CN115529830A

CN115529830A - Intelligent driving control method and device and intelligent driving control system

Info

Publication number: CN115529830A
Application number: CN202180005183.4A
Authority: CN
Inventors: 贾晓林; 项能武
Original assignee: Huawei Technologies Co Ltd
Current assignee: Shenzhen Yinwang Intelligent Technology Co ltd
Priority date: 2021-04-27
Filing date: 2021-04-27
Publication date: 2022-12-27
Also published as: WO2022226776A1

Abstract

An intelligent driving control method, an intelligent driving control device and an intelligent driving control system (100), wherein the intelligent driving control method is applied to the intelligent driving control system (100), and the intelligent driving control system (100) comprises the following steps: a primary controller (11), a first redundant controller (12) and a second redundant controller (13), the control method comprising: and determining a failure operable working group according to the states of the main controller (11), the first redundant controller (12) and the second redundant controller (13), and when one of the main controller (11), the first redundant controller (12) and the second redundant controller (13) fails, the other two controllers form the failure operable working group for controlling the vehicle to perform intelligent driving operation. The intelligent driving operation of the vehicle can be realized when one controller fails, a higher intelligent driving level is ensured, and the driver is not required to take over the driving operation.

Description

PCT国内申请，说明书已公开。PCT domestic application, specification has been published.

Claims

An intelligent driving control method is applied to an intelligent driving control system, and the intelligent driving control system comprises: the control method comprises the following steps that a main controller, a first redundancy controller and a second redundancy controller are combined to form a failure operation (failure operation) working group for outputting vehicle control signals, and the control method comprises the following steps:

acquiring states of the main controller, the first redundant controller and the second redundant controller;

and when one of the main controller and the first redundant controller is in a failure state and the second redundant controller is in a normal state, determining that the normal state of the main controller and the first redundant controller and the second redundant controller form a failure operable working group.
The control method according to claim 1, characterized by further comprising: and when the main controller, the first redundant controller and the second redundant controller are all effective, the main controller and the first redundant controller form a failure operational working group, and the second redundant controller enters a standby state.
The control method according to claim 1 or 2, characterized by further comprising: the controller in the failed state is put into a repair mode.
The control method according to any one of claims 1 to 3, wherein when one of the main controller or the first redundant controller is successfully repaired, the successfully repaired controller replaces a second redundant controller in the failed operational working group, and the second redundant controller enters a standby state.
The control method according to any one of claims 1 to 4, characterized by further comprising: in the event of failure of two of the primary controller, the first redundant controller and the second redundant controller, causing the other controller to control the vehicle to stop.
The control method according to any one of claims 1 to 5, characterized by further comprising: the status of the failed controller is submitted to a remote maintenance system.
The control method according to claim 5 or 6, characterized by further comprising: and sending warning information to the user.
The control method according to any one of claims 1 to 7, characterized in that the driving control system further includes a first visual sensor group, a detection sensor group, and a second visual sensor group, wherein,

the main controller is connected with the first visual sensor group, the detection sensor group and the second visual sensor group;

the first redundant controller is connected with the first visual sensor group and the detection sensor group;

the second redundant controller is connected to the set of detection sensors and the second set of vision sensors.
Control method according to any of claims 1-8, characterized in that the main controller has a higher calculation capacity than the first and second redundant controllers.
The utility model provides an intelligence driving control device, its characterized in that, intelligence driving control device is applied to in intelligent driving control system, intelligent driving control system includes: the main controller and the first redundant controller constitute a failure operation (failure operation) working group for outputting vehicle control signals, and the control device includes:

an acquisition module to acquire states of the primary controller, the first redundant controller, and the second redundant controller;

and the determining module is used for determining that one of the main controller and the first redundant controller which is in a normal state and the second redundant controller form a failure operable working group with the second redundant controller when one of the main controller, the first redundant controller and the second redundant controller is in a failure state and the second redundant controller is in a normal state.
The control apparatus of claim 10, wherein the determination module is further configured to: and when the main controller, the first redundant controller and the second redundant controller are all effective, the main controller and the first redundant controller form a failure operable working group, and the second redundant controller enters a standby state.
The control device of claim 10 or 11, wherein the determination module is further configured to: the controller in the failed state is put into a repair mode.
The control device of any one of claims 10-12, wherein the determination module is further configured to: and when one of the main controller or the first redundant controller is successfully repaired, determining that the successfully repaired controller replaces a second redundant controller in the failed operational working group, and enabling the second redundant controller to enter a standby state.
The control apparatus of any of claims 10-13, wherein the determination module is further configured to: in the event of failure of two of the primary controller, the first redundant controller and the second redundant controller, causing the other controller to control the vehicle to stop.
The control device of any one of claims 10-14, wherein the determination module is further configured to: the status of the failed controller is submitted to a remote maintenance system.
The control device according to claim 14 or 15, characterized by further comprising: and sending warning information to the user.
The control device of any one of claims 10-16, wherein the driving control system further sensors comprise a first set of vision sensors, a set of detection sensors, and a second set of vision sensors, wherein the master controller is connected to the first set of vision sensors, the set of detection sensors, and the second set of vision sensors;

the first redundant controller is connected with the first visual sensor group and the detection sensor group;

the second redundant controller is connected to the set of detection sensors and the second set of vision sensors.
The control device of any one of claims 10-17, wherein the primary controller has a higher computational power than the first redundant controller and the second redundant controller.
An intelligent driving control system, comprising: the main controller, the first redundant controller and the second redundant controller:

the main controller is connected with a first visual sensor group and a second visual sensor group, acquires first visual sensor data from the first visual sensor group, and acquires second visual sensor data from the second visual sensor group;

the first redundant controller is connected to the first visual sensor group and acquires the first visual sensor data from the first visual sensor group;

the second redundant controller is connected with the second visual sensor group, and acquires the second visual sensor data from the second visual sensor group;

wherein the first vision sensor data comprises forward-looking data, look-around data and rear-looking data, and the second vision sensor data comprises forward-looking data, side-looking data and rear-looking data;

the intelligent driving control system outputs control signals based on data acquired by at least two controllers of the master controller, the first controller and the second controller.
The control system of claim 19, wherein the master controller, the first redundant controller, and the second redundant controller are each coupled to a set of detection sensors from which detection sensor data is obtained.
The control system of claim 20, wherein the detection sensor data includes ultrasonic radar detection data and millimeter wave radar detection data.
The control system of any of claims 19-21, wherein the primary controller and the first redundant controller comprise a failure operation workgroup and the second redundant controller is in a standby state when the primary controller, the first redundant controller, and the second redundant controller are all active.
The control system of any one of claims 19-22, further comprising: the failed controller is in a repair state.
The control system of any of claims 19-23, wherein when one of the primary controller or the first redundant controller is successfully repaired, the successfully repaired controller replaces a second redundant controller in the failed operational working group, the second redundant controller being in a standby state.
The control system of any one of claims 19-24, further comprising: and in the event that two of the main controller, the first redundant controller and the second redundant controller fail, controlling the vehicle to stop by the other controller.
The control system of any one of claims 19-25, further comprising: the status of the failed controller is submitted to a remote maintenance system.
The control system according to claim 25 or 26, further comprising: and sending warning information to the user.