WO2022217412A1

WO2022217412A1 - Method and apparatus for controlling chassis of autonomous driving vehicle, and computer device

Info

Publication number: WO2022217412A1
Application number: PCT/CN2021/086524
Authority: WO
Inventors: 钱思维
Original assignee: 深圳元戎启行科技有限公司
Priority date: 2021-04-12
Filing date: 2021-04-12
Publication date: 2022-10-20
Also published as: CN115917466A

Abstract

A method for controlling a chassis of an autonomous driving vehicle, comprising: S202, monitoring a main embedded terminal and a health state of a main vehicle chassis control node running in the main embedded terminal; S204, when a fault occurs in the main embedded terminal, controlling the chassis of the vehicle by means of a spare embedded terminal; and S206, when a fault occurs in the main vehicle chassis control node running in the main embedded terminal, controlling the chassis of the vehicle by means of the spare vehicle chassis control node running in the main embedded terminal. The method can improve the driving safety of the autonomous driving vehicle.

Description

Unmanned vehicle chassis control method, device and computer equipment

technical field

The present application relates to the field of unmanned driving technology, and in particular, to a method, device and computer equipment for controlling the chassis of an unmanned vehicle.

Background technique

With the development of computer technology, driverless technology has emerged. A driverless car is a type of smart car, also known as a wheeled mobile robot, which mainly relies on the intelligent driver in the car, which is mainly based on a computer system, to achieve the purpose of driverless driving. When the control terminal and/or the chassis control node of the traditional unmanned vehicle fails, the vehicle chassis of the unmanned vehicle will lose control, resulting in that the driving safety of the unmanned vehicle cannot be guaranteed.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide an unmanned vehicle chassis control method, device and computer equipment that can improve the driving safety of the unmanned vehicle in response to the above technical problems.

An unmanned vehicle chassis control method is applied to an unmanned vehicle system; the unmanned vehicle system includes a main embedded terminal, a backup embedded terminal and a vehicle chassis, the main embedded terminal and the backup A main vehicle chassis control node and a backup vehicle chassis control node are run in the embedded terminal; after the unmanned vehicle system is started, it is controlled by the main embedded terminal and the main vehicle chassis running in the main embedded terminal The node controls the vehicle chassis, and the method includes:

monitoring the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal;

When the main embedded terminal fails, control the vehicle chassis through the backup embedded terminal; and

When the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the main embedded terminal.

In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; when the When the main embedded terminal fails, the vehicle chassis is controlled through the backup embedded terminal, including:

When the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is not the chassis control node of the main vehicle running in the main embedded terminal, the corresponding The target function node controls the vehicle chassis;

When the source of fault data in the main embedded terminal is monitored, and the source of fault data is the chassis control node of the main vehicle running in the main embedded terminal, executing the running through the main embedded terminal The step of the backup vehicle chassis control node controlling the vehicle chassis;

When the source of fault data in the main embedded terminal is not monitored, the vehicle chassis is globally controlled through the backup embedded terminal.

In one of the embodiments, when a source of fault data in the main embedded terminal is monitored, and the source of fault data is not a main vehicle chassis control node running in the main embedded terminal, use the The corresponding target function node running in the backup embedded terminal controls the vehicle chassis, including:

When the source of fault data in the main embedded terminal is monitored, and the source of fault data is the chassis control node of the backup vehicle running in the main embedded terminal, the main vehicle running in the backup embedded terminal A chassis control node controls the vehicle chassis.

In one embodiment, the method further includes:

When the main vehicle chassis control node running in the backup embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the backup embedded terminal.

In one of the embodiments, the controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal includes:

Receiving automatic driving control instructions sent by the automatic driving computing center through the backup vehicle chassis control node running in the main embedded terminal; and

The vehicle chassis is controlled by the automatic driving control instruction.

In one embodiment, the automatic driving control instruction is an emergency stop instruction, and the control of the vehicle chassis through the automatic driving control instruction includes:

Through the emergency stop command, the vehicle chassis is controlled to perform emergency braking.

In one embodiment, the health state monitoring step of the main embedded terminal includes:

Receive heartbeat data packets sent by the main embedded terminal periodically through the backup embedded terminal; and

When the backup embedded terminal fails to receive the heartbeat data packet within a preset time interval, it is determined that the primary embedded terminal is faulty.

In one embodiment, the step of monitoring the health status of the chassis control node of the main vehicle includes:

The corresponding main vehicle chassis control node is monitored in real time through the monitoring program to obtain the health status of the main vehicle chassis control node.

In one embodiment, the method further includes:

Receive raw radar data sent by radar sensors;

extracting azimuth information from the raw radar data;

According to the azimuth angle information, the original radar data whose azimuth angle is within the preset angle range is used as point cloud data;

According to the point cloud data, determine whether there is an obstacle in front of the driving direction of the unmanned vehicle; and

When there is an obstacle, the vehicle chassis is controlled to perform emergency braking.

In one embodiment, the determining whether there is an obstacle ahead of the driving direction of the unmanned vehicle according to the point cloud data includes:

Determining the sector area defined by the preset angle range as the obstacle detection area;

determining the density value of the coordinate point corresponding to the point cloud data in the obstacle detection area; and

When the density value is greater than the preset density threshold, it is determined that there is an obstacle ahead of the driving direction of the unmanned vehicle.

An unmanned vehicle chassis control device is applied to an unmanned vehicle system; the unmanned vehicle system includes a main embedded terminal, a backup embedded terminal and a vehicle chassis, the main embedded terminal and the backup A main vehicle chassis control node and a backup vehicle chassis control node are run in the embedded terminal; after the unmanned vehicle system is started, it is controlled by the main embedded terminal and the main vehicle chassis running in the main embedded terminal The node controls the vehicle chassis, and the device includes:

a monitoring module for monitoring the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal;

a control module for controlling the vehicle chassis through the backup embedded terminal when the main embedded terminal fails; and when the main vehicle chassis control node running in the main embedded terminal fails, through the backup embedded terminal A backup vehicle chassis control node running in the main embedded terminal controls the vehicle chassis.

A computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor implements the steps of the methods in the above embodiments when the processor executes the computer program.

A computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, implements the steps of the methods in the above embodiments.

The above-mentioned method, device and computer equipment for controlling the chassis of an unmanned vehicle can monitor the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal; when the main embedded terminal fails, backup the embedded terminal The terminal controls the vehicle chassis; and when the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled through the backup vehicle chassis control node running in the main embedded terminal. In this way, the unmanned vehicle system can realize real-time monitoring of its own embedded terminal and vehicle chassis control node, and can use a spare embedded terminal when the current user-controlled embedded terminal and/or vehicle chassis control node are found to be faulty And/or the vehicle chassis control node takes over the control right of controlling the vehicle chassis, so that the vehicle chassis of the unmanned vehicle can be normally controlled, thereby improving the driving safety of the unmanned vehicle.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort.

1 is an application scenario diagram of a method for controlling a chassis of an unmanned vehicle in one embodiment;

2 is a schematic flowchart of a method for controlling a chassis of an unmanned vehicle in one embodiment;

3 is a system architecture diagram of a method for controlling a chassis of an unmanned vehicle in one embodiment;

4 is a schematic flowchart of a method for controlling a chassis of an unmanned vehicle in another embodiment;

5 is a structural block diagram of an unmanned vehicle chassis control device in one embodiment;

FIG. 6 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

The method for controlling the chassis of an unmanned vehicle provided by the present application can be applied to the application environment shown in FIG. 1 . The application environment includes the unmanned vehicle system 102 . The unmanned vehicle system 102 includes a main embedded terminal 1021, a backup embedded terminal 1022 and a vehicle chassis 1023. The main embedded terminal 1021 runs a main vehicle chassis control node 1021a and a backup vehicle chassis control node 1021b; the backup embedded terminal 1021 runs The main car chassis control node 1022a and the backup car chassis control node 1022b run in the terminal 1022; the main embedded terminal 1021 and the backup embedded terminal 1022 are isomorphic, and the main car chassis control node 102a and the backup car chassis control node 102b have the same control logic ; After the unmanned vehicle system 102 is started, the vehicle chassis is controlled through the main embedded terminal 1021 and the main vehicle chassis control node 102a running in the main embedded terminal. Those skilled in the art can understand that the application environment shown in FIG. 1 is only a partial scene related to the solution of the present application, and does not constitute a limitation on the application environment of the solution of the present application.

The unmanned vehicle system 102 monitors the health status of the main embedded terminal 1021 and the main vehicle chassis control node 102a running in the main embedded terminal 1021; when the main embedded terminal 1021 fails, the backup embedded terminal 1022 controls the vehicle chassis; And when the main vehicle chassis control node 102a running in the main embedded terminal 1021 fails, the vehicle chassis 1023 is controlled by the backup vehicle chassis control node 1022 running in the main embedded terminal 1021.

In one embodiment, as shown in FIG. 2 , a method for controlling the chassis of an unmanned vehicle is provided, and the method is applied to the unmanned vehicle system 102 in FIG. 1 as an example to illustrate, including the following steps:

S202, monitor the main embedded terminal and the health state of the main vehicle chassis control node running in the main embedded terminal.

Specifically, the unmanned vehicle can be loaded with an unmanned vehicle system. The unmanned vehicle system includes a main embedded terminal, a backup embedded terminal, and a vehicle chassis. The main embedded terminal and the backup embedded terminal run a main vehicle. The chassis control node and the backup car chassis control node; the main embedded terminal and the backup embedded terminal are isomorphic, and the control logic of the main car chassis control node and the backup car chassis control node is the same; The main vehicle chassis control node running in the embedded terminal and the main embedded terminal controls the vehicle chassis. Among them, the main embedded terminal and the backup embedded terminal are isomorphic, and it can be understood that the main embedded terminal and the backup embedded terminal have the same structure and function modules. The main embedded terminal and the backup embedded terminal have independent hardware and power supply respectively.

In one embodiment, during the driving process of the unmanned vehicle, the main embedded terminal and/or the main vehicle chassis control node may fail. The unmanned vehicle system can monitor the health status of the main embedded terminal and the main vehicle chassis control node in real time.

S204, when the main embedded terminal fails, control the chassis of the vehicle through the backup embedded terminal.

Specifically, when the unmanned vehicle system detects that the main embedded terminal is faulty, the unmanned vehicle system can transfer the chassis control authority from the main embedded terminal to the backup embedded terminal, and the subsequent unmanned vehicle system can pass Backup the embedded terminal to control the chassis of the vehicle. At this point, the faulty main embedded terminal no longer has the authority to control the chassis.

S206, when the main vehicle chassis control node running in the main embedded terminal fails, control the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.

Specifically, when the unmanned vehicle system detects that the main vehicle chassis control node running in the main embedded terminal is faulty, the unmanned vehicle system can control the vehicle chassis control authority from the main vehicle chassis running in the main embedded terminal. The node is handed over to the backup vehicle chassis control node running in the main embedded terminal, and the subsequent unmanned vehicle system can control the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal. At this time, the faulty main vehicle chassis control node no longer has the vehicle chassis control authority.

In one embodiment, the control of the unmanned vehicle system on the vehicle chassis includes at least one of lateral control, longitudinal control, gear position control, turn signal control and vehicle state control.

In the above method for controlling the chassis of an unmanned vehicle, the health state of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal is monitored; when the main embedded terminal fails, the backup embedded terminal is used to control the vehicle chassis. ; and when the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the main embedded terminal. In this way, the unmanned vehicle system can realize real-time monitoring of its own embedded terminal and vehicle chassis control node, and can use a spare embedded terminal when the current user-controlled embedded terminal and/or vehicle chassis control node are found to be faulty And/or the vehicle chassis control node takes over the control right of controlling the vehicle chassis, so that the vehicle chassis of the unmanned vehicle can be normally controlled, thereby improving the driving safety of the unmanned vehicle.

In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; step S204, that is, when the main embedded terminal fails , the step of controlling the chassis of the vehicle by backing up the embedded terminal includes: when the source of the fault data in the main embedded terminal is detected, and the source of the fault data is not the main vehicle chassis control node running in the main embedded terminal, by backing up the embedded terminal The corresponding target function node running in the terminal controls the vehicle chassis; when the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is the main vehicle chassis control node running in the main embedded terminal, the execution is executed through the main embedded terminal. The step of controlling the vehicle chassis by the backup vehicle chassis control node running in the terminal; when the fault data source in the main embedded terminal is not monitored, the vehicle chassis is globally controlled through the backup embedded terminal.

Specifically, the failure of the main embedded terminal may be the failure of the chassis control node of the main vehicle in the main embedded terminal, the failure of the chassis control node of the backup vehicle, or the failure of the chassis control node of the main vehicle and the chassis control node of the backup vehicle. A functional node has failed. It can be understood that the main vehicle chassis control node and the backup vehicle chassis control node also belong to the functional nodes in the main embedded terminal. When the source of fault data in the main embedded terminal is detected, and the source of the fault data is not the main vehicle chassis control node running in the main embedded terminal, the unmanned vehicle system can backup the corresponding target function running in the embedded terminal by Nodes control the chassis of the car. When the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is the main vehicle chassis control node running in the main embedded terminal, the unmanned vehicle system can execute the backup vehicle chassis running in the main embedded terminal. Steps in which the control node controls the chassis of the vehicle. When the source of fault data in the main embedded terminal is not detected, the vehicle chassis is globally controlled by the backup embedded terminal, that is, the backup embedded terminal takes over the control of the vehicle chassis in its entirety, and the main embedded terminal no longer has control over the vehicle chassis. control of the chassis.

For example, the main embedded terminal and the backup embedded terminal respectively run a main vehicle chassis control node, a backup vehicle chassis control node, a radar preprocessing node, an obstacle detection node and a monitoring node. When it is detected that the source of the fault data in the main embedded terminal is the radar preprocessing node running in the main embedded terminal, the unmanned vehicle system can control the vehicle chassis through the corresponding radar preprocessing node running in the backup embedded terminal. When it is detected that the source of the fault data in the main embedded terminal is the main vehicle chassis control node running in the main embedded terminal, the unmanned vehicle system can control the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal.

In one embodiment, when the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is not the chassis control node of the main vehicle running in the main embedded terminal, the corresponding target running in the embedded terminal is backed up. The steps that the function node controls the chassis of the vehicle include: when the source of fault data in the main embedded terminal is monitored, and the source of the fault data is the backup vehicle chassis control node running in the main embedded terminal, through the backup embedded terminal. The main vehicle chassis control node controls the vehicle chassis.

Specifically, when it is detected that the source of the fault data in the main embedded terminal is the backup vehicle chassis control node running in the main embedded terminal, the unmanned vehicle system can be controlled by the main vehicle chassis control node running in the backup embedded terminal Chassis.

In one embodiment, the method for controlling the chassis of an unmanned vehicle further includes: when the main vehicle chassis control node running in the backup embedded terminal fails, controlling the vehicle chassis through the backup vehicle chassis control node running in the backup embedded terminal .

Specifically, when the main vehicle chassis control node running in the backup embedded terminal fails, the unmanned vehicle system can control the vehicle chassis through the backup vehicle chassis control node running in the backup embedded terminal.

In one embodiment, in step S206, the step of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal specifically includes: receiving the transmission from the automatic driving computing center through the backup vehicle chassis control node running in the main embedded terminal. and control the chassis of the vehicle through the automatic driving control instructions.

Among them, the autonomous driving computing center is the unified control center of the unmanned vehicle, which runs on the control terminal of the unmanned vehicle system.

Specifically, the unmanned vehicle system further includes a control terminal in which an automatic driving computing center runs. The automatic driving computing center can generate automatic driving control instructions and send the automatic driving control instructions to the main embedded terminal. The driving control command is used to control the chassis of the vehicle through the automatic driving control command.

In the above-mentioned embodiment, the automatic driving control command sent by the automatic driving computing center is received by the backup vehicle chassis control node running in the main embedded terminal; and the vehicle chassis is controlled by the automatic driving control command, so that in the main embedded terminal When the running main vehicle chassis control node sends a fault, it can also ensure the safe driving of the unmanned vehicle.

In one embodiment, when the main vehicle chassis control node does not fail, the unmanned vehicle system can receive the automatic driving control command sent by the automatic driving computing center through the main vehicle chassis control node, and use the automatic driving control command to carry out the operation on the vehicle chassis. control.

In one embodiment, the automatic driving control instruction is an emergency stop instruction, and the step of controlling the vehicle chassis through the automatic driving control instruction specifically includes: controlling the vehicle chassis to perform emergency braking through the emergency stop instruction.

The emergency stop instruction is an instruction to control the chassis of the vehicle to perform an emergency stop.

Specifically, the autonomous driving computing center can generate an emergency stop instruction, and send the emergency parking instruction to the embedded terminal. The embedded terminal can receive the emergency parking instruction sent by the autonomous driving computing center through the backup vehicle chassis control node, and pass the emergency parking instruction through the emergency stop instruction. Control the chassis for emergency stop.

In the above embodiment, when the main vehicle chassis control node sends a fault, the backup vehicle chassis control node receives the emergency stop instruction sent by the driving computing center, and controls the vehicle chassis to perform emergency braking. In this way, when the main vehicle chassis control node sends a fault, the safe driving of the unmanned vehicle can be further ensured.

In one embodiment, the step of monitoring the health state of the main embedded terminal in step S202 specifically includes: regularly receiving heartbeat data packets sent by the main embedded terminal through the backup embedded terminal; and when the backup embedded terminal exceeds a preset time interval When the heartbeat data packet is not received, it is determined that the main embedded terminal is faulty.

Among them, the heartbeat data packet is a self-defined command word between the main embedded terminal and the backup embedded terminal that regularly informs the other party of their own status, and is sent at a certain time interval, which is similar to a heartbeat, so it is called a heartbeat data packet.

Specifically, the unmanned vehicle system may send a heartbeat data packet to the backup embedded terminal through the main embedded terminal after a preset time interval. The unmanned vehicle system can regularly receive the heartbeat data packets sent by the main embedded terminal through the backup embedded terminal. When the backup embedded terminal does not receive the heartbeat data packet over a preset time interval, it is determined that the primary embedded terminal is faulty.

In the above embodiment, the backup embedded terminal monitors the heartbeat of the main embedded terminal through the heartbeat mechanism, so as to ensure that when the main embedded terminal fails, the backup embedded terminal can be found in time, which further improves the safety of the unmanned vehicle. .

In one embodiment, the step of monitoring the health status of the main vehicle chassis control node in step S202 specifically includes: monitoring the corresponding main vehicle chassis control node in real time through a monitoring program to obtain the health status of the main vehicle chassis control node.

Specifically, a monitoring program runs in the embedded terminal, and the unmanned vehicle system can monitor the corresponding main vehicle chassis control node in real time through the monitoring program to obtain the health status of the main vehicle chassis control node.

In the above embodiment, through the monitoring program in the embedded terminal, the corresponding main vehicle chassis control node is monitored in real time, so as to ensure that when the main vehicle chassis control node fails, the corresponding embedded terminal can be found in time, which further improves the unmanned vehicle. security.

In one embodiment, the above-mentioned method for controlling the chassis of an unmanned vehicle includes: receiving raw radar data sent by a radar sensor; extracting azimuth angle information from the raw radar data; The original radar data inside is used as point cloud data; according to the point cloud data, it is judged whether there is an obstacle in front of the driving direction of the unmanned vehicle; and when there is an obstacle, the chassis of the vehicle is controlled to perform emergency braking. .

Among them, point cloud data is a collection of a set of vectors in a coordinate system. The scan data is recorded in the form of points, and each point contains multi-dimensional coordinates, such as three-dimensional coordinates (distance, azimuth, elevation), or four-dimensional coordinates (distance, azimuth, elevation, reflection intensity).

Specifically, the unmanned vehicle system can receive the original radar data sent by the radar sensor through the embedded terminal, extract the azimuth angle information in the original radar data, and according to the azimuth angle information, convert the original radar whose azimuth angle is within the preset angle range. data as point cloud data. The unmanned vehicle system can judge whether there is an obstacle in front of the driving direction of the unmanned vehicle according to the point cloud data, and when there is an obstacle, control the chassis of the vehicle to perform emergency braking.

Optionally, the point cloud data may specifically be all raw radar data scanned by a radar sensor, or data generated after data preprocessing is performed on the raw data scanned by a radar sensor.

Optionally, the radar sensor can compress the raw radar data for network transmission. The unmanned vehicle system performs data preprocessing on the original radar data, specifically, decompressing the original radar data.

Optionally, the raw radar data collected by the radar sensor is data including all azimuth angles. The unmanned vehicle system performs data preprocessing on the original radar data, specifically, cleaning the original radar data.

In the above embodiment, it is determined whether there is an obstacle in front of the driving direction of the unmanned vehicle by using the point cloud data, which can improve the accuracy of determining the obstacle. When it is determined that there is an obstacle ahead of the driving direction of the unmanned vehicle, the unmanned vehicle system can control the chassis to perform emergency braking, ensuring the safety of the unmanned vehicle.

In one embodiment, the step of judging whether there is an obstacle ahead of the driving direction of the unmanned vehicle according to the point cloud data specifically includes: determining a sector area defined by a preset angle range as an obstacle detection area; determining an obstacle The density value of the coordinate point corresponding to the point cloud data in the object detection area; and when the density value is greater than the preset density threshold, it is determined that there is an obstacle ahead of the driving direction of the unmanned vehicle.

Specifically, the unmanned vehicle system may determine the sector area defined by the preset angle range as the obstacle detection area. Furthermore, the unmanned vehicle system can determine the density value of the coordinate points corresponding to the point cloud data in the obstacle detection area. The unmanned vehicle system can compare the density value with a preset density threshold, and when the density value is greater than the preset density threshold, the unmanned vehicle system can determine that there is an obstacle ahead of the driving direction of the unmanned vehicle.

In the above-mentioned embodiment, the fan area defined by the preset angle range is determined as the obstacle detection area and the density value of the coordinate point corresponding to the point cloud data in the obstacle detection area is determined, and then the unmanned driving is determined based on the density value. Whether there is an obstacle in front of the vehicle's driving direction can further improve the accuracy of obstacle detection.

In one embodiment, as shown in FIG. 3, the unmanned vehicle system includes a radar sensor, a main embedded terminal running an embedded real-time operating system, a backup embedded terminal running a redundant backup embedded real-time operating system, and the chassis. The radar sensor can communicate with the main embedded terminal as well as the backup embedded terminal via Ethernet. The primary embedded terminal and the backup embedded terminal can communicate via the bus. The main embedded terminal and the backup embedded terminal can communicate with the vehicle chassis through CAN (Controller Area Network). The radar sensor may include two types of radar sensors, Lidar (lidar) and Radar (radar). The most essential difference between these two radar sensors is the wavelengths used in the waves used. Radar belongs to millimeter wave, and the wavelength range is usually between 4-12mm. Lidar is a nanowave, and the wavelength range is usually between 900-1500nm. Embedded RTOS and redundant backup Embedded RTOS may include radar preprocessing module, obstacle detection module, CAN chassis control module, CAN backup node and CAN monitoring module. The control on the vehicle chassis may include at least one of lateral control, longitudinal control, gear position control, turn signal control, vehicle state control, and the like.

In one embodiment, as shown in FIG. 4 , the unmanned vehicle system may acquire raw radar data through a radar sensor, and send the raw radar data to a radar preprocessing module. The radar preprocessing module can perform data preprocessing on the original radar data to generate point cloud data. The obstacle detection module can determine whether there is an obstacle ahead of the driving direction of the unmanned vehicle based on the point cloud data. When there is an obstacle in front of the driving direction of the unmanned vehicle, the CAN chassis control module can receive the emergency stop instruction sent by the automatic driving computing center, and control the vehicle chassis to perform emergency stop through the emergency stop instruction. At the same time, the unmanned vehicle system can monitor the health status of the main embedded terminal and the main vehicle chassis control node through the heartbeat mechanism. When the main embedded terminal fails, the backup embedded terminal is used to control the vehicle chassis; when the main vehicle chassis control node occurs In the event of a fault, the emergency stop of the chassis is controlled by the backup chassis control node. In this way, when it is found that the embedded terminal and/or the chassis control node of the current user control is faulty, the spare embedded terminal and/or the chassis control node can be used to take over the control of the chassis, so that the unmanned vehicle can be controlled. The chassis of the vehicle can be controlled normally, thereby improving the driving safety of the driverless vehicle.

It should be understood that although the steps in FIG. 2 are shown in sequence, these steps are not necessarily performed in sequence. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in FIG. 2 may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily executed at the same time, but may be executed at different times. The order of execution is also not necessarily sequential, but may be performed alternately or alternately with other steps or sub-steps of other steps or at least a portion of a phase.

In one embodiment, as shown in FIG. 5, an unmanned vehicle chassis control device 500 is provided, and the device is applied to an unmanned vehicle system; the unmanned vehicle system includes a main embedded terminal, a backup embedded terminal The terminal and the vehicle chassis, the main embedded terminal and the backup embedded terminal run the main vehicle chassis control node and the backup vehicle chassis control node; after the unmanned vehicle system is started, it runs through the main embedded terminal and the main embedded terminal The main vehicle chassis control node controls the vehicle chassis. The unmanned vehicle chassis control device 500 includes: a monitoring module 501 and a control module 502, wherein:

The monitoring module 501 is used for monitoring the main embedded terminal and the health state of the main vehicle chassis control node running in the main embedded terminal.

The control module 502 is used to control the vehicle chassis through the backup embedded terminal when the main embedded terminal fails; and when the main vehicle chassis control node running in the main embedded terminal fails, the backup vehicle running in the main embedded terminal is used. The chassis control node controls the chassis of the vehicle.

In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; the control module 502 is further configured to monitor the main embedded terminal When the source of fault data in the terminal is not the main vehicle chassis control node running in the main embedded terminal, the vehicle chassis is controlled by the corresponding target function node running in the backup embedded terminal; when the main embedded terminal is monitored When the fault data source in the main embedded terminal is the main vehicle chassis control node running in the main embedded terminal, execute the steps of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal; When the fault data in the embedded terminal comes from, the vehicle chassis is globally controlled by backing up the embedded terminal.

In one embodiment, the control module 502 is further configured to, when the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is the backup vehicle chassis control node running in the main embedded terminal, through the backup embedded terminal The running host vehicle chassis control node controls the vehicle chassis.

In one embodiment, the control module 502 is further configured to control the vehicle chassis through the backup vehicle chassis control node running in the backup embedded terminal when the main vehicle chassis control node running in the backup embedded terminal fails.

In one embodiment, the control module 502 is further configured to receive the automatic driving control instruction sent by the automatic driving computing center through the backup vehicle chassis control node running in the main embedded terminal; and control the vehicle chassis through the automatic driving control instruction.

In one embodiment, the control module 502 is further configured to control the chassis of the vehicle to perform emergency braking through the emergency stop command.

In one embodiment, the monitoring module 501 is further configured to regularly receive the heartbeat data packet sent by the main embedded terminal through the backup embedded terminal; and when the backup embedded terminal fails to receive the heartbeat data packet over a preset time interval, determine that the main embedded terminal The embedded terminal has failed.

In one embodiment, the monitoring module 501 is further configured to monitor the corresponding main vehicle chassis control node in real time through a monitoring program, so as to obtain the health status of the main vehicle chassis control node.

In one embodiment, the control module 502 is further configured to receive the original radar data sent by the radar sensor; extract the azimuth angle information in the original radar data; As point cloud data; according to the point cloud data, determine whether there is an obstacle ahead of the driving direction of the unmanned vehicle; and when there is an obstacle, control the chassis of the vehicle to perform emergency braking.

In one embodiment, the control module 502 is further configured to determine the sector area defined by the preset angle range as the obstacle detection area; determine the density value of the coordinate points corresponding to the point cloud data in the obstacle detection area; and when the density When the value is greater than the preset density threshold, it is determined that there is an obstacle ahead of the driving direction of the unmanned vehicle.

The above-mentioned unmanned vehicle chassis control device monitors the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal; when the main embedded terminal fails, the backup embedded terminal controls the vehicle chassis; And when the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the main embedded terminal. In this way, the unmanned vehicle system can realize real-time monitoring of its own embedded terminal and vehicle chassis control node, and can use a spare embedded terminal when the current user-controlled embedded terminal and/or vehicle chassis control node are found to be faulty And/or the vehicle chassis control node takes over the control right of controlling the vehicle chassis, so that the vehicle chassis of the unmanned vehicle can be normally controlled, thereby improving the driving safety of the unmanned vehicle.

For the specific limitation of the control device for the chassis of the unmanned vehicle, reference may be made to the definition of the control method for the chassis of the unmanned vehicle above, which will not be repeated here. Each module in the above-mentioned chassis control device of an unmanned vehicle may be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, the computer device may be an unmanned vehicle running the unmanned vehicle system 102 in FIG. 1 , and its internal structure diagram may be as shown in FIG. 6 . The computer equipment includes a processor, memory, a network interface, a display screen, and an input device connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a method for controlling the chassis of an unmanned vehicle is realized. The display screen of the computer equipment may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment may be a touch layer covered on the display screen, or a button, a trackball or a touchpad set on the shell of the computer equipment , or an external keyboard, trackpad, or mouse.

Those skilled in the art can understand that the structure shown in FIG. 6 is only a block diagram of a partial structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program: monitoring a main embedded terminal and running in the main embedded terminal The health status of the main vehicle chassis control node; when the main embedded terminal fails, the backup embedded terminal is used to control the vehicle chassis; and when the main vehicle chassis control node running in the main embedded terminal fails, the main embedded terminal runs through the main embedded terminal. The backup car chassis control node controls the car chassis.

In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; the processor also implements the following steps when executing the computer program: when When the fault data source in the main embedded terminal is monitored, and the fault data source is not the main vehicle chassis control node running in the main embedded terminal, the vehicle chassis is controlled by the corresponding target function node running in the backup embedded terminal; when monitoring When the fault data source in the main embedded terminal is reached, and the fault data source is the main vehicle chassis control node running in the main embedded terminal, execute the steps of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal; When the source of fault data in the main embedded terminal is not detected, the vehicle chassis is globally controlled through the backup embedded terminal.

In one embodiment, the processor further implements the following steps when executing the computer program: when the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is the chassis control node of the backup vehicle running in the main embedded terminal, The main vehicle chassis control node running in the backup embedded terminal controls the vehicle chassis.

In one embodiment, the processor further implements the following steps when executing the computer program: when the main vehicle chassis control node running in the backup embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the backup embedded terminal .

In one embodiment, the processor also implements the following steps when executing the computer program: receiving the automatic driving control instructions sent by the automatic driving computing center through the backup vehicle chassis control node running in the main embedded terminal; Chassis controls.

In one embodiment, the processor further implements the following steps when executing the computer program: controlling the chassis of the vehicle to perform emergency braking through an emergency stop instruction.

In one embodiment, the processor also implements the following steps when executing the computer program: periodically receiving the heartbeat data packet sent by the main embedded terminal through the backup embedded terminal; and when the backup embedded terminal does not receive the heartbeat data over a preset time interval When the package is received, it is determined that the main embedded terminal is faulty.

In one embodiment, the processor further implements the following steps when executing the computer program: monitoring the corresponding main vehicle chassis control node in real time through the monitoring program to obtain the health status of the main vehicle chassis control node.

In one embodiment, the processor further implements the following steps when executing the computer program: receiving the original radar data sent by the radar sensor; extracting azimuth angle information in the original radar data; The original radar data inside is used as point cloud data; according to the point cloud data, it is judged whether there is an obstacle in front of the driving direction of the unmanned vehicle; and when there is an obstacle, the chassis of the vehicle is controlled to perform emergency braking. .

In one embodiment, the processor further implements the following steps when executing the computer program: determining the sector area defined by the preset angle range as the obstacle detection area; determining the density of the coordinate points corresponding to the point cloud data in the obstacle detection area and when the density value is greater than the preset density threshold, it is determined that there is an obstacle ahead of the driving direction of the unmanned vehicle.

In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented: monitoring the health status of the main embedded terminal and the main vehicle chassis control node; When the embedded terminal fails, the vehicle chassis is controlled through the backup embedded terminal; and when the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled through the backup vehicle chassis control node running in the main embedded terminal.

In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; when the computer program is executed by the processor, the following steps are also implemented: When the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is not the main vehicle chassis control node running in the main embedded terminal, the vehicle chassis is controlled by the corresponding target function node running in the backup embedded terminal; when When the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is the main vehicle chassis control node running in the main embedded terminal, execute the steps of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal ; When the source of fault data in the main embedded terminal is not detected, the vehicle chassis is globally controlled through the backup embedded terminal.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: when the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is the backup vehicle chassis control node running in the main embedded terminal, The vehicle chassis is controlled by the main vehicle chassis control node running in the backup embedded terminal.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: when the main vehicle chassis control node running in the backup embedded terminal fails, the vehicle is controlled by the backup vehicle chassis control node running in the backup embedded terminal. chassis.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: receiving the automatic driving control instructions sent by the automatic driving computing center through the backup vehicle chassis control node running in the main embedded terminal; The chassis is controlled.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: control the chassis of the vehicle to perform emergency braking through the emergency stop instruction.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: regularly receive the heartbeat data packet sent by the main embedded terminal through the backup embedded terminal; and when the backup embedded terminal does not receive the heartbeat over a preset time interval When the data packet is detected, it is determined that the main embedded terminal is faulty.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: monitoring the corresponding main vehicle chassis control node in real time through the monitoring program to obtain the health status of the main vehicle chassis control node.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: receiving the original radar data sent by the radar sensor; extracting azimuth angle information in the original radar data; The original radar data inside is used as point cloud data; according to the point cloud data, it is judged whether there is an obstacle in front of the driving direction of the unmanned vehicle; and when there is an obstacle, the chassis of the vehicle is controlled to perform emergency braking. .

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: determining the sector area defined by the preset angle range as the obstacle detection area; determining the coordinates of the coordinate points corresponding to the point cloud data in the obstacle detection area a density value; and when the density value is greater than a preset density threshold, it is determined that there is an obstacle ahead of the driving direction of the unmanned vehicle.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other medium used in the various embodiments provided in this application may include non-volatile and/or volatile memory. Nonvolatile memory may include read only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous chain Road (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

The technical features of the above embodiments can be combined arbitrarily. In order to simplify the description, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, all It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be noted that, for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims

An unmanned vehicle chassis control method, characterized in that it is applied to an unmanned vehicle system; the unmanned vehicle system includes a main embedded terminal, a backup embedded terminal and a vehicle chassis, the main embedded terminal and a main vehicle chassis control node and a backup vehicle chassis control node are running in the backup embedded terminal; after the unmanned vehicle system is started, the main embedded terminal and the main embedded terminal are operated through the main embedded terminal. The main vehicle chassis control node controls the vehicle chassis, and the method includes:

monitoring the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal;

When the main embedded terminal fails, control the vehicle chassis through the backup embedded terminal; and

When the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the main embedded terminal.
The method according to claim 1, wherein, in the main embedded terminal and the backup embedded terminal, the main embedded terminal and the backup embedded terminal also run a control node other than the chassis control node of the main vehicle and the chassis control node of the backup vehicle. Function node; when the main embedded terminal fails, the vehicle chassis is controlled through the backup embedded terminal, including:

When the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is not the chassis control node of the main vehicle running in the main embedded terminal, the corresponding The target function node controls the vehicle chassis;

When the source of fault data in the main embedded terminal is monitored, and the source of fault data is the chassis control node of the main vehicle running in the main embedded terminal, executing the running through the main embedded terminal The step of the backup vehicle chassis control node controlling the vehicle chassis;

When the source of fault data in the main embedded terminal is not monitored, the vehicle chassis is globally controlled through the backup embedded terminal.
The method according to claim 2, wherein the source of the fault data in the main embedded terminal is monitored, and the source of the fault data is not the main vehicle chassis control running in the main embedded terminal node, control the vehicle chassis through the corresponding target function node running in the backup embedded terminal, including:

When the source of fault data in the main embedded terminal is monitored, and the source of fault data is the chassis control node of the backup vehicle running in the main embedded terminal, the main vehicle running in the backup embedded terminal A chassis control node controls the vehicle chassis.
The method according to claim 3, wherein the method further comprises:

When the main vehicle chassis control node running in the backup embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the backup embedded terminal.
The method according to claim 1, wherein the controlling the vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal comprises:

Receiving automatic driving control instructions sent by the automatic driving computing center through the backup vehicle chassis control node running in the main embedded terminal; and

The vehicle chassis is controlled by the automatic driving control instruction.
The method according to claim 5, wherein the automatic driving control instruction is an emergency stop instruction, and the controlling the vehicle chassis through the automatic driving control instruction comprises:

Through the emergency stop command, the vehicle chassis is controlled to perform emergency braking.
The method according to claim 1, wherein the step of monitoring the health state of the main embedded terminal comprises:

Receive heartbeat data packets sent by the main embedded terminal periodically through the backup embedded terminal; and

When the backup embedded terminal fails to receive the heartbeat data packet within a preset time interval, it is determined that the primary embedded terminal is faulty.
The method according to claim 1, wherein the step of monitoring the health status of the chassis control node of the main vehicle comprises:

The corresponding main vehicle chassis control node is monitored in real time through the monitoring program to obtain the health status of the main vehicle chassis control node.
The method according to any one of claims 1 to 8, wherein the method further comprises:

Receive raw radar data sent by radar sensors;

extracting azimuth information from the raw radar data;

According to the azimuth angle information, the original radar data whose azimuth angle is within the preset angle range is used as point cloud data;

According to the point cloud data, determine whether there is an obstacle in front of the driving direction of the unmanned vehicle; and

When there is an obstacle, the vehicle chassis is controlled to perform emergency braking.
The method according to claim 9, wherein, according to the point cloud data, judging whether there is an obstacle in front of the driving direction of the unmanned vehicle comprises:

Determining the sector area defined by the preset angle range as the obstacle detection area;

determining the density value of the coordinate point corresponding to the point cloud data in the obstacle detection area; and

When the density value is greater than the preset density threshold, it is determined that there is an obstacle ahead of the driving direction of the unmanned vehicle.
An unmanned vehicle chassis control device, characterized in that it is applied to an unmanned vehicle system; the unmanned vehicle system includes a main embedded terminal, a backup embedded terminal and a vehicle chassis, the main embedded terminal and a main vehicle chassis control node and a backup vehicle chassis control node are running in the backup embedded terminal; after the unmanned vehicle system is started, the main embedded terminal and the main embedded terminal are operated through the main embedded terminal. The main vehicle chassis control node controls the vehicle chassis, and the device includes:

a monitoring module for monitoring the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal;

a control module for controlling the vehicle chassis through the backup embedded terminal when the main embedded terminal fails; and when the main vehicle chassis control node running in the main embedded terminal fails, through the backup embedded terminal A backup vehicle chassis control node running in the main embedded terminal controls the vehicle chassis.
The device according to claim 11, wherein, in the main embedded terminal and the backup embedded terminal, the main embedded terminal and the backup embedded terminal also run a control node other than the chassis control node of the main vehicle and the chassis control node of the backup vehicle. function node; the control module is also used for monitoring the source of the fault data in the main embedded terminal, and the source of the fault data is not the main vehicle chassis control node running in the main embedded terminal, through the The corresponding target function node running in the backup embedded terminal controls the chassis of the vehicle; when the source of fault data in the main embedded terminal is monitored, and the source of the fault data is the source of the fault data running in the main embedded terminal When the main vehicle chassis control node, execute the step of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal; when the fault data source in the main embedded terminal is not monitored, The vehicle chassis is globally controlled through the backup embedded terminal.
The device according to claim 12, wherein the control module is further configured to monitor a source of fault data in the main embedded terminal, and the source of the fault data is running in the main embedded terminal When the backup vehicle chassis control node is used, the vehicle chassis is controlled by the main vehicle chassis control node running in the backup embedded terminal.
The device according to claim 13, wherein the control module is further configured to, when the main vehicle chassis control node running in the backup embedded terminal fails, pass the backup running in the backup embedded terminal The vehicle chassis control node controls the vehicle chassis.
The device according to claim 11, wherein the control module is further configured to receive the automatic driving control instruction sent by the automatic driving computing center through the backup vehicle chassis control node running in the main embedded terminal; and The automatic driving control command controls the vehicle chassis.
The device according to claim 15, wherein the automatic driving control instruction is an emergency stop instruction, and the control module is further configured to control the vehicle chassis to perform emergency braking through the emergency stop instruction.
The device according to claim 11, wherein the monitoring module is further configured to regularly receive the heartbeat data packets sent by the main embedded terminal through the backup embedded terminal; and when the backup embedded terminal exceeds the When the heartbeat data packet is not received within a preset time interval, it is determined that the main embedded terminal is faulty.
The device according to claim 11, wherein the monitoring module is further configured to monitor the corresponding main vehicle chassis control node in real time through a monitoring program, so as to obtain the health status of the main vehicle chassis control node.
A computer device, comprising a memory, a processor and a computer program stored in the memory and running on the processor, characterized in that, when the processor executes the computer program, any one of claims 1 to 10 is implemented the steps of the method.
A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.