CN117445938A - Intelligent driving passenger car safety redundancy control method and system - Google Patents
Intelligent driving passenger car safety redundancy control method and system Download PDFInfo
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- CN117445938A CN117445938A CN202311353414.8A CN202311353414A CN117445938A CN 117445938 A CN117445938 A CN 117445938A CN 202311353414 A CN202311353414 A CN 202311353414A CN 117445938 A CN117445938 A CN 117445938A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/023—Avoiding failures by using redundant parts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- Automation & Control Theory (AREA)
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- Transportation (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
Abstract
The invention belongs to the technical field of intelligent driving vehicles, and provides a safe redundancy control method and a safe redundancy control system for an intelligent driving passenger car, wherein after an intelligent driving system message and a line control and movement system message in an unmanned driving mode are acquired; judging whether the intelligent driving system and/or the linear control system is abnormal or not according to the intelligent driving system message and the linear control system message; if the intelligent driving system and/or the brake-by-wire system are abnormal, combining the vehicle speed and the steering angle of the steering wheel to perform vehicle safety braking; otherwise, normally running; according to the intelligent driving passenger car, the current speed and the steering wheel angle are combined, when the vehicle is abnormal, the steer-by-wire and brake-by-wire system is controlled in real time to enable the vehicle to safely stop, the comfort of unmanned driving vehicle experience can be ensured, and meanwhile, the safety and reliability of the intelligent driving passenger car are improved.
Description
Technical Field
The invention belongs to the technical field of intelligent driving vehicles, and particularly relates to a safe redundancy control method and system for an intelligent driving passenger car.
Background
Intelligent driving technology is attracting global attention and competition as a hotspot field in the automotive industry today. However, since intelligent driving technology is still in an early stage of continuous development and improvement, achieving truly safe and reliable unmanned driving is still facing more technical problems. Among them, the safety redundancy technology becomes one of the key technologies of current intelligent driving passenger car research.
The inventor finds that most of the current intelligent driving safety redundant control methods remind a driver to take over the vehicle manually through a prompt tone when an intelligent driving system or a braking system is abnormal, the method does not fully utilize a vehicle drive-by-wire system to control the vehicle to stop safely, only the driver takes over, and the first time safety braking of the vehicle cannot be realized, so that the safety of the vehicle is reduced.
Disclosure of Invention
In order to solve the problems, the invention provides a safe redundancy control method and a safe redundancy control system for an intelligent driving passenger car.
In order to achieve the above object, the present invention is realized by the following technical scheme:
in a first aspect, the present invention provides a method for controlling safety redundancy of an intelligent driving bus, including:
acquiring an intelligent driving system message and a line control and braking system message in an unmanned mode;
judging whether the intelligent driving system and/or the linear control system is abnormal or not according to the intelligent driving system message and the linear control system message;
if the intelligent driving system and/or the brake-by-wire system are abnormal, combining the vehicle speed and the steering angle of the steering wheel to perform vehicle safety braking; otherwise, the vehicle runs normally.
Further, acquiring a message life signal of the intelligent driving system in each preset period, if the life signal value is kept unchanged in a first preset time, considering that the communication of the intelligent driving system is interrupted, and if the life signal jumps in the first preset time, considering that the communication of the intelligent driving system is normal; meanwhile, an intelligent driving fault signal is obtained, and if the intelligent driving fault signal is continuously 1 or the communication of the intelligent driving system is interrupted within a second preset time, the intelligent driving system is judged to be abnormal.
Further, acquiring a message vital signal of the wire control and movement system in each preset period, if the value of the vital signal is kept unchanged in a first preset time, considering that the communication of the wire control and movement system is interrupted, and if the vital signal jumps in the first preset time, considering that the communication of the wire control and movement system is normal; meanwhile, a line control motor fault signal is obtained, and if the line control motor fault signal is continuously 1 or the line control motor system communication is interrupted in a second preset time, the line control motor system is judged to be abnormal.
Further, after entering the unmanned mode, if the intelligent driving system is abnormal and the linear control motor system is normal, the vehicle is braked safely by combining the vehicle speed and the steering angle of the steering wheel.
Further, the control mode of the vehicle safety brake is as follows:
wherein a is braking deceleration; v1, v2, v3 and v4 are respectively the current vehicle speeds set in different states; t1, t2, t3 and t4 are timing times in different states; angle is the steering angle of the steering wheel; v is the vehicle speed.
Further, after entering the unmanned mode, if the brake-by-wire system is abnormal, the vehicle is braked safely by combining the vehicle speed and the steering angle of the steering wheel.
Further, the control mode of the vehicle safety brake is as follows:
wherein T is a braking torque; v6, v7 and v8 are the current vehicle speeds set in different states respectively; m is the mass of the whole vehicle; r is the tire radius; i is the main speed reduction ratio of the vehicle; angle is the steering angle of the steering wheel; v is the vehicle speed.
In a second aspect, the present invention further provides a safety redundant control system for an intelligent driving bus, including:
a data acquisition module configured to: acquiring an intelligent driving system message and a line control and braking system message in an unmanned mode;
a judgment module configured to: judging whether the intelligent driving system and/or the linear control system is abnormal or not according to the intelligent driving system message and the linear control system message;
a brake control module configured to: if the intelligent driving system and/or the brake-by-wire system are abnormal, combining the vehicle speed and the steering angle of the steering wheel to perform vehicle safety braking; otherwise, the vehicle runs normally.
In a third aspect, the present invention also provides a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the steps of the intelligent driving passenger car safety redundancy control method of the first aspect.
In a fourth aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, where the steps of the intelligent driving passenger car safety redundancy control method according to the first aspect are implemented when the processor executes the program.
Compared with the prior art, the invention has the beneficial effects that:
after the intelligent driving system message and the line control system message in the unmanned mode are acquired, the intelligent driving system message and the line control system message are acquired; judging whether the intelligent driving system and/or the linear control system is abnormal or not according to the intelligent driving system message and the linear control system message; if the intelligent driving system and/or the brake-by-wire system are abnormal, combining the vehicle speed and the steering angle of the steering wheel to perform vehicle safety braking; otherwise, normally running; according to the intelligent driving passenger car, the current speed and the steering wheel angle are combined, when the vehicle is abnormal, the steer-by-wire and brake-by-wire system is controlled in real time to enable the vehicle to safely stop, the comfort of unmanned driving vehicle experience can be ensured, and meanwhile, the safety and reliability of the intelligent driving passenger car are improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments and are incorporated in and constitute a part of this specification, illustrate and explain the embodiments and together with the description serve to explain the embodiments.
Fig. 1 is a flowchart of embodiment 1 of the present invention.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the present application. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
Example 1:
aiming at the problems that the prior intelligent driving safety redundancy control method does not fully utilize a vehicle self-drive-by-wire system to control the vehicle to safely stop, only takes over by a driver, and cannot realize the first time safety braking of the vehicle, so that the safety of the vehicle is reduced, the implementation provides the intelligent driving passenger car safety redundancy control method, which comprises the following steps:
acquiring an intelligent driving system message and a line control and braking system message in an unmanned mode;
judging whether the intelligent driving system and/or the linear control system is abnormal or not according to the intelligent driving system message and the linear control system message;
if the intelligent driving system and/or the brake-by-wire system are abnormal, combining the vehicle speed and the steering angle of the steering wheel to perform vehicle safety braking; otherwise, the vehicle runs normally.
According to the embodiment, when the vehicle is abnormal, the drive-by-wire steering and drive-by-wire braking system is controlled in real time to enable the vehicle to safely stop, so that the comfort of unmanned driving of the vehicle can be ensured, and meanwhile, the safety and reliability of an intelligent driving passenger car are improved. The method in this embodiment comprises the following specific steps:
s1, judging abnormality of a vehicle system:
after the vehicle enters an unmanned mode, the whole vehicle controller receives an intelligent driving system message and a line control braking system message through a CAN bus and judges whether the vehicle state is abnormal or not.
Specifically, acquiring a message vital signal of the intelligent driving system in each preset period, if the vital signal value is kept unchanged in a first preset time, considering that the communication of the intelligent driving system is interrupted, and if the vital signal jumps in the first preset time, considering that the communication of the intelligent driving system is normal; meanwhile, an intelligent driving fault signal is obtained, and if the intelligent driving fault signal is continuously 1 or the communication of the intelligent driving system is interrupted within a second preset time, the intelligent driving system is judged to be abnormal.
Optionally, the vehicle controller receives the intelligent driving system message vital signal every 10 milliseconds as a period, if the vital signal value received within 2 seconds is kept unchanged, the intelligent driving system communication is considered to be interrupted, and if one vital signal jump occurs within 2 seconds, the intelligent driving system communication is considered to be normal; meanwhile, the whole vehicle controller receives an intelligent driving fault signal through the CAN message, and if the intelligent driving fault signal lasts for 1 or the communication of the intelligent driving system is interrupted within 0.1 second, the whole vehicle controller judges that the intelligent driving system is abnormal, and the abnormal state is A.
Specifically, acquiring a message vital signal of the wire control and movement system in each preset period, if the value of the vital signal is kept unchanged in a first preset time, considering that the communication of the wire control and movement system is interrupted, and if the vital signal jumps in the first preset time, considering that the communication of the wire control and movement system is normal; meanwhile, a line control motor fault signal is obtained, and if the line control motor fault signal is continuously 1 or the line control motor system communication is interrupted in a second preset time, the line control motor system is judged to be abnormal.
Optionally, the whole vehicle controller receives the message vital signal of the wire control and movement system every 10 milliseconds as a period, if the value of the vital signal received within 2 seconds is kept unchanged, the communication of the wire control and movement system is considered to be interrupted, and if one vital signal jump occurs within 2 seconds, the communication of the wire control and movement system is considered to be normal; meanwhile, the whole vehicle controller receives a line control dynamic fault signal through a CAN message, and if the line control dynamic fault signal is continuously 1 or the line control dynamic system communication is interrupted within 0.1 second, the whole vehicle controller judges that the line control dynamic system is abnormal, and the abnormal state is B.
S2, safety redundancy control of abnormal vehicles of the intelligent driving system:
after the vehicle enters the unmanned mode, if the vehicle controller judges that the current abnormal state is A and the abnormal state is not equal to B, namely the intelligent driving system of the vehicle is abnormal and the linear control braking system is normal, and then the vehicle is braked safely by combining the vehicle speed v and the steering angle of the steering wheel.
If the vehicle speed v is more than 40km/h, and the absolute value of the current vehicle steering angle is more than 60 degrees, namely |angle| >60 degrees:
setting the vehicle braking time to be 3 seconds, sending an active return instruction to the steer-by-wire system by the whole vehicle controller to execute vehicle steering wheel return, and simultaneously sending deceleration a= -1m/s 2 The brake-by-wire system is used for braking at a retarded speed, the whole vehicle controller starts timing, and after the steering wheel is returned, the absolute value of the steering angle of the vehicle is smaller than 15 degrees, namely |angle|<15 degrees, the whole vehicle controller sets the current vehicle speed as v1 and the timing time as t1, and the braking deceleration sent by the whole vehicle controller is
If the vehicle speed v is more than 40km/h, and the absolute value of the current vehicle steering angle is less than or equal to 60 degrees, namely the absolute value of the angle is less than or equal to 60 degrees:
the braking time of the vehicle is set to be 2.5 seconds, the current vehicle speed is set to be v2 by the whole vehicle controller, and the braking deceleration sent by the whole vehicle controller is set to be
If the vehicle speed is 20< v and less than or equal to 40km/h, and the absolute value of the current vehicle steering angle is larger than 100 degrees, namely |angle| >100 degrees:
setting the vehicle braking time to be 2 seconds, sending an active return instruction to the steer-by-wire system by the whole vehicle controller to execute vehicle steering wheel return, and simultaneously sending deceleration a= -1.2m/s 2 The brake-by-wire system is used for braking at a retarded speed, the whole vehicle controller starts timing, and after the steering wheel is returned, the absolute value of the steering angle of the vehicle is smaller than 20 degrees, namely |angle|<The whole vehicle controller sets the current vehicle speed as v3 and the timing time as t2 at 20 degrees, and the braking deceleration sent by the whole vehicle controller is
If the vehicle speed is 20< v less than or equal to 40km/h, and the absolute value of the current vehicle steering angle is less than or equal to 100 degrees, namely |angle| is less than or equal to 100 degrees:
the braking time of the vehicle is set to be 1.5 seconds, the current vehicle speed is set to be v4 by the whole vehicle controller, and the braking deceleration sent by the whole vehicle controller is set to be
If the vehicle speed v is less than or equal to 20km/h, the vehicle steering angle is not required to be judged:
the braking time of the vehicle is set to be 1 second, the current vehicle speed is set to be v5 by the whole vehicle controller, and the braking deceleration sent by the whole vehicle controller is set to beThe specific formula is as follows:
s3, controlling safety redundancy control of abnormal vehicles of the linear control motor system:
after the vehicle enters the unmanned mode, if the vehicle controller judges that the current abnormal state is B, namely the vehicle has abnormal linear control motor system, and then the vehicle is braked safely by combining the vehicle speed v and the steering angle of the steering wheel.
If the vehicle speed v is more than 30km/h, and meanwhile, the absolute value of the current vehicle steering angle is more than 80 degrees, namely |angle| >80 degrees:
setting the vehicle braking time to be 3 seconds, sending an automatic centering instruction to a steer-by-wire system by the whole vehicle controller to perform steering wheel centering of the vehicle, simultaneously sending braking torque T= -1000NM to the motor controller to perform retarding electric brake, starting timing by the whole vehicle controller, setting the current vehicle speed to be v6 by the whole vehicle controller after the steering wheel is centering, and setting the timing time to be T3, wherein the braking torque sent by the whole vehicle controller isWherein m is the mass of the whole vehicle, i is the main speed reduction ratio of the vehicle, and r is the radius of the tire;
if the vehicle speed v is more than 30km/h, and meanwhile, the absolute value of the current vehicle steering angle is less than or equal to 80 degrees, namely the absolute value of the angle is less than or equal to 80 degrees:
the braking time of the vehicle is set to be 2 seconds, the current vehicle speed is set to be v7 by the whole vehicle controller, and the braking torque sent by the whole vehicle controller is set to beWherein m is the mass of the whole vehicle, i is the main speed reduction ratio of the vehicle, and r is the radius of the tire;
if the vehicle speed v is less than or equal to 30km/h, the vehicle steering angle is not required to be judged:
the vehicle braking time is set to be 1 second, the vehicle controller sets the current vehicle speed to be v8, and the braking torque sent by the vehicle controller is set to beWherein m is the mass of the whole vehicle, and i is the main speed reduction ratio of the vehicleR is the tire radius. The specific formula is as follows:
s4, abnormal parking control of the vehicle system:
after the vehicle enters an unmanned mode, the whole vehicle controller judges that the intelligent driving system or the linear control braking system is abnormal, and after the vehicle is controlled to brake and stop, the vehicle exits from automatic driving control, meanwhile, the gear of the vehicle is controlled to be changed into a neutral gear, a parking instruction is sent to the electronic parking system for parking, and finally, an instruction for checking the vehicle is sent to an instrument to remind a driver of vehicle fault detection.
The method solves the problem of vehicle safety braking when the intelligent driving system or the line control braking system of the unmanned vehicle is abnormal, improves the safety and reliability of the whole intelligent driving system, and provides important technical support for further development of intelligent traffic technology. The method comprises the steps of judging abnormality of a vehicle system, controlling safety redundancy of an abnormal vehicle of an intelligent driving system, controlling safety redundancy of an abnormal vehicle of a linear control motor system and controlling abnormal parking of the vehicle system, and simultaneously combining current speed and steering wheel rotation angle by monitoring real-time states of the intelligent driving system and the linear control motor system.
Example 2:
the embodiment provides an intelligent driving passenger car safety redundant control system, which comprises:
a data acquisition module configured to: acquiring an intelligent driving system message and a line control and braking system message in an unmanned mode;
a judgment module configured to: judging whether the intelligent driving system and/or the linear control system is abnormal or not according to the intelligent driving system message and the linear control system message;
a brake control module configured to: if the intelligent driving system and/or the brake-by-wire system are abnormal, combining the vehicle speed and the steering angle of the steering wheel to perform vehicle safety braking; otherwise, the vehicle runs normally.
The working method of the system is the same as the intelligent driving bus safety redundancy control method of embodiment 1, and is not repeated here.
Example 3:
the present embodiment provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of the intelligent driving passenger car safety redundancy control method described in embodiment 1.
Example 4:
the embodiment provides an electronic device, which comprises a memory, a processor and a computer program stored on the memory and capable of running on the processor, wherein the steps of the intelligent driving bus safety redundancy control method described in the embodiment 1 are realized when the processor executes the program.
The above description is only a preferred embodiment of the present embodiment, and is not intended to limit the present embodiment, and various modifications and variations can be made to the present embodiment by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present embodiment should be included in the protection scope of the present embodiment.
Claims (10)
1. The intelligent driving passenger car safety redundancy control method is characterized by comprising the following steps of:
acquiring an intelligent driving system message and a line control and braking system message in an unmanned mode;
judging whether the intelligent driving system and/or the linear control system is abnormal or not according to the intelligent driving system message and the linear control system message;
if the intelligent driving system and/or the brake-by-wire system are abnormal, combining the vehicle speed and the steering angle of the steering wheel to perform vehicle safety braking; otherwise, the vehicle runs normally.
2. The intelligent driving passenger car safety redundancy control method according to claim 1, wherein an intelligent driving system message vital signal is acquired every preset period, if the vital signal value is maintained unchanged in a first preset time, the intelligent driving system communication is considered to be interrupted, and if vital signal jump occurs in the first preset time, the intelligent driving system communication is considered to be normal; meanwhile, an intelligent driving fault signal is obtained, and if the intelligent driving fault signal is continuously 1 or the communication of the intelligent driving system is interrupted within a second preset time, the intelligent driving system is judged to be abnormal.
3. The intelligent driving bus safety redundancy control method as set forth in claim 1, wherein a message vital signal of the wire control system is obtained in every preset period, if the vital signal value is maintained unchanged in a first preset time, the communication of the wire control system is considered to be interrupted, and if the vital signal jumps in the first preset time, the communication of the wire control system is considered to be normal; meanwhile, a line control motor fault signal is obtained, and if the line control motor fault signal is continuously 1 or the line control motor system communication is interrupted in a second preset time, the line control motor system is judged to be abnormal.
4. The intelligent driving passenger car safety redundancy control method according to claim 1, wherein after entering the unmanned mode, if the intelligent driving system is abnormal and the linear control motor system is normal, the vehicle safety braking is performed by combining the vehicle speed and the steering angle of the steering wheel.
5. The intelligent driving passenger car safety redundancy control method according to claim 4, wherein the control mode of the vehicle safety brake is as follows:
wherein a is braking deceleration; v1, v2, v3 and v4 are respectively the current vehicle speeds set in different states; t1, t2, t3 and t4 are timing times in different states; angle is the steering angle of the steering wheel; v is the vehicle speed.
6. The intelligent driving passenger car safety redundancy control method according to claim 4, wherein after entering the unmanned mode, if the brake-by-wire system is abnormal, the vehicle safety braking is performed by combining the vehicle speed and the steering angle of the steering wheel.
7. The intelligent driving passenger car safety redundancy control method according to claim 6, wherein the control mode of the vehicle safety brake is as follows:
wherein T is a braking torque; v6, v7 and v8 are the current vehicle speeds set in different states respectively; m is the mass of the whole vehicle; r is the tire radius; i is the main speed reduction ratio of the vehicle; angle is the steering angle of the steering wheel; v is the vehicle speed.
8. An intelligent driving passenger car safety redundant control system, which is characterized by comprising:
a data acquisition module configured to: acquiring an intelligent driving system message and a line control and braking system message in an unmanned mode;
a judgment module configured to: judging whether the intelligent driving system and/or the linear control system is abnormal or not according to the intelligent driving system message and the linear control system message;
a brake control module configured to: if the intelligent driving system and/or the brake-by-wire system are abnormal, combining the vehicle speed and the steering angle of the steering wheel to perform vehicle safety braking; otherwise, the vehicle runs normally.
9. A computer readable storage medium having stored thereon a computer program, characterized in that the program when executed by a processor realizes the steps of the intelligent driving passenger car safety redundancy control method according to any one of claims 1-7.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the intelligent driving bus safety redundancy control method of any one of claims 1-7 when the program is executed by the processor.
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| CN202311353414.8A CN117445938A (en) | 2023-10-18 | 2023-10-18 | Intelligent driving passenger car safety redundancy control method and system |
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| CN202311353414.8A CN117445938A (en) | 2023-10-18 | 2023-10-18 | Intelligent driving passenger car safety redundancy control method and system |
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