Vehicle Redundant Control System

Abstract

A vehicle redundant control system comprises a chassis control system, a chassis CAN bus connected to the chassis control system, and an intelligent driving control unit connected to the chassis CAN bus, wherein the chassis control system comprises an ESC module, an EPS module and a servo motor control unit, and the intelligent driving control unit comprises a main control unit and a sub-control unit respectively connected to the chassis CAN bus, wherein the main control unit is used to control the chassis control system, and the sub-control unit is used to control the chassis control system when a failure of the main control unit is detected, wherein the ESC module and the servo motor control module are both used to detect the wheel speed and vehicle speed of the whole vehicle and send them to the intelligent driving control unit, and the main control unit is connected to the ESC module, the EPS module, the servo motor control module and the sub-control unit via an ADU backup CAN bus.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a vehicle redundant control system. Background Art

[0002] As the technology of intelligent driving products matures, more and more cars are equipped with intelligent assistance functions during the production process. For example, new models are equipped with L1-L2 intelligent driving assistance functions. In the process of intelligent driving, how to ensure safety during driving has become the core issue of intelligent driving technology.

[0003] The driving assistance function of a car has high requirements for the vehicle due to its complex system, but the existing vehicle design does not have a complete vehicle redundancy solution. During the intelligent driving process, any failure in the vehicle's braking system, communication, intelligent driving control unit, etc. may cause a safety accident and threaten the personal safety of passengers. Summary of the invention

[0004] In view of the above situation, it is necessary to provide a vehicle redundant control system to address the problem of driving safety caused by the lack of a complete vehicle redundant solution for vehicles with intelligent driving functions in the prior art.

[0005] A vehicle redundant control system comprises a chassis control system, a chassis CAN bus connected to the chassis control system, and an intelligent driving control unit connected to the chassis CAN bus, wherein the chassis control system comprises an ESC module, an EPS module and a servo motor control unit, and the intelligent driving control unit comprises a main control unit and a sub-control unit respectively connected to the chassis CAN bus, wherein the main control unit is connected to the ESC module, the EPS module, the servo motor control module and the sub-control unit via an ADU backup CAN bus, wherein the ESC module and the servo motor control module are both used to detect the wheel speed and vehicle speed of the whole vehicle and send them to the main control unit and the sub-control unit, wherein the main control unit is used to control the chassis control system, and the sub-control unit is used to control the chassis control system when a failure of the main control unit is detected.

[0006] Furthermore, in the above-mentioned vehicle redundant control system, the sub-control unit and the chassis control system are also connected via an ADU-B backup CAN bus.

[0007] Furthermore, the above-mentioned vehicle redundant control system also includes an intelligent gateway, the main control unit is connected to the intelligent gateway through an intelligent CAN bus, the intelligent gateway is connected to the chassis CAN bus and the ADU backup CAN bus, and the chassis control system receives bus communications in the order of priority from high to low: intelligent CAN bus, ADU backup CAN bus and ADU-B backup CAN bus.

[0008] Furthermore, the above-mentioned vehicle redundant control system also includes a first power supply and a second power supply, the first power supply is connected to the sub-control unit, the ESC module, and the EPS module, and the second power supply is connected to the main control unit, the servo motor control module, and the EPS module.

[0009] Furthermore, in the above-mentioned vehicle redundant control system, the EPS module adopts a 12-phase motor, each phase of the motor is connected to the chassis CAN bus and the ADU backup CAN bus, and when the three-phase currently working phase of the motor fails, it switches to the other three phases to work.

[0010] Furthermore, in the above-mentioned vehicle redundant control system, the ESC system and the servo motor control module are respectively connected to a group of wheel speed sensors.

[0011] Furthermore, the above-mentioned vehicle redundant control system further includes a SAS sensor, and the SAS sensor is connected to the chassis CAN bus and the ADU backup CAN bus.

[0012] Furthermore, the above-mentioned vehicle redundant control system also includes a perception unit connected to the intelligent driving control unit, and the perception unit includes multiple radars, cameras and map modules arranged on the whole vehicle.

[0013] In the present invention, three redundancy schemes are designed, namely control system redundancy, braking system redundancy and communication redundancy. Among them, the control system redundancy scheme adopts the sub-control unit ADU-B as the backup system of the main control unit ADU. When the sub-control unit detects that the main control unit fails, the sub-control unit ADU-B takes over. The braking redundancy scheme is that the ESC module and the servo motor control module realize the wheel speed calculation redundancy inside the braking system, and the wheel speed and vehicle speed redundancy at the vehicle level. The communication redundancy scheme is adopted as follows: the ESC module and the motor servo control module respectively have two CAN communications (chassis CAN communication and ADU backup CAN communication), and the bus signals related to the braking system and the highway driving auxiliary function need to be redundantly backed up on the two CAN buses. After the chassis CAN communication fails, the main control unit ADU realizes interactive communication with the chassis system through the backup CAN. In the present invention, the safety of intelligent driving is guaranteed by designing three redundancy schemes. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a schematic structural diagram of a vehicle redundant control system in a first embodiment of the present invention;

[0015] Figure 2 A schematic diagram of the communication line connection of the vehicle redundant control system in the first embodiment of the present invention;

[0016] Figure 3 Schematic diagram of power connection of a vehicle redundant control system in the second embodiment of the present invention.

[0017] Main component symbols

[0018] DETAILED DESCRIPTION

[0019] In order to facilitate understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Embodiments of the present invention are provided in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing this embodiment is to make the disclosure of the present invention more thorough and comprehensive.

[0020] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0022] See also Figure 1 , is a vehicle redundant control system in an embodiment of the present invention, including a chassis control system 10, a chassis CAN bus connected to the chassis control system 10, and an intelligent driving control unit connected to the chassis CAN bus.

[0023] The chassis control system 10 includes a transmission control system, a driving control system, a braking control system and a steering control system. Specifically, the driving control system includes, for example, an ESC module and a servo motor control module 40 that are electrically connected. The ESC module 20 and the servo motor control module 40 have the same function and are both used to control the steering of the vehicle. The ESC module 20 and the servo motor control module 40 are both connected to a wheel speed sensor 52 and a yaw angle sensor 53, which calculate the wheel speed, vehicle speed and yaw angle based on the information detected by the wheel speed sensor 52 and the yaw angle sensor 53, and send the calculated data to the intelligent driving control unit, and control the vehicle speed of the whole vehicle according to the control signal output by the intelligent driving control unit.

[0024] The steering control system, for example, includes an EPS module 30, which is connected to a steering angle sensor 51 of the vehicle. The EPS module 30 calculates the steering angle based on information detected by the steering angle sensor 51 and sends it to the intelligent driving control unit, and controls the steering of the vehicle based on a control signal output by the intelligent driving control unit.

[0025] The intelligent driving control unit is connected to the sensing unit 60, which is used to collect environmental information and includes multiple radars and cameras, map modules, etc. arranged on the vehicle. The intelligent driving control unit is connected to the chassis control system 10 through the chassis CAN bus and outputs a control signal to control the chassis control system.

[0026] The intelligent driving control unit includes a main control unit ADU and a sub-control unit ADU-B. The main control unit ADU controls the chassis control system 10 according to the detected turning angle, vehicle speed and perceived environmental information to achieve intelligent driving. In specific implementation, the main control unit ADU controls the chassis control system 10 to control the acceleration, deceleration, steering, lamps, wipers, etc. of the vehicle.

[0027] The sub-control unit ADU-B serves as a backup system for the main control unit ADU. When the sub-control unit ADU-B detects that the main control unit ADU fails, the sub-control unit ADU-B takes over. The sub-control unit ADU-B obtains information from the ESC module 20, the EPS module 30, and the sensing unit 60, and communicates and controls the vehicle chassis CAN bus and the body CAN bus based on the information obtained.

[0028] In specific implementation, the main control unit ADU can adopt L3 level intelligent driving assistance technology, and the sub-control unit ADU-B can adopt L2 level intelligent driving assistance technology, which has low calculation accuracy and calculation amount, and can reduce production costs on the basis of achieving control system redundancy.

[0029] The servo motor control module 40, the ESC module 20, the EPS module 30 and the SAS sensor 54 are connected to the main control unit ADU through the ADU backup CAN bus. The ESC module 20 and the motor servo control module 40 have the same function, and both the ESC module 20 and the motor servo control module 40 have two CAN communication channels. The ESC module 20 and the servo motor control module 40 are respectively connected to a group of wheel speed sensors 52, and each group of wheel speed sensors 52 is provided with four. When any one of the ESC module 20 and the servo motor control module 40 fails, the other can still calculate the wheel speed, i.e., the vehicle speed, according to the wheel speed sensor 52 to which it is connected.

[0030] The bus signals related to the chassis brake system 10 and the intelligent driving function need to be redundantly backed up on the chassis CAN bus and the ADU backup CAN bus. When the main control unit ADU detects that the communication between it and the chassis CAN fails, the main control unit ADU communicates with the chassis control system through the ADU backup CAN.

[0031] Furthermore, the sub-control unit ADU-B is also connected to the chassis control system 10 via the ADU-B backup CAN bus. After the sub-control unit ADU-B detects that the communication between it and the chassis CAN bus fails, the sub-control unit ADU-B can communicate with the chassis control system 10 via the ADU-B backup CAN bus.

[0032] Specifically, the vehicle redundant control system further includes an intelligent gateway 70, the main control unit ADU is connected to the intelligent gateway 70 via an intelligent CAN bus, and the intelligent gateway 70 is connected to the chassis CAN bus and the ADU backup CAN bus. The chassis control system 10 receives bus communications in the order of priority from high to low: chassis CAN bus, ADU backup CAN bus, and ADU-B backup CAN bus.

[0033] When the highway designated driver assistance function flag is valid, if the main control unit ADU detects that the VCU (vehicle electronic control unit) node is lost, the main control unit ADU only sends a deceleration request to the chassis controller to make the vehicle decelerate and stop in the lane. At this time, if the chassis control system also detects that the VCU node is lost, the chassis control system 10 does not affect the acceleration and deceleration requests sent by the main control unit ADU, and feeds back the VCU fault status to the ADU.

[0034] When the highway driver assistance function flag is valid, if the VCU determines that the chassis control system module node is lost, the VCU and MCU need to smoothly control the click output torque to 0 according to a certain slope.

[0035] In this embodiment, three redundancy schemes are designed, namely control system redundancy, braking system redundancy and communication redundancy. Among them, the control system redundancy scheme adopts the sub-control unit ADU-B as the backup system of the main control unit ADU. When the sub-control unit detects that the main control unit fails, the sub-control unit ADU-B takes over. The braking redundancy scheme is that the ESC module and the servo motor control module realize the wheel speed calculation redundancy inside the braking system, and the wheel speed and vehicle speed redundancy at the vehicle level. The communication redundancy scheme is adopted as follows: the ESC module and the motor private service control module respectively have two CAN communications (chassis CAN communication and ADU backup CAN communication), and the bus signals related to the braking system and the highway driving auxiliary function need to be redundantly backed up on the two CAN buses. After the chassis CAN communication fails, the main control unit ADU realizes interactive communication with the chassis system through the backup CAN. In this embodiment, three redundancy schemes are designed to ensure the safety of the intelligent driving process.

[0036] See also Figure 3 , is a vehicle redundant control system in the second embodiment of the present invention, which has a structure basically the same as that of the vehicle redundant control system in the first embodiment, except that it also includes a first power supply and a second power supply, the first power supply is connected to the sub-control unit, the ESC module, and the EPS module, and the second power supply is connected to the main control unit, the servo motor control module and the EPS module.

[0037] The first power supply and the second power supply serve as backup power supplies for each other. Power distribution ensures that failure of any single node in the external power supply system will not cause power failure of the entire vehicle system modules. For example, the power supplies of the ESC and electromechanical servo control module will not fail at the same time. If one of the two has an external power supply failure, the system needs to downgrade through a redundant strategy and feed back the vehicle status to the upper-level control system.

[0038] Furthermore, the EPS module uses a 12-phase motor, each phase of which is connected to the chassis CAN bus and the ADU backup CAN bus. In specific implementation, the motor of the ESP module only needs three phases to work. When the three phases currently working fail, it switches to the other three phases to work. The angle signal calculated inside the power steering control system reaches the functional safety ASIL-D level (the highest level).

[0039] Furthermore, the vehicle control system is also designed with a steering redundancy solution, that is, it also includes a SAS sensor, which is connected to the chassis CAN bus and the ADU backup CAN bus. After the steering angle signal output by the power steering system fails, the steering angle signal detected by the SAS sensor can be used as a backup control of the chassis system.

[0040] Compared with the first embodiment, this embodiment also involves a power supply redundancy solution and a steering redundancy solution, which further improves the vehicle redundancy solution, improves the safety performance of the intelligent driving assistance system, and ensures the safety of intelligent driving.

[0041] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0042] The above-mentioned embodiments only express the implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A vehicle redundant control system, comprising a chassis control system, a chassis CAN bus connected to the chassis control system, and an intelligent driving control unit connected to the chassis CAN bus, wherein the chassis control system comprises an ESC module and an EPS module, wherein the feature is that: The chassis control system also includes a servo motor control module. The intelligent driving control unit includes a main control unit and a sub-control unit respectively connected to the chassis CAN bus. The main control unit is connected to the ESC module, the EPS module, the servo motor control module and the sub-control unit through the ADU backup CAN bus. The ESC module and the servo motor control module are both used to detect the wheel speed and vehicle speed of the whole vehicle and send them to the main control unit and the sub-control unit. The main control unit is used to control the chassis control system. The sub-control unit is used to control the chassis control system when a fault in the main control unit is detected. The sub-control unit is connected to the chassis control system. It is also connected through an ADU-B backup CAN bus. The vehicle redundant control system also includes an intelligent gateway. The main control unit is connected to the intelligent gateway through an intelligent CAN bus. The intelligent gateway is connected to the chassis CAN bus and the ADU backup CAN bus. The priority order of the chassis control system receiving bus communications is from high to low, namely, the intelligent CAN bus, the ADU backup CAN bus and the ADU-B backup CAN bus. The vehicle redundant control system also includes a first power supply and a second power supply. The first power supply is connected to the sub-control unit, the ESC module and the EPS module. The second power supply is connected to the main control unit, the servo motor control module, and the EPS module.

2. The vehicle redundant control system according to claim 1, characterized in that: The EPS module uses a 12-phase motor, with 3 phases forming a group. Each phase of the motor is connected to the chassis CAN bus and the ADU backup CAN bus. When the three-phase motor currently working fails, it switches to the three-phase motor of other groups to work.

3. The vehicle redundant control system according to claim 1, characterized in that: The ESC module and the servo motor control module are respectively connected to a set of wheel speed sensors.

4. The vehicle redundant control system according to claim 1, characterized in that: It also includes a SAS sensor, which is connected to the chassis CAN bus and the ADU backup CAN bus.

5. The vehicle redundant control system according to claim 1, characterized in that: It also includes a perception unit connected to the intelligent driving control unit, and the perception unit includes multiple radars, cameras and map modules arranged on the vehicle.

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