EP4309014A1 - Control system, vehicle-mounted control apparatus and autonomous vehicle - Google Patents

Control system, vehicle-mounted control apparatus and autonomous vehicle

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Publication number
EP4309014A1
EP4309014A1 EP22723537.1A EP22723537A EP4309014A1 EP 4309014 A1 EP4309014 A1 EP 4309014A1 EP 22723537 A EP22723537 A EP 22723537A EP 4309014 A1 EP4309014 A1 EP 4309014A1
Authority
EP
European Patent Office
Prior art keywords
vehicle
control apparatus
autonomous driving
autonomous
remote control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP22723537.1A
Other languages
German (de)
French (fr)
Inventor
Guangrong Fang
Junhong Li
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Valeo Electrification SAS
Original Assignee
Valeo Systemes de Controle Moteur SAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Valeo Systemes de Controle Moteur SAS filed Critical Valeo Systemes de Controle Moteur SAS
Publication of EP4309014A1 publication Critical patent/EP4309014A1/en
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0055—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols

Definitions

  • Embodiments of the present disclosure generally relate to a control system, a vehicle-mounted control apparatus, and an autonomous driving control apparatus for an autonomous vehicle, and an autonomous vehicle.
  • An improved control system and corresponding apparatuses are provided, which have the advantages of high safety, simple architectures, and convenient application and can be applied to an unmanned delivery vehicle.
  • the present disclosure provides, in an exemplary aspect, a control system for an autonomous vehicle, especially for an unmanned delivery vehicle.
  • the control system includes a vehicle-mounted control apparatus configured to perform interaction of a remote control signal with a remote control apparatus through a wireless communication network, to implement remote control of the remote control apparatus over at least a powertrain system and a safety system of the autonomous vehicle.
  • the control system further includes an autonomous driving control apparatus configured to directly perform interaction of an autonomous driving control signal with the safety system of the autonomous vehicle through a controller area network for autonomous driving, to reduce a response delay of the safety system and to implement autonomous driving control of the autonomous driving control apparatus over the safety system when control of the vehicle-mounted control apparatus fails.
  • the autonomous driving control apparatus is further configured to perform interaction of an autonomous driving control signal with the vehicle-mounted control apparatus through the controller area network for autonomous driving, to implement autonomous driving control of the autonomous driving control apparatus over at least the powertrain system of the autonomous vehicle.
  • the vehicle-mounted control apparatus is further configured to prioritize processing of the remote control signal over processing of the autonomous driving control signal, to implement prioritized control of the remote control apparatus over at least the powertrain system of the autonomous vehicle over the autonomous driving control apparatus.
  • the vehicle-mounted control apparatus is further configured to perform verification and authorization on the remote control apparatus for remote control over the powertrain system and the safety system of the autonomous vehicle on which the vehicle-mounted control apparatus is mounted.
  • the safety system includes at least one of a steering assembly, a braking assembly, and a parking assembly.
  • the powertrain system includes at least one of a battery assembly, a DC-DC converter, and a motor assembly.
  • the present disclosure provides, in another exemplary aspect, a vehicle-mounted control apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle.
  • the vehicle-mounted control apparatus is configured to perform interaction of a remote control signal with a remote control apparatus through a wireless communication network, to implement remote control of the remote control apparatus over at least a powertrain system and a safety system of the autonomous vehicle.
  • the present disclosure provides, in another exemplary aspect, an autonomous driving control apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle.
  • the autonomous driving control apparatus is configured to directly perform interaction of an autonomous driving control signal with a safety system of the autonomous vehicle through a controller area network for autonomous driving, to implement direct autonomous driving control of the autonomous driving control apparatus over the safety system and also to reduce a response delay of the safety system.
  • an autonomous vehicle especially an unmanned delivery vehicle, which includes the control system, the vehicle-mounted control apparatus, and the autonomous driving control apparatus as described above.
  • FIG. 1 is a diagram of a structure principle of an autonomous vehicle according to an exemplary embodiment of the present application
  • FIG. 2 is a diagram of a working principle of a remote control apparatus and a vehicle-mounted control apparatus for a powertrain system and a safety system of an autonomous vehicle in a working mode of remote control according to an exemplary embodiment of the present application;
  • FIG. 3 is a diagram of a working principle of an autonomous driving control apparatus and a vehicle-mounted control apparatus for a powertrain system and a safety system of an autonomous vehicle in a working mode of autonomous driving control according to an exemplary embodiment of the present application.
  • connection or “connected” and variations thereof are not limited to a physical or mechanical connection, but may include an electrical connection, whether directly or indirectly.
  • wireless communication refers to long-range transmission communication between a plurality of nodes without using a conductor or a cable, which is opposite to wired communication, and can be performed by means of radio, etc.
  • the wireless communication may include various stationary, mobile, and portable applications.
  • controller area network refers to a serial communication network for a vehicle that can effectively support a distributed control system.
  • FIG. 1 is a diagram of a structure principle of an autonomous vehicle according to an exemplary embodiment of the present application.
  • an autonomous vehicle 10 may be, for example, an unmanned delivery vehicle or a delivery robot.
  • the autonomous vehicle 10 includes a control system 100, and the control system may include a vehicle-mounted control apparatus 110 and an autonomous driving control apparatus 140.
  • FIG. 2 and FIG. 3 respectively show two working modes of the control system according to exemplary embodiments of the present application.
  • FIG. 2 is an exemplary diagram of a working principle of a remote control apparatus 120 and the vehicle-mounted control apparatus 110 for a powertrain system and a safety system of the autonomous vehicle in a remote control mode.
  • FIG. 3 is an exemplary diagram of a working principle of the autonomous driving control apparatus 140 and the vehicle- mounted control apparatus 110 for a powertrain system and a safety system of the autonomous vehicle in an autonomous driving control mode.
  • the vehicle-mounted control apparatus 110 may be connected to various assemblies of a powertrain system 12 of a vehicle, including, for example, a battery assembly, a DC-DC converter, and a motor assembly, or the vehicle-mounted control apparatus 110 may be connected to various assemblies of a safety system 14 of the vehicle, including, for example, a steering assembly, a braking assembly, and a parking assembly.
  • the "connection" may be an electrical connection, or may be a wired and/or wireless communication connection.
  • the vehicle-mounted control apparatus 110 may perform interaction of a remote control signal with the remote control apparatus 120 through a wireless communication network 130, to implement remote control of the remote control apparatus over at least the assemblies of the powertrain system 12 and the assemblies of the safety system 14 of the vehicle. It can be understood that the remote control apparatus 120 may be controlled by a remote control operation subject 20.
  • the vehicle-mounted control apparatus 110 may prioritize processing of the remote control signal from the remote control apparatus 120, to implement prioritized control of the remote control apparatus over the powertrain system 12 and the safety system 14 of the vehicle, that is, the remote control mode has priority over the autonomous driving control mode at least for the powertrain system and the safety system of the vehicle.
  • the vehicle-mounted control apparatus 110 is further configured to perform verification and authorization as to whether the remote control apparatus 120 can perform remote control over the autonomous vehicle 10 on which the vehicle-mounted control apparatus 110 is mounted. If the verification in terms of uniqueness is passed, that is, the remote control signal from the remote control apparatus can be uniquely transferred to the autonomous vehicle 10, the vehicle-mounted control apparatus 110 may authorize the remote control apparatus to perform remote control over the autonomous vehicle.
  • the autonomous driving control apparatus 140 may directly perform, by means of a controller area network 150 for autonomous driving, interaction of an autonomous driving control signal with the safety system 14 of the vehicle, including, for example, a steering assembly, a braking assembly, and a parking assembly, to implement direct control of the autonomous driving control apparatus over the assemblies of the safety system 14 of the vehicle.
  • the autonomous driving control apparatus 140 may also be communicatively connected to the vehicle-mounted control apparatus 110 through the controller area network 150 for autonomous driving, to implement control of the autonomous driving control apparatus over the powertrain system 12 of the vehicle.
  • the autonomous driving control apparatus is directly and communicatively connected to the assemblies of the safety system 14, such that a response delay of the safety system is reduced, and the safety system 14 of the vehicle in the working mode of remote control can be controlled by the autonomous driving control apparatus when the safety system cannot be controlled by the remote control apparatus due to a failure of the vehicle-mounted control apparatus, thereby enhancing the safety of vehicle running.
  • the safety system and the powertrain system of the vehicle can work in the autonomous driving control mode and the remote control mode, where the remote control mode has priority over the autonomous driving control mode.
  • the safety system in the remote control mode cannot be controlled by the remote control apparatus due to a failure of the vehicle-mounted control apparatus, the safety system can be switched from the current remote control mode to the autonomous driving control mode, and can then be controlled by the autonomous driving control apparatus, thereby ensuring the safety of vehicle running.
  • the control over the safety system and the powertrain system of the vehicle is completely separated, that is, the safety system can be directly and communicatively connected to the autonomous driving control apparatus, thereby at least reducing a response delay of the safety system.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The present disclosure relates to a control system for an autonomous vehicle, especially for an unmanned delivery vehicle. The control system includes a vehicle-mounted control apparatus configured to perform interaction of a remote control signal with a remote control apparatus through a wireless communication network, to implement remote control of the remote control apparatus over at least a powertrain system and a safety system of the autonomous vehicle. The control system further includes an autonomous driving control apparatus configured to directly perform interaction of an autonomous driving control signal with the safety system of the autonomous vehicle through a controller area network for autonomous driving, to reduce a response delay of the safety system and to implement autonomous driving control of the autonomous driving control apparatus over the safety system when control of the vehicle-mounted control apparatus fails. The present disclosure further relates to a vehicle-mounted control apparatus, an autonomous driving control apparatus, and an autonomous vehicle, especially an unmanned delivery vehicle.

Description

    Control system, vehicle-mounted control apparatus and autonomous vehicle TECHNICAL FIELD
  • Embodiments of the present disclosure generally relate to a control system, a vehicle-mounted control apparatus, and an autonomous driving control apparatus for an autonomous vehicle, and an autonomous vehicle.
  • BACKGROUND ART
  • With increasing growth of B2C and C2C e-commerce, logistics distribution systems serving big e-commerce companies, working areas, and residential communities have become increasingly complicated, and need to be optimized more intelligently. Therefore, unmanned delivery, including unmanned delivery vehicles based on autonomous driving technologies, has emerged.
  • An improved control system and corresponding apparatuses are provided, which have the advantages of high safety, simple architectures, and convenient application and can be applied to an unmanned delivery vehicle.
  • SUMMARY OF THE INVENTION
  • The present disclosure provides, in an exemplary aspect, a control system for an autonomous vehicle, especially for an unmanned delivery vehicle. The control system includes a vehicle-mounted control apparatus configured to perform interaction of a remote control signal with a remote control apparatus through a wireless communication network, to implement remote control of the remote control apparatus over at least a powertrain system and a safety system of the autonomous vehicle. The control system further includes an autonomous driving control apparatus configured to directly perform interaction of an autonomous driving control signal with the safety system of the autonomous vehicle through a  controller area network for autonomous driving, to reduce a response delay of the safety system and to implement autonomous driving control of the autonomous driving control apparatus over the safety system when control of the vehicle-mounted control apparatus fails.
  • In some implementations, the autonomous driving control apparatus is further configured to perform interaction of an autonomous driving control signal with the vehicle-mounted control apparatus through the controller area network for autonomous driving, to implement autonomous driving control of the autonomous driving control apparatus over at least the powertrain system of the autonomous vehicle.
  • In some implementations, the vehicle-mounted control apparatus is further configured to prioritize processing of the remote control signal over processing of the autonomous driving control signal, to implement prioritized control of the remote control apparatus over at least the powertrain system of the autonomous vehicle over the autonomous driving control apparatus.
  • In some implementations, the vehicle-mounted control apparatus is further configured to perform verification and authorization on the remote control apparatus for remote control over the powertrain system and the safety system of the autonomous vehicle on which the vehicle-mounted control apparatus is mounted.
  • In some implementations, the safety system includes at least one of a steering assembly, a braking assembly, and a parking assembly.
  • In some implementations, the powertrain system includes at least one of a battery assembly, a DC-DC converter, and a motor assembly.
  • The present disclosure provides, in another exemplary aspect, a vehicle-mounted control apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle. The vehicle-mounted control apparatus is configured to perform  interaction of a remote control signal with a remote control apparatus through a wireless communication network, to implement remote control of the remote control apparatus over at least a powertrain system and a safety system of the autonomous vehicle.
  • The present disclosure provides, in another exemplary aspect, an autonomous driving control apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle. The autonomous driving control apparatus is configured to directly perform interaction of an autonomous driving control signal with a safety system of the autonomous vehicle through a controller area network for autonomous driving, to implement direct autonomous driving control of the autonomous driving control apparatus over the safety system and also to reduce a response delay of the safety system.
  • The present disclosure provides, in another exemplary aspect, an autonomous vehicle, especially an unmanned delivery vehicle, which includes the control system, the vehicle-mounted control apparatus, and the autonomous driving control apparatus as described above.
  • With reference to the following descriptions, these and other features, aspects, and advantages of the present application will be better understood. The accompanying drawings incorporated into this specification and constituting a part thereof illustrate the embodiments of the present application and are used to describe the principle of the present application along with the description.
    • BRIEF DESCRIPTION OF THE DRAWINGS
  • This specification describes completely and heuristically disclosed content, including preferred embodiments, of the present application for those skilled in the art, and reference is made to the accompanying drawings in this specification. In the accompanying drawings:
  • FIG. 1 is a diagram of a structure principle of an autonomous vehicle according to an exemplary embodiment of the present application;
  • FIG. 2 is a diagram of a working principle of a remote control apparatus and a vehicle-mounted control apparatus for a powertrain system and a safety system of an autonomous vehicle in a working mode of remote control according to an exemplary embodiment of the present application; and
  • FIG. 3 is a diagram of a working principle of an autonomous driving control apparatus and a vehicle-mounted control apparatus for a powertrain system and a safety system of an autonomous vehicle in a working mode of autonomous driving control according to an exemplary embodiment of the present application.
  • DETAILED DESCRIPTION OF EMBODIMENTS
  • Specific embodiments of the present disclosure are described in detail below in conjunction with the accompanying drawings. In the following detailed description of these specific implementations, some well-known functions or structures are not described in detail in this specification, to avoid unnecessary details which may affect the present disclosure. Each embodiment is provided for explaining the present application, but not for limiting the present disclosure. In fact, it will be apparent to those skilled in the art that various modifications and variations may be made in the present disclosure without departing from the scope or spirit of the present application. For example, features illustrated or described as part of one embodiment can be used with another embodiment to yield a still further embodiment. Therefore, it is intended that the present disclosure covers such modifications and variations that come within the scope of the appended claims and their equivalents.
  • As used in this specification, the terms "a" , "an" and "the" and "said" are intended to indicate the presence of one or more elements, unless otherwise clearly  stated in the context. The terms "include" , "comprise" , and "have" are intended to be inclusive and mean that there may be other elements in addition to the element listed. The term "connection" or "connected" and variations thereof are not limited to a physical or mechanical connection, but may include an electrical connection, whether directly or indirectly.
  • Moreover, as used in this specification, the term "wireless communication" refers to long-range transmission communication between a plurality of nodes without using a conductor or a cable, which is opposite to wired communication, and can be performed by means of radio, etc. The wireless communication may include various stationary, mobile, and portable applications. The term "controller area network" , "CAN" for short, refers to a serial communication network for a vehicle that can effectively support a distributed control system.
  • Referring to the accompanying drawings, FIG. 1 is a diagram of a structure principle of an autonomous vehicle according to an exemplary embodiment of the present application. As shown in the figure, an autonomous vehicle 10 may be, for example, an unmanned delivery vehicle or a delivery robot. The autonomous vehicle 10 includes a control system 100, and the control system may include a vehicle-mounted control apparatus 110 and an autonomous driving control apparatus 140.
  • Referring to both FIG. 2 and FIG. 3, FIG. 2 and FIG. 3 respectively show two working modes of the control system according to exemplary embodiments of the present application. Specifically, FIG. 2 is an exemplary diagram of a working principle of a remote control apparatus 120 and the vehicle-mounted control apparatus 110 for a powertrain system and a safety system of the autonomous vehicle in a remote control mode. FIG. 3 is an exemplary diagram of a working principle of the autonomous driving control apparatus 140 and the vehicle- mounted control apparatus 110 for a powertrain system and a safety system of the autonomous vehicle in an autonomous driving control mode.
  • As shown in FIG. 2, in the working mode of remote control, the vehicle-mounted control apparatus 110 may be connected to various assemblies of a powertrain system 12 of a vehicle, including, for example, a battery assembly, a DC-DC converter, and a motor assembly, or the vehicle-mounted control apparatus 110 may be connected to various assemblies of a safety system 14 of the vehicle, including, for example, a steering assembly, a braking assembly, and a parking assembly. The "connection" may be an electrical connection, or may be a wired and/or wireless communication connection. The vehicle-mounted control apparatus 110 may perform interaction of a remote control signal with the remote control apparatus 120 through a wireless communication network 130, to implement remote control of the remote control apparatus over at least the assemblies of the powertrain system 12 and the assemblies of the safety system 14 of the vehicle. It can be understood that the remote control apparatus 120 may be controlled by a remote control operation subject 20.
  • Further, the vehicle-mounted control apparatus 110 may prioritize processing of the remote control signal from the remote control apparatus 120, to implement prioritized control of the remote control apparatus over the powertrain system 12 and the safety system 14 of the vehicle, that is, the remote control mode has priority over the autonomous driving control mode at least for the powertrain system and the safety system of the vehicle.
  • In some implementations, the vehicle-mounted control apparatus 110 is further configured to perform verification and authorization as to whether the remote control apparatus 120 can perform remote control over the autonomous vehicle 10 on which the vehicle-mounted control apparatus 110 is mounted. If the verification in terms of uniqueness is passed, that is, the remote control signal from  the remote control apparatus can be uniquely transferred to the autonomous vehicle 10, the vehicle-mounted control apparatus 110 may authorize the remote control apparatus to perform remote control over the autonomous vehicle.
  • As shown in FIG. 3, in the working mode of autonomous driving control, the autonomous driving control apparatus 140 may directly perform, by means of a controller area network 150 for autonomous driving, interaction of an autonomous driving control signal with the safety system 14 of the vehicle, including, for example, a steering assembly, a braking assembly, and a parking assembly, to implement direct control of the autonomous driving control apparatus over the assemblies of the safety system 14 of the vehicle. The autonomous driving control apparatus 140 may also be communicatively connected to the vehicle-mounted control apparatus 110 through the controller area network 150 for autonomous driving, to implement control of the autonomous driving control apparatus over the powertrain system 12 of the vehicle. The autonomous driving control apparatus is directly and communicatively connected to the assemblies of the safety system 14, such that a response delay of the safety system is reduced, and the safety system 14 of the vehicle in the working mode of remote control can be controlled by the autonomous driving control apparatus when the safety system cannot be controlled by the remote control apparatus due to a failure of the vehicle-mounted control apparatus, thereby enhancing the safety of vehicle running.
  • By using the control system for an autonomous vehicle, especially for an unmanned delivery vehicle, of the present disclosure, the safety system and the powertrain system of the vehicle can work in the autonomous driving control mode and the remote control mode, where the remote control mode has priority over the autonomous driving control mode. When the safety system in the remote control mode cannot be controlled by the remote control apparatus due to a failure of the vehicle-mounted control apparatus, the safety system can be switched from the  current remote control mode to the autonomous driving control mode, and can then be controlled by the autonomous driving control apparatus, thereby ensuring the safety of vehicle running. In addition, in the autonomous driving control mode, the control over the safety system and the powertrain system of the vehicle is completely separated, that is, the safety system can be directly and communicatively connected to the autonomous driving control apparatus, thereby at least reducing a response delay of the safety system.
  • This specification discloses the present application by using embodiments, including preferred embodiments, and also enables those skilled in the art to practice the present application, including making and using any apparatus or system and performing any incorporated method. A patentable scope of the present disclosure is defined by the claims, and may contain other embodiments conceived by those skilled in the art. Such other examples are intended to be within the scope of the claims if they include structural elements that do not differ from the literal language of the claims, or if they include equivalent structural elements with no substantial differences from the literal languages of the claims.

Claims (11)

  1. A control system for an autonomous vehicle, especially for an unmanned delivery vehicle, the control system comprising:
    a vehicle-mounted control apparatus configured for interacting of remote control signals with a remote control apparatus through a wireless communication network, so as to realize remote control of the remote control apparatus over at least a powertrain system and a safety system of the autonomous vehicle; and
    an autonomous driving control apparatus configured for directly interacting of autonomous driving control signals with the safety system of the autonomous vehicle through a controller area network for autonomous driving, thereby reducing response delays of the safety system and realizing autonomous driving control of the autonomous driving control apparatus over the safety system in case of the control failure of the vehicle-mounted control apparatus.
  2. The control system according to Claim 1, wherein
    the autonomous driving control apparatus is further configured for interacting of autonomous driving control signals with the vehicle-mounted control apparatus through the controller area network for autonomous driving, so as to realize autonomous driving control of the autonomous driving control apparatus over at least the powertrain system of the autonomous vehicle.
  3. The control system according to Claim 2, wherein
    the vehicle-mounted control apparatus is further configured to prioritize processing of the remote control signals over processing of the autonomous driving control signals so as to realize a prioritized control of the remote control apparatus  over at least the powertrain system of the autonomous vehicle over the autonomous driving control apparatus.
  4. The control system according to Claim 1, wherein
    the vehicle-mounted control apparatus is further configured to perform verification and authorization on the remote control apparatus for remote control over the powertrain system and the safety system of the autonomous vehicle on which the vehicle-mounted control apparatus is mounted.
  5. The control system according to Claim 1, wherein
    the safety system comprises at least one of a steering assembly, a braking assembly, and a parking assembly, and the powertrain system comprises at least one of a battery assembly, a DC-DC converter, and an electrical motor assembly.
  6. A vehicle-mounted control apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle, wherein
    the vehicle-mounted control apparatus is further configured for interacting remote control signals with a remote control apparatus through a wireless communication network so as to realize remote control of the remote control apparatus over at least a powertrain system and a safety system of the autonomous vehicle.
  7. The vehicle-mounted control apparatus according to Claim 6, wherein
    the vehicle-mounted control apparatus is further configured to perform verification and authorization on the remote control apparatus for remote control over the powertrain system and the safety system of the autonomous vehicle on which the vehicle-mounted control apparatus is mounted.
  8. The vehicle-mounted control apparatus according to Claim 6, wherein
    the vehicle-mounted control apparatus is further configured to prioritize processing of the remote control signal over processing of the autonomous driving control signals from the autonomous driving control apparatus, so as to realize a prioritized control of the remote control apparatus over at least the powertrain system of the autonomous vehicle over the autonomous driving control apparatus.
  9. An autonomous driving control apparatus for an autonomous vehicle, especially for an unmanned delivery vehicle, wherein
    the autonomous driving control apparatus is configured for directly interacting autonomous driving control signals with a safety system of the autonomous vehicle through a controller area network for autonomous driving, so as to realize direct autonomous driving control of the autonomous driving control apparatus over the safety system and to reduce response delays of the safety system.
  10. The autonomous driving control apparatus according to Claim 9, wherein
    the autonomous driving control apparatus is further configured for interacting autonomous driving control signals with a vehicle-mounted control apparatus through the controller area network for autonomous driving, so as to realize autonomous driving control of the autonomous driving control apparatus over at least a powertrain system of the autonomous vehicle.
  11. An autonomous vehicle, especially an unmanned delivery vehicle, comprising the control system according to any one of Claims 1 to 5, or comprising the vehicle-mounted control apparatus according to any one of Claims 6 to 8, or  comprising the autonomous driving control apparatus according to any one of Claims 9 and 10.
EP22723537.1A 2021-03-15 2022-03-15 Control system, vehicle-mounted control apparatus and autonomous vehicle Ceased EP4309014A1 (en)

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CN110377000B (en) * 2018-04-13 2020-12-25 北京智行者科技有限公司 Remote allocation control system and method for automatic driving vehicle
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