameter matching module is used for determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of a hazard event;

The parameter calculation module is used for calculating and obtaining a safety factor corresponding to the drive-by-wire chassis based on various fault information related to the drive-by-wire chassis and hazard factors respectively matched with the fault information;

And the hierarchical control module is used for determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor and generating drive-by-wire chassis control information matched with the target fault level.

In a fourth aspect, the present application also provides a controller. The controller comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the following steps:

In a fifth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:

In a sixth aspect, the application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:

The control method, the system, the device, the controller, the storage medium and the computer program product of the drive-by-wire chassis acquire at least one piece of fault information related to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis, so as to automatically detect the fault information; determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of the hazard event, so as to obtain a hazard factor parameter matched with each fault information; based on various fault information related to the drive-by-wire chassis and hazard factors respectively matched with the fault information, calculating to obtain a corresponding safety factor of the drive-by-wire chassis, thereby calculating to obtain an integral safety factor parameter of the drive-by-wire chassis; and determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level, so that the current overall fault is automatically classified, and different processing strategies are automatically executed aiming at different fault levels. The damage caused by the faults can be effectively evaluated, the faults can be accurately dealt with, and potential safety hazards are eliminated.

Drawings

FIG. 1 is a flow chart of a chassis control method by wire in one embodiment;

FIG. 2 is a flow diagram of a method of building a chassis-by-wire fault database in one embodiment;

FIG. 3 is a flow diagram of performing fault level assessment and executing a corresponding processing strategy in one embodiment;

FIG. 4 is a schematic diagram of a chassis control system architecture in one embodiment;

FIG. 5 is a block diagram of a chassis control device in one embodiment;

fig. 6 is an internal structural diagram of a controller in one embodiment.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

In one embodiment, as shown in fig. 1, a method for controlling a chassis by wire is provided, and this embodiment is exemplified by the method being applied to a controller, which is a component in a vehicle, and may be specifically a chassis safety controller. It is understood that the vehicle may be a vehicle, a robotic device with a driving function, etc., and the vehicle may be a truck, an off-road vehicle, a dump truck, a tractor, a special purpose vehicle, a passenger car, a semitrailer, etc. The chassis safety controller, the drive-by-wire chassis and the intelligent driving controller are connected and communicated through a vehicle-mounted CAN bus, and the drive-by-wire chassis CAN also be directly communicated with the intelligent driving controller through the CAN bus. In this embodiment, the method includes the steps of:

step 102, obtaining at least one piece of fault information related to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis.

The drive-by-wire chassis is core hardware of an automatic driving control technology of an automobile, and generally comprises a plurality of subsystems, such as a power system, a steering system, a braking system, a light system and the like, which are respectively used for a drive-by-wire accelerator, a drive-by-wire steering, a drive-by-wire brake, a drive-by-wire headlight and the like.

Optionally, during the working process of the vehicle, the chassis safety controller detects working parameters of each subsystem of the drive-by-wire chassis of the vehicle, judges whether each subsystem has a fault based on abnormal conditions of the working parameters, records each fault information, and possibly simultaneously has a plurality of fault information.

Step 104, determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of the hazard event.

The hazard factors are parameters for representing the occurrence probability and the hazard degree of the hazard event, the hazard event and the fault information have a corresponding relationship, and each fault information has a corresponding hazard event. The larger the hazard factor parameter, the greater the probability of occurrence of the hazard event or the greater the hazard level.

Optionally, for each item of fault information, the chassis safety controller determines a hazard factor corresponding to the fault information according to the severity of the fault information.

And 106, calculating to obtain the safety factor corresponding to the drive-by-wire chassis based on the fault information related to the drive-by-wire chassis and the hazard factors respectively matched with the fault information.

The safety factor is a parameter used for representing the overall safety of the drive-by-wire chassis. The smaller the safety factor parameter, the higher the safety factor of the drive-by-wire chassis.

Optionally, after determining the hazard factors of each piece of fault information, the chassis safety controller performs weighted summation on all hazard factors, and calculates the safety factors corresponding to the line control chassis.

And step 108, determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level.

Optionally, the chassis safety controller determines a fault level based on the parameter of the safety factor, determines a target fault level corresponding to the drive-by-wire chassis, and then generates corresponding drive-by-wire chassis control information, so as to control the drive-by-wire chassis to execute corresponding safety protection measures.

In the control method of the drive-by-wire chassis, at least one item of fault information related to the drive-by-wire chassis is acquired based on the working parameters of the drive-by-wire chassis, so that the fault information is automatically detected; determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of the hazard event, so as to obtain a hazard factor parameter matched with each fault information; based on various fault information related to the drive-by-wire chassis and hazard factors respectively matched with the fault information, calculating to obtain a corresponding safety factor of the drive-by-wire chassis, thereby calculating to obtain an integral safety factor parameter of the drive-by-wire chassis; and determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level, so that the current overall fault is automatically classified, and different processing strategies are automatically executed aiming at different fault levels. The damage caused by the faults can be effectively evaluated, the faults can be accurately dealt with, and potential safety hazards are eliminated.

In one embodiment, the drive-by-wire chassis includes a plurality of subsystems including at least one or more of a power system, a steering system, a braking system, and a light system. Based on the working parameters of the drive-by-wire chassis, obtaining at least one item of fault information related to the drive-by-wire chassis comprises: based on the working parameters of each subsystem of the drive-by-wire chassis, fault information corresponding to each subsystem is obtained and used as at least one item of fault information related to the drive-by-wire chassis.

Optionally, when the chassis safety controller detects the working parameters of the test chassis, the working parameters of each subsystem are detected respectively to obtain fault information of each subsystem.

In this embodiment, based on the working parameters of each subsystem of the drive-by-wire chassis, the fault information corresponding to each subsystem is obtained and used as at least one fault information related to the drive-by-wire chassis. The fault information of each subsystem of the line control chassis can be detected respectively, and the accuracy of the fault information is ensured.

In one embodiment, determining a hazard factor that matches fault information includes: searching sample fault information matched with the fault information from a line control chassis fault database; the line control chassis fault database stores a plurality of sample fault information and hazard factors which are set corresponding to each sample fault information; and taking the hazard factors configured corresponding to the found sample fault information in the line control chassis fault database as the hazard factors matched with the fault information.

Optionally, after detecting a piece of fault information, the chassis safety controller may search sample fault information matched with the fault information from a preconfigured line control chassis fault database, and use a hazard factor matched with the sample fault information as a hazard factor matched with the current fault information.

The data in the line control chassis fault database can be obtained by adopting FTA (fault tree analysis).

In the embodiment, sample fault information matched with the fault information is searched from a line control chassis fault database; the line control chassis fault database stores a plurality of sample fault information and hazard factors which are set corresponding to each sample fault information; and taking the hazard factors configured corresponding to the found sample fault information in the line control chassis fault database as the hazard factors matched with the fault information. The method can automatically match the detected fault information with corresponding hazard factor parameters, so that the fault level of the whole control chassis is judged.

In one embodiment, the method for constructing the chassis fault database includes: performing fault analysis on each subsystem contained in the linear control chassis by adopting a fault tree analysis method to obtain various sample fault information; determining hazard events corresponding to the fault information of each sample respectively based on a driving scene of the drive-by-wire chassis, and determining occurrence probability and hazard degree of the hazard events; and respectively configuring corresponding hazard factors for each sample fault information according to the occurrence probability and hazard degree of the hazard event, and taking the hazard factors as the corresponding relations between each fault information and each hazard factor.

Alternatively, as shown in fig. 2, all historical electric and electronic faults and possible electric and electronic faults of the drive-by-wire chassis are analyzed first by adopting an FTA (fault tree analysis) method. Hazard analysis is carried out for each fault, and the analysis method is as follows: and analyzing the hazard event caused in the specific application scene when each fault occurs by combining the intelligent driving scene applied by the linear control chassis, and defining the hazard factor of each fault according to the occurrence probability of the hazard event and the hazard degree caused. And constructing a failure database of the drive-by-wire chassis according to the failure of the drive-by-wire chassis and the hazard factors thereof.

In the embodiment, a fault tree analysis method is adopted to carry out fault analysis on each subsystem contained in the linear control chassis, and various sample fault information is obtained; determining hazard events corresponding to the fault information of each sample respectively based on a driving scene of the drive-by-wire chassis, and determining occurrence probability and hazard degree of the hazard events; and respectively configuring corresponding hazard factors for each sample fault information according to the occurrence probability and hazard degree of the hazard event, and taking the hazard factors as the corresponding relations between each fault information and each hazard factor. The corresponding relation between the hazard factors and the fault information can be established in advance, so that the detected fault information is matched with corresponding hazard factor parameters automatically in the fault detection process of the online control chassis, and the fault level judgment of the whole online control chassis is carried out.

In one embodiment, determining a target fault level corresponding to a drive-by-wire chassis based on a safety factor and generating drive-by-wire chassis control information that matches the target fault level includes: generating first drive-by-wire chassis control information under the condition that the safety factor is larger than a first preset threshold value and is not larger than a second preset threshold value, wherein the first drive-by-wire chassis control information is used for prompting target control quantity of the drive-by-wire chassis; generating second drive-by-wire chassis control information under the condition that the safety factor is larger than a second preset threshold value and is not larger than a third preset threshold value, wherein the control quantity of the second drive-by-wire chassis control information for controlling the drive-by-wire chassis is not higher than the constraint control quantity; generating third linear control chassis control information under the condition that the safety factor is larger than a third preset threshold value, wherein the third linear control chassis control information is used for controlling the linear control chassis to decelerate and stop; the third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold.

The target control amount corresponds to a recommended control constraint amount, and the recommended control constraint amount is used for providing a selectable drive-by-wire chassis control amount for a driver, and the driver may or may not adopt the target control amount. The constraint control amount is equivalent to a forced control constraint amount, and the control amount of the drive-by-wire chassis is forcibly controlled below the constraint control amount.

Optionally, as shown in fig. 3, after the chassis safety controller calculates the safety factor, the chassis safety controller determines the fault level of the linear control chassis according to the parameter size of the safety factor. If the safety factor is larger than the first preset threshold value and is not larger than the second preset threshold value, the chassis safety controller judges that the line control chassis is in primary failure, calculates the target control quantity of the line control chassis according to the parameter size of the safety factor, and generates first line control chassis control information according to the target control quantity. If the safety factor is larger than the second preset threshold value and is not larger than the third preset threshold value, the chassis safety controller judges that the line control chassis is in a secondary fault, calculates constraint control quantity of the line control chassis according to the safety factor parameter, generates second line control chassis control information according to the constraint control quantity, and the control quantity of the second line control chassis control information for controlling the line control chassis is not higher than the constraint control quantity. If the safety factor is greater than a third preset threshold, the chassis safety controller judges that the drive-by-wire chassis is in three-level fault, and generates third drive-by-wire chassis control information which is used for controlling the drive-by-wire chassis to decelerate and stop. The third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold.

In one possible embodiment, as shown in fig. 3, after the chassis safety controller generates the first drive-by-wire chassis control information, the first warning light of the drive-by-wire chassis is further driven to be turned on, so as to remind the traffic participant of paying attention to the current vehicle in the first-level fault state. After the chassis safety controller generates the second drive-by-wire chassis control information, the second warning lamp of the drive-by-wire chassis is also driven to be lightened, and the traffic participant is reminded of paying attention to the current vehicle in a second-level fault state. After the chassis safety controller generates the third wire control chassis control information, the third warning lamp of the wire control chassis is further driven to be lightened, and the traffic participant is reminded of paying attention to the current vehicle in the three-level fault state.

In this embodiment, when the safety factor is greater than a first preset threshold and not greater than a second preset threshold, first drive-by-wire chassis control information is generated, where the first drive-by-wire chassis control information is used to prompt a target control amount of the drive-by-wire chassis; generating second drive-by-wire chassis control information under the condition that the safety factor is larger than a second preset threshold value and is not larger than a third preset threshold value, wherein the control quantity of the second drive-by-wire chassis control information for controlling the drive-by-wire chassis is not higher than the constraint control quantity; generating third linear control chassis control information under the condition that the safety factor is larger than a third preset threshold value, wherein the third linear control chassis control information is used for controlling the linear control chassis to decelerate and stop; the third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold. The method can achieve the purposes of carrying out fault level evaluation on the fault of the chassis under control and automatically executing corresponding processing strategies.

Based on the same inventive concept, the embodiment of the application also provides a drive-by-wire chassis control system for realizing the drive-by-wire chassis control method. The implementation of the solution provided by the system is similar to the implementation described in the above method, so the specific limitation in one or more embodiments of the chassis control system provided below may be referred to the limitation of the chassis control method described above, and will not be repeated here.

In one embodiment, a chassis control by wire system is provided, as shown in FIG. 4, comprising:

The chassis safety controller is used for determining a safety factor corresponding to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis, determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level; the drive-by-wire chassis control information comprises first drive-by-wire chassis control information, second drive-by-wire chassis control information or third drive-by-wire chassis control information.

And the intelligent driving controller is used for determining a target control quantity of the wire control chassis based on the first wire control chassis control information under the condition that the first wire control chassis control information is received, outputting at least one selectable control quantity of the wire control chassis according to the target control quantity, and driving a first warning lamp of the wire control chassis to be lighted.

And the intelligent driving controller is further used for determining the constraint control quantity of the drive-by-wire chassis based on the second drive-by-wire chassis control information under the condition that the second drive-by-wire chassis control information is received, controlling the control quantity of the drive-by-wire chassis to be not higher than the constraint control quantity, and driving a second warning lamp of the drive-by-wire chassis to be lighted.

And the wire control chassis is used for controlling the wire control chassis to stop according to the third wire control chassis control information under the condition of receiving the third wire control chassis control information, and directly driving a third warning lamp of the wire control chassis to be lighted.

In one embodiment, the drive-by-wire chassis includes a plurality of subsystems including at least one or more of a power system, a steering system, a braking system, and a light system.

The chassis safety controller is further used for acquiring fault information corresponding to each subsystem respectively based on the working parameters of each subsystem of the drive-by-wire chassis, and the fault information is used as at least one fault information related to the drive-by-wire chassis.

In one embodiment, the chassis safety controller is further configured to search a drive-by-wire chassis fault database for sample fault information that matches the fault information; the line control chassis fault database stores a plurality of sample fault information and hazard factors which are set corresponding to each sample fault information; and taking the hazard factors configured corresponding to the found sample fault information in the line control chassis fault database as the hazard factors matched with the fault information.

The construction mode of the line control chassis fault database comprises the following steps: performing fault analysis on each subsystem contained in the linear control chassis by adopting a fault tree analysis method to obtain various sample fault information; determining hazard events corresponding to the fault information of each sample respectively based on a driving scene of the drive-by-wire chassis, and determining occurrence probability and hazard degree of the hazard events; and respectively configuring corresponding hazard factors for each sample fault information according to the occurrence probability and hazard degree of the hazard event, and taking the hazard factors as the corresponding relations between each fault information and each hazard factor.

In one embodiment, the chassis safety controller is further configured to generate first chassis control information for prompting a target control amount of the chassis by wire if the safety factor is greater than a first preset threshold and not greater than a second preset threshold; the control method is further used for generating second drive-by-wire chassis control information under the condition that the safety factor is larger than a second preset threshold value and is not larger than a third preset threshold value, and the control quantity of the second drive-by-wire chassis control information used for controlling the drive-by-wire chassis is not higher than the constraint control quantity; the control system is also used for generating third linear control chassis control information under the condition that the safety factor is larger than a third preset threshold value, wherein the third linear control chassis control information is used for controlling the linear control chassis to decelerate and stop; the third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold.

It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.

Based on the same inventive concept, the embodiment of the application also provides a drive-by-wire chassis control device for realizing the drive-by-wire chassis control method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the control device for a chassis by wire provided below may be referred to the limitation of the control method for a chassis by wire in the above description, which is not repeated here.

In one embodiment, as shown in fig. 5, there is provided a chassis control device 500 comprising: a fault detection module 501, a parameter matching module 502, a parameter calculation module 503, and a hierarchical control module 504, wherein:

The fault detection module 501 is configured to obtain at least one item of fault information related to the drive-by-wire chassis based on an operating parameter of the drive-by-wire chassis.

The parameter matching module 502 is configured to determine a hazard factor matched with the fault information, where the hazard factor is used to characterize occurrence probability and hazard degree of the hazard event.

The parameter calculation module 503 is configured to calculate, based on each item of fault information related to the drive-by-wire chassis and the hazard factors respectively matched with each item of fault information, a security factor corresponding to the drive-by-wire chassis.

The hierarchical control module 504 is configured to determine a target fault level corresponding to the chassis by wire according to the security factor, and generate chassis by wire control information that matches the target fault level.

In one embodiment, the drive-by-wire chassis includes a plurality of subsystems including at least one or more of a power system, a steering system, a braking system, and a light system;

the fault detection module 501 is further configured to obtain, based on an operation parameter of each subsystem of the chassis by wire, fault information corresponding to each subsystem, as at least one fault information related to the chassis by wire.

In one embodiment, the parameter matching module 502 is further configured to search the chassis fault database for sample fault information that matches the fault information; the line control chassis fault database stores a plurality of sample fault information and hazard factors which are set corresponding to each sample fault information; and taking the hazard factors configured corresponding to the found sample fault information in the line control chassis fault database as the hazard factors matched with the fault information.

In one embodiment, the parameter matching module 502 is further configured to perform fault analysis on each subsystem included in the chassis by using a fault tree analysis method, so as to obtain multiple sample fault information; determining hazard events corresponding to the fault information of each sample respectively based on a driving scene of the drive-by-wire chassis, and determining occurrence probability and hazard degree of the hazard events; and respectively configuring corresponding hazard factors for each sample fault information according to the occurrence probability and hazard degree of the hazard event, and taking the hazard factors as the corresponding relations between each fault information and each hazard factor.

In one embodiment, the hierarchical control module 504 is further configured to generate first chassis control information for prompting a target control amount of the chassis on the fly if the safety factor is greater than a first preset threshold and not greater than a second preset threshold; generating second drive-by-wire chassis control information under the condition that the safety factor is larger than a second preset threshold value and is not larger than a third preset threshold value, wherein the control quantity of the second drive-by-wire chassis control information for controlling the drive-by-wire chassis is not higher than the constraint control quantity; generating third linear control chassis control information under the condition that the safety factor is larger than a third preset threshold value, wherein the third linear control chassis control information is used for controlling the linear control chassis to decelerate and stop; the third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold.

The above-mentioned individual modules in the drive-by-wire chassis control device may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the controller, or may be stored in software in a memory in the controller, so that the processor may call and execute operations corresponding to the above modules.

In one embodiment, a controller is provided, which may be a chassis safety controller, the internal structure of which may be as shown in fig. 6. The controller includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the controller is configured to provide computing and control capabilities. The memory of the controller includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the controller is used for storing data such as working parameters, fault information and the like of the drive-by-wire chassis. The input/output interface of the controller is used to exchange information between the processor and the external device. The communication interface of the controller is used for communicating with an external terminal through network connection. The computer program, when executed by a processor, implements a method of controlling a drive-by-wire chassis.

It will be appreciated by those skilled in the art that the structure shown in fig. 6 is merely a block diagram of a portion of the structure associated with the present inventive arrangements and is not limiting of the controller to which the present inventive arrangements are applied, and that a particular controller may include more or fewer components than shown, or may combine certain components, or have a different arrangement of components.

In one embodiment, a controller is provided that includes a memory having a computer program stored therein and a processor that when executing the computer program performs the steps of: acquiring at least one item of fault information related to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis; determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of a hazard event; based on each item of fault information related to the drive-by-wire chassis and hazard factors respectively matched with each item of fault information, calculating to obtain a safety factor corresponding to the drive-by-wire chassis; and determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level.

In one embodiment, the drive-by-wire chassis includes a plurality of subsystems including at least one or more of a power system, a steering system, a braking system, and a light system; the processor when executing the computer program also implements the steps of: based on the working parameters of each subsystem of the drive-by-wire chassis, fault information corresponding to each subsystem is obtained and used as at least one item of fault information related to the drive-by-wire chassis.

In one embodiment, the processor when executing the computer program further performs the steps of: searching sample fault information matched with the fault information from a line control chassis fault database; the line control chassis fault database stores a plurality of sample fault information and hazard factors which are set corresponding to each sample fault information; and taking the hazard factors configured corresponding to the found sample fault information in the line control chassis fault database as the hazard factors matched with the fault information.

In one embodiment, the processor when executing the computer program further performs the steps of: performing fault analysis on each subsystem contained in the linear control chassis by adopting a fault tree analysis method to obtain various sample fault information; determining hazard events corresponding to the fault information of each sample respectively based on a driving scene of the drive-by-wire chassis, and determining occurrence probability and hazard degree of the hazard events; and respectively configuring corresponding hazard factors for each sample fault information according to the occurrence probability and hazard degree of the hazard event, and taking the hazard factors as the corresponding relations between each fault information and each hazard factor.

In one embodiment, the processor when executing the computer program further performs the steps of: generating first drive-by-wire chassis control information under the condition that the safety factor is larger than a first preset threshold value and is not larger than a second preset threshold value, wherein the first drive-by-wire chassis control information is used for prompting target control quantity of the drive-by-wire chassis; generating second drive-by-wire chassis control information under the condition that the safety factor is larger than a second preset threshold value and is not larger than a third preset threshold value, wherein the control quantity of the second drive-by-wire chassis control information for controlling the drive-by-wire chassis is not higher than the constraint control quantity; generating third linear control chassis control information under the condition that the safety factor is larger than a third preset threshold value, wherein the third linear control chassis control information is used for controlling the linear control chassis to decelerate and stop; the third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold.

In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of: acquiring at least one item of fault information related to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis; determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of a hazard event; based on each item of fault information related to the drive-by-wire chassis and hazard factors respectively matched with each item of fault information, calculating to obtain a safety factor corresponding to the drive-by-wire chassis; and determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level.

In one embodiment, the drive-by-wire chassis includes a plurality of subsystems including at least one or more of a power system, a steering system, a braking system, and a light system; the computer program when executed by the processor also performs the steps of: based on the working parameters of each subsystem of the drive-by-wire chassis, fault information corresponding to each subsystem is obtained and used as at least one item of fault information related to the drive-by-wire chassis.

In one embodiment, the computer program when executed by the processor further performs the steps of: searching sample fault information matched with the fault information from a line control chassis fault database; the line control chassis fault database stores a plurality of sample fault information and hazard factors which are set corresponding to each sample fault information; and taking the hazard factors configured corresponding to the found sample fault information in the line control chassis fault database as the hazard factors matched with the fault information.

In one embodiment, the computer program when executed by the processor further performs the steps of: performing fault analysis on each subsystem contained in the linear control chassis by adopting a fault tree analysis method to obtain various sample fault information; determining hazard events corresponding to the fault information of each sample respectively based on a driving scene of the drive-by-wire chassis, and determining occurrence probability and hazard degree of the hazard events; and respectively configuring corresponding hazard factors for each sample fault information according to the occurrence probability and hazard degree of the hazard event, and taking the hazard factors as the corresponding relations between each fault information and each hazard factor.

In one embodiment, the computer program when executed by the processor further performs the steps of: generating first drive-by-wire chassis control information under the condition that the safety factor is larger than a first preset threshold value and is not larger than a second preset threshold value, wherein the first drive-by-wire chassis control information is used for prompting target control quantity of the drive-by-wire chassis; generating second drive-by-wire chassis control information under the condition that the safety factor is larger than a second preset threshold value and is not larger than a third preset threshold value, wherein the control quantity of the second drive-by-wire chassis control information for controlling the drive-by-wire chassis is not higher than the constraint control quantity; generating third linear control chassis control information under the condition that the safety factor is larger than a third preset threshold value, wherein the third linear control chassis control information is used for controlling the linear control chassis to decelerate and stop; the third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold.

In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of: acquiring at least one item of fault information related to the drive-by-wire chassis based on the working parameters of the drive-by-wire chassis; determining a hazard factor matched with the fault information, wherein the hazard factor is used for representing the occurrence probability and the hazard degree of a hazard event; based on each item of fault information related to the drive-by-wire chassis and hazard factors respectively matched with each item of fault information, calculating to obtain a safety factor corresponding to the drive-by-wire chassis; and determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level.

It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.

Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magneto-resistive random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (PHASE CHANGE Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.

The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.

The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.

Claims

1. A method of controlling a drive-by-wire chassis, the method comprising:

acquiring at least one item of fault information related to a drive-by-wire chassis based on working parameters of the drive-by-wire chassis;

The determining a hazard factor matched with the fault information comprises: searching sample fault information matched with the fault information from a line control chassis fault database; the line control chassis fault database stores a plurality of sample fault information and hazard factors which are set corresponding to each sample fault information; the hazard factors configured corresponding to the found sample fault information in the line control chassis fault database are used as hazard factors matched with the fault information;

The construction mode of the line control chassis fault database comprises the following steps: performing fault analysis on each subsystem contained in the drive-by-wire chassis by adopting a fault tree analysis method to obtain various sample fault information; determining hazard events corresponding to the fault information of each sample respectively based on the driving scene of the drive-by-wire chassis, and determining the occurrence probability and the hazard degree of the hazard events; according to the occurrence probability and the hazard degree of the hazard event, configuring corresponding hazard factors for each sample fault information respectively to serve as the corresponding relation between each fault information and each hazard factor;

Determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level;

The determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level, includes: generating first drive-by-wire chassis control information under the condition that the safety factor is larger than a first preset threshold value and not larger than a second preset threshold value, wherein the first drive-by-wire chassis control information is used for prompting target control quantity of the drive-by-wire chassis; generating second drive-by-wire chassis control information under the condition that the safety factor is larger than a second preset threshold value and not larger than a third preset threshold value, wherein the second drive-by-wire chassis control information is used for controlling the control quantity of the drive-by-wire chassis to be not higher than the constraint control quantity; generating third linear control chassis control information under the condition that the safety factor is larger than a third preset threshold value, wherein the third linear control chassis control information is used for controlling the linear control chassis to decelerate and park; the third preset threshold is greater than the second preset threshold, which is greater than the first preset threshold.

2. The method of claim 1, wherein the drive-by-wire chassis comprises a plurality of subsystems including at least one or more of a power system, a steering system, a braking system, a light system;

The obtaining, based on the working parameters of the drive-by-wire chassis, at least one piece of fault information related to the drive-by-wire chassis includes:

3. A chassis control by wire system for implementing the steps of the method of claim 1 or 2, the system comprising:

The chassis safety controller is used for determining a safety factor corresponding to the drive-by-wire chassis based on working parameters of the drive-by-wire chassis, determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor, and generating drive-by-wire chassis control information matched with the target fault level; wherein the drive-by-wire chassis control information comprises first drive-by-wire chassis control information, second drive-by-wire chassis control information or third drive-by-wire chassis control information;

The intelligent driving controller is used for determining a target control quantity of the drive-by-wire chassis based on the first drive-by-wire chassis control information under the condition that the first drive-by-wire chassis control information is received, and outputting at least one selectable control quantity of the drive-by-wire chassis according to the target control quantity;

The intelligent driving controller is further configured to determine a constraint control amount of the drive-by-wire chassis based on the second drive-by-wire chassis control information and control the control amount of the drive-by-wire chassis to be not higher than the constraint control amount when the second drive-by-wire chassis control information is received;

4. A system according to claim 3, characterized in that the system comprises:

the intelligent driving controller is further used for driving a first warning lamp of the drive-by-wire chassis to be lightened under the condition that the first drive-by-wire chassis control information is received;

the intelligent driving controller is further configured to drive a second warning lamp of the drive-by-wire chassis to light up when receiving the control information of the second drive-by-wire chassis;

5. A drive-by-wire chassis control apparatus, the apparatus comprising:

the parameter matching module is used for determining a hazard factor matched with the fault information, and the hazard factor is used for representing the occurrence probability and the hazard degree of a hazard event;

the hierarchical control module is used for determining a target fault level corresponding to the drive-by-wire chassis according to the safety factor and generating drive-by-wire chassis control information matched with the target fault level;

6. A controller comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of claim 1 or 2 when executing the computer program.

7. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of claim 1 or 2.