CN209683619U - The control system and automatic driving vehicle of automatic driving vehicle - Google Patents
The control system and automatic driving vehicle of automatic driving vehicle Download PDFInfo
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- CN209683619U CN209683619U CN201920124080.XU CN201920124080U CN209683619U CN 209683619 U CN209683619 U CN 209683619U CN 201920124080 U CN201920124080 U CN 201920124080U CN 209683619 U CN209683619 U CN 209683619U
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Abstract
The utility model embodiment provides the control system and automatic driving vehicle of a kind of automatic driving vehicle, wherein the control system of the automatic driving vehicle includes multiple controllers, gateway and multiple display equipment；Each controller is connect by gateway with multiple display equipment；Different display equipment is used to show the same operation information of automatic driving vehicle.The safety of vehicle can be improved in the utility model embodiment.
Description
Technical field
The utility model relates to the control system of technical field of transportation more particularly to a kind of automatic driving vehicle and automatically it drives
Sail vehicle.
Background technique
With the development of artificial intelligence and intelligent transport technology, automatic Pilot technology becomes the important of current automobile industry
Research direction.
In the automatic driving vehicle of current main-stream, controller usually passes through bus and display equipment in the control system of vehicle
Connection, to control the operation information that the display equipment shows the vehicle.
However, can make when the communication of display equipment failure or controller and display equipment room is broken down
The operation information of vehicle can not be shown, so that user can not know the operation information of the vehicle accurately and in time, so that with
Family can not carry out pilot steering control to vehicle in time, not can guarantee the safety of vehicle.
Utility model content
The utility model provides the control system and automatic driving vehicle of a kind of automatic driving vehicle, to improve automatic Pilot
The safety of vehicle.
The utility model provides a kind of control system of automatic driving vehicle, comprising: multiple controllers, gateway and multiple aobvious
Show equipment；
Each controller is connect by the gateway with multiple display equipment；Different display equipment is for showing that this is automatic
Drive the same operation information of vehicle.
In one implementation, the control system of automatic driving vehicle provided by the utility model further include:
Multiple actuators；Each controller also passes through the gateway and connect with multiple actuator.
In another implementation, which also directly connect with multiple actuator.
In one implementation, control system further include: multiple object detection sensors；The multiple target acquisition
Sensor, to detect the object of same target area；
Each controller is also sensed with multiple target acquisition and is connected.
In one implementation, in multiple object detection sensor, different target detection sensor is different detections
The sensor of technology.
In one implementation, object detection sensor are as follows: millimetre-wave radar sensor, imaging sensor or laser
Radar sensor.
In one implementation, in multiple controllers of the control system, the connection of every two controller；The every two control
Connection between device processed is used for transmission heartbeat monitor information.
In one implementation, multiple display equipment includes: at least one first display equipment；First display is set
Standby is car-mounted display equipment.
Optionally, which is following any: instrument board, vehicle device display screen, head up display, rearview mirror are aobvious
Show device.
In one implementation, multiple display equipment includes: at least one second display equipment；Second display is set
Standby is mobile terminal device.
A kind of automatic driving vehicle can also be provided in the utility model, which includes above-described any control
System processed.
The utility model embodiment provides the control system and automatic driving vehicle of a kind of automatic driving vehicle, wherein should
The control system of automatic driving vehicle includes: multiple controllers, gateway and multiple display equipment；Each controller by gateway with
Multiple display equipment；Different display equipment is used to show the same operation information of automatic driving vehicle.In the control system
Multiple controllers may be implemented to take over mutually, when a controller breaks down, can be connect by other any controllers
Pipe, to be controlled, guarantee automatic driving vehicle normally travel or complete secure parking；Since multiple display equipment can be same
When the case where showing the same operation information of vehicle, equipment fault is shown when one or shows the communication failure between equipment and controller
Under, other display equipment may also display the operation information, and family can be used timely and accurately to know that the operation information of vehicle is convenient for
In the case that the automatic Pilot of automatic driving vehicle goes wrong, timely adapter tube vehicle realizes pilot steering, guarantees vehicle safety.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodiment
Or attached drawing needed to be used in the description of the prior art does one and simply introduces, it should be apparent that, the accompanying drawings in the following description is
Some embodiments of the utility model, for those of ordinary skill in the art, in the premise of not making the creative labor property
Under, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is the structural schematic diagram of the control system embodiment one of automatic driving vehicle provided by the utility model；
Fig. 2 is the structural schematic diagram of the control system embodiment two of automatic driving vehicle provided by the utility model；
Fig. 3 is the structural schematic diagram of the control system embodiment three of automatic driving vehicle provided by the utility model.
Specific embodiment
It is practical new below in conjunction with this to keep the objectives, technical solutions, and advantages of the embodiments of the present invention clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
It should be noted that the term " first ", " second " in the utility model embodiment each section and attached drawing and "
Three " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so that the embodiments of the present invention described herein can be in addition to scheming herein
Sequence other than those of showing or describe is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
In cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units need not
Those of be limited to be clearly listed step or unit, but may include be not clearly listed or for these process, methods,
The other step or units of product or equipment inherently.
Functional module in block diagram involved in the following embodiments of the utility model is only functional entity, not necessarily must
It must be corresponding with physically separate entity.I.e., it is possible to realize these functional entitys using software form, or in one or more
It is realized in hardware module or integrated circuit real in these functional entitys or heterogeneous networks and/or processor and/or microcontroller
These existing functional entitys.
At present in the automatic driving vehicle of mainstream, the control system of vehicle is mostly with (controller local area network
(Controller Area Network, CAN) bus is the distributed connection scheme of backbone network, i.e. controller and various vehicles
It is communicated between equipment by CAN bus, controller sends instruction to various vehicle arrangements by CAN bus to realize phase
The function of answering.For example, controller is connect by bus with display equipment in the control system of vehicle, it is aobvious to control the display equipment
Show the operation information of the vehicle.When display equipment failure or controller and show that the communication of equipment room is broken down,
Meeting is so that the operation information of vehicle can not be shown in time, so that user can not know the operation information of the vehicle accurately and in time,
So that user can not carry out pilot steering control to vehicle in time, the safety of vehicle not can guarantee；Or controller is logical
It crosses to actuator or sensor and sends instruction to complete corresponding operation, if actuator or sensor failure, accordingly
Operation is unable to complete, and influences the safety of vehicle.
To solve the problems, such as that above-mentioned vehicle control system safety is lower, the utility model provides a kind of automatic driving vehicle
Control system, by the control system realize automatic driving vehicle various functions Safety Redundancy, guarantee traffic safety, make
Automatic driving vehicle safety with higher, meets the standard of vehicle volume production.
As follows respectively in connection with multiple examples to the control system of automatic driving vehicle provided by the embodiment of the utility model into
Row explanation.
Fig. 1 is the structural schematic diagram of the control system embodiment one of automatic driving vehicle provided by the utility model.The control
System processed can be the control system of electronic apparatus (Electrical and Electronic, EE), be also referred to as EE frame
Structure.As shown in Figure 1, the control system includes: controller 101, controller 102, gateway 103, display equipment 104, display equipment
105.Controller 101 and by gateway 103 with display equipment 104 and show equipment 105 connect, controller 102 pass through gateway 103
It is connect with display equipment 104 and display equipment 105.It shows equipment 104 and display equipment 105 can be different display equipment,
The different display equipment is used to show the same operation information of automatic driving vehicle.
In practical applications, control system may include multiple controllers, gateway and multiple display equipment；Each controller
It is connect by gateway with multiple display equipment, controller is used to send to display equipment and instruct so that display equipment is shown accordingly
Information；Different display equipment is used to show the same operation information of automatic driving vehicle.Gateway can be described as security gateway or in
Entreat gateway.Display equipment is alternatively referred to as display terminal.The operation information of vehicle is included at least one of vehicle operation
Information, it is exemplary, it may include at least one information such as speed, route, navigation, meter status in driving conditions, it can be with
Fault cues information including vehicle arrangement needs the prompting message etc. of user's Emergency Takeover.
Wherein, each controller can for a kind of vehicle-mounted electronic control unit (Electronic Control Unit,
ECU)。
It should be pointed out that the controller in the control system of automatic driving vehicle provided in this embodiment can be more
It is a, and it is not limited to controller 101 and controller 102 shown in above-mentioned Fig. 1, above-mentioned Fig. 1 is only a kind of possible example.Automatically
It drives in multiple controllers included by the control system of vehicle, each controller, controller 101 as shown in Figure 1 and control
Device 102 processed can be auto-pilot controller, that is, realize the controller of Function for Automatic Pilot.
Multiple controllers included by the control system of automatic driving vehicle, can active and standby controller each other, illustratively, the figure
Controller 101 and controller 102 shown in 1 can active and standby controllers each other.For example, controller 101 can be master controller, control
Device 102 processed can be preparation controller, alternatively, controller 101 is preparation controller, controller 102 is master controller.In automatic Pilot
Under normal operating conditions, that is, Function for Automatic Pilot normal operation of vehicle, master controller work, with each association in vehicle
Unit carries out the interaction of control instruction and/or status command, executes corresponding Function for Automatic Pilot.When master controller breaks down
And when can not achieve the control of Function for Automatic Pilot, by the function of preparation controller adapter tube master controller, guarantee that vehicle can continue to
Perhaps secure parking such as secure parking of driving a vehicle can comfortably stop for this lane or pulling over observing.When controller is multiple
When, each controller can be taken over mutually, to realize the Safety Redundancy of controller.
Optionally, multiple controller may include multiple isomery controllers, that is, use the controller of different control modes,
The different control mode can by different controller architectures, and/or, operating instruction of different controllers etc. realize.
For example, above controller 101 and controller 102 are the controller of isomery, in this way it is possible to prevente effectively from controller 101
With controller 102 because identical reason breaks down simultaneously, the safety of vehicle is further improved.
In practical applications, display equipment can be multiple, and multiple display equipment may include: the display of same type
Equipment may also comprise different types of display equipment.It is illustrated by taking two display equipment as an example shown in Fig. 1.It is multiple aobvious
Show in equipment, each display equipment there can be human-computer interaction interface (Human Machine Interface, abbreviation HMI), this is every
The status information of the status information and/or Function for Automatic Pilot of the automatic driving vehicle can be shown on the HMI of a display equipment.
That is, operation information shown by each display equipment can be the status information of the automatic driving vehicle and/or automatic
Drive the status information of function.For example, multiple display is set if catastrophe failure occur in controller, actuator and bus etc.
The standby adapter tube prompt information that can show Function for Automatic Pilot, to indicate user's adapter tube vehicle, i.e. instruction user carries out to vehicle
Carry out pilot steering；Multiple display equipment may also display the important safeties prompt informations such as lane change prompt, to inform use
Anticipation is made so that user understands the operating status of vehicle in time with the operation to Function for Automatic Pilot, to take in time in family
Vehicle carries out pilot steering.
When lane change or failure occurs in the process of moving in the automatic driving vehicle, the control in automatic driving vehicle is needed
Multiple display equipment in system processed are shown to be shown respectively, can from controller 101 or controller 102 by gateway 103 to aobvious
Show that equipment 104 and display equipment 105 send display control signal, so as to show change in display equipment 104 and display equipment 105
Road indicates information or failure indication information.Even if showing that equipment 104 breaks down, display equipment 105 remains to normally show, so that
User can recognize the operating status of vehicle, in time adapter tube vehicle, carry out pilot steering.
Optionally, display equipment 104 and display equipment 105 are two distinct types of display equipment, in this way, avoiding two
Display equipment is broken down due to identical, further improves the safety of vehicle.
Control system provided in this embodiment includes: multiple controllers, gateway and multiple display equipment；Each controller is logical
Gateway is crossed to connect with multiple display equipment；Different display equipment is used to show the same operation information of automatic driving vehicle.
Multiple controllers in this implementation may be implemented to take over mutually, can be by other any when a controller breaks down
Controller adapter tube, to be controlled, guarantee automatic driving vehicle normally travel or complete secure parking；Since multiple displays are set
The standby same operation information that can show vehicle simultaneously shows equipment fault when one or shows the communication between equipment and controller
In the case where failure, other display equipment may also display the operation information, and usable family can be accurately and in time from accurately obtaining
Know that the operation information of vehicle is convenient in the case where the automatic Pilot of automatic driving vehicle goes wrong, timely adapter tube vehicle carries out
Pilot steering control, guarantees the safety of vehicle.
On the basis of the above embodiments, in multiple display equipment can include: at least one first display equipment；First
Display equipment is car-mounted display equipment.In this way, user may make to understand automatic driving vehicle in time by car-mounted display equipment
Operation information.For example, multiple display equipment can include: multiple first display equipment such as instrument board, vehicle device display screen, come back
Display.In current most vehicle, instrument board, vehicle device display screen, head up display usually show different operations respectively
Information.And in the control system of the automatic driving vehicle of the application, instrument board, vehicle device display screen, the display that comes back, rearview mirror are aobvious
Show that device device can show the same operation information of the automatic driving vehicle simultaneously.That is, instrument board, vehicle device display screen, lift
Head display also shows same operation information in the case where showing corresponding information.It above are only the first display
Some possible display equipment of equipment, which can also be other unmentioned car-mounted display equipment.It is i.e. more
In a first display equipment, different first display equipment can show different operation informations, and in addition to this, this different the
It may also display the same operation information of the automatic driving vehicle in one display equipment.
Optionally, multiple display equipment in the system further include: at least one second display equipment；Second display equipment
For mobile terminal device, such as mobile phone, tablet computer etc..Second display equipment can be by wired connection interface, such as general string
Row bus (Universal Serial Bus, USB) interface, can also by wireless connection interface, such as by bluetooth or
WIFI is attached.In this way, the same operation information of automatic driving vehicle not only may be displayed on vehicle-mounted display equipment i.e. on
It states in the first display equipment, can also show that equipment is shown by mobile terminal device i.e. second, keep vehicle ride people timely
The operating status for recognizing vehicle further improves the safety of vehicle.
On the basis of embodiment shown in Fig. 1, a kind of control system of automatic driving vehicle is can also be provided in the utility model.
Fig. 2 is the structural schematic diagram of the control system embodiment two of automatic driving vehicle provided by the utility model.As shown in Fig. 2, should
On the basis of control system embodiment shown in Fig. 1 further include: actuator 201 and actuator 202, actuator 201 pass through gateway
103 connect with controller 101 and controller 102, are performed simultaneously device 201 and also directly connect with controller 101 and controller 102；
Actuator 202 is connect by gateway 103 with controller 101 and controller 102, be performed simultaneously device 202 also directly with controller 101
It is connected with controller 102.
In practical applications, which may include multiple actuators.Each controller can by gateway with it is multiple
Actuator connection.Gateway can be described as security gateway or central gateway.Controller is by sending instruction control actuator to actuator
Complete corresponding movement.
Each controller can also directly be connect with multiple actuator, which can be to be attached by bus.Often
A controller can be connect by gateway with multiple actuators, can also directly be connect with multiple actuator, be realized controller
The redundancy of connecting path between actuator, is effectively ensured vehicle safety.
Multiple actuator may include the actuator of following at least one type: for the actuator of braking, for accelerating
Actuator, the actuator for deceleration, and the actuator for steering etc..It is same type of multiple in multiple actuator
Actuator can be for for realizing the same isomery actuator for executing function, which can be in different ways
Realize the same actuator for executing function.The different mode can by the structure of different actuators, and/or, it is different
Control principle etc. is realized.
In automatic driving vehicle, controller needs to control actuator and executes corresponding movement, such as control accelerates to execute
Device realizes that the acceleration of automatic driving vehicle, control speed-down actuator realize that the acceleration-deceleration of automatic driving vehicle, control braking are held
Row device realizes that the braking of automatic driving vehicle, control turn to actuator and realize the various movements such as the steering of automatic driving vehicle, because
This actuator occurs frequently can lead to serious consequence when serious problems.User grasps in vehicle operation without the moment
Control, need to only keep at any time being capable of the progress pilot steering of adapter tube vehicle.
As shown in Fig. 2, actuator 201 and actuator 202 are used to execute same function, for example, actuator 201 is a set of
Braking system, actuator 202 is a set of and 201 isomery of actuator braking system, in this way it is possible to prevente effectively from 201 He of actuator
Actuator 202 breaks down simultaneously so that corresponding actions can not execute.When actuator 201 failure cause dysfunction or
When failure, actuator 202 adapter tube actuator 201 can be completed to act accordingly rapidly.
It is controlled between controller 101 and controller 102 and actuator 201 and actuator 202 except through gateway 103
Outside instruction and/or the interaction of status command, control instruction and state are also carried out by a set of individual standby bus and actuator
The interaction of instruction, standby bus are alternatively referred to as redundant bus, i.e., have two-way communication channel between controller and actuator.When logical
When something goes wrong, safety traffic or secure parking can be continued to execute by enabling standby bus in the principal communication channel for crossing gateway 103
Function.When principal communication channel works normally, controller 101 and controller 102 also can be sent and be received by standby bus
Concerned control command directly sends to actuator 201 and actuator 202 and executes control series, in this way, sending out in principal communication channel
When raw failure, it is ensured that standby bus can quick start adapter tube, and the state of standby bus can also be detected in time.
In the case where having two-way communication channel between controller and actuator, actuator can receive simultaneously passes through net
The instruction of pass and the two-way communication channel by standby bus.It can be there are two types of processing side to the instruction of this two-way communication channel
Formula, in a kind of mode, can in principal communication channels operation, although normal transmitting-receiving be executed instruction by what standby bus transmitted,
It is without any processing；In another mode, what comparable two kinds of communication channels obtained is executed instruction, and is carried out to executing instruction
Verification mutually, to guarantee that the accuracy of transmission of instruction is able to carry out corresponding security function when a failure occurs it.
When above-mentioned multiple actuators break down or when the communication failure of controller and actuator, can be mentioned above-mentioned
And multiple display equipment in show execute failure indication information so that user's timely learning execution indicating fault believe
Breath carries out pilot steering control convenient for timely adapter tube vehicle, guarantees the safety of vehicle.
Optionally, in the control system for not having central gateway or security gateway, it can also will pass through the connection of gateway
Replace with the connection by bus, the present embodiment is not specifically limited the type of bus, such as can for CAN bus or
FlexRay bus.
The control system of automatic driving vehicle provided in this embodiment, on the basis of embodiment shown in Fig. 1 further include: more
A actuator, each controller also pass through gateway and connect with multiple actuator.Each controller can also directly with it is multiple
Actuator connection.Wherein, gateway can be described as security gateway or central gateway.Multiple actuators can be executed at one in the system
The actuator is taken over when device breaks down, allow automatic driving vehicle continue safety traffic or can be with secure parking；Meanwhile
By the two-way communication channel between controller and actuator, the Safety Redundancy of communication channel is realized, improves the peace of vehicle
Quan Xing.
On the basis of the above embodiments, a kind of control system of automatic driving vehicle can also be provided in the utility model.Fig. 3
For the structural schematic diagram of the control system embodiment three of automatic driving vehicle provided by the utility model.As shown in figure 3, the control
It include: object detection sensor 301 and object detection sensor 302, target acquisition on the basis of system embodiment shown in Fig. 2
Sensor 301 is connect with controller 101 and controller 102, and object detection sensor 302 and controller 101 and controller 102 connect
It connects.
In practical applications, control system may include visiting for detecting multiple targets of the object of same target area
Survey sensor；Each controller connects multiple object detection sensor to obtain the detection number of each object detection sensor
According to.Optionally, the connection between different object detection sensors and controller can pass through different buses.Controller is used for
Instruction is sent to object detection sensor to obtain the detection data of object detection sensor.In Fig. 3 by taking two sensors as an example
It is illustrated.
Optionally, in multiple object detection sensor, different target detection sensor, i.e., for detecting same target area
The different target detection sensor of the object in domain can be the sensor of different Detection Techniques.This is used to detect same target area
The object detection sensor of the object in domain can for example be visited for the target for detecting the object that vehicle runs front region
Sensor is surveyed, alternatively, the object detection sensor of the object for detecting vehicle operation rear area, alternatively, for detecting
The object detection sensor of the object in vehicle side region.
Optionally, the type of object detection sensor can be millimetre-wave radar sensor, imaging sensor or laser thunder
Up to sensor.The above is only the examples of sensor type, rather than are defined to it.
Specifically, in the control system of automatic driving vehicle provided in this embodiment, controller 101 and controller 102
It can be separately connected the sensor of two kinds of different Detection Techniques of the target complex for detecting same target area, as shown in Figure 3
Object detection sensor 301 and object detection sensor 302.The object detection sensor 301 and object detection sensor 302
Such as can be the object detection sensor of the object for detecting vehicle operation front region, alternatively, for detecting vehicle
The object detection sensor of the object of rear area is run, alternatively, the target of the object for detecting vehicle side region domain
Detection sensor.Wherein, it can be camera shooting that object detection sensor 301, which can be millimetre-wave radar, object detection sensor 302,
Head；Or object detection sensor 301 is millimetre-wave radar, object detection sensor 302 is laser radar.
Object detection sensor 301 and object detection sensor 302 object to same target area can carry out simultaneously
Detection, guarantees the detection result that the object to same target area is obtained from two different information sources, master controller
If controller 101 can merge the result of two object detection sensors, verify mutually, to guarantee the standard of detection result
True property.Also, when catastrophe failure or failure occurs in a sensor, such as object detection sensor 301 breaks down nothing
Method feedback detection is as a result, controller 101 still is able to the detection result fed back by object detection sensor 302 to carry out accordingly
Control, guarantee automatic driving vehicle continues traveling or the vehicle operatings such as secure parking.
The control system of automatic driving vehicle provided in this embodiment further includes more on the basis of embodiment shown in Fig. 2
A object detection sensor；Each controller and multiple target acquisitions sensing connect.The control system is by connecting multiple targets
Detection sensor ensure that another object detection sensor still can when a kind of object detection sensor breaks down
It works normally to provide information required for auto-pilot controller, guarantees the safety of vehicle.Wherein, it is same as detecting same mesh
The different target detection sensor for marking the object in region can be the sensor of different Detection Techniques, can effectively ensure that same
The accuracy of the detection result of object, is effectively ensured vehicle safety in target area.
In the basis of any of the above-described embodiment, in multiple controllers of the control system of automatic driving vehicle, every two
There is connection between controller, the connection between the every two controller is used for transmission heartbeat monitor information.
Specifically, having privately owned communication bus all the way in every two controller, such as can be total for CAN bus or Ethernet
Line, it includes heartbeat monitor information, main system Sensing model etc. which, which is used to transmit between two controllers,
As a result.
May include a master controller in multiple controller, remaining controller all can be preparation controller, when the standby control
Device processed knows that the event such as crash, communication timeout occur occurs in master controller according to the heartbeat monitor information of the master controller received
When barrier, can by the control of the timely rapid pipe connecting automatic driving vehicle of a preparation controller, guarantee vehicle continue safety traffic or
Secure parking.One preparation controller can be any controller in remaining controller, alternatively, the base from remaining controller
In the selected controller of preset selection rule.It can be for example preset priority orders that this is preset, which to select rule,.
In order to guarantee the real-time and reliability of communication, master controller is master controller to automatic driving vehicle at work
When being controlled, preparation controller is still also at working condition, can also be sent by bus or gateway corresponding control instruction or
Status command.In this way, the communication channel that preparation controller controls vehicle is normal when preparation controller adapter tube vehicle；Or
It, can once the communication path communicated between preparation controller and each actuator of vehicle breaks down when master controller works
It is timely detected, to trigger the related security policies of system, executes corresponding security function, guarantee the peace of vehicle and occupant
Entirely.Before preparation controller adapter tube, the status information that actuator passes through in the instruction received determines the instruction that master controller issues,
And corresponding movement is completed according to the instruction that master controller issues.
If in multiple controller, when master controller is in running order, can control actuator connected to it,
To realize the control to automatic driving vehicle.In control process of the master controller to vehicle, it can be connected according to from the main controller
Above-mentioned object detection sensor acquired in detection data and other information of vehicles etc., actuator is controlled, simultaneously
The information in vehicle operation can be also obtained, and transmits it to the display equipment of master controller connection, to realize vehicle
The display of operation information.
When the master controller is in running order, preparation controller in multiple controller can by with master controller it
Between connection obtain the heartbeat monitor information of the master controller, and the master controller is supervised according to the heartbeat monitor information
Control, to determine the state of the master controller.Occur crashing when preparation controller determines master controller, the failures such as communication timeout occur
When, the control adapter tube of vehicle can be carried out, i.e., actuator connected to it is controlled by the preparation controller, to realize to certainly
The dynamic control for driving vehicle.
It should be noted that in control process of the preparation controller to vehicle, it can be above-mentioned according to being connected from the standby control device
Detection data acquired in object detection sensor and other information of vehicles etc., control actuator, while can also obtain
The information in vehicle operation is taken, and transmits it to the display equipment of preparation controller connection, to realize vehicle operation letter
The display of breath.
However, control of the master controller to vehicle, it can be identical with control of the preparation controller to vehicle, it can also be different.For example,
The master controller can be more than the parameter of sensor needed for vehicle control, and preparation controller is to sensor needed for vehicle control
Parameter；The master controller can be more than the control target of vehicle, control target of the preparation controller to vehicle；The master controller
To the control precision of vehicle, it can be higher than, control precision of the preparation controller to vehicle；The master controller to the control speed per hour of vehicle,
Preparation controller can be higher than to the control speed per hour of vehicle.Illustratively, in a specific example, control of the master controller to vehicle
Speed per hour is 120km/h, then the brake actuator in the actuator that master controller can be connected through is controlled, to realize vehicle
The secure parking that keeps to the side；When master controller failure, can be taken over by preparation controller, preparation controller can be by connecting it
The speed per hour that the speed-down actuator in actuator connect carries out control vehicle is 60km/h, also by the actuator that connects to it
Brake actuator is controlled, to realize the secure parking of vehicle.
It should be pointed out that above are only some control examples of the control system based on above-mentioned automatic driving vehicle, this Shen
Please limited not to this.
A kind of automatic driving vehicle can also be provided in the utility model.The automatic driving vehicle includes in any of the above embodiment
Automatic driving vehicle control system, which can pass through the control system and realize corresponding automatic Pilot function
Energy.
In the utility model embodiment unless specifically defined or limited otherwise, the terms such as term " connected ", " connection "
It shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or is integral；It can be mechanical connection,
It is also possible to be electrically connected or can communicate with each other；It can be directly connected, can also can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside two elements.It for the ordinary skill in the art, can be with
The concrete meaning of above-mentioned term in the present invention is understood as the case may be.
In addition, the terms "and/or", only a kind of incidence relation for describing affiliated partner, indicates may exist
Three kinds of relationships, for example, A and/or B, can indicate: individualism A exists simultaneously A and B, these three situations of individualism B.Separately
Outside, character "/" herein typicallys represent the relationship that forward-backward correlation object is a kind of "or".
Those of ordinary skill in the art will appreciate that: realize that all or part of the steps of above-mentioned each method embodiment can lead to
The relevant hardware of program instruction is crossed to complete.Program above-mentioned can be stored in a computer readable storage medium.The journey
When being executed, execution includes the steps that above-mentioned each method embodiment to sequence；And storage medium above-mentioned include: ROM, RAM, magnetic disk or
The various media that can store program code such as person's CD.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the utility model, rather than it is limited
System；Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should
Understand: it is still possible to modify the technical solutions described in the foregoing embodiments, or to some or all of
Technical characteristic is equivalently replaced；And these are modified or replaceed, it does not separate the essence of the corresponding technical solution, and this is practical new
The range of each embodiment technical solution of type.
Claims (11)
1. a kind of control system of automatic driving vehicle characterized by comprising multiple controllers, gateway and multiple displays are set
It is standby；
Each controller is connect by the gateway with the multiple display equipment；Different display equipment for show it is described from
The dynamic same operation information for driving vehicle.
2. system according to claim 1, which is characterized in that the control system further include: multiple actuators；
Each controller also passes through the gateway and connect with the multiple actuator.
3. system according to claim 2, which is characterized in that each controller also directly with the multiple actuator
Connection.
4. system according to any one of claim 1-3, which is characterized in that the control system further include: multiple mesh
Mark detection sensor；Object of the multiple object detection sensor to detect same target area；
Each controller is also sensed with the multiple target acquisition and is connected.
5. system according to claim 4, which is characterized in that in the multiple object detection sensor, different target is visited
Survey the sensor that sensor is different Detection Techniques.
6. system according to claim 4, which is characterized in that the object detection sensor are as follows: millimetre-wave radar sensing
Device, imaging sensor or laser radar sensor.
7. system according to any one of claim 1-3, which is characterized in that in the multiple controller, every two control
Device connection processed；Connection between the every two controller is used for transmission heartbeat monitor information.
8. system according to any one of claim 1-3, which is characterized in that the multiple display equipment includes: at least
One first display equipment；The first display equipment is car-mounted display equipment.
9. system according to claim 8, which is characterized in that the first display equipment is following any: instrument board, vehicle
Machine display screen, head up display, rearview mirror display.
10. system according to claim 8, which is characterized in that the multiple display equipment includes: that at least one is second aobvious
Show equipment；The second display equipment is mobile terminal device.
11. a kind of automatic driving vehicle characterized by comprising any control system in the claims 1-10.
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| CN201920124080.XU CN209683619U (en) | 2019-01-24 | 2019-01-24 | The control system and automatic driving vehicle of automatic driving vehicle |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113401148A (en) * | 2021-08-04 | 2021-09-17 | 阿波罗智联(北京)科技有限公司 | Control system of unmanned automobile and unmanned automobile |
| CN114237104A (en) * | 2021-12-02 | 2022-03-25 | 东软睿驰汽车技术（沈阳）有限公司 | Automatic driving area controller and vehicle |
| CN114880258A (en) * | 2022-05-26 | 2022-08-09 | 重庆长安汽车股份有限公司 | Intelligent driving interaction arbitration method, system, vehicle and storage medium |
| WO2022199696A1 (en) * | 2021-03-26 | 2022-09-29 | 华为技术有限公司 | Controller system and control method |
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2019
- 2019-01-24 CN CN201920124080.XU patent/CN209683619U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022199696A1 (en) * | 2021-03-26 | 2022-09-29 | 华为技术有限公司 | Controller system and control method |
| CN113401148A (en) * | 2021-08-04 | 2021-09-17 | 阿波罗智联(北京)科技有限公司 | Control system of unmanned automobile and unmanned automobile |
| CN114237104A (en) * | 2021-12-02 | 2022-03-25 | 东软睿驰汽车技术（沈阳）有限公司 | Automatic driving area controller and vehicle |
| CN114880258A (en) * | 2022-05-26 | 2022-08-09 | 重庆长安汽车股份有限公司 | Intelligent driving interaction arbitration method, system, vehicle and storage medium |
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