CN215244703U - Automatic driving vehicle with multiple safety redundancy mechanisms and automatic driving system - Google Patents
Automatic driving vehicle with multiple safety redundancy mechanisms and automatic driving system Download PDFInfo
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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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Abstract
The utility model provides an autopilot vehicle and autopilot system that possess multiple safe redundant mechanism belongs to the autopilot field. This automatic driving system includes main control unit, assists controller and vehicle control unit, and main control unit is arranged in each equipment lug connection with among the vehicle perception system, and vehicle perception system includes: the method comprises the following steps of combining a navigation system, a camera group, a laser radar group and a millimeter wave radar group, wherein the millimeter wave radar group comprises a forward millimeter wave radar and a backward millimeter wave radar; the auxiliary controller is used for being directly connected with at least the forward millimeter wave radar and the combined navigation; the main controller and the auxiliary controller are in communication connection, and the main controller and the auxiliary controller are in communication connection with the whole vehicle controller respectively. The automatic driving system is provided with a main controller and an auxiliary controller, the auxiliary controller can receive positioning data of combined navigation and sensing data of a forward millimeter wave radar, and the auxiliary controller can control the vehicle to safely stop according to the original track planning when the main controller fails, so that the automatic driving safety is ensured.
Description
Technical Field
The utility model relates to an autopilot vehicle and autopilot system that possess multiple safe redundant mechanism belongs to autopilot technical field.
Background
Autonomous vehicles have now begun to attempt operation in a limited area (campus, mine, scenic, airport, etc.) but still do not open up to full-scene autonomous driving, among other reasons the driving safety of autonomous vehicles. Once an automatic driving system fails or communication between the automatic driving system and a vehicle end chassis power domain fails, serious driving safety can be caused, so how to ensure the driving safety of the vehicle when the system or the communication fails is an urgent problem to be solved by the automatic driving system.
The conventional redundancy scheme of most current autonomous vehicles includes: the redundancy of the automatic driving main controller and the automatic driving auxiliary controller, the communication redundancy of the main control CAN and the auxiliary control CAN and the redundancy of a braking system. The redundancy of the automatic driving main controller and the automatic driving auxiliary controller is mainly that after the automatic driving main controller fails, the auxiliary controller takes over the vehicle to ensure the driving safety of the vehicle; the main control CAN and the auxiliary control CAN communication redundancy are mainly characterized in that after a main control CAN link is abnormal, the auxiliary control CAN is started to control the vehicle; brake system redundancy means that the vehicle uses two sets of brake systems, with the auxiliary brake system being activated immediately upon failure of the primary brake system.
However, even though the automatic driving system with the redundancy scheme still has many local disadvantages, there still exists a great safety risk: (1) at present, after a main controller fails, an auxiliary controller can directly brake a vehicle, but because the auxiliary controller cannot directly acquire vehicle sensing and positioning data, after the main controller fails, the auxiliary controller cannot acquire obstacle information in front of the vehicle and current position information of the vehicle, path planning cannot be performed, and great safety risk can exist when the vehicle is directly braked; (2) as a part of an intelligent network system, an automatic driving vehicle has only conventional vehicle control requirements, related functions such as display, remote scheduling, AR display, data storage, video data uploading and the like of the cloud of the automatic driving vehicle are gradually landed, the data transmission requirements of the vehicle are far greater than those of the conventional vehicle, and the conventional dual-CAN channel redundancy control cannot meet various data transmission requirements of the automatic driving vehicle; (3) at present, two sets of brake systems are generally used for realizing redundancy of the brake systems, the cost is higher, although redundancy control measures of a single brake system are provided, the conventional redundancy scheme of the single brake system can cause the problem of delay control due to switching of controllers, and unnecessary potential safety hazards are caused; (4) for an automatic driving vehicle, especially an automatic driving vehicle (unmanned) of a higher level, although the vehicle is controlled to safely stop when a problem occurs in an automatic driving system of the vehicle, the vehicle still stops on a road, a lot of operating vehicles exist on the road, a great safety risk exists, and how to quickly adjust a fault vehicle to a safe area is a problem which needs to be solved urgently.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an autopilot vehicle and autopilot system that possesses multiple safe redundant mechanism can be stopped according to original orbit planning safety by auxiliary control ware control vehicle when the main control unit of autopilot system became invalid.
In order to achieve the above object, the utility model provides an automatic driving system who possesses multiple safe redundant mechanism, automatic driving system includes main control unit, assists controller and vehicle control unit, and main control unit is arranged in each equipment lug connection with vehicle perception system, vehicle perception system includes: the method comprises the following steps of combining navigation, a camera group, a laser radar group and a millimeter wave radar group, wherein the millimeter wave radar group comprises a forward millimeter wave radar and a backward millimeter wave radar; the auxiliary controller is used for being directly connected with at least the forward millimeter wave radar and the combined navigation;
the main controller is in communication connection with the auxiliary controller, the main controller is in communication connection with the vehicle controller, and the auxiliary controller is in communication connection with the vehicle controller.
The automatic driving system has the advantages that: the automatic driving system is provided with a main controller and an auxiliary controller, the double controllers are mutually redundant and mutually monitor, the auxiliary controller can receive positioning data of combined navigation and sensing data of a forward millimeter wave radar, a path can be planned, and when the main controller fails, the auxiliary controller can control a vehicle to safely stop according to the original trajectory planning, so that the automatic driving running safety is further ensured.
Further, in the above automatic driving system with multiple safety redundancy mechanisms, a dual communication connection is provided between the main controller and the auxiliary controller, and the dual communication connection includes an ethernet communication connection and a CAN communication connection.
Further, in the above-mentioned autopilot system who possesses multiple safe redundant mechanism, be two communication connection between main control unit and the vehicle control unit, be two communication connection between supplementary controller and the vehicle control unit, two communication connection include ethernet communication connection and CAN communication connection.
The beneficial effects of doing so are: the dual-redundancy communication of the Ethernet and the CAN is supported, various data transmission requirements of the intelligent networked vehicle CAN be met, and the problem of out-of-control automatic driving caused by failure of a single communication mode CAN also be solved.
The utility model also provides an automatic driving vehicle with multiple safety redundancy mechanisms, which comprises a braking system, a steering system, an automatic driving system and a vehicle sensing system;
the vehicle perception system comprises: the method comprises the following steps of combining navigation, a camera group, a laser radar group and a millimeter wave radar group, wherein the millimeter wave radar group comprises a forward millimeter wave radar and a backward millimeter wave radar;
the automatic driving system comprises a main controller, an auxiliary controller and a vehicle control unit, wherein the main controller is directly connected with each device in the vehicle sensing system, and the auxiliary controller is at least directly connected with the forward millimeter wave radar and the integrated navigation;
the main controller is in communication connection with the auxiliary controller, the main controller is in communication connection with the whole vehicle controller, and the auxiliary controller is in communication connection with the whole vehicle controller; and the vehicle control unit is directly connected with the braking system and the steering system.
The beneficial effects of the automatic driving vehicle are that: (1) the automatic driving system is provided with a main controller and an auxiliary controller, the two controllers are redundant and monitor each other, the auxiliary controller can receive positioning data of combined navigation and sensing data of a forward millimeter wave radar and plan a path, and when the main controller fails, the auxiliary controller can control a vehicle to plan safe parking according to an original track, so that the automatic driving safety is further ensured; (2) the vehicle end vehicle control unit and the automatic driving system main and auxiliary controllers are mutually redundant, and even if the automatic driving system main and auxiliary controllers are integrally failed, the vehicle control unit can directly take over the vehicle and directly control the vehicle to stop.
Further, in the above-mentioned autonomous driving vehicle that possesses multiple safe redundant mechanism, be two communication connection between main control unit and the auxiliary control unit, two communication connection include ethernet communication connection and CAN communication connection.
Further, in the above-mentioned autonomous driving vehicle that possesses multiple safe redundant mechanism, be two communication connection between main control unit and the vehicle control unit, be two communication connection between supplementary controller and the vehicle control unit, two communication connection include ethernet communication connection and CAN communication connection.
The beneficial effects of doing so are: the dual-redundancy communication of the Ethernet and the CAN is supported between the automatic driving domain and the chassis power domain of the automatic driving vehicle, so that various data transmission requirements of intelligent networked vehicles CAN be met, and the out-of-control automatic driving caused by failure of a single communication mode CAN also be met.
Further, in the above autonomous driving vehicle with multiple safety redundancy mechanisms, the autonomous driving vehicle further includes an ethernet gateway, and the dual communication connection between the main controller and the vehicle controller is: the main controller is in Ethernet communication connection with the vehicle control unit through the auxiliary controller and the Ethernet gateway, and meanwhile, the main controller is in CAN communication connection with the vehicle control unit directly; the dual communication connection between the auxiliary controller and the vehicle control unit is as follows: the auxiliary controller is in Ethernet communication connection with the vehicle control unit through an Ethernet gateway, and meanwhile, the auxiliary controller is in CAN communication connection with the vehicle control unit directly.
Further, in the automatic driving vehicle with the multiple safety redundancy mechanisms, the main controller is in communication connection with a braking system CAN through the vehicle control unit, the main controller is also in direct communication connection with a steering system CAN, and the auxiliary controller is also in direct communication connection with the braking system and the steering system CAN respectively.
The beneficial effects of doing so are: the automatic driving vehicle also supports redundant control of a single brake system, the single brake system can simultaneously receive control messages sent by a main controller and an auxiliary controller of the automatic driving system and a vehicle control unit, the brake system preferentially responds to the control messages of the vehicle control unit when the control messages sent by different controllers are inconsistent, the control messages of the main controller and the auxiliary controller of the automatic driving system can be immediately responded once the vehicle control unit fails, and the problem of delayed control caused by switching of the controllers does not exist.
Further, in the above-mentioned autonomous vehicle with multiple safety redundancy mechanisms, the autonomous vehicle further includes an electronic parking system, and the vehicle control unit is directly connected to the electronic parking system.
The beneficial effects of doing so are: the autonomous vehicle supports dual brake system redundancy control.
Further, in the automatic driving vehicle with multiple safety redundancy mechanisms, the automatic driving vehicle further comprises a 5G-CPE device, and the vehicle control unit is connected with the remote cab through the 5G-CPE device.
The beneficial effects of doing so are: the automatic driving vehicle also supports a remote driving function, when the automatic driving system has problems, fault information can be transmitted to a remote driving cabin by using the 5G equipment, and the remote driving cabin takes over the vehicle and controls the vehicle to run to a safe area.
Drawings
FIG. 1 is an autonomous vehicle architecture diagram in an embodiment of an autonomous vehicle of the present invention;
fig. 2 is a schematic control diagram of the main controller in an embodiment of the autonomous vehicle according to the present invention taking over the control of the vehicle;
fig. 3 is a schematic control diagram of an auxiliary controller in an embodiment of the invention for taking over the control of the vehicle;
fig. 4 is a control schematic diagram of the vehicle control unit taking over the vehicle in the embodiment of the automatic driving vehicle of the present invention;
fig. 5 is a schematic diagram of brake redundancy control in an embodiment of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments.
Autonomous vehicle embodiment:
fig. 1 shows an autonomous vehicle (hereinafter, referred to as an autonomous vehicle) having multiple safety redundancy mechanisms according to the present embodiment, which includes: the system comprises a braking system, a steering system, an electronic parking system, a 5G-CPE device, an Ethernet gateway (the Ethernet gateway supports two communication modes of Ethernet and CAN), an automatic driving system and a vehicle sensing system.
The vehicle control unit is in charge of chassis and power control of a vehicle, the braking system and the steering system are both directly connected to the vehicle control unit (CAN communication connection), the electronic parking system is also directly connected to the vehicle control unit (hard-wired connection), and the vehicle control unit is connected with a remote cockpit through a 5G-CPE device.
The vehicle sensing system comprises a combined navigation system, a camera group, a laser radar group and a millimeter wave radar group, wherein the camera group comprises a forward short-distance camera, a forward middle-distance camera, a left rear camera, a right rear camera, a left front camera, a right front camera and a rear camera; the laser radar set includes: the system comprises a forward laser radar, a forward blind-patch laser radar, a right laser radar, a left laser radar and a backward laser radar; the millimeter wave radar group includes a forward millimeter wave radar and a backward millimeter wave radar.
The automatic driving system comprises a main controller (namely, an automatic driving main controller), an auxiliary controller (namely, an automatic driving auxiliary controller) and a vehicle control unit, wherein the combined navigation, the camera group, the laser radar group and the millimeter wave radar group are directly connected to the main controller, and the forward millimeter wave radar and the combined navigation are also directly connected to the auxiliary controller (CAN communication connection). As other implementation modes, the types and the number of the sensing devices connected with the auxiliary controller can be increased according to actual needs.
The system comprises a main controller, an auxiliary controller, a vehicle control unit, a vehicle monitoring system and a vehicle monitoring system, wherein the main controller is in double communication connection with the auxiliary controller; in fig. 1, the dual communication lines between the main controller and the auxiliary controller are: an ETH4 port of the main controller → an ETH1 port of the auxiliary controller (Ethernet communication connection), a CAN1 port of the main controller → a CAN1 or CAN5 port of the auxiliary controller (CAN communication connection); the double communication lines between the main controller and the vehicle controller are as follows: an ETH4 port of the main controller → an ETH1 port of the auxiliary controller → an NET0 port of the auxiliary controller → an NET2 port of the Ethernet gateway → an NET1 port of the Ethernet gateway → an NET1 port of the vehicle controller (Ethernet communication connection), a CAN1 port of the main controller → a CAN2 port of the vehicle controller (CAN communication connection); the double communication lines between the auxiliary controller and the vehicle controller are as follows: the NET0 port of the auxiliary controller → the NET2 port of the ethernet gateway → the NET1 port of the ethernet gateway → the NET1 port of the vehicle controller (ethernet communication connection), the CAN1 or CAN5 port of the auxiliary controller → the CAN2 port of the vehicle controller (CAN communication connection).
The main controller is also in communication connection with a braking system CAN through the whole vehicle controller (the line is CAN1 port of the main controller → CAN2 port of the whole vehicle controller → CAN1 port of the whole vehicle controller → the braking system), the main controller is also in direct communication connection with a steering system CAN (the line is CAN1 port of the main controller → steering system), and the auxiliary controller is also in direct communication connection with the braking system and the steering system CAN respectively (the line is CAN4 port of the auxiliary controller → the braking system, CAN1 or CAN5 port of the auxiliary controller → the steering system respectively).
It should be noted that: in this embodiment, the numbers of the CAN interface, the NET interface, and the suffix of the ETH interface are only written in fig. 1 as an example, and in practical application, the interface connection mode may be flexibly adjusted according to the actually selected controller type and the actually selected ethernet gateway type, as long as the communication connection mode between each component is ensured to be correct.
As shown in fig. 1, the secondary controller in this embodiment includes a single chip and a system chip, both of which have CAN interfaces and are redundant to each other. As another embodiment, the secondary controller may include only a single chip or only a system chip, as long as the secondary controller includes both a CAN interface and an ethernet interface.
The automatic driving vehicle of the embodiment has multiple safety redundancy mechanisms such as Ethernet and CAN redundancy communication, main and auxiliary controller redundancy control of an automatic driving system, redundancy control of the automatic driving system and a whole vehicle controller, redundancy control of a double braking system, redundancy control of a single braking system, 5G remote driving takeover and the like, CAN meet the safety requirements of the automatic driving vehicle under various failure conditions, and has good market application prospect.
The following describes in detail various redundancy mechanisms of the autonomous vehicle of the present embodiment:
ethernet and CAN redundant communication mechanism
As shown in fig. 2, the black arrow in the figure is an ethernet control loop of the main controller when the main controller takes over the vehicle, and the white arrow is a CAN control loop of the main controller when the main controller takes over the vehicle; as shown in fig. 3, black arrows in the figure are ethernet control loops of the auxiliary controller when the auxiliary controller takes over the vehicle, and white arrows are CAN control loops of the auxiliary controller when the auxiliary controller takes over the vehicle; as shown in fig. 4, a white arrow in the drawing is a CAN control loop of the vehicle controller when the vehicle controller takes over the vehicle; as shown in fig. 5, black arrows in the figure indicate ethernet control loops in the single-brake redundant control, and white arrows in the figure indicate CAN control loops in the single-brake redundant control.
As CAN be seen from fig. 2 to 5, dual redundant communication of ethernet and CAN is supported between the autonomous driving domain and the chassis power domain of the autonomous driving vehicle, which CAN not only meet various data transmission requirements of the intelligent networked vehicle, but also solve the problem of uncontrolled autonomous driving caused by failure of a single communication mode. Specifically, the requirements of cloud display, remote scheduling, AR display, data storage and the like of the vehicle can be transmitted to other sub-domains through the Ethernet, so that various data transmission requirements of the intelligent networked vehicle are met; for the vehicle control requirement, the vehicle control unit receives both Ethernet control information and CAN control information, but the CAN control information is used as the main part, when the CAN control information fails, the vehicle control unit immediately uses the Ethernet control information, and when the CAN control information is normal but the Ethernet control information is detected to fail, the automatic driving system limits the speed of the vehicle and reports the fault, so that the other communication mode CAN normally take over the vehicle when one communication mode fails, and the vehicle CAN be normally controlled to run.
Redundancy control mechanism for main controller and auxiliary controller of automatic driving system
With reference to fig. 2 and 3, the automatic driving system is configured with two redundant devices, namely a main controller and an auxiliary controller, and under a normal condition (see fig. 2), the main controller takes over a vehicle, the main controller makes a decision according to sensing data provided by a vehicle sensing system and transmits control information to a vehicle end chassis power domain through an ethernet and a CAN, the vehicle control unit controls a braking system and a steering system according to received control information sent by the main controller to realize normal running of the vehicle, and at the moment, the auxiliary controller only monitors a CAN command and ethernet data transmission issued by the main controller; when the main controller fails or two communication modes of the main controller and the vehicle-end chassis power domain fail (see fig. 3, x in fig. 3 represents failure), the auxiliary controller takes over the vehicle and enters a small decision (i.e. safe parking is planned according to the original track of the vehicle) according to positioning information provided by the integrated navigation and sensing data provided by the forward millimeter wave radar, then control information is transmitted to the vehicle-end chassis power domain through the Ethernet and the CAN, and the vehicle controller controls a braking system and a steering system according to the received control information sent by the auxiliary controller so that the vehicle CAN stably park according to the planned parking path.
Third, redundancy control mechanism of main controller, auxiliary controller and vehicle control unit of automatic driving system
In the automatic driving mode, the overall control of the vehicle is performed by the main and auxiliary controllers of the automatic driving system, when the main and auxiliary controllers of the automatic driving system fail in their entirety (see fig. 4, x in fig. 4 represents failure), the vehicle controller cannot receive the ethernet and CAN control information of the main and auxiliary controllers of the automatic driving system, and at this time, the vehicle controller will directly control the brake system to stop stably according to the current vehicle speed state (see the white arrow in fig. 4 for the control loop).
Four, double brake system redundancy control
As can be seen from fig. 5, the autonomous vehicle includes two sets of brake systems, i.e., a brake system and an electronic parking system, so that the autonomous vehicle can support redundant control of the dual brake system, and when one of the brake systems fails, the other brake system performs a vehicle braking function.
Five, single brake system redundancy control mechanism
As shown in fig. 5, black arrows in the figure indicate ethernet control loops in the single-brake redundant control, and white arrows in the figure indicate CAN control loops in the single-brake redundant control.
The automatic driving vehicle also supports redundant control of a single braking system, the braking system of the automatic driving vehicle can simultaneously receive control instructions issued by the vehicle control unit and the main and auxiliary controllers of the automatic driving system, and when the control instructions issued by the vehicle control unit and the main and auxiliary controllers of the automatic driving system are inconsistent, the control instruction issued by the vehicle control unit has high priority; when the control command of the whole vehicle controller cannot be received, the braking system immediately responds to the control command sent by the main controller and the auxiliary controller of the automatic driving system (the braking command sending line of the auxiliary controller is CAN4 port of the auxiliary controller → the braking system, and the braking command sending line of the main controller is CAN1 port of the main controller → CAN1 port of the auxiliary controller or CAN5 port of the auxiliary controller → CAN4 port of the auxiliary controller → the braking system, or ETH4 port of the main controller → ETH1 port of the auxiliary controller → CAN4 port of the auxiliary controller → the braking system), so that the delay control condition caused by the switching of the controllers does not exist, and the reliability of the whole automatic driving system is further ensured.
Sixth, remote driving function
As shown in fig. 1, the autonomous vehicle of the present embodiment is further provided with a 5G-CPE device supporting a remote driving function. The remote control cabin can be connected with a vehicle-end controller through the 5G-CPE to directly control a steering, braking and driving system of the vehicle-end. When the automatic driving system has problems, the fault can be uploaded to a remote driving cabin, and the remote driving cabin can directly take over the vehicle, so that the vehicle is controlled to run to a safe area, and the running safety is ensured.
In summary, the autonomous vehicle of the embodiment has the following advantages:
(1) the automatic driving system is provided with a main controller and an auxiliary controller, the two controllers are redundant and monitor each other, the auxiliary controller can receive positioning data of combined navigation and sensing data of a forward millimeter wave radar and plan a path, and when the main controller fails, the auxiliary controller can control a vehicle to plan safe parking according to an original track, so that the automatic driving safety is further ensured;
(2) the vehicle end vehicle controller and the automatic driving system are mutually redundant, and the vehicle controller can directly take over the vehicle and directly control the vehicle to stop even if the automatic driving system is integrally failed;
(3) the dual-redundancy communication of Ethernet and CAN is supported between the automatic driving domain and the chassis power domain of the automatic driving vehicle, so that various data transmission requirements of intelligent networked vehicles CAN be met, and the out-of-control automatic driving caused by failure of a single communication mode CAN be solved;
(4) the redundant control of a double-brake system is supported, the redundant control of a single-brake system is also supported, the single-brake system can simultaneously receive control messages issued by an automatic driving system and a vehicle control unit, the brake system preferentially responds to the control messages of the vehicle control unit when the control messages issued by different controllers are inconsistent, the control messages of the automatic driving system can be immediately responded once the vehicle control unit fails, and the problem of delayed control caused by switching of the controllers does not exist;
(5) and a remote driving function is also supported, and when the automatic driving system has a problem (such as the failure of the automatic driving system), fault information can be transmitted to a remote driving cabin by using the 5G equipment, and the remote driving cabin takes over the vehicle and controls the vehicle to drive to a safe area.
Automatic driving system embodiment:
the automatic driving system with multiple safety redundancy mechanisms in this embodiment is the same as the automatic driving system in the automatic driving vehicle embodiment, and is not described herein again.
Claims (10)
1. An automatic driving system with multiple safety redundancy mechanisms is characterized by comprising a main controller, an auxiliary controller and a vehicle control unit, wherein the main controller is used for being directly connected with each device in a vehicle sensing system, and the vehicle sensing system comprises: the method comprises the following steps of combining navigation, a camera group, a laser radar group and a millimeter wave radar group, wherein the millimeter wave radar group comprises a forward millimeter wave radar and a backward millimeter wave radar; the auxiliary controller is used for being directly connected with at least the forward millimeter wave radar and the combined navigation;
the main controller is in communication connection with the auxiliary controller, the main controller is in communication connection with the vehicle controller, and the auxiliary controller is in communication connection with the vehicle controller.
2. The autopilot system with multiple safety redundancy mechanisms of claim 1 wherein there is a dual communication connection between the primary controller and the secondary controller, the dual communication connection comprising an ethernet communication connection and a CAN communication connection.
3. The autopilot system with multiple safety redundancy mechanisms according to claim 1 or 2, characterized in that a dual communication connection is provided between the primary controller and the vehicle control unit, and a dual communication connection is provided between the secondary controller and the vehicle control unit, wherein the dual communication connection includes an ethernet communication connection and a CAN communication connection.
4. An autonomous vehicle with multiple safety redundancy mechanisms, comprising a braking system, a steering system, an autonomous system, and a vehicle sensing system;
the vehicle perception system comprises: the method comprises the following steps of combining navigation, a camera group, a laser radar group and a millimeter wave radar group, wherein the millimeter wave radar group comprises a forward millimeter wave radar and a backward millimeter wave radar;
the automatic driving system comprises a main controller, an auxiliary controller and a vehicle control unit, wherein the main controller is directly connected with each device in the vehicle sensing system, and the auxiliary controller is at least directly connected with the forward millimeter wave radar and the integrated navigation;
the main controller is in communication connection with the auxiliary controller, the main controller is in communication connection with the whole vehicle controller, and the auxiliary controller is in communication connection with the whole vehicle controller; and the vehicle control unit is directly connected with the braking system and the steering system.
5. The autonomous-capable vehicle of claim 4, wherein the primary controller and the secondary controller are communicatively coupled via a dual communication link, the dual communication link comprising an Ethernet communication link and a CAN communication link.
6. The autonomous-capable vehicle with multiple safety redundancy mechanisms of claim 4 or 5, wherein there is a dual communication connection between the primary controller and the vehicle controller, and there is a dual communication connection between the secondary controller and the vehicle controller, and the dual communication connections include an Ethernet communication connection and a CAN communication connection.
7. The autonomous-capable vehicle with multiple safety redundancy mechanisms of claim 6, further comprising an ethernet gateway, wherein the dual communication connection between the primary controller and the vehicle controller is: the main controller is in Ethernet communication connection with the vehicle control unit through the auxiliary controller and the Ethernet gateway, and meanwhile, the main controller is in CAN communication connection with the vehicle control unit directly; the dual communication connection between the auxiliary controller and the vehicle control unit is as follows: the auxiliary controller is in Ethernet communication connection with the vehicle control unit through an Ethernet gateway, and meanwhile, the auxiliary controller is in CAN communication connection with the vehicle control unit directly.
8. The autonomous-capable vehicle of claim 7, wherein the primary controller is further in communication with a braking system CAN via a vehicle controller, the primary controller is further in communication with a steering system CAN directly, and the secondary controller is further in communication with the braking system and the steering system CAN directly, respectively.
9. The autonomous-capable vehicle of claim 8, further comprising an electronic parking system, wherein the vehicle control unit is directly connected to the electronic parking system.
10. The autonomous-capable vehicle of claim 9, further comprising a 5G-CPE device, wherein the vehicle controller is coupled to the remote cockpit via the 5G-CPE device.
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| CN114104007A (en) * | 2022-01-28 | 2022-03-01 | 交通运输部公路科学研究所 | Minimum risk control strategy for automatic driving vehicle |
| CN114348020A (en) * | 2021-12-22 | 2022-04-15 | 东风悦享科技有限公司 | 5G remote and automatic driving safety redundancy system and control method |
| CN114604260A (en) * | 2022-05-11 | 2022-06-10 | 青岛慧拓智能机器有限公司 | Domain controller and domain control device for unmanned vehicle |
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