CN116577976A - Automatic driving control method and system and vehicle - Google Patents

Abstract

The embodiment of the application provides an automatic driving control method, an automatic driving control system and a vehicle, wherein an automatic driving controller acquires the fault type of the automatic driving control system; when the fault type is the first type, controlling the main road chassis to execute the side parking action; when the fault type is the second type, controlling the cabin domain controller to execute the parking action of the own lane; wherein the second type of failure severity level is greater than the first type; the cockpit area controller is used for controlling the backup chassis to execute the parking action of the vehicle lane. In the automatic driving control method, the performance of the automatic driving controller and the cockpit area controller can be utilized to realize redundant fault processing between the automatic driving controller and the cockpit area controller, so that the reliability and the safety of automatic driving are improved.

Description

Automatic driving control method and system and vehicle

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to an automatic driving control method and system, and a vehicle.

Background

The development of communication, control and network technology has made possible the automatic driving system that can operate vehicles automatically and safely. According to the society of automotive Engineers (society of automotive engineers, SAE) autopilot classification, L3 class and above autopilot systems allow a driver to deviate from driving tasks at specific times, even throughout the course, during the operation of an autopilot vehicle.

Currently, vehicles perform autopilot tasks via autopilot systems (autonomous driving system, ADS), which typically include autopilot controllers (autonomous driving controller, ADC) and corresponding sensors, such as laser radar, millimeter wave radar, cameras, ultrasonic radar, inertial measurement units (inertial measurement unit, IMU), and positioning modules. The ADC is typically internally equipped with a single or multiple high performance systems on chip (SoC) and a single microcontroller (micro controller unit, MCU), along with corresponding power supply, gateway, etc. support systems.

In order to prevent damage caused by vehicle runaway due to the fact that a driver cannot take over the vehicle immediately after the ADS fails, the automatic driving vehicle can be ensured to be in a safe and controllable state after the ADS fails through designing a backup scheme. In the backup scheme, a controller with larger calculation force and an additional sensor (comprising a camera, a millimeter wave radar and the like) can be newly added in the vehicle to realize safe parking with perception, but the scheme requires newly added controller and sensor hardware, and has high cost.

Disclosure of Invention

The embodiment of the application provides an automatic driving control method, an automatic driving control system and a vehicle, which are used for solving the problems of high cost caused by newly adding controller and sensor hardware in a safe parking backup scheme in the prior art.

In a first aspect, an embodiment of the present application provides an autopilot control method, including:

acquiring a fault type of an automatic driving control system;

when the fault type is the first type, controlling the main road chassis to execute the side parking action;

when the fault type is the second type, controlling the cabin domain controller to execute the parking action of the own lane; the second type of fault severity level is larger than the first type, and the cabin domain controller is used for controlling the backup chassis to execute the parking action of the vehicle lane.

Further, the first type of fault type includes one or more of: a left sensor group fault for monitoring a left side of the vehicle, or a first distance sensor group fault for monitoring a first distance range in front of the vehicle.

Further, the second type of fault type includes one or more of: the autopilot controller has a power failure, a main chassis failure, or a simultaneous failure of a first distance sensor set and a second distance sensor set for monitoring a second distance range in front of the vehicle, the second distance range being greater than the first distance range.

Further, the method further comprises:

and when the fault type is the third type, controlling the main road chassis to execute the parking action of the lane, wherein the severity level of the fault of the second type is greater than that of the third type.

Further, the third type of fault type includes one or more of the following: a right sensor group fault for monitoring the right side of the vehicle, a rear sensor group fault for monitoring the rear side of the vehicle, or a second distance sensor group fault.

Further, the autopilot controller includes a first autopilot sub-controller and a second autopilot sub-controller;

when the fault type is the first type, controlling the main road chassis to execute the side parking action, including: when the fault type is the first type, the first automatic driving sub-controller controls the main road chassis to execute the side parking action;

when the fault type is the third type, controlling the main road chassis to execute the parking action of the lane, wherein the method comprises the following steps: and when the fault type is the third type, the second automatic driving sub-controller controls the main road chassis to execute the parking action of the lane.

Further, the first type of fault type further includes a second autopilot subcontroller fault; or alternatively

The second type of fault type also includes simultaneous faults of the first autopilot subcontroller and the second autopilot subcontroller; or alternatively

The third type of fault type further includes a first autopilot subcontroller fault.

In a second aspect, an embodiment of the present application provides an autopilot control system, including an autopilot controller, a cockpit area controller, a main road chassis, and a backup chassis;

the automatic driving controller is used for acquiring the fault type of the automatic driving control system;

the automatic driving controller is also used for controlling the main road chassis to execute the side parking action when the fault type is the first type;

the automatic driving controller is also used for controlling the cabin domain controller to execute the parking action of the lane when the fault type is the second type; wherein the second type of failure severity level is greater than the first type;

and the cockpit area controller is used for controlling the backup chassis to execute the parking action of the vehicle lane.

Further, the first type of fault type includes one or more of: a left sensor group fault for monitoring a left side of the vehicle, or a first distance sensor group fault for monitoring a first distance range in front of the vehicle.

Further, the second type of fault type includes one or more of: the autopilot controller has a power failure, a main chassis failure, or a simultaneous failure of a first distance sensor set and a second distance sensor set for monitoring a second distance range in front of the vehicle, the second distance range being greater than the first distance range.

Further, the automatic driving controller is further configured to control the main chassis to execute the parking action of the host lane when the fault type is a third type, where the severity level of the fault of the second type is greater than that of the third type.

Further, the third type of fault type includes one or more of the following: a right sensor group fault for monitoring the right side of the vehicle, a rear sensor group fault for monitoring the rear side of the vehicle, or a second distance sensor group fault.

Further, the autopilot controller includes a first autopilot sub-controller and a second autopilot sub-controller;

the first automatic driving sub-controller is used for controlling the main road chassis to execute the side parking action when the fault type is the first type;

and the second automatic driving sub-controller is used for controlling the main road chassis to execute the parking action of the lane when the fault type is the third type.

Further, the first type of fault type further includes a second autopilot subcontroller fault; or alternatively

The second type of fault type also includes simultaneous faults of the first autopilot subcontroller and the second autopilot subcontroller; or alternatively

The third type of fault type further includes a first autopilot subcontroller fault.

In a third aspect, embodiments of the present application provide a vehicle comprising an autopilot control system as in the second aspect.

In a fourth aspect, embodiments of the present application provide a computer program product comprising a computer program/instruction which, when executed by a processor, implements the steps of an autopilot control method as described above.

In the embodiment of the application, an automatic driving controller acquires the fault type of an automatic driving control system; when the fault type is the first type, controlling the main road chassis to execute the side parking action; when the fault type is the second type, controlling the cabin domain controller to execute the parking action of the own lane; wherein the second type of failure severity level is greater than the first type; the cockpit area controller is used for controlling the backup chassis to execute the parking action of the vehicle lane. According to the method, the automatic driving controller controls the main chassis to execute the side parking and/or execute the parking action of the vehicle lane through the cockpit area controller according to the fault type of the automatic driving control system, so that the performance of the automatic driving controller and the cockpit area controller can be utilized to realize redundant fault processing between the automatic driving controller and the cockpit area controller, and the reliability and the safety of automatic driving are improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic illustration of an autopilot control process according to some embodiments of the present application;

FIG. 2 is a schematic diagram of an autopilot control system according to some embodiments of the present application;

FIG. 3 is a schematic diagram of an autopilot control system according to some embodiments of the present application;

FIG. 4 is a schematic diagram of an autopilot control system according to some embodiments of the present application;

fig. 5 is a schematic structural diagram of an autopilot control system according to some embodiments of the present application.

Detailed Description

For the purposes of making the objects and embodiments of the present application more apparent, an exemplary embodiment of the present application will be described in detail below with reference to the accompanying drawings in which exemplary embodiments of the present application are illustrated, it being apparent that the exemplary embodiments described are only some, but not all, of the embodiments of the present application.

It should be noted that the brief description of the terminology in the present application is for the purpose of facilitating understanding of the embodiments described below only and is not intended to limit the embodiments of the present application. Unless otherwise indicated, these terms should be construed in their ordinary and customary meaning.

The terms first, second, third and the like in the description and in the claims and in the above-described figures are used for distinguishing between similar or similar objects or entities and not necessarily for describing a particular sequential or chronological order, unless otherwise indicated. It is to be understood that the terms so used are interchangeable under appropriate circumstances.

The terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a product or apparatus that comprises a list of elements is not necessarily limited to all elements explicitly listed, but may include other elements not expressly listed or inherent to such product or apparatus.

The term "module" refers to any known or later developed hardware, software, firmware, artificial intelligence, fuzzy logic, or combination of hardware or/and software code that is capable of performing the function associated with that element.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the application.

The foregoing description, for purposes of explanation, has been presented in conjunction with specific embodiments. However, the illustrative discussions above are not intended to be exhaustive or to limit the embodiments to the precise forms disclosed above. Many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles and the practical application, to thereby enable others skilled in the art to best utilize the embodiments and various embodiments with various modifications as are suited to the particular use contemplated.

An autopilot control process according to some embodiments of the present application, as shown in fig. 1, includes the following steps:

S101: the autopilot controller obtains a fault type of the autopilot control system.

S102: and when the fault type is the first type, controlling the main road chassis to execute the side parking action.

S103: when the fault type is the second type, controlling the cabin domain controller to execute the parking action of the own lane; the second type of fault severity level is larger than the first type, and the cabin domain controller is used for controlling the backup chassis to execute the parking action of the vehicle lane.

The automatic driving control method is applicable to the automatic driving control system shown in the above embodiments, and specifically, the automatic driving control method may be implemented by an automatic driving controller. The automatic driving control system is suitable for vehicles including a cockpit, such as vehicles, and the like, and in the embodiment of the present application, the vehicles are mainly described as examples, and other vehicles are similar and will not be described herein. For a description of the autopilot control system, reference is made to the following embodiments. It will be appreciated that the main purpose of "autopilot" in relation to the embodiments of the present application is to be able to assist the driver in driving with ease and safety, and thus "autopilot" may also be referred to as "autopilot". In addition, in some emergency situations, when the driver cannot immediately take over the vehicle, the "autopilot" may take over the driver's control of the vehicle to ensure travel safety.

In some cases, S502 is an optional step, or S503 is an optional step, depending on the type of failure.

In one implementation, in S101, the autopilot controller may monitor each component in the autopilot control system, and determine, according to the obtained monitoring result, whether the autopilot control system is faulty, and the type of fault at the time of the fault. By way of example, components of the autopilot control system include, but are not limited to, a sensor portion, which may include cameras and/or radars, etc., a control portion, which may include autopilot controllers and cockpit domain controllers, etc., and an implement portion, which may include a main road chassis, a backup chassis, etc.

In this embodiment, the autopilot controller may perform a control action corresponding to the failure type according to different failure types, thereby implementing a safe parking function and improving reliability and safety of autopilot. Among other things, the secure parking functions may include, but are not limited to, one or more of the following: function 1, stopping by side; function 2, parking in the own lane; and 3, blind stopping, wherein the blind stopping refers to stopping according to preset deceleration and steering wheel angle. Alternatively, the above-mentioned safety parking function may be classified, where the classification of the safety parking function is related to the fault severity level of the fault type, for example, from small to large according to the fault severity level of the fault type, and the classification of the safety parking function from small to large includes: level 1, stopping by side; level 2, parking in the own lane; level 3, blind stopping, thus can realize the hierarchical safe parking function. The safety of the vehicle and the personnel can be ensured in the scene that the driver takes over or the driver fails to take over.

For example, when the type of the fault obtained by the autopilot controller is the first type, the main road chassis may be controlled to execute the side parking action. In another example, when the type of the fault obtained by the autopilot controller is the second type, the cockpit area controller may be controlled to execute the parking action of the own lane. Wherein the second type of failure severity level is greater than the first type. The cockpit area controller can execute the parking action of the lane by controlling the backup chassis to realize the parking of the lane. With the rise of intelligent cabins and the development of cabin chip technology, the performance of the cabin domain controller is more and more powerful and meets the functional safety requirement, so that the performance of the automatic driving controller and the cabin domain controller can be utilized to realize an independent redundant automatic driving backup function and improve the reliability and safety of automatic driving.

Generally, the safety level of the main road chassis is higher than that of the backup chassis, that is, the control priority of the automatic driving controller to the main road chassis is higher than that of the cockpit area controller to the backup chassis. When the main road chassis cannot work normally, the backup chassis can also take over the safety control of the vehicle so as to ensure safe parking. Steering, braking, driving, etc. of the vehicle can be controlled by controlling the main road chassis and/or the backup chassis.

The autopilot controller may be an ADC and the autopilot controller may include one or more autopilot subcontrollers. The autopilot controller includes one or more of the following: one or more socs, one or more MCUs embedded with MCUs, or one or more MCUs embedded with MCUs. In general, the computational power of SoC is higher than that of MCU. Optionally, multiple autopilot sub-controllers may also monitor each other to determine if each autopilot sub-controller is malfunctioning.

The above-mentioned cockpit area controller may be a cockpit area controller (cockpit domain controller, CDC) which may comprise one or more cockpit area sub-controllers. The cockpit area controller includes one or more of the following: one or more socs, one or more MCUs embedded with MCUs, or one or more MCUs embedded with MCUs. Optionally, multiple cabin domain sub-controllers may also monitor each other to determine if each cabin domain sub-controller is malfunctioning. The autopilot sub-controller and the cockpit sub-controller may also monitor each other.

In addition to the description of the control portion and the implement portion above, the sensor portion of the autopilot control system may include, but is not limited to, one or more of the following sensor groups: a left sensor group for monitoring the left side of the vehicle, a right sensor group for monitoring the right side of the vehicle, a rear sensor group for monitoring the rear side of the vehicle, a first distance sensor group for monitoring a first distance range in front of the vehicle, or a second distance sensor group for monitoring a second distance range in front of the vehicle. Wherein the first distance range and the second distance range are different, e.g. the second distance range is larger than the first distance range, the first distance sensor set may be referred to as a front-to-middle distance sensor set, and the second distance sensor set may be referred to as a front-to-far distance sensor set. Here, the front, rear, left and right means front, rear, left and right with respect to the vehicle traveling direction when the vehicle travels normally. It will be appreciated that the description is given here with respect to the sensor portion being provided in the automatic driving control system only, and that the sensor portion may be provided outside the automatic driving control system in particular, i.e. the automatic driving control system may not include the sensor portion.

For example, the right sensor group may include a front right camera and/or a rear right camera, and may further include one or more of a front right millimeter wave radar, a rear right millimeter wave radar, an ultrasonic radar, or a right fish eye camera, among others. The rear sensor group may include a rear camera, and may also include a rear millimeter wave radar and/or an ultrasonic radar, etc. The front remote sensor group can comprise a front tele camera, a front laser radar and the like. The left sensor group comprises a left front camera and/or a left rear camera, and can further comprise one or more of a left front millimeter wave radar, a left rear millimeter wave radar, an ultrasonic radar, a left fish-eye camera, or the like. The front-middle distance sensor group can comprise a front wide-angle camera, a front millimeter radar wave and the like.

In the automatic driving control method, the automatic driving controller controls the main chassis to execute the side parking and/or execute the own lane parking action through the cockpit area controller according to the fault type of the automatic driving control system, so that the performance of the automatic driving controller and the cockpit area controller can be utilized to realize redundant fault processing between the automatic driving controller and the cockpit area controller, and the reliability and the safety of automatic driving are improved. And the corresponding power supply and chip of an independent backup system are not required to be additionally added, and the automatic driving control system is not required to be redesigned.

In one possible implementation, the first type of fault type may include, but is not limited to, one or more of the following: a left sensor group fault for monitoring a left side of the vehicle, or a first distance sensor group fault for monitoring a first distance range in front of the vehicle.

In the running process of the vehicle, the left sensor group can monitor the left environment of the vehicle, so that the left safety protection of the vehicle is realized, when the left sensor group fails, namely the health state of the left sensor group is abnormal, the left environment of the vehicle cannot be accurately monitored in real time, and if the distance between the vehicle and the left vehicle is smaller than a distance threshold value, or dangerous objects exist on the left side of the vehicle, the running safety can be influenced. Therefore, when the left sensor group fails, the automatic driving controller can control the main road chassis to stop by side, so that the reliability and the safety of automatic driving are improved. By way of example, the left sensor group includes one or more of the following: a front left camera, a rear left camera, a front left millimeter wave radar, a rear left millimeter wave radar, an ultrasonic radar, or a left fish-eye camera, etc.

In the running process of the vehicle, the first distance sensor group can monitor the environment in the first distance range in front of the vehicle, so that the safety protection of the road section in the first distance range in front of the vehicle is realized, when the first distance sensor group fails, the environment in front of the vehicle cannot be accurately monitored in real time, and if the distance between the vehicle and the vehicle in front is smaller than the first distance range, or dangerous objects exist in the first distance range in front of the vehicle, the running safety can be influenced. Therefore, when the first distance sensor group fails, the automatic driving controller can control the main road chassis to stop by side, so that the reliability and the safety of automatic driving are improved. By way of example, the first distance sensor set may be a front-to-middle distance sensor set including one or more of the following: front wide angle cameras, or front millimeter radar waves, etc.

Thus, in this implementation, the autopilot controller may improve reliability and safety of autopilot by controlling the main road chassis to perform the side-by-side parking when the left sensor set fails and/or the first distance sensor set fails.

In one possible implementation, the second type of fault type may include, but is not limited to, one or more of the following: the autopilot controller has a power failure, a main chassis failure, or a simultaneous failure of a first distance sensor set and a second distance sensor set for monitoring a second distance range in front of the vehicle, the second distance range being greater than the first distance range.

In the running process of the vehicle, the automatic driving controller can perform automatic driving safety control, and when the automatic driving controller has power supply faults, the automatic driving controller cannot work normally, so that the vehicle cannot be safely controlled, and the running safety can be influenced. Therefore, when the autopilot controller fails, the safety control of the vehicle can be taken over by the cockpit controller to ensure the reliability and safety of autopilot. In some scenarios, the MCU in the autopilot controller (e.g., MCU1 in fig. 3 below) may fail to control the main chassis, and a safety risk may occur, so when the MCU fails, the MCU in the cockpit controller (e.g., MCU2 in fig. 3 below) may control the backup chassis to ensure reliability and safety of autopilot.

In the running process of the vehicle, the main road chassis is used for controlling the vehicle generally, and when the main road chassis has faults, the vehicle cannot be accurately controlled in real time, so that the running safety is affected. Therefore, when the main road chassis fails, the backup chassis can take over the control of the vehicle to ensure the reliability and safety of automatic driving.

In the running process of the vehicle, the first distance sensor group can monitor the environment in the first distance range in front of the vehicle, the second distance sensor group can monitor the environment in the second distance range in front of the vehicle, the safety protection of road sections in the first distance range and the second distance range in front of the vehicle is realized, and when the first distance sensor group and the second distance sensor group simultaneously fail, the environment in front of the vehicle cannot be monitored, so that the running safety can be influenced. Therefore, when the first distance sensor group and the second distance sensor group fail, the reliability and safety of automatic driving can be improved by controlling the vehicle to stop the own lane. By way of example, the second distance sensor set may be a front distance sensor set including one or more of the following: front tele cameras, front lidars, and the like.

Therefore, in this implementation, when the autopilot controller fails, the main chassis fails, or the first distance sensor group and the second distance sensor group fail simultaneously, the autopilot controller may improve reliability and safety of autopilot by controlling the cockpit domain controller to perform the own-lane parking maneuver.

Based on the above embodiments, in the embodiment of the present application, the method may further include controlling, by the autopilot controller, the main road chassis to perform the own-lane parking action when the fault type is the third type.

The control priority of the automatic driving controller to the main chassis is higher than the control priority of the cockpit area controller to the backup chassis. When the main road chassis can work normally, if the automatic driving controller acquires the third type of faults, the reliability and the safety of automatic driving can be improved by controlling the main road chassis.

Wherein the second type of failure severity level is greater than the third type. Alternatively, the third type of failure severity level is greater than the first type, i.e., when the third type of failure occurs, the automatic driving controller cannot maintain the side parking, so that the safety of the automatic driving can be ensured by performing the own-lane parking.

In this embodiment, the automatic driving controller may control the main chassis to perform the own-lane parking action according to the type of failure of the automatic driving control system, so that reliability and safety of automatic driving may be improved, and the utilization rate of performance of the automatic driving controller may also be improved.

Based on the foregoing embodiments, in the embodiments of the present application, the third type of fault type may include, but is not limited to, one or more of the following: a right sensor group fault for monitoring the right side of the vehicle, a rear sensor group fault for monitoring the rear side of the vehicle, or a second distance sensor group fault.

In the running process of the vehicle, the right sensor group can monitor the right environment of the vehicle to realize the safety protection of the right side of the vehicle, when the right sensor group fails, the right environment of the vehicle cannot be accurately monitored in real time, and if the distance between the vehicle and the right vehicle/pedestrian is smaller than a distance threshold value, or dangerous objects exist on the right side of the vehicle, the running safety can be influenced. And if the parking is done alongside in this situation, there is an increased safety risk due to the inability to monitor the right side environment, possibly colliding with the right side vehicle/pedestrian/hazard. Therefore, when the right sensor group fails, the automatic driving controller can improve the reliability and safety of automatic driving by controlling the main road chassis to perform the parking of the own lane. By way of example, the right sensor group includes one or more of the following: a front right camera, a rear right camera, a front right millimeter wave radar, a rear right millimeter wave radar, an ultrasonic radar, or a right fish-eye camera, etc.

In the running process of the vehicle, the rear sensor group can monitor the rear environment of the vehicle to realize the safety protection of the rear side of the vehicle, when the rear sensor group fails, the rear environment of the vehicle cannot be accurately monitored in real time, and if the distance between the vehicle and the rear vehicle/pedestrian is smaller than a distance threshold value, or dangerous objects exist at the rear side of the vehicle, the running safety can be influenced. And if the side parking is performed in this case, a collision with a rear vehicle/pedestrian/dangerous object may occur due to the inability to monitor the rear side environment, which increases safety risks. Therefore, when the rear sensor group fails, the automatic driving controller can improve the reliability and safety of automatic driving by controlling the main road chassis to perform the own-lane parking. By way of example, the rear sensor group may include one or more of the following: rear cameras, rear millimeter wave radars, or ultrasonic radars, etc.

In the running process of the vehicle, the second distance sensor group can monitor the environment in the second distance range in front of the vehicle, so that the safety protection of the road section in the second distance range in front of the vehicle is realized, when the second distance sensor group fails, the environment in front of the vehicle cannot be accurately monitored in real time, and if the distance between the vehicle and the vehicle in front is smaller than the second distance range, or dangerous objects exist in the second distance range in front of the vehicle, the running safety can be influenced. Therefore, when the second distance sensor group fails, the automatic driving controller can improve the reliability and safety of automatic driving by controlling the main road chassis to perform the parking of the own lane. The second distance sensor set is illustratively a front distance sensor set.

In the embodiment of the application, the automatic driving controller controls the main road chassis to execute the parking action of the lane according to the third type of faults, so that the reliability and the safety of automatic driving can be improved, and the utilization rate of the performance of the automatic driving controller can also be improved.

Based on the above embodiments, in the embodiments of the present application, the plurality of autopilot sub-controllers included in the autopilot controller are a first autopilot sub-controller and a second autopilot sub-controller, respectively. For example, the first autopilot controller and the second autopilot controller may be a SoC, or an MCU, or a SoC with an embedded MCU, or an MCU with an embedded SoC, respectively.

The first automatic driving sub-controller and the second automatic driving sub-controller can execute corresponding control when different types of faults occur, for example, the first automatic driving sub-controller controls the main road chassis to execute the side parking action when the fault type is the first type, and the second automatic driving sub-controller controls the main road chassis to execute the lane parking action when the fault type is the third type. Optionally, the first type of fault type may further include a second autopilot sub-controller fault, the second type of fault type may further include a simultaneous fault of the first autopilot sub-controller and the second autopilot sub-controller, and the third type of fault type may further include a fault of the first autopilot sub-controller, so that the autopilot safety may be further improved by monitoring a status of the autopilot sub-controllers in the autopilot controller and executing corresponding control when the autopilot sub-controller fails.

In the embodiment of the application, the automatic driving controller comprises a plurality of automatic driving sub-controllers, and each automatic driving sub-controller executes corresponding control when different types of faults occur, so that the reliability and the safety of automatic driving can be improved.

On the basis of the above embodiments, the embodiment of the present application further provides an autopilot control system, as shown in fig. 2, including an autopilot controller 201, a cockpit area controller 202, a main road chassis 203 and a backup chassis 204. The autopilot controller 201, the cockpit domain controller 202, the main chassis 203 and the backup chassis 204 may implement the autopilot control method described above, and for relevant content, reference is made to the above embodiments, and the description of the relevant content is omitted.

Illustratively, an autopilot controller 201 for obtaining a fault type of an autopilot control system;

the autopilot controller 201 is further configured to control the main chassis 203 to perform an edge-by-edge parking action when the fault type is the first type;

the autopilot controller 201 is further configured to control the cockpit area controller 202 to perform a parking action of the host lane when the fault type is the second type; wherein the second type of failure severity level is greater than the first type;

The cockpit area controller 202 is configured to control the backup chassis 204 to perform a parking action on the host vehicle.

Optionally, the autopilot control system may further include a sensor set.

In one example, the autopilot controller 201 is an ADC and the cockpit domain controller 202 is a CDC. Referring to fig. 3, the autopilot controller 201 is an ADC, and includes a SoC1 and an MCU1, where the SoC1 includes a first perceptual prediction module and a first planning control module, the first perceptual prediction module has a perceptual prediction algorithm 1 running therein, and the first planning control module has a planning control algorithm 1 running therein. The first perception prediction module can monitor the health status of a right side sensor group, a rear sensor group, a front long-distance sensor group, a left side sensor group and a front middle distance sensor group which are connected with the first perception prediction module in real time, and can monitor the health status of the MCU1, the main road chassis, the backup chassis and the CDC in real time. After the health state is monitored in real time, the first perception prediction module can output corresponding perception prediction information based on the perception prediction algorithm 1, and the first planning control module outputs a vehicle control instruction according to the planning control algorithm 1 and the perception prediction information, and the MCU1 forwards the vehicle control instruction to the main road chassis. The perceptual prediction information may include the perceptual prediction information output by the first perceptual prediction module and may further include the perceptual prediction information output by the second perceptual prediction module.

The cockpit domain controller 202 is a CDC and comprises an SoC2 and an MCU2, wherein the SoC2 comprises a second perception prediction module and a second planning control module, the second perception prediction module is provided with a perception prediction algorithm 2 in an operation mode, and the second planning control module is provided with a planning control algorithm 2 in an operation mode. The second perception prediction module can monitor the monitoring state of the front-middle distance sensor group connected with the second perception prediction module in real time, and can monitor the health states of the MCU2, the main road chassis, the backup chassis and the ADC in real time. After the health state is monitored in real time, the second perception prediction module can output corresponding perception prediction information based on the perception prediction algorithm 2, and the second planning control module outputs a vehicle control instruction according to the planning control algorithm 2 and the perception prediction information, and the MCU2 forwards the vehicle control instruction to the backup chassis. The perceptual prediction information may include the perceptual prediction information output by the second perceptual prediction module and may further include the perceptual information output by the first perceptual prediction module.

In the automatic driving control system, the automatic driving controller controls the main chassis to execute the side parking and/or execute the own lane parking action through the cockpit area controller according to the fault type of the automatic driving control system, so that the performance of the automatic driving controller and the cockpit area controller can be utilized to realize redundant fault processing between the automatic driving controller and the cockpit area controller, and the reliability and the safety of automatic driving are improved.

In one implementation, the autopilot controller 201 may be further configured to control the main chassis 203 to perform the lane stop action when the fault type is a third type, where the second type has a greater severity of the fault than the third type.

Based on the above embodiments, in the embodiment of the present application, as shown in fig. 4, the autopilot controller 201 includes a first autopilot sub-controller 2011 and a second autopilot sub-controller 2012. The first autopilot sub-controller 2011 is configured to control the main chassis 203 to perform an edge parking operation when the fault type is the first type. And a second autopilot controller 2012 for controlling the main road chassis 203 to perform a lane stop action when the fault type is the third type.

The description will also be made taking the autopilot controller 201 as an ADC and the cockpit controller 202 as a CDC. Referring to fig. 5, the autopilot controller 201 is an ADC, including SoC1 (one example of a first autopilot controller 2011), soC2 (one example of a second autopilot controller 2012), and MCU1. The SoC1 comprises a first perception prediction module and a first planning control module, wherein a perception prediction algorithm 1 is operated in the first perception prediction module, and a planning control algorithm 1 is operated in the first planning control module. The first perception prediction module can monitor the health states of the right sensor group, the rear sensor group and the front remote sensor group which are connected with the first perception prediction module in real time, and can monitor the health states of the SoC2, the MCU1, the main road chassis, the backup chassis and the CDC in real time. After the health state is monitored in real time, the first perception prediction module can output corresponding perception prediction information based on the perception prediction algorithm 1, and the first planning control module can output a vehicle control instruction according to the planning control algorithm 1 and the perception prediction information, and the MCU1 forwards the vehicle control instruction to the main road chassis. The perceptual prediction information may include the perceptual prediction information output by the first perceptual prediction module, and may further include the perceptual prediction information output by the second and/or third perceptual prediction modules.

The SoC2 includes a second perceptual prediction module in which the perceptual prediction algorithm 2 operates and a second planning control module in which the planning control algorithm 2 operates. The second perception prediction module can monitor the health states of the left sensor group and the front-middle distance sensor group which are connected with the second perception prediction module in real time, and can monitor the health states of the SoC1, the MCU1, the main road chassis, the backup chassis and the CDC in real time. After the health state is monitored in real time, the second perception prediction module can output corresponding perception prediction information based on the perception prediction algorithm 2, and the second planning control module can output a vehicle control instruction according to the planning control algorithm 2 and the perception prediction information, and the MCU1 forwards the vehicle control instruction to the main road chassis. The perceptual prediction information may include the perceptual prediction information output by the second perceptual prediction module, and may further include the perceptual prediction information output by the first and/or third perceptual prediction modules.

The cockpit domain controller 202 is a CDC and comprises an SoC3 and an MCU3, the SoC3 comprises a third perception prediction module and a third planning control module, the third perception prediction module is provided with a perception prediction algorithm 3 in an operation mode, and the third planning control module is provided with a planning control algorithm 3 in an operation mode. The third perception prediction module can monitor the monitoring state of the front-middle distance sensor group connected with the third perception prediction module in real time, and can monitor the health states of the MCU2, the main road chassis, the backup chassis and the ADC in real time. After the health state is monitored in real time, the third perception prediction module can output corresponding perception prediction information based on the perception prediction algorithm 3, and the second planning control module outputs a vehicle control instruction according to the planning control algorithm 3 and the perception prediction information, and the MCU2 forwards the vehicle control instruction to the backup chassis. The perceptual prediction information may include the perceptual prediction information output by the third perceptual prediction module, and may further include the perceptual prediction information output by the first and/or second perceptual prediction modules.

In the automatic driving control system, each of the automatic driving sub-controllers in the automatic driving controller performs corresponding control when a different type of failure occurs, so that reliability and safety of automatic driving can be improved.

Based on the above embodiments, in the embodiments of the present application, the operation flows under the normal scenario and the fault scenario of the autopilot control system are respectively described, so as to illustrate that the autopilot control system can implement the hierarchical safe parking function according to different fault types and fault severity levels under the condition that the driver fails to take over safely. Wherein, the safety parking function level includes: level 1, stopping by side; level 2, parking in the own lane; level 3, fixed deceleration and steering wheel angle blind stops.

As shown in fig. 3, the autopilot control system includes an ADC including SoC1 and MCU1, and a CDC including SoC2 and MCU2:

scene 1.1, the automatic driving control system works normally.

The method comprises the steps that data from a right sensor group, a rear sensor group, a front remote sensor group, a left sensor group and a front middle sensor group are received and processed by the SoC1, a first perception prediction module in the SoC1 outputs corresponding perception prediction information according to the data of each sensor group, a first planning control module in the SoC1 calculates according to the perception prediction information, a vehicle control instruction is output to the MCU1, and the MCU1 forwards the vehicle control instruction to a main road chassis.

Scenario 1.2, soc1 monitors any failure of the autopilot control system that is so severe that normal autopilot functionality cannot be maintained: left sensor group failure, front-to-middle distance sensor group failure, or SoC2 failure. When the left sensor group and/or the front middle distance sensor group have serious faults and cannot maintain the normal automatic driving function, the distance between the left sensor group and the left object and/or the front object cannot be perceived in the automatic driving process, and the driving safety is influenced, so that the control of the vehicle to stop alongside is beneficial to ensuring the safety. When the SoC2 has serious faults and cannot maintain the normal automatic driving function, the health states of the left sensor group and the front-middle distance sensor cannot be perceived in the automatic driving process, and the driving safety can be possibly influenced, so that the control of the vehicle to stop by the side is beneficial to guaranteeing the safety.

The first perception prediction module in the SoC1 outputs corresponding perception prediction information according to the data of the left sensor group and the front-middle distance sensor group, and the first planning control module in the SoC1 calculates an edge parking path and a corresponding parking instruction according to the perception prediction information, and the parking instruction is forwarded to the main road chassis for execution by the MCU 1. In the process of the side parking, the first planning control module can correct the path and the parking instruction of the side parking in real time according to the real-time perception prediction information output by the first perception prediction module.

Scenario 1.3, soc2 monitors any failure of the autopilot control system that is so severe that normal autopilot functionality cannot be maintained: MCU1 failure, main circuit chassis failure, ADC power failure, soC1 and SoC2 failure, or simultaneous failure of front remote sensor and front middle distance sensor. These faults may cause ADC failure, main road chassis failure, or inability to sense distance from the object in front during automatic driving, affecting driving safety, so controlling parking of the vehicle in the lane is beneficial to ensuring safety.

The second perception prediction module in the SoC2 outputs corresponding perception prediction information according to the data of the front-middle distance sensor group, the second planning control module in the SoC2 calculates a parking path of the lane and a corresponding parking instruction according to the perception prediction information, and the MCU2 forwards the parking instruction to the backup chassis for execution. In the parking process of the lane, the second planning control module can correct the parking path and the parking instruction of the lane in real time according to the real-time perception prediction information output by the second perception prediction module.

Scene 1.4, when severe faults occur in ADC and CDC, and the parking of the lane cannot be maintained, driving safety is influenced, and therefore blind parking of the vehicle is controlled, and safety is guaranteed.

The MCU2 can output a fixed deceleration and steering wheel angle command to be forwarded to the backup chassis for execution to brake the vehicle.

When controlling the vehicle to stop blindly, the second planning control module may send a blind stop instruction to the MCU2, where the blind stop instruction includes information of deceleration and steering wheel rotation angle. Optionally, the information of deceleration and steering wheel angle is related to the current vehicle speed.

In one implementation, if the ADC can control the backup chassis, a blind outage instruction may be sent to the MCU2 by the first planning control module in the ADC in this embodiment.

As shown in fig. 5, the autopilot control system includes an ADC including SoC1, soC2, and MCU1, and a CDC including SoC3 and MCU2:

scene 2.1, the automatic driving control system works normally.

The data from the right sensor group, the rear sensor group and the front remote sensor group are received and processed by the SoC1, and a first perception prediction module in the SoC1 outputs corresponding perception prediction information according to the data of each sensor group. The SoC2 receives and processes data from the left sensor group and the front-middle distance sensor group, and a second perception prediction module in the SoC2 outputs corresponding perception prediction information according to the data of each sensor group. The first planning control module in the SoC1 calculates according to the perception prediction information output by the first perception prediction module and the perception prediction information output by the second perception prediction module, outputs a vehicle control instruction to the MCU1, and forwards the vehicle control instruction to the main road chassis by the MCU 1.

Scenario 2.2, soc1 monitors any failure of the autopilot control system that is so severe that normal autopilot functionality cannot be maintained: left sensor group failure, front-to-middle distance sensor group failure, or SoC2 failure.

The automatic driving control flow in this scenario is the same as that in scenario 1.2 in example one, and will not be described here.

Scenario 2.3, soc2 monitors any failure of the autopilot control system that is so severe that normal autopilot functionality cannot be maintained: right sensor group failure, rear sensor group failure, front remote sensor group failure, or SoC1 failure. These faults may cause that the distance to the right object, the distance to the rear object and the distance to the front object cannot be perceived in the automatic driving process, and the SoC1 fault cannot perceive the health state of the sensor groups, so that the driving safety is affected, and therefore, the control of the vehicle to stop alongside is beneficial to ensuring the safety.

The second perception prediction module in the SoC2 outputs corresponding perception prediction information according to the data of the front-middle distance sensor group, and the second planning control module in the SoC2 calculates a parking path of the lane and a corresponding parking instruction according to the perception prediction information, and the parking path and the corresponding parking instruction are forwarded to the main road chassis for execution by the MCU 1. In the parking process of the lane, the second planning control module can correct the parking path and the parking instruction of the lane in real time according to the real-time perception prediction information output by the second perception prediction module.

Scenario 2.4, soc3 monitors any failure of the autopilot control system that is so severe that normal autopilot functionality cannot be maintained: MCU1 trouble, ADC power failure, soC1 trouble and SoC2 trouble, or preceding long-distance sensor and preceding middle distance sensor trouble simultaneously, these trouble probably lead to ADC inefficacy, main road chassis inefficacy, or can't perceive the distance with preceding object, influence driving safety, therefore control vehicle lane parking is favorable to guaranteeing safety.

And outputting corresponding perception prediction information according to data of the front-middle distance sensor group by the third perception prediction in the SoC3, calculating a parking path of the lane and a corresponding parking instruction by the third planning control module in the SoC3 according to the perception prediction information, and forwarding the parking instruction to the main road chassis for execution by the MCU 2. In the parking process of the lane, the third planning control module can correct the path and the parking instruction of the lane in real time according to the real-time perception prediction information output by the third perception prediction module.

Scene 2.5, when the ADC and the CDC have serious faults and the parking of the lane cannot be maintained, the driving safety is influenced, so that the control of the blind parking of the vehicle is beneficial to ensuring the safety.

The MCU2 can output a fixed deceleration and steering wheel angle command to be forwarded to the backup chassis for execution to brake the vehicle.

When controlling the vehicle to stop blindly, the third planning control module may send a blind stop instruction to the MCU2, where the blind stop instruction includes information of deceleration and steering wheel rotation angle.

In one implementation, if the ADC can control the backup chassis, the first planning control module or the second planning control module in the ADC may send a blind stopping instruction to the MCU2 in this embodiment.

The embodiment of the application can be realized by sensing the surrounding environment, and the reliability of safe parking is improved.

Based on the above embodiments, in the embodiment of the present application, the main road chassis 203 may be used to perform health monitoring on the backup chassis 204; and/or backup chassis 204, may be used to perform health monitoring of main road chassis 203.

The main road chassis 203 and the backup chassis 204 may be cross-monitored for health, optionally, the main road chassis 203 may further control the backup chassis 204, and/or the backup chassis 204 may further control the main road chassis 203, that is, the main road chassis 203 and the backup chassis 204 may further be cross-controlled, for example, when the main road chassis 203 fails, the backup chassis 204 may timely take over the control of the vehicle, so as to further improve the reliability of safe parking of the vehicle.

An embodiment of the present application provides a vehicle including an automatic driving control system as described in any of the above embodiments.

Embodiments of the present application provide a computer program product comprising a computer program/instruction which, when executed by a processor, implements the autopilot control method described in the above embodiments.

The methods of the present application may be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented in software, may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions of the present application are performed in whole or in part. The computer may be a general purpose computer, a special purpose computer, a computer network, a network device, a user device, a core network device, an OAM, or other programmable apparatus.

The computer program or instructions may be stored in a computer readable storage medium or transmitted from one computer readable storage medium to another computer readable storage medium, for example, the computer program or instructions may be transmitted from one website site, computer, server, or data center to another website site, computer, server, or data center by wired or wireless means. The computer readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. that integrates one or more available media. The usable medium may be a magnetic medium, e.g., floppy disk, hard disk, tape; but also optical media such as digital video discs; but also semiconductor media such as solid state disks. The computer readable storage medium may be volatile or nonvolatile storage medium, or may include both volatile and nonvolatile types of storage medium.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

Various modifications and alterations of this application may be made by those skilled in the art without departing from the spirit and scope of this application. Thus, it is intended that the present application also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. An autopilot control method for use with an autopilot controller, the method comprising:

acquiring a fault type of an automatic driving control system;

when the fault type is the first type, controlling the main road chassis to execute the side parking action;

when the fault type is the second type, controlling the cabin domain controller to execute the parking action of the own lane; the second type of fault severity level is larger than the first type of fault severity level, and the cockpit area controller is used for controlling the backup chassis to execute the parking action of the vehicle.

2. The method of claim 1, wherein the first type of fault type comprises one or more of: a left sensor group fault for monitoring a left side of the vehicle or a first distance sensor group fault for monitoring a first distance range in front of the vehicle.

3. The method of claim 2, wherein the second type of fault type comprises one or more of: the automatic driving controller has a power failure, the main road chassis failure, or a simultaneous failure of the first distance sensor group and a second distance sensor group for monitoring a second distance range in front of the vehicle, the second distance range being greater than the first distance range.

4. A method according to claim 2 or 3, wherein the method further comprises:

and when the fault type is a third type, controlling the main road chassis to execute the parking action of the lane, wherein the fault severity level of the second type is greater than that of the third type.

5. The method of claim 4, wherein the third type of fault type comprises one or more of: a right sensor group fault for monitoring a right side of the vehicle, a rear sensor group fault for monitoring a rear side of the vehicle, or the second distance sensor group fault.

6. The method of claim 4, wherein the autopilot controller includes a first autopilot sub-controller and a second autopilot sub-controller;

and when the fault type is the first type, controlling the main road chassis to execute the side parking action, wherein the side parking action comprises the following steps of: when the fault type is the first type, the first automatic driving sub-controller controls the main road chassis to execute the side parking action;

and when the fault type is a third type, controlling the main road chassis to execute the parking action of the lane, wherein the method comprises the following steps of: and when the fault type is the third type, the second automatic driving sub-controller controls the main road chassis to execute the parking action of the lane.

7. The method of claim 6, wherein the first type of fault type further comprises the second autopilot subcontroller fault; or alternatively

The second type of fault type further includes simultaneous faults of the first autopilot subcontroller and the second autopilot subcontroller; or alternatively

The third type of fault type further includes the first autopilot subcontroller fault.

8. An automatic driving control system is characterized by comprising an automatic driving controller, a cockpit area controller, a main road chassis and a backup chassis;

the automatic driving controller is used for acquiring the fault type of the automatic driving control system;

the automatic driving controller is further used for controlling the main road chassis to execute the side-by-side parking action when the fault type is the first type;

the automatic driving controller is further used for controlling the cockpit area controller to execute the parking action of the own lane when the fault type is the second type; wherein the second type of failure severity level is greater than the first type;

and the cockpit area controller is used for controlling the backup chassis to execute the parking action of the vehicle lane.

9. A vehicle comprising the autopilot control system of claim 8.

10. A computer program product comprising computer programs/instructions which, when executed by a processor, implement the autopilot control method of any one of claims 1-7.