WO2021180036A1 - 驻车冗余控制方法、自动驾驶系统和驾驶设备 - Google Patents

驻车冗余控制方法、自动驾驶系统和驾驶设备 Download PDF

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Publication number
WO2021180036A1
WO2021180036A1 PCT/CN2021/079541 CN2021079541W WO2021180036A1 WO 2021180036 A1 WO2021180036 A1 WO 2021180036A1 CN 2021079541 W CN2021079541 W CN 2021079541W WO 2021180036 A1 WO2021180036 A1 WO 2021180036A1
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WIPO (PCT)
Prior art keywords
controller
parking
main
request
automatic driving
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PCT/CN2021/079541
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English (en)
French (fr)
Inventor
鲁兰
官浩
徐华林
刘志鹏
王立军
王君君
隋清海
郝占武
Original Assignee
中国第一汽车股份有限公司
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Priority to EP21767022.3A priority Critical patent/EP4119404A4/en
Publication of WO2021180036A1 publication Critical patent/WO2021180036A1/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
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/10—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with fluid assistance, drive, or release
    • B60T13/66—Electrical control in fluid-pressure brake systems
    • B60T13/662—Electrical control in fluid-pressure brake systems characterised by specified functions of the control system components
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T17/00—Component parts, details, or accessories of power brake systems not covered by groups B60T8/00, B60T13/00 or B60T15/00, or presenting other characteristic features
    • B60T17/18—Safety devices; Monitoring
    • B60T17/22—Devices for monitoring or checking brake systems; Signal devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • 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
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • 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
    • B60W50/029—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

Definitions

  • the embodiments of the present application relate to the field of automatic driving technology, for example, to a parking redundancy control method, an automatic driving system, and a driving device.
  • This application provides a parking redundancy control method, an automatic driving system, and a driving device, so as to realize that the vehicle can perform when the vehicle is in an automatic driving state and before the driver takes over without adding additional hardware mechanisms. Park safely.
  • the embodiment of the present application provides a parking redundancy control method, which is applied to an automatic driving system, wherein multiple components in the automatic driving system include: an automatic driving main controller, an automatic driving auxiliary controller, and a main brake Controller, backup brake controller, electronic parking controller, P gear controller, gateway, and Controller Area Network (CAN) communication network;
  • the CAN communication network includes: intelligent driving master CAN, chassis master CAN and chassis backup CAN;
  • the method includes: after determining that the vehicle is waiting to be parked, the automatic driving main controller and the automatic driving auxiliary controller simultaneously send a first safe parking request to the main brake controller ,
  • the first safe parking request includes: the automatic driving main controller and the automatic driving auxiliary controller respectively sequentially send parking via the intelligent driving main CAN, the gateway, and the chassis main CAN.
  • Vehicle instruction, and the parking instruction sent by the automatic driving main controller through the chassis backup CAN determine whether the multiple components in the automatic driving system are all normal, and if the judgment result is that the multiple components are all normal If it is normal, the main brake controller sends an electronic parking request to the electronic parking controller based on the first safe parking request, and sends a P gear request to the P gear controller, so that the The automatic driving system completes the parking action of the vehicle; if the judgment result is that any one of the multiple components is abnormal, the parking redundant response is executed.
  • the CAN communication network further includes a power CAN.
  • the parking redundancy response includes: the auxiliary automatic driving controller sends a second safe parking request to the main brake controller, wherein , The second safe parking request includes a parking command sent by the automatic driving auxiliary controller through the intelligent driving main CAN, the gateway, and the chassis main CAN in sequence; the main brake controller is based on the The second safe parking request sends the electronic parking request to the electronic parking controller, and sends the P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action
  • the main brake controller sequentially sends the P gear request to the P gear controller through the chassis main CAN, the gateway and the power CAN, and simultaneously sends the P gear request to the P gear through the chassis backup CAN
  • the gear controller sends the P gear request.
  • the parking redundancy response includes: the main automatic driving controller sends a third safe parking request to the main brake controller, wherein ,
  • the third safe parking request includes the parking command sent by the automatic driving master controller through the intelligent driving master CAN, the gateway, and the chassis master CAN in turn, and the automatic driving master controller passing The parking command sent by the chassis backup CAN;
  • the main brake controller sends the electronic parking request to the electronic parking controller based on the third safe parking request, and sends to the P gear controller The P gear request, so that the automatic driving system completes the vehicle parking action;
  • the main brake controller sequentially passes the chassis main CAN, the gateway, and the power CAN to the P gear The controller sends the P gear request, and at the same time sends the P gear request to the P gear controller through the chassis backup CAN.
  • the parking redundancy response includes: the autonomous driving main controller sends a fourth safe parking request to the main brake controller, wherein the first The fourth safe parking request includes the parking command sent by the automatic driving main controller through the chassis backup CAN; the main brake controller sends to the electronic parking controller based on the fourth safe parking request The electronic parking request, and sending the P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; wherein, the main brake controller uses the chassis backup CAN Send the P gear request to the P gear controller.
  • the parking redundancy response includes: the automatic driving main controller sends a fifth safe parking request to the main brake controller, wherein all The fifth safe parking request includes a parking command sent by the automatic driving main controller through the chassis backup CAN; the main brake controller sends the electronic parking control to the electronic parking control based on the fifth safe parking request Device sends the electronic parking request, and sends the P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; wherein, the main brake controller sequentially passes through the The chassis main CAN, the gateway, and the power CAN send the P gear request to the P gear controller, and at the same time send the P gear request to the P gear controller through the chassis backup CAN.
  • the parking redundancy response includes: the automatic driving main controller and the automatic driving auxiliary controller simultaneously report to the backup brake controller Send a sixth safe parking request, where the sixth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively passing through the intelligent driving main CAN, the gateway, and the The parking command sent by the chassis main CAN, and the parking command sent by the automatic driving main controller through the chassis backup CAN; the backup brake controller sends the parking command to the electronic parking system based on the sixth safe parking request The vehicle controller sends the electronic parking request, and sends the P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; wherein, the backup brake controller passes all The chassis main CAN and the chassis backup CAN respectively send the electronic parking request to the electronic parking controller, and the backup brake controller sequentially passes through the chassis main CAN, the gateway, and the power CAN sends the P gear request to the P gear controller, and at the same time sends the P gear request to the P gear controller through the chassis backup
  • the parking redundancy response includes: simultaneously controlling the main brake through the main automatic driving controller and the auxiliary automatic driving controller.
  • the device sends a seventh safe parking request, where the seventh safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively sequentially passing through the intelligent driving main CAN, the gateway, and all The parking command sent by the chassis master CAN, and the parking command sent by the automatic driving master controller through the chassis backup CAN;
  • the master brake controller sends the parking command to the electronic
  • the parking controller sends the electronic parking request, and sends the P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action;
  • the main brake controller sequentially The P gear request is sent to the P gear controller through the chassis main CAN, the gateway, and the power CAN, and the P gear request is sent to the P gear controller through the chassis backup CAN at the same time ask.
  • the parking redundancy response includes: the automatic driving main controller and the automatic driving auxiliary controller simultaneously report to the main brake controller Send an eighth safe parking request, where the eighth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively passing through the intelligent driving main CAN, the gateway, and the The parking command sent by the chassis main CAN, and the parking command sent by the automatic driving main controller through the chassis backup CAN; the main brake controller sends the P gear to the P gear based on the eighth safe parking request The controller sends the P gear request to enable the automatic driving system to complete the vehicle parking action; wherein, the main brake controller sequentially passes the chassis main CAN, the gateway, and the power CAN to the station The P gear controller sends the P gear request, and at the same time sends the P gear request to the P gear controller through the chassis backup CAN.
  • the eighth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively passing through the intelligent driving main CAN, the gateway, and the The parking command sent by the chassis main CAN, and the parking command sent by the automatic
  • the parking redundancy response includes: simultaneously sending to the main brake controller through the automatic driving main controller and the automatic driving auxiliary controller.
  • Send a ninth safe parking request where the ninth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively sequentially passing through the intelligent driving main CAN, the gateway, and the The parking command sent by the chassis master CAN, and the parking command sent by the automatic driving master controller through the chassis backup CAN; the master brake controller sends the electronic parking command based on the ninth safe parking request
  • the vehicle controller sends the electronic parking request, so that the automatic driving system completes the vehicle parking action.
  • the parking redundancy response includes: the automatic driving main controller and the automatic driving auxiliary controller simultaneously send the tenth to the main brake controller A safe parking request, wherein the tenth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively sequentially passing through the intelligent driving main CAN, the gateway, and the chassis main CAN
  • the parking command sent by the main automatic driving controller through the chassis backup CAN the main brake controller sends the parking command to the electronic parking controller based on the tenth safe parking request Send the electronic parking request, and send the P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; wherein, the main brake controller is backed up by the chassis CAN sends the P gear request to the P gear controller.
  • the parking redundancy response includes: sending an eleventh safe parking request to the main brake controller through the automatic driving main controller, where , The eleventh safe parking request includes a parking command sent by the autonomous driving main controller through the chassis backup CAN; the main brake controller sends the eleventh safe parking request to the The electronic parking controller sends the electronic parking request, and sends the P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; wherein, the main brake controller The P gear request is sent to the P gear controller through the chassis backup CAN.
  • the parking redundancy response includes: the automatic driving main controller and the automatic driving auxiliary controller simultaneously send the first automatic driving controller to the main brake controller
  • the twelfth safe parking request wherein the twelfth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively passing through the intelligent driving main CAN, the gateway, and the The parking command sent by the chassis main CAN;
  • the main brake controller sends the electronic parking request to the electronic parking controller based on the twelfth safe parking request, and to the P gear controller Send the P gear request, so that the automatic driving system completes the vehicle parking action;
  • the main brake controller sequentially sends the vehicle to the P through the chassis main CAN, the gateway, and the power CAN.
  • the gear controller sends the P gear request.
  • An embodiment of the present application also provides an automatic driving system, which is configured to execute the parking redundancy control method described in any of the foregoing embodiments.
  • An embodiment of the present application further provides a driving device, the driving device includes an automatic driving system, and the automatic driving system is configured to execute the parking redundancy control method described in any one of the foregoing embodiments.
  • Fig. 1 is a flowchart of a parking redundancy control method provided by an embodiment of the present application
  • Figure 2 is a structural diagram of an automatic driving system provided by an embodiment of the present application.
  • Fig. 3 is a hardware connection structure diagram of an electronic parking controller provided by an embodiment of the present application.
  • FIG. 4 is a hardware connection structure diagram of a P gear controller provided by an embodiment of the present application.
  • FIG. 5 is a parking flow chart of an automatic driving system in a normal state of the entire system according to an embodiment of the present application
  • FIG. 6 is a parking flowchart of another automatic driving system in a normal state of the entire system according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of an automatic driving system provided by an embodiment of the present application.
  • Fig. 8 is a schematic diagram of a driving device provided by an embodiment of the present application.
  • high-speed automatic driving systems above L3 require sufficient time for the driver to take over after a single point of failure occurs. Before a single point of failure occurs to the driver, it is necessary to ensure that the vehicle’s In a safe state, this requires autonomous vehicles to be safe and redundant. Which includes the redundant control of parking.
  • the main controller area network (CAN) network data of the vehicle and the backup CAN network data uses the main controller area network (CAN) network data of the vehicle and the backup CAN network data to realize the monitoring and control of the redundant parking system in the automatic driving system when the L3 automatic driving system is turned on.
  • the main CAN network data includes the upper-level system request vehicle parking signal (Secure Request), vehicle speed (Vehicle Speed), wheel speed pulse (Wheel Speed Pulse), brake master cylinder pressure (Master Cylinder Pressure), driver side seat belt status Information (Seat Belt Status_Driver), cockpit door status information (Door Status_Driver), accelerator pedal opening (Throttle Pedal Position), gear status information (Gear Status), electronic parking brake status (Electrical Park Brake Status, EPB Status) ) And other signals.
  • the backup CAN network data includes vehicle speed (Vehicle Speed), wheel speed pulse (Wheel Speed Pulse), master cylinder pressure (Master Cylinder Pressure), driver side seat belt status information (Seat Belt Status_Driver), cockpit door status information (Door) Status_Driver), accelerator pedal opening (Throttle Pedal Position), gear status information (Gear Status), electronic parking brake status (EPB Status) and other signals.
  • this application does not require additional hardware structure to realize the safe parking of the vehicle, and the lower body introduces the control logic of this application.
  • Fig. 1 is a flowchart of a parking redundancy control method provided by an embodiment of the present application.
  • the parking redundancy control method includes: after determining that the vehicle is to be parked:
  • Step S101 the automatic driving main controller and the automatic driving auxiliary controller simultaneously send a first safe parking request to the main brake controller, where the first safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively
  • the automatic driving main controller determines whether the vehicle currently needs to be parked (ie, waiting to be parked), and when the determination result is yes .
  • the automatic driving main controller and the automatic driving auxiliary controller will simultaneously send a request (Secure Request) to the main brake controller, that is, the above-mentioned first safe parking request, which activates the safety
  • the parking function secure function
  • the autonomous driving main controller and the autonomous driving auxiliary controller will not only send the parking command to the main brake controller through the intelligent driving main CAN-gateway-chassis main CAN, but also the automatic driving main controller will back up the CAN via the chassis Send a parking command to the main brake controller.
  • the autonomous driving main controller and the autonomous driving auxiliary controller will in turn send parking commands to the backup brake controller via the smart driving main CAN-gateway-chassis master CAN, and the autonomous driving master controller will send the parking command to the backup brake controller via the chassis backup CAN.
  • the backup brake controller sends a parking command, but when the main brake controller is in a normal state, the main brake controller will give priority to the received parking command (that is, the above-mentioned first safe parking request), and the backup brake The controller is only used as a backup option when the main brake controller fails, and the main brake controller will give priority to responding to the autonomous driving main controller from the intelligent driving main CAN through the gateway to the chassis main CAN, and finally to the main brake controller.
  • the first safe parking request is only used as a backup option when the main brake controller fails, and the main brake controller will give priority to responding to the autonomous driving main controller from the intelligent driving main CAN through the gateway to the chassis main CAN, and finally to the main brake controller.
  • the first safe parking request is only used as
  • Step S102 It is judged whether multiple components in the automatic driving system are normal.
  • the multiple components in the automatic driving system include: the automatic driving main controller, the automatic driving auxiliary controller, the main brake controller, and the backup brake control , Electronic parking controller, P gear controller, gateway and CAN communication network;
  • CAN communication network includes: intelligent driving main CAN, chassis main CAN, chassis backup CAN and power CAN.
  • the main brake controller after the main brake controller receives the signal of the first safe parking request, it will give priority to determining whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is Under normal circumstances, the following step S103 is executed.
  • step S103 if the judgment result is yes (that is, multiple components in the automatic driving system are normal), the main brake controller sends an electronic parking request to the electronic parking controller based on the first safe parking request, and The P block controller sends a P block request to enable the automatic driving system to complete the vehicle parking action.
  • Fig. 2 is a structural diagram of an automatic driving system provided by an embodiment of the present application.
  • Fig. 3 is a hardware connection structure diagram of an electronic parking controller provided by an embodiment of the present application.
  • Fig. 4 is a hardware connection structure diagram of a P gear controller provided by an embodiment of the present application.
  • Fig. 5 is a parking flow chart of an automatic driving system in a normal state of the entire system according to an embodiment of the present application.
  • Fig. 6 is a parking flow chart of another automatic driving system in a normal state of the entire system according to an embodiment of the present application, where the EPB shown in Fig. 6 is an electronic parking brake system.
  • the electronic parking controller is integrated into the main brake controller.
  • the main brake controller passes internal signals Send an electronic parking request to the electronic parking controller.
  • the main brake controller will also send a P gear request to the P gear controller through the chassis main CAN through the gateway and the power CAN, and to the P gear controller through the chassis backup CAN Send P block request, request to pull P block.
  • the electronic parking controller is connected to the caliper.
  • the caliper includes a left caliper and a right caliper.
  • the electronic parking controller After the electronic parking controller receives the electronic parking request, it will control the caliper to clamp; the P gear controller and The P block locking mechanism is connected.
  • the P block controller After the P block controller receives the P block request, it will control the P block locking mechanism to pull up, thereby completing the parking action of the vehicle.
  • the electronic parking controller and the P gear controller will feed back the corresponding electronic parking brake status (EPB Status) and gear status information (Gear Status) to the automatic driving master controller. After the controller judges that the parking is complete, it exits the automatic driving.
  • EB Status electronic parking brake status
  • Gear Status gear status information
  • the electronic parking controller preferentially responds to the electronic parking request issued by the main brake controller, and the P gear controller preferentially responds to the main brake controller to control the P gear through the chassis main CAN through the gateway and the power CAN. P block request sent by the device.
  • the electronic parking controller may also be integrated into the backup brake controller, or the electronic parking controller may be integrated into the main brake controller and the backup brake controller at the same time, or the electronic parking controller
  • the parking brake controller can be an independent controller, and different choices can be made according to actual needs, which will not be repeated here.
  • the electronic parking controller is integrated into the main brake controller as an example for description.
  • step S104 if the judgment result is no (that is, the multiple components in the automatic driving system are not all normal, and any one of the multiple components is abnormal), the parking redundant response is executed.
  • the automatic driving system further executes a parking redundant response, which refers to automatic driving How does the automatic driving system make the vehicle safely park before the driver takes over after one or more components in the system malfunction.
  • the present application discloses a parking redundancy control method, which includes: simultaneously sending a first safe parking request to the main brake controller through an automatic driving main controller and an automatic driving auxiliary controller; Whether the components are normal; if the judgment result is that multiple components are normal, the main brake controller sends an electronic parking request to the electronic parking controller based on the first safe parking request, and sends a P gear request to the P gear controller , So that the automatic driving system completes the vehicle parking action; if the judgment result is that any one of the multiple components is abnormal, the parking redundant response will be executed.
  • the present application achieves the technical effect that the vehicle can safely park when the vehicle is in an autonomous driving state and before the driver takes over the vehicle without additional hardware mechanisms.
  • the parking redundancy response includes the following steps:
  • Step S201 the automatic driving auxiliary controller sends a second safe parking request to the main brake controller, where the second safe parking request includes the automatic driving auxiliary controller sequentially sent via the intelligent driving main CAN, the gateway, and the chassis main CAN Parking instructions.
  • the auxiliary automatic driving controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, when the current vehicle speed is lower than the parking limit speed, the auxiliary automatic driving The controller will send a request to the main brake controller, that is, the above-mentioned second safe parking request, to activate the safe parking function.
  • the second safe parking request is sent to the main brake controller through the intelligent driving main CAN, the gateway and the chassis main CAN.
  • the second safe parking request will also be sent to the backup brake controller through the intelligent driving main CAN, gateway and chassis main CAN, but when the main brake controller is in normal state, the main brake controller will give priority to receiving it.
  • the backup brake controller is only used as a backup option when the main brake controller fails.
  • step S202 the main brake controller sends an electronic parking request to the electronic parking controller based on the second safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action;
  • the main brake controller sequentially sends a P gear request to the P gear controller through the chassis main CAN, gateway, and power CAN, and at the same time sends a P gear request to the P gear controller through the chassis backup CAN.
  • the main brake controller after the main brake controller receives the signal of the second safe parking request, it determines whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is normal. In this case, the main brake controller sends an electronic parking request to the electronic parking controller through an internal signal. At the same time, the main brake controller also sends a P gear request to the P gear controller through the chassis main CAN through the gateway and the power CAN. , And send a P gear request to the P gear controller through the chassis backup CAN, requesting to pull up the P gear. After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper.
  • the P gear controller After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feedback the corresponding electronic parking brake status and gear status information to the automatic driving auxiliary controller, and the automatic driving auxiliary controller will exit after judging that the parking is completed Autopilot.
  • the parking redundancy response includes the following steps:
  • step S301 the automatic driving main controller sends a third safe parking request to the main braking controller, where the third safe parking request includes the automatic driving main controller sequentially sending through the intelligent driving main CAN, the gateway, and the chassis main CAN.
  • the automatic driving main controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, the automatic driving master will The controller will send a request to the main brake controller, which is the third safe parking request mentioned above, to activate the safe parking function.
  • the third safe parking request can not only be sent to the main brake controller through the intelligent driving main CAN, gateway and chassis main CAN, but also can be sent to the main brake through the chassis backup CAN Controller.
  • the third safe parking request will also be sent to the backup brake controller through the intelligent driving main CAN, gateway and chassis main CAN, and sent to the backup brake controller through the chassis backup CAN, but in the main brake controller state
  • the main brake controller preferentially executes the received parking command (that is, the above-mentioned third safe parking request), and the backup brake controller is only used as a backup option when the main brake controller fails.
  • step S302 the main brake controller sends an electronic parking request to the electronic parking controller based on the third safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; where , The main brake controller sequentially sends a P gear request to the P gear controller through the chassis main CAN, gateway, and power CAN, and at the same time sends a P gear request to the P gear controller through the chassis backup CAN.
  • the main brake controller after the main brake controller receives the signal of the third safe parking request, it determines whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is normal. In this case, the main brake controller sends an electronic parking request to the electronic parking controller through an internal signal. At the same time, the main brake controller also sends a P gear request to the P gear controller through the chassis main CAN through the gateway and the power CAN. , And send a P gear request to the P gear controller through the chassis backup CAN, requesting to pull up the P gear. After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper.
  • the P gear controller After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feedback the corresponding electronic parking brake status and gear status information to the automatic driving main controller, and the automatic driving main controller will exit after judging that the parking is complete. Autopilot.
  • the parking redundancy response includes the following steps: Step S401, the automatic driving main controller sends a fourth safe parking request to the main brake controller, where the fourth safe parking request includes automatic The driving main controller backs up the parking command sent by CAN through the chassis.
  • the main autopilot controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, if the current speed is lower than the parking limit speed, the autopilot main controller will The main brake controller sends a request, that is, the aforementioned fourth safe parking request, to activate the safe parking function. Referring to Figure 2, Figure 5 and Figure 6, the fourth safe parking request is sent to the main brake controller via the chassis backup CAN.
  • the autonomous driving main controller will also send the fourth safe parking request to the backup brake controller via the chassis backup CAN, but when the main brake controller is in normal state, the main brake controller will give priority to the reception The parking command (ie the fourth safe parking request mentioned above), the backup brake controller is only used as a backup option when the main brake controller fails, and the main brake controller will give priority to the parking command sent by the automatic driving main controller. Car instruction.
  • step S402 the main brake controller sends an electronic parking request to the electronic parking controller based on the fourth safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; wherein, The main brake controller sends a P gear request to the P gear controller through the chassis backup CAN.
  • the main brake controller after the main brake controller receives the signal of the fourth safe parking request, it determines whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is normal. In this case, the main brake controller sends an electronic parking request to the electronic parking controller through an internal signal. At the same time, the main brake controller also sends a P gear request to the P gear controller through the chassis backup CAN, requesting to pull up the P gear. block. After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper. After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feedback the corresponding electronic parking brake status and gear status information to the automatic driving main controller, and the automatic driving main controller will exit after judging that the parking is complete. Autopilot.
  • the parking redundancy response includes the following steps: Step S501, the automatic driving main controller sends a fifth safe parking request to the main brake controller, where the fifth safe parking request Including the parking command sent by the main autopilot controller via the chassis backup CAN.
  • the automatic driving main controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, the automatic driving main controller will A request will be sent to the main brake controller, which is the fifth safe parking request mentioned above, to activate the safe parking function. Referring to Figure 2, Figure 5 and Figure 6, the fifth safe parking request is sent to the main brake controller via the chassis backup CAN.
  • the autonomous driving main controller will also send the fifth safe parking request to the backup brake controller through the chassis backup CAN, but when the main brake controller is in normal state, the main brake controller will give priority to the reception For the parking command (that is, the fifth safe parking request mentioned above), the backup brake controller is only used as a backup option when the main brake controller fails, and the main brake controller will give priority to the parking command sent by the automatic driving main controller. Car instruction.
  • Step S502 the main brake controller sends an electronic parking request to the electronic parking controller based on the fifth safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action;
  • the main brake controller sends the P gear request to the P gear controller through the chassis main CAN, the gateway, and the power CAN in turn, and at the same time sends P gear to the P gear controller through the chassis backup CAN. Block request.
  • the main brake controller after the main brake controller receives the signal of the fifth safe parking request, it determines whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is normal. In this case, the main brake controller sends an electronic parking request to the electronic parking controller through an internal signal. At the same time, the main brake controller also sends a P gear request to the P gear controller through the chassis main CAN through the gateway and the power CAN. , And send a P gear request to the P gear controller through the chassis backup CAN, requesting to pull up the P gear. After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper.
  • the P gear controller After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feedback the corresponding electronic parking brake status and gear status information to the automatic driving main controller, and the automatic driving main controller will exit after judging that the parking is complete. Autopilot.
  • the parking redundancy response includes the following steps:
  • step S601 the automatic driving main controller and the automatic driving auxiliary controller simultaneously send a sixth safe parking request to the backup brake controller, where the sixth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller, respectively.
  • the automatic driving main controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, when the current vehicle speed is lower than the parking limit speed, the automatic driving main controller The controller will send a request to the backup brake controller, which is the sixth safe parking request mentioned above, to activate the safe parking function.
  • the sixth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively sent to the parking brake controller of the backup brake controller through the intelligent driving main CAN, the gateway and the chassis main CAN respectively.
  • the backup brake controller gives priority to responding to the autopilot main controller through the smart driving main CAN, gateway and chassis main CAN.
  • the parking command, the auxiliary automatic driving controller is only used as a backup option when the main automatic driving controller fails.
  • step S602 the backup brake controller sends an electronic parking request to the electronic parking controller based on the sixth safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action;
  • the backup brake controller sends the electronic parking request to the electronic parking controller through the chassis main CAN and the chassis backup CAN respectively, and the backup brake controller sequentially passes through the chassis main CAN, gateway, Hedongli CAN sends a P gear request to the P gear controller, and at the same time sends a P gear request to the P gear controller through the chassis backup CAN.
  • the backup brake controller after the backup brake controller receives the signal of the sixth safe parking request, it determines whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is normal. In this case, the backup brake controller sends an electronic parking request to the electronic parking controller through the chassis main CAN and the chassis backup CAN. At the same time, the backup brake controller will also use the chassis main CAN to pass through the gateway and the power CAN to the P gear. The controller sends a P gear request, and sends a P gear request to the P gear controller through the chassis backup CAN, requesting to pull the P gear. After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper.
  • the P gear controller After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feed back the corresponding electronic parking brake status and gear status information to the automatic driving main controller, and the automatic driving main controller will exit after judging that the parking is completed. Autopilot.
  • the electronic parking controller preferentially responds to the electronic parking request sent by the backup brake controller through the chassis main CAN, and the electronic parking request sent by the backup brake controller through the chassis backup CAN only serves as the chassis The backup option when the main CAN fails; the P gear controller responds first to the backup brake controller through the chassis main CAN via the gateway and the power CAN to send the P gear request to the P gear controller, and the backup brake controller sends it through the chassis backup CAN
  • the P gear request is only used as a backup option when one or more of the chassis main CAN, gateway, and power CAN fails.
  • the parking redundancy response includes the following steps:
  • step S701 the automatic driving main controller and the automatic driving auxiliary controller simultaneously send a seventh safe parking request to the main brake controller, where the seventh safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively
  • the automatic driving master controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, the master automatic driving controller will The controller and the automatic driving auxiliary controller will send a request to the main brake controller, that is, the seventh safe parking request mentioned above, to activate the safe parking function.
  • the seventh safe parking request can not only be sent to the main brake controller by the autonomous driving main controller and the automatic driving auxiliary controller through the intelligent driving main CAN, gateway and chassis main CAN, but also It can be sent by the main automatic driving controller to the main brake controller through the chassis backup CAN, where the main brake controller preferentially responds to the parking commands sent by the main automatic driving controller through the intelligent driving main CAN, gateway, and chassis main CAN.
  • step S702 the main brake controller sends an electronic parking request to the electronic parking controller based on the seventh safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; where, The main brake controller sequentially sends a P gear request to the P gear controller through the chassis main CAN, gateway, and power CAN, and at the same time sends a P gear request to the P gear controller through the chassis backup CAN.
  • the main brake controller after the main brake controller receives the signal of the seventh safe parking request, it determines whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is normal. In this case, the main brake controller sends an electronic parking request to the electronic parking controller through an internal signal. At the same time, the main brake controller also sends a P gear request to the P gear controller through the chassis main CAN through the gateway and the power CAN. , And send a P gear request to the P gear controller through the chassis backup CAN, requesting to pull up the P gear. After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper.
  • the P gear controller After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feedback the corresponding electronic parking brake status and gear status information to the automatic driving main controller, and the automatic driving main controller will exit after judging that the parking is complete. Autopilot.
  • the P gear controller preferentially responds to the P gear request sent by the main brake controller to the P gear controller via the chassis main CAN via the gateway and power CAN, and the main brake controller sends the P gear request via the chassis backup CAN.
  • the gear request is only used as a backup option when one or more of the chassis main CAN, gateway, and power CAN fails.
  • the parking redundancy response includes the following steps:
  • step S801 the automatic driving main controller and the automatic driving auxiliary controller simultaneously send an eighth safe parking request to the main brake controller, where the eighth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively
  • the automatic driving master controller determines whether the vehicle currently needs to be parked. When the determination result is yes, the automatic driving master will The controller and the automatic driving auxiliary controller will send a request to the main brake controller, that is, the eighth safe parking request mentioned above, to activate the safe parking function.
  • the eighth safe parking request can not only be sent to the main brake controller by the autonomous driving main controller and the automatic driving auxiliary controller through the intelligent driving main CAN, gateway and chassis main CAN, but also It can be sent by the main automatic driving controller to the main brake controller through the chassis backup CAN, where the main brake controller preferentially responds to the parking commands sent by the main automatic driving controller through the intelligent driving main CAN, gateway, and chassis main CAN.
  • the eighth safe parking request will also be sent to the backup brake controller by the autonomous driving main controller and the autonomous driving auxiliary controller through the intelligent driving main CAN, gateway, and chassis main CAN, and passed by the automatic driving main controller.
  • the chassis backup CAN is sent to the backup brake controller, but when the main brake controller is in a normal state, the main brake controller will give priority to the received parking command (that is, the eighth safe parking request above), and the backup system
  • the dynamic controller is only used as a backup option when the main brake controller fails.
  • step S802 the main brake controller sends a P block request to the P block controller based on the eighth safe parking request, so that the automatic driving system completes the vehicle parking action; wherein, the main brake controller sequentially passes through the chassis main CAN and gateway , Hedongli CAN sends a P gear request to the P gear controller, and at the same time sends a P gear request to the P gear controller through the chassis backup CAN.
  • the main brake controller after the main brake controller receives the signal of the eighth safe parking request, it judges whether the current P gear controller and the actuator are normal. If the judgment result is normal, the main brake controller passes The chassis main CAN sends a P gear request to the P gear controller through the gateway and the power CAN, and sends a P gear request to the P gear controller through the chassis backup CAN to request the P gear to be pulled up. After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the P gear controller will feedback the corresponding gear status information to the automatic driving main controller, and the automatic driving main controller will exit the automatic driving after judging that the parking is completed.
  • the P gear controller preferentially responds to the P gear request sent by the main brake controller to the P gear controller via the chassis main CAN via the gateway and power CAN, and the main brake controller sends the P gear request via the chassis backup CAN.
  • the gear request is only used as a backup option when one or more of the chassis main CAN, gateway, and power CAN fails.
  • the parking redundancy response includes the following steps:
  • Step S901 the automatic driving main controller and the automatic driving auxiliary controller simultaneously send a ninth safe parking request to the main brake controller, where the ninth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively
  • the automatic driving main controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, the automatic driving main control will The driver and the autonomous driving auxiliary controller will send a request to the main brake controller, that is, the ninth safe parking request mentioned above, to activate the safe parking function.
  • the ninth safe parking request can not only be sent to the main brake controller by the autonomous driving main controller and the automatic driving auxiliary controller through the intelligent driving main CAN, gateway and chassis main CAN, but also It can be sent by the main automatic driving controller to the main brake controller through the chassis backup CAN, where the main brake controller preferentially responds to the parking commands sent by the main automatic driving controller through the intelligent driving main CAN, gateway, and chassis main CAN. .
  • the ninth safe parking request will be sent to the backup brake controller by the autopilot master controller and autopilot auxiliary controller through the smart driving master CAN, gateway, and chassis master CAN, and the autopilot master controller will pass through the chassis.
  • the backup CAN is sent to the backup brake controller, but when the main brake controller is in normal state, the main brake controller will give priority to the received parking command (ie the above-mentioned ninth safe parking request), and the backup brake The controller is only used as a backup option when the main brake controller fails.
  • step S902 the main brake controller sends an electronic parking request to the electronic parking controller based on the ninth safe parking request, so that the automatic driving system completes the vehicle parking action.
  • the main brake controller after the main brake controller receives the signal of the ninth safe parking request, it determines whether the current electronic parking controller and the actuator are normal. If the judgment result is normal, the main brake controller Send an electronic parking request to the electronic parking controller through an internal signal. After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper to complete the parking action of the vehicle. After the parking action is completed, the electronic parking controller will feedback the corresponding electronic parking brake status information to the automatic driving main controller, and the automatic driving main controller will exit the automatic driving after judging that the parking is completed.
  • the parking redundancy response includes the following steps:
  • step S1001 the automatic driving main controller and the automatic driving auxiliary controller simultaneously send a tenth safe parking request to the main brake controller, where the tenth safe parking request includes the automatic driving main controller and the automatic driving auxiliary controller respectively
  • the automatic driving main controller determines whether the vehicle currently needs to be parked, and when the judgment result is yes, when the current vehicle speed is less than the parking limit speed, the automatic driving main controller and The automatic driving auxiliary controller will simultaneously send a request to the main brake controller, that is, the tenth safe parking request mentioned above, to activate the safe parking function.
  • the tenth safe parking request can not only be sent to the main brake controller by the autonomous driving main controller and the automatic driving auxiliary controller through the intelligent driving main CAN, gateway and chassis main CAN, but also It can be sent by the main automatic driving controller to the main brake controller through the chassis backup CAN, where the main brake controller preferentially responds to the parking commands sent by the main automatic driving controller through the intelligent driving main CAN, gateway, and chassis main CAN.
  • the autonomous driving main controller will also send the tenth safe parking request to the backup brake controller through the chassis backup CAN, but when the main brake controller is in normal state, the main brake controller will give priority to the reception For the parking command (that is, the tenth safe parking request mentioned above), the backup brake controller is only used as a backup option when the main brake controller fails.
  • step S1002 the main brake controller sends an electronic parking request to the electronic parking controller based on the tenth safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; where , See Figure 2, Figure 5 and Figure 6, the main brake controller sends a P gear request to the P gear controller through the chassis backup CAN.
  • the main brake controller after the main brake controller receives the signal of the tenth safe parking request, it determines whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is normal. In this case, the main brake controller sends an electronic parking request to the electronic parking controller through an internal signal. At the same time, the main brake controller also sends a P gear request to the P gear controller through the chassis backup CAN, requesting to pull up the P gear. block. After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper. After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feedback the corresponding electronic parking brake status and gear status information to the automatic driving main controller, and the automatic driving main controller will exit after judging that the parking is complete. Autopilot.
  • the parking redundancy response includes the following steps:
  • step S1101 the automatic driving main controller sends an eleventh safe parking request to the main brake controller, where the eleventh safe parking request is a parking command sent by the automatic driving main controller via the chassis backup CAN.
  • the automatic driving main controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, the automatic driving main controller will A request will be sent to the main brake controller, which is the eleventh safe parking request mentioned above, to activate the safe parking function.
  • the eleventh safe parking request includes a parking command sent by the main autopilot controller to the main brake controller via the chassis backup CAN.
  • the eleventh safe parking request will also be sent by the autonomous driving main controller to the backup brake controller through the chassis backup CAN, but when the main brake controller is in normal state, the main brake controller will give priority to the reception For the received parking command (that is, the eleventh safe parking request mentioned above), the backup brake controller is only used as a backup option when the main brake controller fails.
  • Step S1102 the main brake controller sends an electronic parking request to the electronic parking controller based on the eleventh safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; Among them, the main brake controller sends a P gear request to the P gear controller through the chassis backup CAN.
  • the main brake controller after the main brake controller receives the signal of the eleventh safe parking request, it judges whether the current electronic parking controller and actuator, P gear controller and actuator are normal, and the judgment result is normal. In the case of an internal signal, the main brake controller sends an electronic parking request to the electronic parking controller. At the same time, the main brake controller sends a P block request to the P block controller via the chassis backup CAN, requesting to pull the P block . After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper. After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feed back the corresponding electronic parking brake status and gear status information to the automatic driving main controller, and the automatic driving main controller will exit after judging that the parking is completed. Autopilot.
  • the parking redundancy response includes the following steps:
  • Step S1201 the automatic driving main controller and the automatic driving auxiliary controller simultaneously send a twelfth safe parking request to the main brake controller, where the twelfth safe parking request includes the automatic driving main controller and the automatic driving auxiliary control
  • the parking commands are sent through the intelligent driving main CAN, the gateway, and the chassis main CAN in turn.
  • the main autopilot controller determines whether the vehicle currently needs to be parked. When the judgment result is yes, the main autopilot controller determines whether the current vehicle speed is lower than the parking limit speed. And the automatic driving auxiliary controller will send a request to the main brake controller, that is, the above-mentioned twelfth safe parking request, to activate the safe parking function.
  • the twelfth safe parking request is sent to the parking of the main brake controller via the smart driving main CAN, the gateway, and the chassis main CAN, respectively, by the automatic driving main controller and the automatic driving auxiliary controller. Car instruction.
  • the twelfth safe parking request will also be sent to the backup brake controller by the automatic driving main controller and the automatic driving auxiliary controller through the intelligent driving main CAN, gateway, and chassis main CAN, but in the main brake controller Under normal conditions, the main brake controller will give priority to the received parking command (that is, the twelfth safe parking request mentioned above), and the backup brake controller is only used as a backup option when the main brake controller fails.
  • step S1202 the main brake controller sends an electronic parking request to the electronic parking controller based on the twelfth safe parking request, and sends a P gear request to the P gear controller, so that the automatic driving system completes the vehicle parking action; Among them, the main brake controller sends a P gear request to the P gear controller through the chassis main CAN, the gateway, and the power CAN in turn.
  • the main brake controller after the main brake controller receives the signal of the twelfth safe parking request, it determines whether the current electronic parking controller and the actuator, the P gear controller and the actuator are normal, and the judgment result is normal. In the case of, the main brake controller sends an electronic parking request to the electronic parking controller through an internal signal. At the same time, the main brake controller also sends the P gear to the P gear controller through the chassis main CAN through the gateway and the power CAN. ask.
  • the electronic parking controller After the electronic parking controller receives the electronic parking request, it will control the clamping of the caliper. After the P gear controller receives the P gear request, it will control the P gear locking mechanism to pull up, thereby completing the parking action of the vehicle. After the parking action is completed, the electronic parking controller and the P gear controller will feed back the corresponding electronic parking brake status and gear status information to the automatic driving main controller, and the automatic driving main controller will exit after judging that the parking is completed. Autopilot.
  • the parking redundancy control method provided by this application has the following advantages: (1) On the basis of the current high-speed automatic driving architecture, it can realize the safe parking redundancy of the automatic driving system without adding any additional hardware mechanisms. (2) When the vehicle is in the state of automatic driving, whether it is a full system or a single point failure, the driver can guarantee the safe parking of the vehicle if the driver does not take over in time; (3) This application is in the first system On the basis of the original functions of the main brake controller, the monitoring, verification and control functions of the parking redundancy system have been added, which can realize effective parking redundancy backup and ensure the safety of the vehicle.
  • this application adds the monitoring, verification and control functions of the parking redundancy system, which can achieve effective
  • the parking redundant backup ensures that the vehicle can reach a safe state.
  • an embodiment of the present application also provides an automatic driving system 700, which is configured to execute the parking redundancy control method described in any of the above embodiments.
  • the automatic driving system 700 provided by the embodiment of the present application executes the parking redundancy control method in the foregoing embodiment. Therefore, the automatic driving system 700 provided by the embodiment of the present application also has the effects described in the foregoing embodiment, and will not be repeated here. .
  • an embodiment of the present application further provides a driving device 800, which includes an automatic driving system 700, and the automatic driving system 700 is configured as the method described in any of the foregoing embodiments.
  • the driving device 800 provided in the embodiment of the present application includes the automatic driving system 700 in the foregoing embodiment. Therefore, the driving device 800 provided in the embodiment of the present application also has the effects described in the foregoing embodiment, and will not be repeated here.
  • connection should be interpreted broadly, for example, it may be a fixed connection or a detachable connection, or Integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.
  • connection should be interpreted broadly, for example, it may be a fixed connection or a detachable connection, or Integrally connected; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the internal communication between two components.

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Abstract

一种驻车冗余控制方法，该方法包括：自动驾驶主控制器以及自动驾驶辅控制器同时向主制动控制器发送第一安全驻车请求，其中，第一安全驻车请求包括：自动驾驶主控制器以及自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关和底盘主CAN发送的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送的驻车指令；判断自动驾驶系统中的多个部件是否均正常；响应于判断结果为是，主制动控制器基于第一安全驻车请求向电子驻车控制器发送电子驻车请求以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；响应于判断结果为多个部件中的任一部件异常，执行驻车冗余响应。该驻车冗余控制方法实现了在不额外增加硬件机构的情况下，在车辆处于自动驾驶行驶状态时且驾驶员接管车辆之前，车辆能够进行安全驻车的技术效果。还提供了一种应用该驻车冗余控制方法自动驾驶系统和驾驶设备。

Description

驻车冗余控制方法、自动驾驶系统和驾驶设备
本申请要求在2020年03月11日提交中国专利局、申请号为202010165744.4的中国专利申请的优先权，该申请的全部内容通过引用结合在本申请中。
技术领域
本申请实施例涉及自动驾驶技术领域，例如涉及一种驻车冗余控制方法、自动驾驶系统和驾驶设备。
背景技术
随着自动驾驶技术的逐渐成熟，越来越多的车辆开始搭载L3级别以上的自动驾驶系统。自动驾驶对传统的驻车制动系统也提出了新的要求，驻车制动系统同时具有两套不同的零件来实现车辆的安全驻车。目前并没有成熟应用于高速自动驾驶系统的驻车冗余控制方法。
发明内容
本申请提供了一种驻车冗余控制方法、自动驾驶系统和驾驶设备，以实现在不额外增加硬件机构的情况下，在车辆处于自动驾驶行驶状态时且驾驶员接管车辆之前，车辆能够进行安全驻车。
本申请实施例提供了一种驻车冗余控制方法，应用于自动驾驶系统，其中，所述自动驾驶系统中的多个部件包括：自动驾驶主控制器、自动驾驶辅控制器、主制动控制器、备份制动控制器、电子驻车控制器、P挡控制器、网关以及控制器局域网络(Controller Area Network,CAN)通信网络；所述CAN通信网络包括：智能驾驶主CAN、底盘主CAN以及底盘备份CAN；所述方法包括：在确定车辆待驻车之后，所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第一安全驻车请求，其中，所述第一安全驻车请求包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关和所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；判断所述自动驾驶系统中的所述多个部件是否均正常，若判断结果为所述多个部件均正常，则所述主制动控制器 基于所述第一安全驻车请求向所述电子驻车控制器发送电子驻车请求，以及向所述P挡控制器发送P挡请求，以使所述自动驾驶系统完成车辆驻车动作；若判断结果为所述多个部件中的任一部件异常，则执行驻车冗余响应。
在一实施例中，所述CAN通信网络还包括动力CAN。
在一实施例中，当所述自动驾驶主控制器失效时，所述驻车冗余响应包括：所述自动驾驶辅控制器向所述主制动控制器发送第二安全驻车请求，其中，所述第二安全驻车请求包括所述自动驾驶辅控制器依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令；所述主制动控制器基于所述第二安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器依次通过所述底盘主CAN、所述网关和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时通过底盘备份CAN向所述P挡控制器发送所述P挡请求。
在一实施例中，当所述自动驾驶辅控制器失效时，所述驻车冗余响应包括：所述自动驾驶主控制器向所述主制动控制器发送第三安全驻车请求，其中，所述第三安全驻车请求包括所述自动驾驶主控制器依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过底盘备份CAN发送的驻车指令；所述主制动控制器基于所述第三安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器依次通过所述底盘主CAN、所述网关、和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
在一实施例中，当所述网关失效时，所述驻车冗余响应包括：所述自动驾驶主控制器向所述主制动控制器发送第四安全驻车请求，其中，所述第四安全驻车请求包括所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；所述主制动控制器基于所述第四安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器通过所述底盘备份CAN向所 述P挡控制器发送所述P挡请求。
在一实施例中，当所述智能主CAN失效时，所述驻车冗余响应包括：所述自动驾驶主控制器向所述主制动控制器发送第五安全驻车请求，其中，所述第五安全驻车请求包括所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；所述主制动控制器基于所述第五安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器依次通过所述底盘主CAN、所述网关、所述动力CAN向所述P挡控制器发送所述P挡请求，并同时通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
在一实施例中，当所述主制动控制器失效时，所述驻车冗余响应包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述备份制动控制器发送第六安全驻车请求，其中，所述第六安全驻车请求包括所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；所述备份制动控制器基于所述第六安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述备份制动控制器通过所述底盘主CAN以及所述底盘备份CAN分别向所述电子驻车控制器发送所述电子驻车请求，所述备份制动控制器依次通过所述底盘主CAN、所述网关、和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
在一实施例中，当所述备份制动控制器失效时，所述驻车冗余响应包括：通过所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第七安全驻车请求，其中，所述第七安全驻车请求包括所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；所述主制动控制器基于所述第七安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器依次通过所述底盘主CAN、所述网关、和所述动力CAN向所述P挡控制 器发送所述P挡请求，并同时通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
在一实施例中，当所述电子驻车控制器失效时，所述驻车冗余响应包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第八安全驻车请求，其中，所述第八安全驻车请求包括所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；所述主制动控制器基于所述第八安全驻车请求向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器依次通过所述底盘主CAN、所述网关、和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
在一实施例中，当所述P挡控制器失效时，所述驻车冗余响应包括：通过所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第九安全驻车请求，其中，所述第九安全驻车请求包括所述自动驾驶主控制器、所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；所述主制动控制器基于所述第九安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以使所述自动驾驶系统完成车辆驻车动作。
在一实施例中，当所述动力CAN失效时，所述驻车冗余响应包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第十安全驻车请求，其中，所述第十安全驻车请求包括所述自动驾驶主控制器、所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；所述主制动控制器基于所述第十安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
在一实施例中，当所述底盘主CAN失效时，所述驻车冗余响应包括：通过所述自动驾驶主控制器向所述主制动控制器发送第十一安全驻车请求，其中，所述第十一安全驻车请求包括所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；所述主制动控制器基于所述第十一安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
在一实施例中，当所述底盘备份CAN失效时，所述驻车冗余响应包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第十二安全驻车请求，其中，所述第十二安全驻车请求包括所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令；所述主制动控制器基于所述第十二安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器依次通过所述底盘主CAN、所述网关、和所述动力CAN向所述P挡控制器发送所述P挡请求。
本申请实施例还提供了一种自动驾驶系统，所述自动驾驶系统设置为执行上述任一实施例所述的驻车冗余控制方法。
本申请实施例还提供了一种驾驶设备，所述驾驶设备包括自动驾驶系统，所述自动驾驶系统设置为执行上述任一实施例所述的驻车冗余控制方法。
附图说明
图1是本申请实施例提供的一种驻车冗余控制方法的流程图；
图2是本申请实施例提供的自动驾驶系统的结构图；
图3是本申请实施例提供的电子驻车控制器的硬件连接结构图；
图4是本申请实施例提供的P挡控制器的硬件连接结构图；
图5是本申请实施例提供的一种自动驾驶系统全系统状态正常下的驻车流程图；
图6是本申请实施例提供的又一种自动驾驶系统全系统状态正常下的驻车流程图；
图7是本申请实施例提供的一种自动驾驶系统的示意图；
图8是本申请实施例提供的一种驾驶设备的示意图。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解的是，此处所描述的具体实施例仅仅用于解释本申请，而非对本申请的限定。为了便于描述，附图中仅示出了与本申请相关的部分而非全部结构。
本申请的说明书和权利要求书及附图中的术语“第一”、“第二”等是用于区别不同对象，而不是用于限定特定顺序。本申请下述多个实施例可以单独执行，多个实施例之间也可以相互结合执行，本申请实施例对此不作具体限制。
在高速自动驾驶系统的使用场景中，L3以上级别的高速自动驾驶系统要求发生单点失效后，给驾驶员留出充分的接管时间，在发生单点失效至驾驶员接管之前，需要保证车辆的安全状态，这就要求自动驾驶车辆做到安全冗余。其中就包含了驻车的冗余控制。
本申请在L3自动驾驶系统开启的状态下，使用车辆的主控制器局域网络(Controller Area Network,CAN)网络数据以及备份CAN网络数据来实现对自动驾驶系统中的冗余驻车系统的监控、校验以及控制。其中，主CAN网络数据包括上层系统请求车辆驻车信号(Secure Request)、车速(Vehicle Speed)、轮速脉冲(Wheel Speed Pulse)、制动主缸压力(Master Cylinder Pressure)、驾驶侧安全带状态信息(Seat Belt Status_Driver)、驾驶舱车门状态信息(Door Status_Driver)、油门踏板开度(Throttle Pedal Position)、档位状态信息(Gear Status)，电子驻车制动状态(Electrical Park Brake Status,EPB Status)等信号。备份CAN网络数据包括车速(Vehicle Speed)、轮速脉冲(Wheel Speed Pulse)、制动主缸压力(Master Cylinder Pressure)、驾驶侧安全带状态信息(Seat Belt Status_Driver)、驾驶舱车门状态信息(Door Status_Driver)、油门踏板开度(Throttle Pedal Position)、档位状态信息(Gear Status)，电子驻车制动状态(EPB Status)等信号。
因此本申请不需要额外加装硬件结构，即可实现车辆的安全驻车，下面具 体介绍本申请的控制逻辑。
图1是本申请实施例提供的一种驻车冗余控制方法的流程图。
如图1所示，驻车冗余控制方法包括：在确定车辆待驻车之后：
步骤S101，自动驾驶主控制器以及自动驾驶辅控制器同时向主制动控制器发送第一安全驻车请求，其中，第一安全驻车请求包括自动驾驶主控制器以及自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关、和底盘主CAN发送的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，在全系统状态下，即在自动驾驶系统性能正常的情况下，自动驾驶主控制器判断车辆当前是否需要进行驻车(即，待驻车)，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器以及自动驾驶辅控制器会同时向主制动控制器发送请求(Secure Request)，即上述第一安全驻车请求，激活安全驻车功能(secure function)，为了防止自动驾驶主控制器、自动驾驶辅控制器、智能驾驶主CAN、网关以及底盘主CAN中的其中一个或其中几个发生故障导致的驻车请求重新发送不及时，自动驾驶主控制器以及自动驾驶辅控制器不仅会通过智能驾驶主CAN-网关-底盘主CAN向主制动控制器发送驻车指令，同时，自动驾驶主控制器还会通过底盘备份CAN向主制动控制器发送驻车指令。
同时，自动驾驶主控制器以及自动驾驶辅控制器还会依次通过智能驾驶主CAN-网关-底盘主CAN向备份制动控制器发送驻车指令，以及自动驾驶主控制器会通过底盘备份CAN向备份制动控制器发送驻车指令，但是在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第一安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择，并且，主制动控制器会优先响应自动驾驶主控制器从智能驾驶主CAN经过网关到达底盘主CAN，最终到达主制动控制器的第一安全驻车请求。
步骤S102，判断自动驾驶系统中的多个部件是否均正常，其中，自动驾驶系统中的多个部件包括：自动驾驶主控制器、自动驾驶辅控制器、主制动控制器、备份制动控制器、电子驻车控制器、P挡控制器、网关以及CAN通信网络；CAN通信网络包括：智能驾驶主CAN、底盘主CAN、底盘备份CAN以及动力CAN。
在一实施例中，主制动控制器接收到第一安全驻车请求的信号后，会优先判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下执行下述步骤S103。
步骤S103，若判断结果为是(即，自动驾驶系统中的多个部件均正常)，则主制动控制器基于第一安全驻车请求向电子驻车控制器发送电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作。
图2是本申请实施例提供的自动驾驶系统的结构图。图3是本申请实施例提供的电子驻车控制器的硬件连接结构图。图4是本申请实施例提供的P挡控制器的硬件连接结构图。图5是本申请实施例提供的一种自动驾驶系统全系统状态正常下的驻车流程图。图6是本申请实施例提供的又一种自动驾驶系统全系统状态正常下的驻车流程图，其中，图6中所示的EPB为电子驻车制动系统。
在一实施例中，参见图2、图5和图6，电子驻车控制器集成在主制动控制器中，当判断结果为多个部件状况均正常时，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器还会通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，以及通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。
参见图3和图4，电子驻车控制器与卡钳相连接，卡钳包括左卡钳和右卡钳，在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧；P挡控制器与P挡锁止机构相连接，在P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。在驻车动作完成之后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态(EPB Status)以及档位状态信息(Gear Status)给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
在本申请实施例中，电子驻车控制器优先响应主制动控制器发出的电子驻车请求，P挡控制器优先响应主制动控制器通过底盘主CAN经过网关和动力CAN向P挡控制器发送的P挡请求。在一实施例中，电子驻车控制器还可以集成在备份制动控制器中，或者，电子驻车控制器可以同时集成到主制动控制器和备份制动控制器中，又或者，电子驻车制动控制器可以为独立存在的控制器，可以根据实际需求进行不同的选择，在此不再进行赘述。本申请中均以电子驻车控制器集成在主制动控制器中为例进行说明。
步骤S104，若判断结果为否(即，自动驾驶系统中的多个部件不是均正常，多个部件中的任一部件异常)，则执行驻车冗余响应。
在一实施例中，若判断结果为否，说明自动驾驶系统中的一个或多个部件出现了故障，则自动驾驶系统进一步执行驻车冗余响应，该驻车冗余响应指的是自动驾驶系统中的一个或多个部件在出现故障之后自动驾驶系统如何使得车辆在驾驶员接管之前安全的进行驻车。
本申请公开了一种驻车冗余控制方法，包括：通过自动驾驶主控制器以及自动驾驶辅控制器同时向主制动控制器发送第一安全驻车请求；判断自动驾驶系统中的多个部件是否均正常；若判断结果为多个部件均正常，则主制动控制器基于第一安全驻车请求向电子驻车控制器发送电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；若判断结果为多个部件中的任一部件异常，则执行驻车冗余响应。本申请实现了在不额外增加硬件机构的情况下，在车辆处于自动驾驶行驶状态时且驾驶员接管车辆之前，车辆能够进行安全驻车的技术效果。
可选地，当自动驾驶主控制器失效时，驻车冗余响应包括如下步骤：
步骤S201，自动驾驶辅控制器向主制动控制器发送第二安全驻车请求，其中，第二安全驻车请求包括自动驾驶辅控制器依次通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令。
在一实施例中，自动驾驶主控制器失效后，自动驾驶辅控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶辅控制器会向主制动控制器发送请求，即上述第二安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第二安全驻车请求通过智能驾驶主CAN、网关以及底盘主CAN发送至主制动控制器。同时，第二安全驻车请求还会通过智能驾驶主CAN、网关以及底盘主CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第二安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择。
步骤S202，主制动控制器基于第二安全驻车请求向电子驻车控制器发送电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻 车动作；其中，主制动控制器依次通过底盘主CAN、网关、和动力CAN向P挡控制器发送P挡请求，并同时通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第二安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器还会通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，以及通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶辅控制器，自动驾驶辅控制器判断驻车完成后，退出自动驾驶。
可选地，当自动驾驶辅控制器失效时，驻车冗余响应包括如下步骤：
步骤S301，自动驾驶主控制器向主制动控制器发送第三安全驻车请求，其中，第三安全驻车请求包括自动驾驶主控制器依次通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，自动驾驶辅控制器失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器会向主制动控制器发送请求，即上述第三安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第三安全驻车请求不仅能够通过智能驾驶主CAN、网关以及底盘主CAN发送至主制动控制器，以及，还能够通过底盘备份CAN发送至主制动控制器。同时，第三安全驻车请求还会通过智能驾驶主CAN、网关以及底盘主CAN发送至备份制动控制器，以及通过底盘备份CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第三安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择。
步骤S302，主制动控制器基于第三安全驻车请求向电子驻车控制器发送电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻 车动作；其中，主制动控制器依次通过底盘主CAN、网关、和动力CAN向P挡控制器发送P挡请求，并同时通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第三安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器还会通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，以及通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
可选地，当网关失效时，驻车冗余响应包括如下步骤：步骤S401，自动驾驶主控制器向主制动控制器发送第四安全驻车请求，其中，第四安全驻车请求包括自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，网关失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器会向主制动控制器发送请求，即上述第四安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第四安全驻车请求通过底盘备份CAN发送至主制动控制器。同时，自动驾驶主控制器还会将第四安全驻车请求通过底盘备份CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第四安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择，且主制动控制器优先执行自动驾驶主控制器发送来的驻车指令。
步骤S402，主制动控制器基于第四安全驻车请求向电子驻车控制器电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；其中，主制动控制器通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第四安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为 正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器还会通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
可选地，当智能主CAN失效时，驻车冗余响应包括如下步骤：步骤S501，自动驾驶主控制器向主制动控制器发送第五安全驻车请求，其中，第五安全驻车请求包括自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，智能主CAN失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器会向主制动控制器发送请求，即上述第五安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第五安全驻车请求通过底盘备份CAN发送至主制动控制器。同时，自动驾驶主控制器还会将第五安全驻车请求通过底盘备份CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第五安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择，且主制动控制器优先执行自动驾驶主控制器发送来的驻车指令。
步骤S502，主制动控制器基于第五安全驻车请求向电子驻车控制器发送电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；其中，参见图2、图5和图6，主制动控制器依次通过底盘主CAN、网关、和动力CAN向P挡控制器发送P挡请求，并同时通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第五安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器还会通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，以及通过底盘备份CAN向P挡控制器发送P挡请求，请求 拉起P挡。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
可选地，当主制动控制器失效时，驻车冗余响应包括如下步骤：
步骤S601，自动驾驶主控制器以及自动驾驶辅控制器同时向备份制动控制器发送第六安全驻车请求，其中，第六安全驻车请求包括自动驾驶主控制器以及自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，主制动控制器失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器会向备份制动控制器发送请求，即上述第六安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第六安全驻车请求包括自动驾驶主控制器以及自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关以及底盘主CAN发送至备份制动控制器的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送至备份制动控制器的驻车指令，备份制动控制器优先响应自动驾驶主控制器通过智能驾驶主CAN、网关以及底盘主CAN发送来的驻车指令，自动驾驶辅控制器仅作为自动驾驶主控制器失效时的备用选择。
步骤S602，备份制动控制器基于第六安全驻车请求向电子驻车控制器发送电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；其中，参见图2、图5和图6，备份制动控制器通过底盘主CAN以及底盘备份CAN分别向电子驻车控制器发送电子驻车请求，备份制动控制器依次通过底盘主CAN、网关、和动力CAN向P挡控制器发送P挡请求，并同时通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，备份制动控制器接收到第六安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下，备份制动控制器通过底盘主CAN以及底盘备份CAN分别向电子驻车控制器发送电子驻车请求，同时，备份制动控制器还会通过底盘主CAN 经过网关和动力CAN向P挡控制器发送P挡请求，以及通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
在一实施例中，电子驻车控制器优先响应备份制动控制器通过底盘主CAN发送来的电子驻车请求，而备份制动控制器通过底盘备份CAN发送来的电子驻车请求仅作为底盘主CAN失效时的备用选择；P挡控制器优先响应备份制动控制器通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，而备份制动控制器通过底盘备份CAN发送来的P挡请求仅作为底盘主CAN、网关以及动力CAN中的其中一个或几个失效时的备用选择。
可选地，当备份制动控制器失效时，驻车冗余响应包括如下步骤：
步骤S701，自动驾驶主控制器以及自动驾驶辅控制器同时向主制动控制器发送第七安全驻车请求，其中，第七安全驻车请求包括自动驾驶主控制器以及自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，备份制动控制器失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器以及自动驾驶辅控制器会向主制动控制器发送请求，即上述第七安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第七安全驻车请求不仅能够由自动驾驶主控制器、自动驾驶辅控制器通过智能驾驶主CAN、网关以及底盘主CAN发送至主制动控制器，还能够由自动驾驶主控制器通过底盘备份CAN发送至主制动控制器，其中，主制动控制器优先响应自动驾驶主控制器通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令。
步骤S702，主制动控制器基于第七安全驻车请求向电子驻车控制器电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；其中，主制动控制器依次通过底盘主CAN、网关、和动力CAN向P挡控制器发送P挡请求，并同时通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第七安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器还会通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，以及通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
在一实施例中，P挡控制器优先响应主制动控制器通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，而主制动控制器通过底盘备份CAN发送来的P挡请求仅作为底盘主CAN、网关以及动力CAN中的其中一个或几个失效时的备用选择。
可选地，当电子驻车控制器失效时，驻车冗余响应包括如下步骤：
步骤S801，自动驾驶主控制器以及自动驾驶辅控制器同时向主制动控制器发送第八安全驻车请求，其中，第八安全驻车请求包括自动驾驶主控制器以及自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，电子驻车控制器失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器以及自动驾驶辅控制器会向主制动控制器发送请求，即上述第八安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第八安全驻车请求不仅能够由自动驾驶主控制器、自动驾驶辅控制器通过智能驾驶主CAN、网关以及底盘主CAN发送至主制动控制器，还能够由自动驾驶主控制器通过底盘备份CAN发送至主制动控制器，其中，主制动控制器优先响应自动驾驶主控制器通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令。
同时，第八安全驻车请求还会由自动驾驶主控制器、自动驾驶辅控制器分别通过智能驾驶主CAN、网关以及底盘主CAN发送至备份制动控制器，以及 由自动驾驶主控制器通过底盘备份CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第八安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择。
步骤S802，主制动控制器基于第八安全驻车请求向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；其中，主制动控制器依次通过底盘主CAN、网关、和动力CAN向P挡控制器发送P挡请求，并同时通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第八安全驻车请求的信号后，判断当前P挡控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，以及通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。在P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，P挡控制器会反馈相应的档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。在一实施例中，P挡控制器优先响应主制动控制器通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求，而主制动控制器通过底盘备份CAN发送来的P挡请求仅作为底盘主CAN、网关以及动力CAN中的其中一个或几个失效时的备用选择。
可选地，当P挡控制器失效时，驻车冗余响应包括如下步骤：
步骤S901，自动驾驶主控制器以及自动驾驶辅控制器同时向主制动控制器发送第九安全驻车请求，其中，第九安全驻车请求包括自动驾驶主控制器、自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，P挡控制器失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器以及自动驾驶辅控制器会向主制动控制器发送请求，即上述第九安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第九安全驻车请求不仅能够由自动驾驶主控制器、自动驾驶辅控制器通过智能驾驶主CAN、网关以及底盘主CAN发送至主制动控制器，还能够由自动驾驶主控制器通过底盘备份CAN发送至主制动控制器，其中，主制动控制器优先响应自动驾驶主控制 器通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令。。
同时，第九安全驻车请求还会由自动驾驶主控制器、自动驾驶辅控制器通过智能驾驶主CAN、网关以及底盘主CAN发送至备份制动控制器，以及由自动驾驶主控制器通过底盘备份CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第九安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择。
步骤S902，主制动控制器基于第九安全驻车请求向电子驻车控制器发送电子驻车请求，以使自动驾驶系统完成车辆驻车动作。
在一实施例中，主制动控制器接收到第九安全驻车请求的信号后，判断当前电子驻车控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器会反馈相应的电子驻车制动状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
可选地，当动力CAN失效时，驻车冗余响应包括如下步骤：
步骤S1001，自动驾驶主控制器以及自动驾驶辅控制器同时向主制动控制器发送第十安全驻车请求，其中，第十安全驻车请求包括自动驾驶主控制器、自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令，以及自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，动力CAN失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器以及自动驾驶辅控制器会同时向主制动控制器发送请求，即上述第十安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第十安全驻车请求不仅能够由自动驾驶主控制器、自动驾驶辅控制器通过智能驾驶主CAN、网关以及底盘主CAN发送至主制动控制器，还能够由自动驾驶主控制器通过底盘备份CAN发送至主制动控制器，其中，主制动控制器优先响应自动驾驶主控制器通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令。
同时，自动驾驶主控制器还会将第十安全驻车请求通过底盘备份CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先 执行接收到的驻车指令(即上述第十安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择。
步骤S1002，主制动控制器基于第十安全驻车请求向电子驻车控制器发送电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；其中，参见图2、图5和图6，主制动控制器通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第十安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器还会通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
可选地，当底盘主CAN失效时，驻车冗余响应包括如下步骤：
步骤S1101，自动驾驶主控制器向主制动控制器发送第十一安全驻车请求，其中，第十一安全驻车请求为自动驾驶主控制器通过底盘备份CAN发送的驻车指令。
在一实施例中，底盘主CAN失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器会向主制动控制器发送请求，即上述第十一安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第十一安全驻车请求包括自动驾驶主控制器通过底盘备份CAN发送至主制动控制器的驻车指令。同时，第十一安全驻车请求还会由自动驾驶主控制器通过底盘备份CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第十一安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择。
步骤S1102，主制动控制器基于第十一安全驻车请求向电子驻车控制器发送 电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆驻车动作；其中，主制动控制器通过底盘备份CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第十一安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器通过底盘备份CAN向P挡控制器发送P挡请求，请求拉起P挡。在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
可选地，当底盘备份CAN失效时，驻车冗余响应包括如下步骤：
步骤S1201，自动驾驶主控制器以及自动驾驶辅控制器同时向主制动控制器发送第十二安全驻车请求，其中，第十二安全驻车请求包括自动驾驶主控制器以及自动驾驶辅控制器分别依次通过智能驾驶主CAN、网关以及底盘主CAN发送的驻车指令。
在一实施例中，底盘备份CAN失效后，自动驾驶主控制器判断车辆当前是否需要进行驻车，当判断结果为是时，在当前车速小于驻车限制车速的情况下，自动驾驶主控制器以及自动驾驶辅控制器会向主制动控制器发送请求，即上述第十二安全驻车请求，激活安全驻车功能。参见图2、图5和图6，第十二安全驻车请求为自动驾驶主控制器、自动驾驶辅控制器分别通过智能驾驶主CAN、网关以及底盘主CAN发送至主制动控制器的驻车指令。
同时，第十二安全驻车请求还会由自动驾驶主控制器、自动驾驶辅控制器分别通过智能驾驶主CAN、网关以及底盘主CAN发送至备份制动控制器，但在主制动控制器状态正常的情况下，主制动控制器优先执行接收到的驻车指令(即上述第十二安全驻车请求)，备份制动控制器仅作为主制动控制器失效时的备用选择。
步骤S1202，主制动控制器基于第十二安全驻车请求向电子驻车控制器发送电子驻车请求，以及向P挡控制器发送P挡请求，以使自动驾驶系统完成车辆 驻车动作；其中，主制动控制器依次通过底盘主CAN、网关、和动力CAN向P挡控制器发送P挡请求。
在一实施例中，主制动控制器接收到第十二安全驻车请求的信号后，判断当前电子驻车控制器与执行机构、P挡控制器与执行机构是否正常，在判断结果为正常的情况下，主制动控制器通过内部信号给电子驻车控制器发送电子驻车请求，同时，主制动控制器还会通过底盘主CAN经过网关和动力CAN向P挡控制器发送P挡请求。
在电子驻车控制器接收到电子驻车请求之后，会控制卡钳夹紧，P挡控制器接收到P挡请求之后，会控制P挡锁止机构拉起，从而完成车辆的驻车动作。驻车动作完成后，电子驻车控制器以及P挡控制器会反馈相应的电子驻车制动状态以及档位状态信息给自动驾驶主控制器，自动驾驶主控制器判断驻车完成后，退出自动驾驶。
本申请提供的驻车冗余控制方法具有以下优点：(1)在目前的高速自动驾驶架构的基础上，在不额外增加任何硬件机构的情况下，能够实现自动驾驶系统的安全驻车冗余；(2)在车辆处于自动驾驶行驶状态，不论是全系统还是出现单点失效，在驾驶员没有及时接管的前提下，均能够保证车辆的安全驻车；(3)本申请在第一制动控制器(即主制动控制器)原有功能的基础上，增加了驻车冗余系统的监控、校验以及控制的功能，能够实现有效的驻车冗余备份，保障车辆可以达到安全状态；(4)本申请在第二制动控制器(即备份制动控制器)原有功能的基础上，增加了驻车冗余系统的监控、校验以及控制的功能，能够实现有效的驻车冗余备份，保障车辆可以达到安全状态。
如图7所示，本申请实施例还提供了一种自动驾驶系统700，该自动驾驶系统700设置为执行上述任一实施例所述的驻车冗余控制方法。
本申请实施例提供的自动驾驶系统700执行上述实施例中的驻车冗余控制方法，因此本申请实施例提供的自动驾驶系统700也具备上述实施例中所描述的效果，此处不再赘述。
如图8所示，本申请实施例还提供了一种驾驶设备800，该驾驶设备800包括自动驾驶系统700，该自动驾驶系统700设置为上述任一实施例所述的方法。
本申请实施例提供的驾驶设备800包括上述实施例中的自动驾驶系统700， 因此本申请实施例提供的驾驶设备800也具备上述实施例中所描述的效果，此处不再赘述。
在本申请实施例的描述中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本申请中的具体含义。

Claims (14)

  1. 一种驻车冗余控制方法，应用于自动驾驶系统，其中，所述自动驾驶系统中的多个部件包括：自动驾驶主控制器、自动驾驶辅控制器、主制动控制器、备份制动控制器、电子驻车控制器、P挡控制器、网关以及控制器局域网络CAN通信网络；所述CAN通信网络包括：智能驾驶主CAN、底盘主CAN以及底盘备份CAN；
    所述方法包括：
    在确定车辆待驻车之后，所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第一安全驻车请求，其中，所述第一安全驻车请求包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关和所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；
    判断所述自动驾驶系统中的所述多个部件是否均正常；
    响应于判断结果为所述多个部件均正常，所述主制动控制器基于所述第一安全驻车请求向所述电子驻车控制器发送电子驻车请求以及向所述P挡控制器发送P挡请求，以使所述自动驾驶系统完成车辆驻车动作；
    响应于判断结果为所述多个部件中的任一部件异常，执行驻车冗余响应。
  2. 根据权利要求1所述的方法，其中，在所述自动驾驶主控制器失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶辅控制器向所述主制动控制器发送第二安全驻车请求，其中，所述第二安全驻车请求包括所述自动驾驶辅控制器依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令；
    所述主制动控制器基于所述第二安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述CAN通信网络还包括动力CAN；所述主制动控制器依次通过所述底盘主CAN、所述网关和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时还通过底盘备份CAN向所述P挡控制器发送所述P挡请求。
  3. 根据权利要求1所述的方法，其中，在所述自动驾驶辅控制器失效的情 况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器向所述主制动控制器发送第三安全驻车请求，其中，所述第三安全驻车请求包括：所述自动驾驶主控制器依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过底盘备份CAN发送的驻车指令；
    所述主制动控制器基于所述第三安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述CAN通信网络还包括动力CAN；所述主制动控制器依次通过所述底盘主CAN、所述网关和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时还通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
  4. 根据权利要求1所述的方法，其中，在所述网关失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器向所述主制动控制器发送第四安全驻车请求，其中，所述第四安全驻车请求包括所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；
    所述主制动控制器基于所述第四安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
  5. 根据权利要求1所述的方法，其中，在所述智能主CAN失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器向所述主制动控制器发送第五安全驻车请求，其中，所述第五安全驻车请求包括所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；
    所述主制动控制器基于所述第五安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述CAN通信网络还包括动力CAN；所述 主制动控制器依次通过所述底盘主CAN、所述网关和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时还通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
  6. 根据权利要求1所述的方法，其中，在所述主制动控制器失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述备份制动控制器发送第六安全驻车请求，其中，所述第六安全驻车请求包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；
    所述备份制动控制器基于所述第六安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述CAN通信网络还包括动力CAN；所述备份制动控制器通过所述底盘主CAN以及所述底盘备份CAN分别向所述电子驻车控制器发送所述电子驻车请求，所述备份制动控制器依次通过所述底盘主CAN、所述网关和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时还通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
  7. 根据权利要求1所述的方法，其中，在所述备份制动控制器失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第七安全驻车请求，其中，所述第七安全驻车请求包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；
    所述主制动控制器基于所述第七安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述CAN通信网络还包括动力CAN；所述主制动控制器依次通过所述底盘主CAN、所述网关和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时还通过所述底盘备份CAN向所述P挡控制 器发送所述P挡请求。
  8. 根据权利要求1所述的方法，其中，在所述电子驻车控制器失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第八安全驻车请求，其中，所述第八安全驻车请求包括：所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；
    所述主制动控制器基于所述第八安全驻车请求向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述CAN通信网络还包括动力CAN；所述主制动控制器依次通过所述底盘主CAN、所述网关和所述动力CAN向所述P挡控制器发送所述P挡请求，并同时还通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
  9. 根据权利要求1所述的方法，其中，在所述P挡控制器失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第九安全驻车请求，其中，所述第九安全驻车请求包括：所述自动驾驶主控制器、所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；
    所述主制动控制器基于所述第九安全驻车请求向所述电子驻车控制器发送所述电子驻车请求，以使所述自动驾驶系统完成车辆驻车动作。
  10. 根据权利要求1所述的方法，其中，所述CAN通信网络还包括动力CAN，在所述动力CAN失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第十安全驻车请求，其中，所述第十安全驻车请求包括：所述自动驾驶主控制器、所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令，以及所述自动驾驶主控制器通过所述 底盘备份CAN发送的驻车指令；
    所述主制动控制器基于所述第十安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
  11. 根据权利要求1所述的方法，其中，在所述底盘主CAN失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器向所述主制动控制器发送第十一安全驻车请求，其中，所述第十一安全驻车请求包括所述自动驾驶主控制器通过所述底盘备份CAN发送的驻车指令；
    所述主制动控制器基于所述第十一安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述主制动控制器通过所述底盘备份CAN向所述P挡控制器发送所述P挡请求。
  12. 根据权利要求1所述的方法，其中，在所述底盘备份CAN失效的情况下，所述驻车冗余响应包括：
    所述自动驾驶主控制器以及所述自动驾驶辅控制器同时向所述主制动控制器发送第十二安全驻车请求，其中，所述第十二安全驻车请求包括所述自动驾驶主控制器以及所述自动驾驶辅控制器分别依次通过所述智能驾驶主CAN、所述网关以及所述底盘主CAN发送的驻车指令；
    所述主制动控制器基于所述第十二安全驻车请求向所述电子驻车控制器发送所述电子驻车请求以及向所述P挡控制器发送所述P挡请求，以使所述自动驾驶系统完成车辆驻车动作；其中，所述CAN通信网络还包括动力CAN；所述主制动控制器依次通过所述底盘主CAN、所述网关和所述动力CAN向所述P挡控制器发送所述P挡请求。
  13. 一种自动驾驶系统，所述自动驾驶系统设置为执行权1-12任一项所述的方法。
  14. 一种驾驶设备，其中，所述驾驶设备包括自动驾驶系统，所述自动驾驶 系统设置为执行权1-12任一项所述的方法。
PCT/CN2021/079541 2020-03-11 2021-03-08 驻车冗余控制方法、自动驾驶系统和驾驶设备 WO2021180036A1 (zh)

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