Automatic driving redundancy control system

Abstract

The invention relates to the technical field of automatic driving, in particular to an automatic driving redundancy control system, when a path tracking part of an automatic driving domain controller fails, a redundancy system provides a redundancy tracking control function for a vehicle, and when the automatic driving domain controller completely fails, the redundancy system completely takes over the vehicle. The vehicle is quickly merged into the rightmost lane and parked, and a tracking controller realizes the tracking function of the vehicle through a pure tracking controller with a variable preview distance; in the planning process, a safe corridor planning method considering kinematics constraints is established through environment information obtained by the front camera, a smooth lane changing path is generated, and lane changing is tracked. According to the automatic driving redundancy control system, the redundancy control system is added to the vehicle chassis domain controller, the automatic driving level is reduced, the vehicle only depends on a current sensor and a drive-by-wire chassis, the vehicle slowly runs to the roadside and then stops, the safety performance of the vehicle is improved, and use is very convenient.

Description

technical field [0001] The invention relates to the technical field of automatic driving, in particular to a redundant control system for automatic driving. Background technique [0002] When the self-driving vehicle is driving normally, the chassis domain controller obtains vehicle movement information through information communication with the vehicle electronic control unit, and the self-driving domain controller communicates with the sensor and chassis domain controller through the main road CAN to obtain vehicle driving information and Environmental information, and decision-making planning, after calculating the target path, the vehicle behavior command is sent to the chassis domain controller to control the vehicle motion state, and then realize the automatic driving function. [0003] Vehicle driving safety is one of the most important factors in evaluating vehicles. In order to improve the safety of unmanned vehicles in the park during driving, most current research...

AI Technical Summary

Problems solved by technology

[0004] For existing self-driving vehicles, if the automatic driving domain controller fails, relying on the existing vehicle architecture cannot effectively control the risk of vehicle out-of-control, which will cause harm to itself, surrounding people and vehicles, and is very inconvenient to use. , in view of the above status quo, it is urgent to develop a redundant control system for automatic driving to overcome the shortcomings in current practical applications

Images