CN215475071U - Autonomous vehicle control system - Google Patents
Autonomous vehicle control system Download PDFInfo
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- CN215475071U CN215475071U CN202121419297.7U CN202121419297U CN215475071U CN 215475071 U CN215475071 U CN 215475071U CN 202121419297 U CN202121419297 U CN 202121419297U CN 215475071 U CN215475071 U CN 215475071U
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Abstract
The utility model discloses an automatic driving vehicle control system, comprising: a manual driving system; the automatic driving system comprises a domain controller, a driving control unit and a driving control unit, wherein the domain controller is connected with the manual driving system and is used for acquiring sensor information and outputting a control instruction; the central control system comprises a vehicle control unit, is connected with the automatic driving system and the manual driving system through a CAN bus network, and is used for receiving a control instruction and carrying out arbitration control output; and the whole vehicle execution system is connected with the central control system through a CAN bus network and is used for receiving the control information of the central control system and executing corresponding actions. The utility model carries out communication and control among all parts through the CAN bus network, and has the advantages of convenient control, simple wiring, high reliability and safety and strong anti-interference capability.
Description
Technical Field
The utility model relates to the field of automatic driving automobiles, in particular to an automatic driving vehicle control system.
Background
In recent years, various large enterprises have been actively engaged in research and development of autonomous driving systems, and various types of autonomous vehicles have been introduced in various fields. With the demand of automatically driving vehicles, the traditional vehicles need to be modified by wire control, the current mainstream modification mode is mainly the hard wire modification mode, namely the modification mode that the control system of the traditional vehicle is not changed, the wire control brake, the wire control steering, the wire control parking and the hard wire control of an accelerator, a brake, a gear, light and a vehicle door is adopted, the method has low coupling performance, is mutually independent, has certain control risk and complicated wiring harness modification with the traditional vehicle control system,
SUMMERY OF THE UTILITY MODEL
The present invention is directed to solving at least one of the problems of the prior art. Therefore, the utility model provides the automatic driving vehicle control system which CAN be connected with the automatic driving vehicle control system and the traditional vehicle control system through the whole vehicle controller by using the CAN bus network, and has the advantages of strong coupling, simple harness transformation, high reliability and high safety.
An autonomous vehicle control system according to an embodiment of the present invention includes: a manual driving system; the automatic driving system comprises a domain controller, a driving control unit and a driving control unit, wherein the domain controller is connected with the manual driving system and is used for acquiring sensor information and outputting a control instruction; the central control system comprises a vehicle control unit, is connected with the automatic driving system and the manual driving system through a CAN bus network, and is used for receiving a control instruction and carrying out arbitration control output; and the whole vehicle execution system is connected with the central control system through a CAN bus network and is used for receiving the control information of the central control system and executing corresponding actions.
The automatic driving vehicle control system provided by the embodiment of the utility model at least has the following beneficial effects: the automatic driving vehicle control system of the embodiment of the utility model takes the vehicle control unit as a central control unit, receives control and feedback signals of each component through the CAN bus network, carries out vehicle arbitration control, CAN play a role in enhancing control logic, simplifying control wire harness connection, being compatible with different automatic driving platforms and ensuring vehicle safety.
According to some embodiments of the utility model, the manual driving system comprises: the system comprises a central control screen, an automatic driving mode switch, a brake knob switch, a gear controller and a parking controller; wherein the automatic driving mode switch is connected with the domain controller through a hard wire; the brake knob switch is connected with the vehicle control unit through a hard wire; the central control screen, the gear controller and the parking controller are respectively connected with the domain controller and the whole vehicle controller through CAN lines and are used for displaying vehicle state information and outputting control instructions to a central control system.
According to some embodiments of the present invention, the vehicle control unit is configured to serve as a gateway for receiving, controlling and forwarding bus information of an associated CAN bus network.
According to some embodiments of the present invention, the vehicle execution system includes: the device comprises a vehicle body module, a braking system, a parking system, a steering system, a driving system and an air conditioning system.
According to some embodiments of the utility model, the vehicle body module is connected with the vehicle door and the lamp through a hard wire, and is used for receiving the light and the control command of the door, executing the command of the corresponding control command, and feeding back the execution state of the corresponding execution command.
According to some embodiments of the utility model, the brake system comprises a brake controller and a brake executing mechanism, and the brake controller is used for providing brake pressure for the vehicle, executing the brake control command output by the arbitration control of the vehicle control unit, and feeding back the relevant executing state of the current system.
According to some embodiments of the utility model, the parking system comprises a parking switch, a parking controller and a parking executing mechanism, and is used for executing a parking control command output by the arbitration control of the whole vehicle controller and responding to a parking instruction of the parking switch, and feeding back a relevant executing state of the current system.
According to some embodiments of the present invention, the steering system includes a steering controller and a steering actuator thereof, and is configured to execute a steering control command outputted by the overall controller in an arbitration control manner, and feed back a relevant execution state of the current system.
According to some embodiments of the utility model, the air conditioning system comprises an air conditioning controller, an air conditioning control panel and an air conditioning execution mechanism, and is used for realizing the functions of blowing, ventilation, refrigeration and heating in the whole vehicle, executing an air conditioning control instruction output by the whole vehicle controller, and feeding back the relevant execution state of the current system.
According to some embodiments of the present invention, the driving system includes a driving controller, a driving motor and a driving mechanism, and is configured to execute a vehicle driving control command outputted by the vehicle controller and feed back a relevant execution state of the current system.
Additional aspects and advantages of the utility model will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the utility model.
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The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of an automatic driving control system according to an embodiment of the present invention.
Fig. 2 is a circuit connection topology diagram of an automatic driving control system according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, the meaning of a plurality of means is one or more, the meaning of a plurality of means is two or more, and more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1, the utility model provides an automatic driving vehicle control system, which is connected with a traditional vehicle control system through a vehicle controller by using a CAN bus network, and has the advantages of strong coupling, simple harness transformation, high reliability and high safety.
Referring to fig. 1, an autonomous vehicle control system of an embodiment of the present invention includes: the system comprises an automatic driving system, a manual driving system, a central control system and a whole vehicle execution system.
The automatic driving vehicle control system is connected with each system through a CAN bus network, and control signals and feedback signals are transmitted on the CAN bus network. Thereby realizing automatic driving of the vehicle. The automatic driving system comprises a domain controller used for collecting information of related sensors of automatic driving to perform perception fusion, path planning and decision control. The central control system comprises a vehicle control unit which is used as a central control hub, receives, controls and forwards bus information of a related CAN bus network, receives a control instruction and carries out arbitration control output. The vehicle control unit is used as a central control unit, receives the relevant control signals, judges the vehicle control state and further carries out arbitration control on a vehicle execution system.
In some embodiments, the manual driving system includes a central control screen, an automatic driving mode switch, a brake knob switch, a gear controller, a parking controller, etc., without an accelerator pedal, without a steering wheel.
In some embodiments, the central control screen is used for displaying vehicle state information and outputting control instructions of light, an air conditioner and a vehicle door, and the related control instructions are sent to the vehicle control unit for arbitration control output.
In some embodiments, the gear controller is used for receiving a gear control requirement of a driver, sending a required gear signal to the vehicle control unit through the CAN bus network for receiving, and the vehicle control unit receives the gear control requirement and determines whether the vehicle CAN meet the gear control requirement according to the vehicle state.
In some embodiments, the vehicle execution system includes a body module, a brake system, a parking system, a steering system, a drive system, an air conditioning system, and the like.
In some embodiments, the vehicle body module is used for receiving the control commands of the light and the door, executing the command of the corresponding control command, and feeding back the execution state of the corresponding execution command.
In some embodiments, the brake system comprises a brake controller and a brake executing mechanism, and the brake controller is used for providing brake pressure for the vehicle, executing brake control commands output by the arbitration control of the vehicle controller and feeding back the related executing state of the current system.
In some embodiments, the parking system comprises a parking switch, a parking controller and a parking executing mechanism, and can realize the action of locking and releasing tires of the vehicle. The system is used for executing a parking control command output by the arbitration control of the whole vehicle controller, responding to a parking command of a switch and feeding back the relevant execution state of the current system.
In some embodiments, the steering system includes a steering controller and a steering actuator thereof, and can control the steering power, the steering angle and the steering angular velocity. The system is used for executing the steering control command output by the arbitration control of the whole vehicle controller and feeding back the relevant execution state of the current system.
In some embodiments, the air conditioning system includes an air conditioning controller, an air conditioning control panel, and an air conditioning execution mechanism, and implements functions of blowing, ventilating, cooling, and heating in the vehicle, and is used for executing an air conditioning control command output by the vehicle controller in an arbitration control manner, responding to the air conditioning control command, and feeding back a relevant execution state of the current system.
In some embodiments, the driving system includes a driving controller, a driving motor, and a driving mechanism, and implements the functions of forward, backward, and feedback of the vehicle, so as to execute the vehicle driving control command output by the vehicle controller and feed back the related execution state of the current system.
According to the automatic driving vehicle control system disclosed by the embodiment of the utility model, in a manual mode, the central control system receives instruction information of a manual driving system, and the instruction information is judged by arbitration of information of the whole vehicle, so that a vehicle body module, a parking system, a braking system, a steering system, a driving system, an air conditioning system and the like are controlled.
The automatic driving vehicle control system of the embodiment of the utility model enters the automatic driving mode of the vehicle through the automatic driving mode switch of the hard wire input signal and the automatic driving mode request of the domain controller, and the central control system receives the instruction information of the automatic driving system and controls the vehicle body module, the parking system, the braking system, the steering system, the driving system, the air conditioning system and the like through the arbitration judgment of the information of the whole vehicle.
In some embodiments, the output control instructions of the domain controller include: steering control, brake control, parking control, throttle control, light control, air conditioner control, car door control, gear control and the like.
The automatic driving vehicle control system of the embodiment of the utility model takes the vehicle control unit as a central control unit, receives control and feedback signals of each component through the CAN bus network, carries out vehicle arbitration control, CAN play a role in enhancing control logic, simplifying control wire harness connection, being compatible with different automatic driving platforms and ensuring vehicle safety.
Referring to fig. 2, a system CAN topology structure diagram according to an embodiment of the present invention is shown in the figure. The intelligent controller is connected with the automatic driving system gateway through the intelligent driving CAN; the line control CAN is connected with a line control brake, a line control parking, a line control steering and an automatic driving gateway; the drive-by-wire steering is connected with the 12 and 2 interfaces of the OBD diagnosis port, and the 11 and 3 interfaces of the OBD diagnosis port are connected with the MCU and the VCU through the power CAN; the 14 and 6 interfaces of the OBD diagnosis port are connected with a BMS, an insulation detector, a relay control panel, a DC-DC, an electronic hand brake switch, a 10-inch control panel, a vehicle body control module, a gear controller, a tire pressure detector, an ATS, a hydraulic ABS, an air conditioner and a remote terminal through a whole vehicle CAN.
Correspondingly, the control method for the automatic driving vehicle control system comprises a vehicle manual driving control method and an automatic driving control method. The vehicle is powered on to enter manual driving control of the vehicle by default, and the vehicle controller controls corresponding parts of the vehicle by receiving manual driving system information; and when the automatic driving mode switch is effective and the automatic driving mode request of the domain controller is effective, the vehicle controller is switched to the automatic driving mode, receives a vehicle control instruction of the domain controller and controls corresponding parts of the vehicle.
The method further comprises the following steps: when the vehicle control unit controls the steering system, the arbitration control method comprises the following steps:
when the vehicle enters an automatic driving mode, the vehicle controller responds to a steering control instruction of the domain controller to control a steering system to enter the automatic mode and control a steering angle and an angular speed;
when the vehicle exits the automatic driving mode, the vehicle controller controls the steering system to enter a steering power-assisted mode, and the steering wheel is manually controlled to control the steering angle and the angular speed;
when the steering system is in an automatic mode, the steering system exits the automatic mode when the manual intervention is detected, and the vehicle control unit does not respond to a steering control instruction of the domain controller;
when the vehicle controller detects that the communication of the steering system is overtime or the control response is inconsistent, the vehicle controller outputs a steering power-assisted mode instruction, and the vehicle gives an alarm and stops.
The method further comprises the following steps: when the vehicle control unit controls the braking system, the arbitration control method comprises the following steps:
when the manual brake opening degree signal is not zero, the vehicle control unit preferentially responds to the manual brake opening degree signal and controls the driving system to output corresponding brake force in any mode;
when the manual brake opening degree signal is zero, the vehicle is in a manual mode, the vehicle controller responds to the manual brake opening degree signal, and the vehicle is in an automatic driving mode, the vehicle controller responds to a braking instruction request of the domain controller and controls the braking system to output corresponding braking force;
when the braking system does not respond to the braking instruction of the vehicle control unit, the vehicle control unit gives an alarm and controls the parking system to perform emergency parking;
when the vehicle control unit detects that the communication of the braking system is overtime, the vehicle control unit gives an alarm and prohibits driving.
The method further comprises the following steps: when the vehicle control unit controls the parking system, the arbitration control method comprises the following steps:
in the manual mode, the parking system responds to a parking switch signal and a parking instruction signal of the whole vehicle controller;
in the automatic driving mode, the vehicle controller responds to a parking instruction signal of the domain controller;
when the brake system has a control response problem and the brake control is overtime, the whole vehicle controller controls the parking system to carry out emergency parking.
And when the vehicle control unit detects that the communication of the parking system is overtime, the vehicle control unit gives an alarm.
The method further comprises the following steps: when the vehicle control unit controls the driving system, the arbitration control method comprises the following steps:
when the vehicle is in a manual mode, after the vehicle is electrified Ready, the vehicle is in a non-neutral gear, the brake opening signal is zero and the hand brake is not pulled, the whole vehicle controller simulates the output of an accelerator to control a driving system to enable the vehicle to move forward or backward, and when the output of the accelerator is zero or the brake opening signal is not zero, the driving system is controlled to enter a feedback mode to recover electric brake energy;
when the vehicle is in an automatic driving mode and the vehicle is electrified Ready, the vehicle control unit receives a gear, accelerator and brake command of the domain controller and controls the driving system to drive and generate power.
When the driving system or the whole vehicle control system gives a fault alarm, the whole vehicle controller controls the driving system to output limited power or prohibit output according to the alarm level.
When the vehicle control unit detects that the communication of the driving system is overtime, the vehicle control unit gives an alarm and prohibits driving.
The method further comprises the following steps: when the vehicle control unit controls the vehicle body module, the arbitration control method comprises the following steps:
when the light of the vehicle body module is controlled, in an automatic driving mode, the vehicle control unit responds to light control instructions of the central control screen and the domain controller, and as long as the corresponding instructions change, the vehicle control unit controls the vehicle body module to change the corresponding light; in the manual mode, the vehicle control unit responds to a light control instruction of the central control screen and controls the vehicle body module to perform corresponding light change.
When the vehicle is in a static state and the door of the vehicle body module is controlled, in an automatic driving mode, the vehicle control unit responds to the door control instruction of the central control screen and the domain controller, and as long as the corresponding instruction changes, the vehicle control unit controls the vehicle body module to change the corresponding door; in the manual mode, the vehicle control unit responds to a vehicle door control instruction of the central control screen and controls the vehicle body module to change the corresponding vehicle door.
When the vehicle is in a running state, the vehicle control unit prohibits the vehicle door module from controlling to open the vehicle door.
When the vehicle control unit detects that the vehicle body module signal is overtime or the vehicle body module is in fault, the vehicle control unit gives an alarm.
The method further comprises the following steps: when the vehicle control unit controls the air conditioning system, the arbitration control method comprises the following steps:
in the automatic driving mode, the vehicle control unit responds to air conditioner control instructions of a central control screen and a domain controller, and as long as corresponding instructions change, the vehicle control unit controls the air conditioner system to change corresponding modes;
in the manual mode, the vehicle control unit responds to an air conditioner control instruction of the central control screen to control the air conditioning system to change the corresponding mode.
And when the vehicle control unit detects that the signal of the air conditioning system is overtime or the air conditioning system is in failure, the vehicle control unit gives an alarm.
The method further comprises the following steps: the arbitration control method of the gear control of the vehicle comprises the following steps:
and in the automatic driving mode, the vehicle controller responds to the gear request of the domain controller so as to control the vehicle to enter a corresponding gear.
And in the manual mode, the vehicle controller responds to a gear request of the gear controller so as to control the vehicle to enter a corresponding gear.
When the gears are switched, the whole vehicle controller needs to detect a braking request to allow the whole vehicle to enter the corresponding gears
The control method applied to the automatic driving vehicle control system carries out arbitration control by using the vehicle control unit as a central controller, can respond to the control requirements of different parts in time, avoids response conflict and responds in time, is compatible with control instructions of different systems, and ensures vehicle safety.
Although specific embodiments have been described herein, those of ordinary skill in the art will recognize that many other modifications or alternative embodiments are equally within the scope of this disclosure. For example, any of the functions and/or processing capabilities described in connection with a particular device or component may be performed by any other device or component. In addition, while various illustrative implementations and architectures have been described in accordance with embodiments of the present disclosure, those of ordinary skill in the art will recognize that many other modifications of the illustrative implementations and architectures described herein are also within the scope of the present disclosure.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (10)
1. An autonomous vehicle control system, comprising:
a manual driving system;
the automatic driving system comprises a domain controller, a driving control unit and a driving control unit, wherein the domain controller is connected with the manual driving system and is used for acquiring sensor information and outputting a control instruction;
the central control system comprises a vehicle control unit, is connected with the automatic driving system and the manual driving system through a CAN bus network, and is used for receiving a control instruction and carrying out arbitration control output;
and the whole vehicle execution system is connected with the central control system through a CAN bus network and is used for receiving the control information of the central control system and executing corresponding actions.
2. The autonomous-capable vehicle control system of claim 1, wherein the manual driving system comprises: the system comprises a central control screen, an automatic driving mode switch, a brake knob switch, a gear controller and a parking controller;
wherein the automatic driving mode switch is connected with the domain controller through a hard wire;
the brake knob switch is connected with the vehicle control unit through a hard wire;
the central control screen, the gear controller and the parking controller are respectively connected with the domain controller and the whole vehicle controller through CAN lines and are used for displaying vehicle state information and outputting control instructions to a central control system.
3. The autonomous-capable vehicle control system of claim 1, wherein the vehicle controller is configured to act as a gateway to receive, control, and forward bus information associated with the CAN bus network.
4. The autonomous-capable vehicle control system of claim 1, wherein the full vehicle actuation system comprises: the device comprises a vehicle body module, a braking system, a parking system, a steering system, a driving system and an air conditioning system.
5. The autonomous-capable vehicle control system of claim 4, wherein the body module is connected to the vehicle door and the lamp by a hard wire, and is configured to receive a light and a control command of the door, execute a command corresponding to the control command, and feed back an execution status of the corresponding execution command.
6. The autonomous-driving vehicle control system of claim 4, wherein the brake system comprises a brake controller and a brake actuator, and the brake controller is used for providing brake pressure for the vehicle, executing the brake control command output by the vehicle control arbitration and feeding back the related execution state of the current system.
7. The automatic driving vehicle control system according to claim 4, wherein the parking system comprises a parking switch, a parking controller and a parking executing mechanism, and is used for executing a parking control command output by the vehicle controller in an arbitration control manner and responding to a parking command of the parking switch, and feeding back a relevant executing state of the current system.
8. The automatic driving vehicle control system according to claim 4, wherein the steering system comprises a steering controller and a steering executing mechanism thereof, and is used for executing the steering control command output by the vehicle control arbitration control and feeding back the relevant executing state of the current system.
9. The automatic driving vehicle control system of claim 4, wherein the air conditioning system comprises an air conditioning controller, an air conditioning control panel and an air conditioning actuator, and is configured to implement functions of blowing, ventilating, cooling and heating in the vehicle, execute an air conditioning control command output by the vehicle control unit, and feed back a relevant execution state of the current system.
10. The autonomous-driving vehicle control system of claim 4, wherein the driving system comprises a driving controller, a driving motor and a driving mechanism, and is configured to execute the vehicle driving control command outputted by the vehicle control unit and feed back the relevant execution state of the current system.
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| CN202121419297.7U CN215475071U (en) | 2021-06-24 | 2021-06-24 | Autonomous vehicle control system |
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| CN202121419297.7U CN215475071U (en) | 2021-06-24 | 2021-06-24 | Autonomous vehicle control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407856A (en) * | 2022-02-14 | 2022-04-29 | 一汽解放汽车有限公司 | Vehicle braking method and system |
| CN114792477A (en) * | 2022-06-17 | 2022-07-26 | 坤泰车辆系统(常州)股份有限公司 | Parking method and system based on traffic light signal induction |
-
2021
- 2021-06-24 CN CN202121419297.7U patent/CN215475071U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114407856A (en) * | 2022-02-14 | 2022-04-29 | 一汽解放汽车有限公司 | Vehicle braking method and system |
| CN114407856B (en) * | 2022-02-14 | 2023-08-18 | 一汽解放汽车有限公司 | Vehicle braking method and system |
| CN114792477A (en) * | 2022-06-17 | 2022-07-26 | 坤泰车辆系统(常州)股份有限公司 | Parking method and system based on traffic light signal induction |
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