WO2021114794A1 - 一种自动驾驶控制系统、控制方法及设备 - Google Patents

一种自动驾驶控制系统、控制方法及设备 Download PDF

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Publication number
WO2021114794A1
WO2021114794A1 PCT/CN2020/115797 CN2020115797W WO2021114794A1 WO 2021114794 A1 WO2021114794 A1 WO 2021114794A1 CN 2020115797 W CN2020115797 W CN 2020115797W WO 2021114794 A1 WO2021114794 A1 WO 2021114794A1
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Prior art keywords
backup
control
module
main
execution module
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PCT/CN2020/115797
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English (en)
French (fr)
Inventor
李博
李雪峰
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浙江吉利控股集团有限公司
浙江吉利汽车研究院有限公司
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Application filed by 浙江吉利控股集团有限公司, 浙江吉利汽车研究院有限公司 filed Critical 浙江吉利控股集团有限公司
Priority to KR1020227020436A priority Critical patent/KR20220125227A/ko
Priority to EP20897937.7A priority patent/EP4049910A4/en
Priority to US17/783,992 priority patent/US20230011677A1/en
Priority to JP2022533107A priority patent/JP2023506404A/ja
Publication of WO2021114794A1 publication Critical patent/WO2021114794A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/023—Avoiding failures by using redundant parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
    • B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
    • 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
    • G05D1/0077—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots with safety arrangements using redundant signals or controls
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F11/00—Error detection; Error correction; Monitoring
    • G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
    • G06F11/16—Error detection or correction of the data by redundancy in hardware
    • G06F11/20—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements
    • G06F11/202—Error detection or correction of the data by redundancy in hardware using active fault-masking, e.g. by switching out faulty elements or by switching in spare elements where processing functionality is redundant
    • G06F11/2023—Failover techniques
    • G06F11/2028—Failover techniques eliminating a faulty processor or activating a spare
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F9/00—Arrangements for program control, e.g. control units
    • G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L69/00—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass
    • H04L69/40—Network arrangements, protocols or services independent of the application payload and not provided for in the other groups of this subclass for recovering from a failure of a protocol instance or entity, e.g. service redundancy protocols, protocol state redundancy or protocol service redirection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0002—Automatic control, details of type of controller or control system architecture
    • B60W2050/0004—In digital systems, e.g. discrete-time systems involving sampling
    • B60W2050/0005—Processor details or data handling, e.g. memory registers or chip architecture
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/04—Monitoring the functioning of the control system
    • B60W50/045—Monitoring control system parameters
    • B60W2050/046—Monitoring control system parameters involving external transmission of data to or from the vehicle, e.g. via telemetry, satellite, Global Positioning System [GPS]

Definitions

  • the present invention relates to automatic driving, in particular to an automatic driving control system, control method and equipment.
  • Automobiles are being developed in the four areas of automation, connectivity, electrification, and sharing.
  • autonomous driving technology is the top priority of the current automotive industry development. It not only has a huge impact on the development of the industry, but also leads the future travel mode. change.
  • the reliability of the system needs to be comprehensively improved, and higher requirements are put forward for the perception, decision-making, and execution systems, as well as software and hardware equipment.
  • the backup redundancy of controllers and actuators is indispensable to realize highly automated driving.
  • the purpose of the present invention is to provide an automatic driving control system, method and equipment to solve the existing single-architecture automatic driving control system in the case of a single point failure of any controller or actuator.
  • a first aspect of the present invention provides an automatic driving control system.
  • the control system includes a main control system and a backup control system.
  • the main control system includes a main control module and a main execution module.
  • the backup control system includes a backup control module and a backup control system. Backup execution module; among them,
  • the main control module is used to monitor the operating status of the main control system in real time; the main control module is also used to send a failure notification to the backup control module when a failure of the main control system is detected, and to Each main execution module sends a termination response control instruction.
  • the termination response control instruction is a control instruction used to instruct each main execution module to prohibit responding to any control instruction on the vehicle; the backup control module is used for after receiving the failure notification Control the backup execution module to start executing the backup control instruction.
  • the backup control module is configured to send a backup control instruction to the backup execution module after receiving the failure notification; the backup execution module is configured to execute the backup control instruction.
  • the backup control module is configured to send a backup control instruction to the backup execution module; the backup control module is also configured to send a first response control instruction to the backup execution module after receiving the failure notification,
  • the first response control instruction is a control instruction used to instruct each backup execution module to start responding to the backup control instruction; the backup execution module is used to start executing the backup control instruction based on the first response control instruction.
  • the backup control module is also used for decomposing the backup control instruction, and sending the decomposed backup control instructions to the corresponding backup execution module, so that each backup execution module can perform according to the decomposed backup control instruction. Control the vehicle.
  • the operating state of the main control system includes: the operating state of the main control module, any main execution module, and the main communication network.
  • the backup control module is used to determine whether the communication with the main control module is interrupted, and to control the backup execution module to start executing the backup control instruction when it is determined that the communication with the main control module is interrupted.
  • main execution module is used to determine whether the communication with the main control module is interrupted, and to interrupt work when it is determined that the communication with the main control module is interrupted.
  • the main control module is configured to send a main control instruction and a second response control instruction to the main execution module, and the second response control instruction is used to instruct each main execution module to respond to the main control instruction and instruction
  • Each backup execution module responds to the control command of the decomposed main control command.
  • a second aspect of the present invention provides a control method of an automatic driving control system.
  • the automatic driving system includes a main control system and a backup control system.
  • the main control system includes a main control module and a main execution module.
  • the backup control system includes A backup control module and a backup execution module.
  • the method includes: the main control module monitors the operating state of the main control system in real time; when the main control module detects that the main control system fails, the main control The module sends a failure notification to the backup control module, and sends a termination response control instruction to each main execution module, where the termination response control instruction is used to instruct each main execution module to prohibit responding to any control instruction for controlling the vehicle;
  • the backup control module controls the backup execution module to start executing the backup control instruction after receiving the failure notification.
  • a third aspect of the present invention provides a control device for an automatic driving system, including: a processor and a memory.
  • the memory stores at least one instruction, at least one program, code set or instruction set, and the at least one instruction, the At least one program, the code set or the instruction set is loaded and executed by the processor to realize the control method of the automatic driving control system.
  • the present invention has the following beneficial effects:
  • the automatic driving control system of the present invention includes a main control system and a backup control system.
  • the main control system is responsible for executing the main control instructions of the automatic driving system.
  • the backup control system is transferred to Execute backup control commands, so that the autonomous vehicle can still operate normally when any module in the main control system fails at a single point, and realizes the functional safety and reliability of the autonomous driving ASIL D level.
  • FIG. 1 is a schematic structural diagram of an automatic driving control system provided by an embodiment of the present invention
  • Fig. 2 is a schematic flowchart of a control method of an automatic driving control system provided by an embodiment of the present invention.
  • Fig. 1 is a schematic structural diagram of an automatic driving control system provided by an embodiment of the present invention.
  • the automatic driving control system includes a main control system and a backup control system.
  • the main control system includes a main control module and The main execution module
  • the backup control system includes a backup control module and a backup execution module; wherein,
  • the main control module is used to monitor the operating state of the main control system in real time
  • the main control module is also used to send a failure notification to the backup control module when a failure of the main control system is detected, and send a termination response control instruction to each main execution module, and the termination response control instruction is for use Instruct each main execution module to prohibit responding to any control commands to control the vehicle;
  • the backup control module is configured to control the backup execution module to start executing the backup control instruction after receiving the failure notification.
  • main execution modules there may be one or more main execution modules, and the main control module establishes a communication connection with one or more main execution modules; there may be one or more backup execution modules, so The backup control module establishes a communication connection with one or more of the backup execution modules.
  • the modules are connected by two buses.
  • the backup execution module can be configured according to actual needs.
  • the main execution module includes a main brake module, a main steering module, and a main power module.
  • the backup execution module only needs to configure a backup brake module and a backup steering module according to actual needs. Module, no need to configure backup power module.
  • the operating state of the main control system includes: the operating state of the main control module, any main execution module, and the main communication network, and the main control system failure includes: the main control module or any main execution module occurs Failure, or the communication between the main control module and any main execution module is interrupted.
  • the backup execution module when the main control system fails, the backup execution module does not receive the backup control instruction, and after the main control system fails, the backup execution module receives the backup control Instruction and start to execute the backup control instruction, namely:
  • the backup control module is configured to send a backup control instruction to the backup execution module after receiving the failure notification;
  • the backup execution module is used to execute the backup control instruction.
  • the backup execution module when the main control system fails, can receive the backup control instruction but cannot execute the backup control instruction, and when the main control system fails, the backup execution module The module can start to execute the backup control instruction, namely:
  • the backup control module is used to send a backup control instruction to the backup execution module
  • the backup control module is further configured to send a first response control instruction to the backup execution module after receiving the failure notification, and the first response control instruction is used to instruct each backup execution module to start responding to the backup control Command control command;
  • the backup execution module is configured to start executing the backup control instruction based on the first response control instruction.
  • the backup control module since there may be multiple backup execution modules, in order to accurately send the backup control instruction to the corresponding backup execution module, the backup control module also has the following functions:
  • the backup control module is also used to decompose the backup control instruction, and send the decomposed backup control instruction to the corresponding backup execution module, so that each backup execution module controls the vehicle according to the decomposed backup control instruction.
  • the backup control module when the communication with the main control module is interrupted, the backup control module cannot receive the fault notification sent by the main control module, so that the backup control system cannot perform or perform the backup in time when the main control system fails. Control instruction.
  • the backup control module also has the following functions:
  • the backup control module is used to determine whether the communication with the main control module is interrupted, and to control the backup execution module to start executing the backup control instruction when it is determined that the communication with the main control module is interrupted.
  • the main execution module considering that when the communication with the main control module is interrupted, the main execution module cannot receive the termination response request sent by the main control module, so that the main execution module cannot stop the execution operation corresponding to the main control instruction in time.
  • the main execution module also has the following functions:
  • the main execution module is used to determine whether the communication with the main control module is interrupted, and to interrupt work when it is determined that the communication with the main control module is interrupted.
  • the main control module considering that only the main execution module executes the main control instructions efficiently, in order to increase the working efficiency of automatic driving, the main control module also has the following functions:
  • the main control module is used to send a main control instruction and a second response control instruction to the main execution module, and the second response control instruction is used to instruct each main execution module to respond to the main control instruction and instruct each backup execution
  • the module responds to the control command of the decomposed main control command.
  • FIG. 2 is a schematic flowchart of the control method of the automatic driving control system provided by an embodiment of the present invention.
  • This specification provides the method operation as described in the embodiment or the flowchart. Steps, but based on conventional or non-creative work can include more or fewer operating steps.
  • the sequence of steps listed in the embodiment is only one way of the execution sequence of many steps, and does not represent the only execution sequence.
  • the actual control device product of the automatic driving control system is executed, it may be executed sequentially or in parallel according to the methods shown in the embodiments or the drawings (for example, a parallel processor or a multi-threaded processing environment).
  • the automatic driving control system includes a main control system and a backup control system
  • the main control system includes a main control module and a main execution module
  • the backup control system includes a backup control module and a backup execution module, such as
  • the method may include:
  • Step S201 The main control module monitors the operating state of the main control system in real time
  • Step S203 When the main control module detects that the main control system fails, the main control module sends a failure notification to the backup control module, and sends a termination response control instruction to each main execution module, and the termination The response control instruction is used to instruct each main execution module to prohibit responding to any control instruction for controlling the vehicle;
  • the failure of the main control system includes: the failure of the main control module, any main execution module, and the main communication network.
  • Step S205 The backup control module controls the backup execution module to start executing the backup control instruction after receiving the failure notification.
  • the backup control module controlling the backup execution module to start executing the backup control instruction after receiving the failure notification may include:
  • the backup control module sends a backup control instruction to the backup execution module after receiving the failure notification
  • the backup execution module executes the backup control instruction.
  • the method may further include:
  • the backup control module sends a backup control instruction to the backup execution module
  • the backup control module controlling the backup execution module to start executing the backup control instruction after receiving the failure notification may include:
  • the backup control module sends a first response control instruction to the backup execution module after receiving the failure notification, and the first response control instruction is a control for instructing each backup execution module to start responding to the backup control instruction instruction;
  • the backup execution module starts to execute the backup control instruction based on the first response control instruction.
  • the method may further include:
  • the backup control module decomposes the backup control instruction
  • the backup control module sends the decomposed backup control instruction to the corresponding backup execution module, so that each backup execution module controls the vehicle according to the decomposed backup control instruction.
  • the method may further include:
  • the backup control module judges whether the communication with the main control module is interrupted
  • control the backup execution module to start executing the backup control instruction.
  • the main execution module determines whether the communication with the main control module is interrupted
  • the method may further include:
  • the main control module sends a main control instruction and a second response control instruction to the main execution module, and the second response control instruction is used to instruct each main execution module to respond to the main control instruction and instruct each backup execution module to respond The control instruction of the main control instruction after decomposition.
  • An embodiment of the present invention also provides an automatic driving control device, including: a processor and a memory, the memory stores at least one instruction, at least one program, code set or instruction set, the at least one instruction, the at least A piece of program, the code set or the instruction set is loaded and executed by the processor to realize any of the control methods of the automatic driving control system.
  • the main control system in the normal state, is responsible for executing the main control instructions of the automatic driving system.
  • any module in the main control system fails, it is transferred to The backup control system executes the backup control command, so that the autonomous vehicle can still operate normally when any module in the main control system fails at a single point, and realizes the functional safety and reliability of the autonomous driving ASIL D level.
  • the program can be stored in a computer-readable storage medium.
  • the storage medium mentioned can be a read-only memory, a magnetic disk or an optical disk, etc.

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Abstract

一种自动驾驶控制系统，包括主控制系统和备份控制系统，主控制系统包括主控制模块和主执行模块，备份控制系统包括备份控制模块和备份执行模块；主控制模块用于实时监测主控制系统的运行状态；主控制模块还用于在监测到主控制系统发生故障时，向备份控制模块发送故障通知，以及向各个主执行模块发送终止响应控制指令，终止响应控制指令为用于指示各主执行模块禁止响应任何对车辆进行控制的控制指令；备份控制模块用于在接收到故障通知后控制备份执行模块开始执行备份控制指令。该系统可解决自动驾驶控制系统在任意控制器或执行机构单点失效的情况下，系统无法正常运行的问题。

Description

一种自动驾驶控制系统、控制方法及设备
本申请要求2019年12月09日递交的申请号为201911247246.8、发明名称为“一种自动驾驶控制系统、控制方法及设备”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及自动驾驶，特别涉及一种自动驾驶控制系统、控制方法及设备。
背景技术
汽车正在面向自动化、网联化、电动化、共享化四个领域发展，其中，自动驾驶技术是当前汽车产业发展的重中之重，不仅对行业发展产生巨大影响，而且引领未来出行模式的重大变革。未来为了进一步实现L3、L4级别的高度自动驾驶系统，需要全面提升系统的可靠性，对感知、决策、执行系统以及软件、硬件设备都提出了更高的要求。其中，控制器及执行机构的备份冗余是实现高度自动驾驶所不可或缺的。
L3、L4级别的高度自动驾驶需要以更高的的可靠性来执行驾驶任务，才能够将驾驶员从驾驶任务中解放出来，提供给驾驶员Eyes-Off、Minds-Off的驾乘体验。为了实现这样的高可靠性系统，需要控制器、执行机构均达到ASIL D级别的功能安全可靠性，而现有单一ECU(Electronic Control Unit，电子控制单元)及架构的自动驾驶系统无法实现ASIL D级别的功能安全可靠性。
发明内容
针对现有技术的上述问题，本发明的目的在于提供一种自动驾驶控制系统、方法及设备，以解决现有单一架构的自动驾驶控制系统在任意控制器或执行机构单点失效的情况下，系统无法正常运行的问题。
本发明第一方面提供一种自动驾驶控制系统，所述控制系统包括主控 制系统和备份控制系统，所述主控制系统包括主控制模块和主执行模块，所述备份控制系统包括备份控制模块和备份执行模块；其中，
所述主控制模块用于实时监测所述主控制系统的运行状态；所述主控制模块还用于在监测到所述主控制系统发生故障时，向所述备份控制模块发送故障通知，以及向各个主执行模块发送终止响应控制指令，所述终止响应控制指令为用于指示各主执行模块禁止响应任何对车辆进行控制的控制指令；所述备份控制模块用于在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令。
进一步地，所述备份控制模块用于在接收到所述故障通知后向所述备份执行模块发送备份控制指令；所述备份执行模块用于执行所述备份控制指令。
进一步地，所述备份控制模块用于向所述备份执行模块发送备份控制指令；所述备份控制模块还用于在接收到所述故障通知后向所述备份执行模块发送第一响应控制指令，所述第一响应控制指令为用于指示各备份执行模块开始响应所述备份控制指令的控制指令；所述备份执行模块用于基于所述第一响应控制指令开始执行所述备份控制指令。
进一步地，所述备份控制模块还用于分解所述备份控制指令，以及将分解后的备份控制指令分别发送至对应的备份执行模块，以使各个备份执行模块根据分解后的所述备份控制指令控制车辆。
进一步地，所述主控制系统的运行状态包括：所述主控制模块、任一主执行模块以及主通信网络的运行状态。
进一步地，所述备份控制模块用于判断与所述主控制模块是否通讯中断，以及在判断出与主控制模块通讯中断时控制所述备份执行模块开始执行备份控制指令。
进一步地，所述主执行模块用于判断与所述主控制模块是否通讯中断，以及在判断出与所述主控制模块通讯中断时中断工作。
进一步地，所述主控制模块用于向所述主执行模块发送主控制指令和第二响应控制指令，所述第二响应控制指令为用于指示各主执行模块响应所述主控制指令以及指示各备份执行模块响应分解后的主控制指令的控制 指令。
本发明第二方面提供一种自动驾驶控制系统的控制方法，所述自动驾驶系统包括主控制系统和备份控制系统，所述主控制系统包括主控制模块和主执行模块，所述备份控制系统包括备份控制模块和备份执行模块，所述方法包括：所述主控制模块实时监测所述主控制系统的运行状态；在所述主控制模块监测到所述主控制系统发生故障时，所述主控制模块向所述备份控制模块发送故障通知，并向各个主执行模块发送终止响应控制指令，所述终止响应控制指令为用于指示各主执行模块禁止响应任何对车辆进行控制的控制指令；所述备份控制模块在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令。
本发明第三方面提供一种自动驾驶系统的控制设备，包括：处理器和存储器，所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集，所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现所述自动驾驶控制系统的控制方法。
由于上述技术方案，本发明具有如下有益效果：
本发明的自动驾驶控制系统包括主控制系统和备份控制系统，在通常状态下，由主控制系统负责执行自动驾驶系统主控制指令，当主控制系统中任意模块单点失效时，转由备份控制系统执行备份控制指令，从而使得自动驾驶车辆在主控制系统中任意模块单点失效时仍能正常运行，实现了自动驾驶ASIL D级别的功能安全可靠性。
附图说明
为了更清楚地说明本发明的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单的介绍。显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其它附图。
图1是本发明实施例提供的一种自动驾驶控制系统的结构示意图；
图2是本发明实施例提供的一种自动驾驶控制系统的控制方法的流程示意图。
具体实施方式
为了使本技术领域的人员更好地理解本发明方案，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分的实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都应当属于本发明保护的范围。
需要说明的是，本发明的说明书和权利要求书及附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含。
图1是本发明实施例提供的一种自动驾驶控制系统的结构示意图，如图1所示，所述自动驾驶控制系统包括主控制系统和备份控制系统，所述主控制系统包括主控制模块和主执行模块，所述备份控制系统包括备份控制模块和备份执行模块；其中，
所述主控制模块用于实时监测所述主控制系统的运行状态；
所述主控制模块还用于在监测到所述主控制系统发生故障时，向所述备份控制模块发送故障通知，以及向各个主执行模块发送终止响应控制指令，所述终止响应控制指令为用于指示各主执行模块禁止响应任何对车辆进行控制的控制指令；
所述备份控制模块用于在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令。
在本发明实施例中，所述主执行模块可以有一个或多个，所述主控制模块分别和一个或多个主执行模块建立通信连接；所述备份执行模块可以有一个或多个，所述备份控制模块分别和一个或多个所述备份执行模块建立通信连接，为保证所述主控制模块和所述备份控制模块之间的通讯不会中断，所述主控制模块和所述备份控制模块通过两条总线连接。
所述备份执行模块可以根据实际需求配置，例如，所述主执行模块包 括主制动模块、主转向模块和主动力模块，所述备份执行模块根据实际需求只需要配置备份制动模块和备份转向模块，无需配置备份动力模块。
所述主控制系统的运行状态包括：所述主控制模块、任一主执行模块以及主通信网络的运行状态，所述主控制系统发生故障包括：所述主控制模块或任一主执行模块发生故障，或者所述主控制模块与任一主执行模块之间通讯中断。
在一个具体的实施例中，所述主控制系统在未发生故障时，所述备份执行模块不会接收到备份控制指令，而在主控制系统发生故障后，所述备份执行模块接收到备份控制指令，并开始执行所述备份控制指令，即：
所述备份控制模块用于在接收到所述故障通知后向所述备份执行模块发送备份控制指令；
所述备份执行模块用于执行所述备份控制指令。
在另一个具体的实施例中，所述主控制系统在未发生故障时，所述备份执行模块可以接收备份控制指令但无法执行备份控制指令，而在主控制系统发生故障时，所述备份执行模块可以开始执行所述备份控制指令，即：
所述备份控制模块用于向所述备份执行模块发送备份控制指令；
所述备份控制模块还用于在接收到所述故障通知后向所述备份执行模块发送第一响应控制指令，所述第一响应控制指令为用于指示各备份执行模块开始响应所述备份控制指令的控制指令；
所述备份执行模块用于基于所述第一响应控制指令开始执行所述备份控制指令。
在另一些实施例中，由于备份执行模块可能为多个，为了将备份控制指令准确发送给相应的备份执行模块，所述备份控制模块还具有以下功能：
所述备份控制模块还用于分解所述备份控制指令，以及将分解后的备份控制指令分别发送至对应的备份执行模块，以使各个备份执行模块根据分解后的所述备份控制指令控制车辆。
在另一些实施例中，考虑到与主控制模块通讯中断时，备份控制模块无法接收到主控制模块发送的故障通知，从而使得备份控制系统在主控制系统出现故障时不能执行或无法及时执行备份控制指令。为避免主控制模 块通讯中断带来的此问题，所述备份控制模块还具有以下功能：
所述备份控制模块用于判断与所述主控制模块是否通讯中断，以及在判断出与主控制模块通讯中断时控制所述备份执行模块开始执行备份控制指令。
在另一些实施例中，考虑到与主控制模块通讯中断时，主执行模块无法接收到主控制模块发送的终止响应请求，从而使得主执行模块不能及时停止与主控制指令相应的执行操作。为避免与主控制模块通讯中断带来的此问题，所述主执行模块还具有以下功能：
所述主执行模块用于判断与所述主控制模块是否通讯中断，以及在判断出与所述主控制模块通讯中断时中断工作。
在另一些实施例中，考虑到只由主执行模块执行主控制指令效率较低，为了增加自动驾驶的工作效率，所述主控制模块还具有以下功能：
所述主控制模块用于向所述主执行模块发送主控制指令和第二响应控制指令，所述第二响应控制指令为用于指示各主执行模块响应所述主控制指令以及指示各备份执行模块响应分解后的主控制指令的控制指令。
以下介绍本发明的自动驾驶控制系统的控制方法，图2是本发明实施例提供的一种自动驾驶控制系统的控制方法的流程示意图，本说明书提供了如实施例或流程图所述的方法操作步骤，但基于常规或者无创造性的劳动可以包括更多或者更少的操作步骤。实施例中列举的步骤顺序仅仅为众多步骤执行顺序中的一种方式，不代表唯一的执行顺序。在实际的自动驾驶控制系统的控制装置产品执行时，可以按照实施例或者附图所示的方法顺序执行或者并行执行(例如并行处理器或者多线程处理的环境)。如图1所示，所述自动驾驶控制系统包括主控制系统和备份控制系统，所述主控制系统包括主控制模块和主执行模块，所述备份控制系统包括备份控制模块和备份执行模块，如图2所示，所述方法可以包括：
步骤S201：所述主控制模块实时监测所述主控制系统的运行状态；
步骤S203：在所述主控制模块监测到所述主控制系统发生故障时，所述主控制模块向所述备份控制模块发送故障通知，并向各个主执行模块发 送终止响应控制指令，所述终止响应控制指令为用于指示各主执行模块禁止响应任何对车辆进行控制的控制指令；
在本发明实施例中，所述主控制系统的故障包括：所述主控制模块、任一主执行模块以及主通信网络的故障。
步骤S205：所述备份控制模块在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令。
在一个具体的实施例中，所述备份控制模块在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令可以包括：
所述备份控制模块在接收到所述故障通知后向所述备份执行模块发送备份控制指令；
所述备份执行模块执行所述备份控制指令。
在另一个具体的实施例中，在所述备份控制模块在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令之前，所述方法还可以包括:
所述备份控制模块向所述备份执行模块发送备份控制指令；
所述备份控制模块在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令可以包括：
所述备份控制模块在接收到所述故障通知后向所述备份执行模块发送第一响应控制指令，所述第一响应控制指令为用于指示各备份执行模块开始响应所述备份控制指令的控制指令；
所述备份执行模块基于所述第一响应控制指令开始执行所述备份控制指令。
在另一些实施例中，所述方法还可以包括：
所述备份控制模块分解所述备份控制指令；
所述备份控制模块将分解后的备份控制指令分别发送至对应的备份执行模块，以使各个备份执行模块根据分解后的所述备份控制指令控制车辆。
在另一些实施例中，所述方法还可以包括：
所述备份控制模块判断与所述主控制模块是否通讯中断；
若是，控制所述备份执行模块开始执行备份控制指令。
在另一些实施例中，所述主执行模块判断与所述主控制模块是否通讯中断；
若是，所述主执行模块中断工作。
在另一些实施例中，所述方法还可以包括：
所述主控制模块向所述主执行模块发送主控制指令和第二响应控制指令，所述第二响应控制指令为用于指示各主执行模块响应所述主控制指令以及指示各备份执行模块响应分解后的主控制指令的控制指令。
所述的方法实施例中的方法与系统实施例基于同样的发明构思。
本发明实施例还提供了一种自动驾驶控制设备，包括：处理器和存储器，所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集，所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现任一所述的自动驾驶控制系统的控制方法。
实施本发明实施例提供的自动驾驶控制系统、方法或设备的实施例，在通常状态下，由主控制系统负责执行自动驾驶系统主控制指令，当主控制系统中任意模块单点失效时，转由备份控制系统执行备份控制指令，从而使得自动驾驶车辆在主控制系统中任意模块单点失效时仍能正常运行，实现了自动驾驶ASIL D级别的功能安全可靠性。
需要说明的是：上述本发明实施例先后顺序仅仅为了描述，不代表实施例的优劣。且上述对本说明书特定实施例进行了描述。其它实施例在所附权利要求书的范围内。在一些情况下，在权利要求书中记载的动作或步骤可以按照不同于实施例中的顺序来执行并且仍然可以实现期望的结果。另外，在附图中描绘的过程不一定要求示出的特定顺序或者连续顺序才能实现期望的结果。在某些实施方式中，多任务处理和并行处理也是可以的或者可能是有利的。
本说明书中的各个实施例均采用递进的方式描述，各个实施例之间相同相似的部分互相参见即可，每个实施例重点说明的都是与其他实施例的不同之处。尤其，对于装置、终端和系统实施例而言，由于其基本相似于方法实施例，所以描述的比较简单，相关之处参见方法实施例的部分说明即可。
本领域普通技术人员可以理解实现上述实施例的全部或部分步骤可以通过硬件来完成，也可以通过程序来指令相关的硬件完成，所述的程序可以存储于一种计算机可读存储介质中，上述提到的存储介质可以是只读存储器，磁盘或光盘等。

Claims (16)

  1. 一种自动驾驶控制系统，其特征在于，所述控制系统包括主控制系统和备份控制系统，所述主控制系统包括主控制模块和主执行模块，所述备份控制系统包括备份控制模块和备份执行模块；其中，
    所述主控制模块用于实时监测所述主控制系统的运行状态；
    所述主控制模块还用于在监测到所述主控制系统发生故障时，向所述备份控制模块发送故障通知，以及向各个主执行模块发送终止响应控制指令，所述终止响应控制指令为用于指示各主执行模块禁止响应任何对车辆进行控制的控制指令；
    所述备份控制模块用于在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令。
  2. 根据权利要求1所述的一种自动驾驶控制系统，其特征在于，所述备份控制模块用于在接收到所述故障通知后向所述备份执行模块发送备份控制指令；
    所述备份执行模块用于执行所述备份控制指令。
  3. 根据权利要求1所述的一种自动驾驶控制系统，其特征在于，所述备份控制模块用于向所述备份执行模块发送备份控制指令；
    所述备份控制模块还用于在接收到所述故障通知后向所述备份执行模块发送第一响应控制指令，所述第一响应控制指令为用于指示各备份执行模块开始响应所述备份控制指令的控制指令；
    所述备份执行模块用于基于所述第一响应控制指令开始执行所述备份控制指令。
  4. 根据权利要求2或3所述的一种自动驾驶控制系统，其特征在于，所述备份控制模块还用于分解所述备份控制指令，以及将分解后的备份控制指令分别发送至对应的备份执行模块，以使各个备份执行模块根据分解后的所述备份控制指令控制车辆。
  5. 根据权利要1所述的一种自动驾驶控制系统，其特征在于，所述主控制系统的运行状态包括：
    所述主控制模块、任一主执行模块以及主通信网络的运行状态。
  6. 根据权利要求1所述的一种自动驾驶控制系统，其特征在于，所述备份控制模块用于判断与所述主控制模块是否通讯中断，以及在判断出与主控制模块通讯中断时控制所述备份执行模块开始执行备份控制指令。
  7. 根据权利要求1所述的一种自动驾驶控制系统，其特征在于，所述主执行模块用于判断与所述主控制模块是否通讯中断，以及在判断出与所述主控制模块通讯中断时中断工作。
  8. 根据权利要求1所述的一种自动驾驶控制系统，其特征在于，所述主控制模块用于向所述主执行模块发送主控制指令和第二响应控制指令，所述第二响应控制指令为用于指示各主执行模块响应所述主控制指令以及指示各备份执行模块响应分解后的主控制指令的控制指令。
  9. 一种自动驾驶控制系统的控制方法，其特征在于，所述自动驾驶控制系统包括主控制系统和备份控制系统，所述主控制系统包括主控制模块和主执行模块，所述备份控制系统包括备份控制模块和备份执行模块，所述方法包括：
    所述主控制模块实时监测所述主控制系统的运行状态；
    在所述主控制模块监测到所述主控制系统发生故障时，所述主控制模块向所述备份控制模块发送故障通知，并向各个主执行模块发送终止响应控制指令，所述终止响应控制指令为用于指示各主执行模块禁止响应任何对车辆进行控制的控制指令；
    所述备份控制模块在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令。
  10. 根据权利要求9所述的控制方法，其特征在于，所述备份控制模块在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令包括：
    所述备份控制模块在接收到所述故障通知后向所述备份执行模块发送备份控制指令；
    所述备份执行模块执行所述备份控制指令。
  11. 根据权利要求9所述的控制方法，其特征在于，所述方法还包括:所述备份控制模块向所述备份执行模块发送备份控制指令；
    相应的，所述备份控制模块在接收到所述故障通知后控制所述备份执行模块开始执行备份控制指令包括：
    所述备份控制模块在接收到所述故障通知后向所述备份执行模块发送第一响应控制指令，所述第一响应控制指令为用于指示各备份执行模块开始响应所述备份控制指令的控制指令；
    所述备份执行模块基于所述第一响应控制指令开始执行所述备份控制指令。
  12. 根据权利要求10或11所述的控制方法，其特征在于，所述方法还包括：
    所述备份控制模块分解所述备份控制指令；
    所述备份控制模块将分解后的备份控制指令分别发送至对应的备份执行模块，以使各个备份执行模块根据分解后的所述备份控制指令控制车辆。
  13. 根据权利要求9所述的控制方法，其特征在于，所述方法还包括：
    所述备份控制模块判断与所述主控制模块是否通讯中断；
    若是，控制所述备份执行模块开始执行备份控制指令。
  14. 根据权利要求9所述的控制方法，其特征在于，所述方法还包括：
    所述主执行模块判断与所述主控制模块是否通讯中断；
    若是，所述主执行模块中断工作。
  15. 根据权利要求9所述的控制方法，其特征在于，所述方法还包括：
    所述主控制模块向所述主执行模块发送主控制指令和第二响应控制指令，所述第二响应控制指令为用于指示各主执行模块响应所述主控制指令以及指示各备份执行模块响应分解后的主控制指令的控制指令。
  16. 一种自动驾驶系统的控制设备，其特征在于，包括：处理器和存储器，所述存储器中存储有至少一条指令、至少一段程序、代码集或指令集，所述至少一条指令、所述至少一段程序、所述代码集或指令集由所述处理器加载并执行以实现如权利要求9-15任一所述的自动驾驶控制系统的控制方法。
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