KR20200022674A - Apparatus for controlling fail-operational of vehicle, and method thereof - Google Patents

Abstract

The present invention relates to an apparatus for controlling trouble of a vehicle and a method thereof. The apparatus for controlling trouble of a vehicle according to an embodiment of the present invention includes: a first controller driven as a main controller of the vehicle; a second controller which is connected to the first controller and is driven as a sub-controller of the vehicle; and at least one area controller which shares information with the first controller and the second controller and controls a module to be controlled for at least one area in the vehicle.

Description

Apparatus for controlling fail-operational of vehicle, and method

The present invention relates to a vehicle fault handling control device and method thereof, and more particularly, to a technology capable of diagnosing a fault of a vehicle device and handling a fault by including a controller for each vehicle area.

In the prior art, if a problem caused by a fault during operation in a vehicle is a fail-operational, an additional controller is applied as a redundancy to replace it and a corresponding fault handling is performed. Perform the action. 1 is a configuration diagram of a vehicle system including a vehicle controller for handling a general vehicle failure. Referring to FIG. 1, in the related art, a first controller 10 and a second controller 20 perform control of sensors, actuators, and components in a vehicle, and components are connected to the second controller 20 to solve a failure. Perform

2 is an exemplary diagram illustrating a vehicle controller and a control target module in a vehicle area for general vehicle failure processing. Referring to FIG. 2, various sensors such as a lidar, a camera, a radar, and the like are connected to the first controller 10 and the second controller 20.

In this conventional structure, all the control logic and input / output signals are concentrated in the first controller 10 and the second (controller), so that the first controller 10 or the second (controller) determines all the related functions. The influence of the first controller 10 or the second controller 20 was large.

However, many input / output signals (e.g. camera / radar sensor data input, steering / breaking data output, etc.) necessary for normal operation and fault handling of the vehicle are increased, and many related components are used to detect a failure of the vehicle and perform an operation corresponding thereto. As the complexity increases, the complexity of the circuit diagram greatly increases, making it difficult to secure cost and performance.

An embodiment of the present invention is to provide a vehicle failure handling control device and method that can minimize the complexity of the circuit by managing the control target module for each area through the controller for each vehicle area, and handling the failure.

The technical problems of the present invention are not limited to the above-mentioned technical problems, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following descriptions.

Vehicle failure control apparatus according to an embodiment of the present invention, the first controller is driven as a main controller of the vehicle; A second controller connected to the first controller and driven as a sub controller of the vehicle; And at least one area controller sharing information with the first controller and the second controller and controlling the operation of at least one area-specific control object module in the vehicle. It may include.

According to an embodiment, the at least one area within the vehicle may include at least one of a front area of the vehicle, a left area of the vehicle, a right area of the vehicle, a rear area of the vehicle, and a dashboard area of the vehicle. .

The at least one area controller may include: a first area controller configured to control an operation of a control target module of a front area of the vehicle; A second area controller controlling an operation of a control target module in a left area of the vehicle; A third region controller for controlling an operation of a control target module in a right region of the vehicle; And a fourth area controller configured to control an operation of a control target module of a rear area of the vehicle.

According to an embodiment, the control object module may include at least one of sensors, actuators, and input / output components.

In an embodiment, the first controller or the second controller shares information with the at least one or more area controllers via a network, and uses the shared information, such that the first controller, the second controller, and And diagnosing at least one failure of the at least one area controller and the at least one area-specific control target module.

In one embodiment, the first controller or the second controller, at least one failure of the first controller, the second controller, the at least one or more area controller, the at least one or more area-specific control target module If diagnosed as occurring, it may include performing fail-operational.

According to an embodiment, the first controller or the second controller may include applying a dual power source for less than a predetermined number of components for failure processing during power supply failure diagnosis during autonomous driving.

In one embodiment, the first controller or the second controller, the first controller, the second controller, the first area controller of the front area of the vehicle, for handling the failure in case of component failure during autonomous driving, and And performing redundancy of the fourth area controller of the rear area of the vehicle.

According to an embodiment, the first controller or the second controller may include performing communication redundancy for each area for handling a failure when a communication failure occurs during autonomous driving.

The at least one area controller may include transmitting and receiving at least one or more of a location-specific input / output signal, a sensing signal, and a driving signal with the first controller or the second controller.

Vehicle failure control control method according to an embodiment of the present invention comprises the steps of collecting fault information from at least one area controller for respectively controlling the operation of at least one area-specific control target module in the vehicle; Determining whether a failure occurs based on the failure information; Determining a target of the failure; And performing failure processing on the object determined to have occurred.

According to an embodiment of the present disclosure, the determining of the target of the failure may include determining whether the failure has occurred, whether the at least one area controller has failed, or whether the control target module has failed. have.

In an embodiment, the at least one area in the vehicle includes at least one of a front area of the vehicle, a left area of the vehicle, a right area of the vehicle, a rear area of the vehicle, and a dashboard area of the vehicle. can do.

The at least one area controller may include: a first area controller configured to control an operation of a control target module of a front area of the vehicle; A second area controller controlling an operation of a control target module in a left area of the vehicle; A third region controller for controlling an operation of a control target module in a right region of the vehicle; And a fourth area controller configured to control an operation of a control target module of a rear area of the vehicle.

According to an embodiment, the control object module may include at least one of sensors, actuators, and input / output components.

In an embodiment of the present disclosure, the performing of the fault processing may include applying a dual power source to a part less than a predetermined number for the fault handling when diagnosing a power supply failure during autonomous driving.

The present technology can minimize the complexity of the circuit by managing the control target module for each area through a vehicle area controller and handling failures.

In addition, various effects may be provided that are directly or indirectly identified through this document.

1 is a configuration diagram of a vehicle system including a vehicle controller for handling a general vehicle failure.
2 is an exemplary diagram illustrating a vehicle controller and a control target module in a vehicle area for general vehicle failure processing.
3 is a block diagram showing the configuration of a vehicle failure processing control apparatus according to an embodiment of the present invention.
4 is an exemplary view showing a configuration of a vehicle failure processing control apparatus according to an embodiment of the present invention in a vehicle area.
5 is a diagram for describing an exemplary failure processing control method of a vehicle failure processing control apparatus according to an exemplary embodiment.
6 is a flowchart illustrating a vehicle failure processing control method according to an embodiment of the present invention.
7 illustrates a computing system in accordance with one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same reference numerals are used to refer to the same components as much as possible, even if displayed on different drawings. In addition, in describing the embodiments of the present invention, if it is determined that the detailed description of the related well-known configuration or function interferes with the understanding of the embodiments of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only for distinguishing the components from other components, and the nature, order or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art. Terms such as those defined in the commonly used dictionaries should be construed as having meanings consistent with the meanings in the context of the related art, and shall not be construed in ideal or excessively formal meanings unless expressly defined in this application. Do not.

According to the present invention, a vehicle is divided into a plurality of areas according to a function of a vehicle service, and a controller for each vehicle area is provided to manage a control target module (sensors, actuators, input / output components, etc.) for each area, and a main controller and By sharing information with a sub-controller to diagnose and handle faults, a technique that can efficiently handle faults while minimizing circuit complexity is disclosed.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 3 to 7.

3 is a block diagram schematically illustrating a configuration of a vehicle failure processing control apparatus according to an embodiment of the present invention, and FIG. 4 is a view illustrating a configuration of a vehicle failure processing control apparatus according to an embodiment of the present invention in a vehicle area. This is an illustration.

Referring to FIG. 3, the vehicle failure processing control apparatus 100 according to an embodiment of the present invention includes a first controller 110, a second controller 120, and at least one area controller 130. The first controller 110, the second controller 120, and the at least one area controller 130 may share failure detection information, control module information, and the like through a network.

The first controller 110 is a main controller, which is a failure of driving the vehicle, power of the vehicle, components, controllers, sensors, actuators, input / output components, and the like. Functions such as diagnostics and fault handling can be performed. The first controller 110 may be equipped with an algorithm for detecting a failure and an algorithm for determining a failure. In this case, the first controller 110 may drive the vehicle, the power of the vehicle, or the components using the failure information received from the second controller 120 and the at least one zone controllers Z1,..., ZP. Detects and determines failures of each controller, sensor, actuator, component, etc. The first controller 110 starts communication when power is applied by starting the vehicle, and controls each controller 120 and 130 and a control target module (sensor, actuator, component, etc.) through CAN communication, which is a broadcasting method. Can diagnose faults.

The first controller 110 may perform a fail-operational operation when at least one failure of the driving of the vehicle, the power of the vehicle, the component, each controller, the sensor, the actuator, and the component is detected and diagnosed. Fail-operational refers to an operation to control a vehicle to safely drive even when normal control is not possible due to a failure of a sensor, an actuator or a component.

The second controller 120 is a sub controller, and when the first controller 110 fails, the driving of the vehicle, the power supply of the vehicle, the parts, the failure diagnosis of each controller, the sensor, the actuator, the component, and the like, and the failure Functions such as processing can be performed. The second controller 120 may be equipped with an algorithm for detecting a failure and an algorithm for determining a failure. In this case, the second controller 120 uses the failure information received from the first controller 110 and at least one of the zone controllers Z1,. Detects and diagnoses faults of each controller, sensor, actuator, component, etc., and performs fail-operational operation.

The at least one zone controller 130 may include Z1, ..., ZP for each zone in the vehicle, and the zone controllers Z1, ..., ZP for each zone may include sensors, actuators, and components within the corresponding zone. To control. That is, the area controller Z1 may control the sensor S1, the component C1, and the actuator A1. Each controller includes an engine management system (EMS), a telecommunication control unit (TCU), a hybrid control unit (HCU), a battery management system (BMS), an electronic power steering (ECS), a motor driving power steering (MDPS), and a LKAS. It can be installed in Lane Keeping Assist System (SCC), Smart Cruise Control (SCC), etc.

Referring to FIG. 4, a region in a vehicle may include a front region of a vehicle, a left region of the vehicle, a right region of the vehicle, a rear region of the vehicle, and a dashboard region of the vehicle. 4 illustrates an example of dividing an area into a front area, a left area, a right area, a rear area, and a dashboard area. However, the present invention is not limited thereto, and the area may be classified according to a function of the vehicle.

Accordingly, the area controller 131 controls the operations of the lidar 141, the camera 151, and the radar 161 positioned in the front area. That is, the area controller 131 may perform operation information of the lidar 141, the camera 151, the radar 161, the failure detection, and the like located in the front area.

The area controller 132 may perform operation information, failure detection, and the like of the lidar 142 located in the left area.

The area controller 133 may perform operation information, failure detection, and the like of the lidar 143 located in the right area.

The area controller 134 may perform operation information, failure detection, and the like of the lidar 144, the SVC 171, and the radar 162 located in the rear area.

To this end, each area controller 132 may be equipped with an algorithm that can detect failure of each sensor, actuator, and component.

Each controller 110, 120, 130 can be electrically connected to each other, can electrically control each component, and can be an electrical circuit that executes commands of software, thereby performing various data processing and calculations described below. Can be done. In addition, area controller 130 may be electrically connected with sensors, actuators, and components, may control sensors, actuators, and components, and may be electrical circuitry that executes commands in software.

In FIG. 4, a lidar, a camera, a radar, or the like is a sensor configured to detect an external object, the position of the external object, the speed of the external object, the moving direction of the external object, and / or the type of the external object (eg, a vehicle, a pedestrian). , Bicycles or motorcycles). In FIG. 4, only a lidar, a camera, and a radar are disclosed, but a sensor capable of detecting various information such as the position, speed, and acceleration of a vehicle and surrounding vehicles, such as an acceleration sensor, a yaw rate sensor, a torque measurement sensor, and a wheel speed sensor, is described. It can be provided. In addition, the configuration of the area-specific sensors, actuators, components of FIG. 4 may be changed according to autonomous driving function requirements.

5 is a diagram for describing an exemplary failure processing control method of a vehicle failure processing control apparatus according to an exemplary embodiment. At this time, when the vehicle is performing autonomous driving on the highway, a method for troubleshooting will be described.

In the front area, a failback controller 1312 that controls the control of the lidar 1411, the front area controller 1311 that controls the control of the camera 1511, the radar FR 1611, and the radar FL 1612. And a left region controller 1321 for controlling the lidar 1421 and the camera 1521 in the left region, and a right region controller for controlling the lidar 1431 and the camera 1531 in the right region. 1133. The rear region includes a lidar 1441, a rear region controller 1341 which controls the control of the camera 1541, a radar FR 1621, and a failback controller 1342 which controls the control of the radar FL 1622. . The first controller 110 and the second controller 120 are located in the dashboard region.

In this case, the failure type may include a power supply failure in a power source, a component failure by hardware or software, a single link failure, and the like. The failsafe stop type may include the case where a condition of more than a single fault is detected.

Table 1 below shows the countermeasures of the conventional method and countermeasures of the present invention according to the failure type.

Referring to Table 1, in the past, power redundancy for each component was performed to cope with a power failure. However, the first controller 110 or the second controller 120 according to the present invention handles a failure during diagnosis of a power supply failure during autonomous driving. For this purpose, dual power supplies for less than a predetermined number can be applied.

In addition, in the past, when there is no replacement part in order to respond in case of component failure, the controller is doubled. However, the first controller 110 or the second controller 120 of the present invention may handle the failure in case of component failure during autonomous driving. Only the controller 110 or the second controller 120, the first area controller 131 in the front area of the vehicle, and the fourth area controller 134 in the rear area of the vehicle may perform redundancy.

In addition, although communication redundancy has been performed for each sensor in order to cope with a communication failure, the present invention performs communication redundancy for each area.

Hereinafter, a vehicle failure processing control method according to an embodiment of the present invention will be described in detail with reference to FIG. 6. 6 is a flowchart illustrating a vehicle failure processing control method according to an embodiment of the present invention. Hereinafter, it is assumed that the vehicle failure processing control apparatus 100 of FIG. 3 performs the process of FIG. 6. In particular, it is assumed that the first controller 110 of the vehicle failure processing control apparatus 100 performs the process of FIG. 6. However, when a failure of the first controller 110 occurs, it may be assumed that the second controller 120 performs the process of FIG. 6.

Referring to FIG. 6, the first controller 110 of the vehicle failure processing control apparatus 100 determines whether the functions of the vehicle are in a normal operating state (S101), and determines whether a failure has occurred (S102). In this case, the first controller 110 may determine a failure based on information collected from the second controller 120 and the area controller 130 through network communication.

The first controller 110 of the vehicle failure processing control device 100 continuously determines whether the functions of the vehicle are in a normal operation state when a failure does not occur. Meanwhile, when a failure occurs, the first controller 110 of the vehicle failure processing control device 100 determines whether the corresponding failure is a failure of the first controller 110 (S103), and determines that the failure of the first controller 110 is performed. In this case, a fail-operational operation is performed (S104).

On the other hand, if it is not the failure of the first controller 110, the first controller 110 of the vehicle failure processing control device 100 determines whether one of the at least one or more zone controllers Z1,? In the case of a failure of at least one of the at least one zone controllers Z1 and? P, a fail-operational operation is performed on the controller in which the failure occurs (S106).

On the other hand, when the failure is not one of the at least one or more zone controllers Z1 and P, the first controller 110 of the vehicle failure processing control apparatus 100 may be configured to have at least one or more zone controllers Z1 and P respectively. It is determined whether at least one of the control target module (sensor, actuator, component) that is in charge of the control has failed (S107), and if at least one of the control target module (sensor, actuator, component) has failed, the control target module having a failure Fail-operational operation is performed for the operation (S108).

As described above, in the prior art, all control logic and input / output signals are concentrated in the main controller or the sub-controller, and the main controller or the sub-controller needs to determine all related functions. However, in the present invention, the entire function is subdivided so that the control logic is concentrated on the main controller or sub-controller, while the control target module (sensor, actuator, input / output component) is distributed, and the fault handling according to the failure of safety-related functions (Fail) -operational) Can be efficient.

In addition, in the prior art, when a failure of a specific module occurs, the failure affects the entire system of the vehicle. However, in the present invention, it is possible to prevent a specific failure from affecting the entire vehicle through physical distribution. Means can be provided more easily.

In addition, in the related art, the error of the control target module (sensor, actuator, input / output component) connected to the main controller or the sub-controller is determined by the controller that controls the corresponding control target module. It is more easily communicated to the network, so even if a problem occurs in the main controller, the fault can be diagnosed at the vehicle level.

7 illustrates a computing system in accordance with one embodiment of the present invention.

Referring to FIG. 7, the computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, and storage connected through a bus 1200. 1600, and network interface 1700.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that executes processing for instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include a read only memory (ROM) and a random access memory (RAM).

Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, software module, or a combination of the two executed by the processor 1100. The software module resides in a storage medium (ie, memory 1300 and / or storage 1600), such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disks, removable disks, CD-ROMs. You may.

An exemplary storage medium is coupled to the processor 1100, which can read information from and write information to the storage medium. In the alternative, the storage medium may be integral to the processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art may make various modifications and changes without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to describe the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

Claims (16)

A first controller driven as a main controller of the vehicle;
A second controller connected to the first controller and driven as a sub controller of the vehicle; And
At least one area controller sharing information with the first controller and the second controller and controlling the operation of at least one area-specific control object module in the vehicle;
Vehicle failure processing control device comprising a. The method according to claim 1,
At least one area in the vehicle,
And at least one of a front region of the vehicle, a left region of the vehicle, a right region of the vehicle, a rear region of the vehicle, and a dashboard region of the vehicle. The method according to claim 2,
The at least one area controller,
A first area controller which controls an operation of a control target module in a front area of the vehicle;
A second area controller controlling an operation of a control target module in a left area of the vehicle;
A third region controller for controlling an operation of a control target module in a right region of the vehicle; And
A fourth area controller for controlling the operation of the control object module in the rear area of the vehicle;
Vehicle failure processing control device comprising a. The method according to claim 1,
The module to be controlled includes at least one of sensors, actuators, and input / output components. The method according to claim 3,
The first controller or the second controller,
Share information over a network with the at least one area controller,
Vehicle failure, characterized in that by using the shared information, at least one or more failures of the first controller, the second controller, the at least one or more area controller, the at least one or more area-specific control target module is diagnosed. Processing control unit. The method according to claim 5,
The first controller or the second controller,
If it is diagnosed that at least one failure of the first controller, the second controller, the at least one area controller, and the at least one area-specific control object module has occurred, fail-operational is performed. Vehicle breakdown processing control device. The method according to claim 6,
The first controller or the second controller,
Vehicle failure handling control device, characterized in that during the autonomous driving, applying a dual power source for less than a predetermined number of parts for troubleshooting when the power supply failure diagnosis. The method according to claim 6,
The first controller or the second controller,
Redundancy of the first controller, the second controller, the first area controller in the front region of the vehicle, and the fourth area controller in the rear region of the vehicle, for failure handling during component failure during autonomous driving Vehicle breakdown processing control device. The method according to claim 6,
The first controller or the second controller,
In the event of a communication failure during autonomous driving, the vehicle failure processing control device characterized in that for performing the communication redundancy for each area. The method according to claim 1,
The at least one area controller,
And at least one of an input / output signal, a sensing signal, and a driving signal for each position are transmitted and received with the first controller or the second controller. Collecting fault information from at least one area controller which controls an operation of at least one area-specific control object module in the vehicle;
Determining whether a failure occurs based on the failure information;
Determining a target of the failure; And
Performing failure processing on a target determined to have occurred;
Vehicle failure processing control method comprising a. The method according to claim 11,
Determining the target of the failure,
Determining whether a failure has occurred, whether the at least one area controller has failed, or whether the control target module has failed;
Vehicle failure processing control method comprising a. The method according to claim 11,
At least one area in the vehicle,
And at least one of a front region of the vehicle, a left region of the vehicle, a right region of the vehicle, a rear region of the vehicle, and a dashboard region of the vehicle. The method according to claim 13,
The at least one area controller,
A first area controller which controls an operation of a control target module in a front area of the vehicle;
A second area controller controlling an operation of a control target module in a left area of the vehicle;
A third region controller for controlling an operation of a control target module in a right region of the vehicle; And
A fourth area controller for controlling the operation of the control object module in the rear area of the vehicle;
Vehicle failure processing control method comprising a. The method according to claim 14,
The controlling module includes at least one of sensors, actuators, and input / output components. The method according to claim 14,
The step of performing the failure processing,
When the power supply failure diagnosis during autonomous driving, the vehicle failure handling control method, characterized in that for applying a dual power supply for less than a predetermined number of parts for troubleshooting.

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