Redundant structure of autonomous driving system

Abstract

The present application provides an automatic driving system with a redundant structure. The system may include an acquisition subsystem, a power subsystem, and a processing subsystem connected to the acquisition subsystem. The acquisition subsystem may include at least one main acquisition device and at least one backup acquisition device. The power subsystem may include: a main power supply device is configured to power a first part of the at least one main acquisition device and the at least one backup acquisition device; and a backup power supply device is configured to power a second part of the at least one main acquisition device and the at least one backup acquisition device. The processing subsystem may include a main processing device and a backup processing device, as a backup device for at least a part of the main processing device.

Description

Technical Field

[0001] The present application generally relates to automated driving systems, and more particularly to redundant structures for automated driving systems. Background Art

[0002] With the development of microelectronics and robotics, autonomous driving has now developed rapidly. Generally, the autonomous driving system of a vehicle can obtain driving information (e.g., speed, acceleration) associated with traffic information (e.g., the presence of an object within a predetermined distance range of the vehicle), process the driving information associated with the traffic information, and plan the vehicle's driving path based on the processing results. Since the autonomous driving system requires fast calculation and rapid response to ensure safety, it is crucial to ensure the stability and efficiency of the autonomous driving system. Therefore, it is necessary to provide an autonomous driving system with a redundant structure to improve the stability and efficiency of the system. Summary of the invention

[0003] One aspect of the present application provides an automatic driving system with a redundant structure. The system may include an acquisition subsystem, a power subsystem, and a processing subsystem connected to the acquisition subsystem. The acquisition subsystem may include at least one main acquisition device and at least one backup acquisition device. The power subsystem may include: a main power supply device is configured to power a first part of the at least one main acquisition device and the at least one backup acquisition device; and a backup power supply device is configured to power a second part of the at least one main acquisition device and the at least one backup acquisition device. The processing subsystem may include: a main processing device powered by the main power supply device and the backup power supply device; and a backup processing device, which is a backup device for at least a part of the main processing device. The backup processing device may be powered by the main power supply device and the backup power supply device.

[0004] In some embodiments, the system may further include a control subsystem. The control subsystem may include one or more main control devices and one or more backup control devices. Each of the one or more main control devices may have at least one of the one or more backup control devices as a backup device for the main control device.

[0005] In some embodiments, the main control device may include a power transmission device, a main brake device and a main steering control device. The backup control device may include a backup brake device and a backup steering device.

[0006] In some embodiments, the control subsystem is powered by the main power supply device and the backup power supply device.

[0007] In some embodiments, the system may further include a main gateway connecting the main processing device and the backup processing device with the control subsystem, and a backup gateway connecting the main processing device and the backup processing device with the control subsystem.

[0008] In some embodiments, the system may further include a communication subsystem. The communication subsystem may include: a first interface for connecting the main processing device and the backup processing device to the main gateway; and a second interface as a backup interface of the first interface. The second interface may connect the main processing device and the backup processing device to the backup gateway.

[0009] In some embodiments, the system may further include: a third interface connecting the main gateway and the control subsystem; and a fourth interface serving as a backup interface of the third interface. The fourth interface may connect the backup gateway and the control subsystem.

[0010] In some embodiments, the system may be an autonomous driving system.

[0011] In some embodiments, the at least one main acquisition device may include a laser radar. The at least one backup acquisition device may include a camera, a radar, an ultrasonic radar, or a vehicle-to-the-world information exchange V2X.

[0012] In some embodiments, the at least one backup acquisition device may include two sensors of the same type. The two sensors may be powered by the main power supply device and the backup power supply device, respectively.

[0013] In some embodiments, the main processing device may include at least two sensor processors and a main planning and control processor. The backup processing device may include a backup planning and control processor. The backup planning and control processor may be a backup device for the main planning and control processor.

[0014] In some embodiments, the primary power supply device and the backup power supply device may include batteries independent of each other.

[0015] Some additional features of the present application may be explained in the following description. Some additional features of the present application will be apparent to those skilled in the art through study of the following description and corresponding drawings or understanding of the production or operation of the embodiments. The features of the present application may be realized and achieved through practice or use of the methods, means and combinations of various aspects of the specific embodiments described below. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The present application will be further described by exemplary embodiments. These exemplary embodiments will be described in detail by the accompanying drawings. These embodiments are non-limiting exemplary embodiments, in which the same numbers in each figure represent similar structures, wherein:

[0017] Figure 1A is a schematic diagram of an exemplary vehicle with autonomous driving capabilities according to some embodiments of the present application;

[0018] Figure 1B is a schematic diagram of an exemplary vehicle with autonomous driving capabilities according to some embodiments of the present application;

[0019] Figure 2 is a schematic diagram of exemplary hardware and / or software components of an exemplary computing device according to some embodiments of the present application;

[0020] Figure 3 is a block diagram of exemplary subsystems of an autonomous driving system according to some embodiments of the present application;

[0021] Figure 4 is a block diagram of an exemplary acquisition subsystem according to some embodiments of the present application;

[0022] Figure 5 is a block diagram of an exemplary power subsystem according to some embodiments of the present application;

[0023] Figure 6 is a block diagram of an exemplary processing subsystem according to some embodiments of the present application;

[0024] Figure 7 is a block diagram of an exemplary control subsystem according to some embodiments of the present application; and

[0025] Figure 8 is a schematic diagram of an exemplary redundant structure of an autonomous driving system according to some embodiments of the present application. DETAILED DESCRIPTION

[0026] The following description is intended to enable a person of ordinary skill in the art to implement and utilize the present application, and the description is provided in the context of a specific application scenario and its requirements. It will be apparent to a person of ordinary skill in the art that various changes may be made to the disclosed embodiments, and that the general principles defined in the present application may be applied to other embodiments and application scenarios without departing from the principles and scope of the present application. Therefore, the present application is not limited to the described embodiments, but should be given the broadest scope consistent with the claims.

[0027] The terms used in this application are only used to describe specific exemplary embodiments and do not limit the scope of this application. The singular forms "one", "an" and "the" used in this application may also include plural forms unless the context clearly indicates an exception. It should also be understood that, as in the specification of this application, the terms "including" and "comprising" only indicate the presence of the features, wholes, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, wholes, operations, elements, components and / or combinations thereof.

[0028] These and other features, characteristics and functions and methods of operation of the related structural elements of the present application, as well as the assembly and manufacturing economy of the components, may become more apparent from the following description of the accompanying drawings, which form a part of the specification of this application. However, it should be understood that the drawings are for illustration and description purposes only and are not intended to limit the scope of the present application. It should be understood that the drawings are not drawn to scale.

[0029] In addition, although the system management module and method disclosed in the present application are mainly related to land transportation systems, it should be understood that this is only an exemplary embodiment. The system of the present application can be applied to any other type of transportation system. For example, the system of the present application can be applied to transportation systems in different environments including ocean, aerospace, etc., or any combination thereof. The vehicles of the transportation system management module can include cars, buses, trains, subways, ships, airplanes, spacecraft, hot air balloons, etc., or any combination thereof.

[0030] The positioning technology used in this application can be based on the Global Positioning System (GPS), the Global Navigation Satellite System (GLONASS), the Compass Navigation System (COMPASS), the Galileo Positioning System, the Quasi-Zenith Satellite System (QZSS), the Wireless Fidelity (WiFi) positioning technology, etc. or any combination thereof. One or more of the above positioning systems can be used interchangeably in this application.

[0031] One aspect of the present application relates to a redundant structure for an autonomous driving system. According to the system of the present application, the autonomous driving system may include an acquisition subsystem, a power subsystem, a processing subsystem, a control subsystem, and a communication subsystem. Failure of one or more components or devices in any one of the acquisition subsystem, the power subsystem, the processing subsystem, the control subsystem, and the communication subsystem may cause errors in the autonomous driving system. The subsystem may have a redundant structure to avoid accidents caused by errors in the autonomous driving system. According to the system of the present application, the redundant structure of the acquisition subsystem, the power subsystem, the processing subsystem, the control subsystem, and the communication subsystem ensures that the autonomous driving system has higher stability and efficiency, thereby improving the safety of the autonomous driving vehicle.

[0032] Figure 1A 1 is a schematic diagram of an exemplary vehicle with autonomous driving capabilities according to some embodiments of the present application. In some embodiments, vehicle 130 can be connected to processing device 110 and storage device 140 via network 120. In some embodiments, processing device 110 and / or storage device 140 can be installed with the two-way arrows shown in FIG. Figure 1A In some embodiments, the vehicle 130 may include a processing device and / or an onboard storage device, and may also be connected to the processing device and / or the storage device via the network 120.

[0033] In some embodiments, the processing device 110 may be a single server or a server group. The server group may be centralized or distributed (for example, the processing device 110 may be a distributed system). In some embodiments, the processing device 110 may be local or remote. For example, the processing device 110 may access information and / or data stored in the vehicle 130 and / or the storage device 140 via the network 120. For another example, the processing device 110 may be directly connected to the vehicle 130 and / or the storage device 140 to access the stored information and / or data. In some embodiments, the processing device 110 may be implemented on a cloud platform or on a vehicle-mounted computer. By way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, the like, or any combination thereof. In some embodiments, the processing device 110 may be implemented on a cloud platform or on a vehicle-mounted computer in the present application. Figure 2 The described computing device 200 includes one or more components.

[0034] In some embodiments, the processing device 110 may process information and / or data associated with driving information associated with the vehicle 130 to perform one or more functions related to autonomous driving. In some embodiments, the processing device 110 may include an automatic control unit and at least two sensors. The automatic control unit may output at least two control signals. For example, the automatic control unit may determine at least two control signals of the vehicle 130 based on environmental information and a driving mode of the vehicle 130. The at least two control signals may be configured to control the driving of the vehicle 130 by receiving at least two electronic control units (ECUs).

[0035] In some embodiments, the processing device 112 may include one or more processing engines (e.g., a single-chip processing engine or a multi-chip processing engine). By way of example only, the processing device 112 may include various types of processing devices, including a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a reduced instruction set computer (RISC), a microprocessor, etc., or any combination thereof. In some embodiments, the processing device 112 may include at least one backup processing device that serves as a backup device for at least one main processing device.

[0036] In some embodiments, the processing device 110 may be connected to the network 120 to communicate with one or more components of the autonomous driving system 100 (e.g., the vehicle 130, the storage device 140). In some embodiments, the processing device 110 may be directly connected to or communicate with one or more components of the autonomous driving system 100 (e.g., the vehicle 130, the storage device 140). In some embodiments, the processing device 110 may be integrated in the vehicle 130. For example, the processing device 110 may be a computing device installed in the vehicle 130 (e.g., an onboard computer).

[0037] The network 120 may facilitate the exchange of information and / or data. In some embodiments, one or more components of the autonomous driving system 100 (e.g., the processing device 110, the vehicle 130, or the storage device 140) may send information and / or data to other components of the autonomous driving system 100 via the network 120. In some embodiments, the network 120 may be any form of wired or wireless network, or any combination thereof. By way of example only, the network 120 may include a cable network, a wired network, a fiber optic network, a telecommunications network, an intranet, the Internet, a local area network (LAN), a wide area network (WAN), a wireless local area network (WLAN), a metropolitan area network (MAN), a public switched telephone network (PSTN), a Bluetooth network, a ZigBee network, a near field communication (NFC) network, etc., or any combination thereof. In some embodiments, the network 120 may include one or more network access points. For example, the network 120 may include a wired or wireless network access point, through which one or more components of the autonomous driving system 100 may connect to the network 120 to exchange data and / or information.

[0038] Vehicle 130 can be any type of automatic vehicle. Automatic vehicles are capable of sensing environmental information and navigating without human intervention. Vehicle 130 may include the structure and / or components of a conventional vehicle. For example, vehicle 130 may include at least two control components configured to control the operation of vehicle 130. At least two control components may include a steering device (e.g., a steering wheel), a braking device (e.g., a brake pedal), an accelerator, etc. The steering device may be configured to adjust the azimuth and / or direction of vehicle 130. The braking device may be configured to perform a braking operation to slow down or stop vehicle 130. The accelerator may be configured to control the speed and / or acceleration of vehicle 130.

[0039] The vehicle 130 may also include at least two acquisition devices configured to collect environmental information associated with the vehicle 130. The at least two acquisition devices may include distance sensors (e.g., lidar, radar, infrared sensor, ultrasonic device), cameras, global positioning system (GPS) modules, vehicle-to-external information exchange (V2X), etc. In some embodiments, the at least two acquisition devices may also be configured to collect driving information of the vehicle 130. For example, the at least two acquisition devices may include acceleration sensors (e.g., piezoelectric sensors), speed sensors (e.g., Hall sensors), steering angle sensors (e.g., tilt sensors), traction-related sensors (e.g., force sensors), etc. In some embodiments, the environmental information associated with the vehicle 130 may include information of at least two objects (e.g., pedestrians, vehicles) on the path of travel of the vehicle 130. In some embodiments, the environmental information associated with the vehicle 130 may also include road conditions and / or map information.

[0040] The storage device 140 may store data and / or instructions. In some embodiments, the storage device 140 may store data acquired from the vehicle 130, for example, environmental information and / or driving information associated with the vehicle 130 acquired by at least two acquisition devices. In some embodiments, the storage device 140 may store data and / or instructions that the processing device 110 may execute or use to execute exemplary operations associated with autonomous driving. In some embodiments, the storage device 140 may include a mass storage device, a removable storage device, a volatile read-write memory, a read-only memory (ROM), etc., or any combination thereof. Exemplary mass storage devices may include magnetic disks, optical disks, solid-state disks, etc. Exemplary removable storage devices may include flash drives, floppy disks, optical disks, memory cards, compressed disks, tapes, etc. Exemplary volatile read-write memories may include random access memories (RAM). Exemplary RAM may include dynamic random access memories (DRAM), double data rate synchronous dynamic random access memories (DDR SDRAM), static random access memories (SRAM), thyristor random access memories (T-RAM), and zero capacitance random access memories (Z-RAM), etc. Exemplary read-only memories may include mask read-only memories (MROMs), programmable read-only memories (PROMs), erasable programmable read-only memories (EPROMs), electrically erasable programmable read-only memories (EEPROMs), compact disk read-only memories (CD-ROMs), and digital versatile disk read-only memories, etc. In some embodiments, the storage device 140 may be executed on a cloud platform. By way of example only, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, etc., or any combination thereof.

[0041] In some embodiments, the storage device 140 may be connected to the network 120 to communicate with one or more components of the autonomous driving system 100 (e.g., the processing device 110, the vehicle 130). One or more components of the autonomous driving system 100 may access data or instructions stored in the storage device 140 via the network 120. In some embodiments, the storage device 140 may be directly connected to or communicate with one or more components of the autonomous driving system 100 (e.g., the processing device 110, the vehicle 130). In some embodiments, the storage device 140 may be part of the processing device 110. In some embodiments, the storage device 140 may be integrated in the vehicle 130.

[0042] It should be noted that the autonomous driving system 100 is provided for illustrative purposes only and is not intended to limit the scope of the present application. For those of ordinary skill in the art, various changes or modifications can be made based on the description of the present application. For example, the autonomous driving system 100 may also include a database, an information source, etc. For another example, the autonomous driving system 100 may be implemented on other devices to achieve similar or different functions. However, these changes and modifications will not deviate from the scope of the present application.

[0043] Figure 1B 1 is a schematic diagram of an exemplary vehicle with autonomous driving capabilities according to some embodiments of the present application. For example, the autonomous driving system 100 may include at least a vehicle platform and an autonomous platform, and the vehicle 130 may be autonomously driven or driven under human control.

[0044] The vehicle platform may be configured to drive the vehicle 130 with or without human control. For example, the vehicle platform may include an engine management module 132, an electric stability controller (ESC),

[0045] 134 , a power module 136 , a steering column module (SCM) 138 , a throttle adjustment module 1322 , a brake module 1342 , and a steering module 1382 .

[0046] The automatic platform can process information and / or data related to vehicle driving (e.g., automatic driving) to perform one or more functions described in this application. In some embodiments, the automatic platform can be configured to automatically drive the vehicle 130. In some embodiments, the automatic platform may include an automatic control unit 150 and at least two sensors 1522, 1524, 1526. The automatic control unit 150 can output at least two control signals. For example, the automatic control unit 150 can determine at least two control signals of the vehicle 130 based on the environmental information and driving mode of the vehicle 130. The at least two control signals can be configured to receive at least two electronic control units (ECUs) to control the driving of the vehicle 130.

[0047] At least two sensors (e.g., at least two sensors 1522, 1524, 1526) may be configured to provide information for controlling the vehicle 130. In some embodiments, the sensor may sense the state of the vehicle 130. The state of the vehicle 130 may include the real-time operating conditions of the vehicle 130, environmental information around the vehicle 130, etc., or any combination thereof.

[0048] By way of example only, the at least two sensors may include a distance sensor, a speed sensor, an acceleration sensor, a steering angle sensor, a traction-related sensor, a camera, and / or any sensor. A distance sensor (e.g., a radar, a lidar, an infrared sensor) may determine the distance between the vehicle 130 and other objects (e.g., obstacles). The distance sensor may also determine the distance between the vehicle 130 and one or more obstacles (e.g., static obstacles, moving obstacles). A speed sensor (e.g., a Hall effect sensor) may determine the speed of the vehicle 130 (e.g., instantaneous speed, average speed). An acceleration sensor (e.g., an accelerometer) may determine the acceleration of the vehicle 130 (e.g., instantaneous acceleration, average acceleration). A steering angle sensor (e.g., a tilt sensor or a micro-gyroscope) may determine the steering angle of the vehicle 130. A traction-related sensor (e.g., a force sensor) may determine the traction of the vehicle 130.

[0049] For another example, at least two sensors may include one or more cameras, laser sensing devices, infrared sensing devices, acoustic sensing devices, thermal sensing devices, etc., or any combination thereof. At least two sensors may detect road shapes and / or obstacles (e.g., static obstacles, moving obstacles). Road shapes may include road width, road length, road type (e.g., circular roads, straight roads, one-way roads, two-way roads). Exemplary static obstacles may include buildings, trees, roadblocks, etc., or any combination thereof. Exemplary moving obstacles may include moving vehicles, pedestrians and / or animals, etc., or any combination thereof.

[0050] In some embodiments, the automatic control unit 150 may include one or more processing engines (e.g., a single-core processing engine or a multi-core processor). By way of example only, the automatic control unit 150 may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a graphics processing unit (GPU), a physical processing unit (PPU), a digital signal processor (DSP), a field programmable gate array (FPGA), a programmable logic device (PLD), a controller, a microcontroller unit, a reduced instruction set computer (RISC), a microprocessor, etc., or any combination thereof.

[0051] In some embodiments, the autonomous driving system 100 may include a gateway module 154. The gateway module 154 may determine the command source of at least two ECUs (e.g., the engine management module 132, the power module 136, the ESC 134, and the SCM 138) based on the current driving mode of the vehicle. The command source may be from a human driver, from the automatic control unit 150, from the processing device 110, etc., or any combination thereof.

[0052] The gateway module 154 can determine the current driving mode of the vehicle. The driving mode of the vehicle 130 may include a manual driving mode, a semi-automatic driving mode, an automatic driving mode, a safety mode, etc., or any combination thereof. For example, the gateway module 154 may determine the current driving mode of the vehicle 130 as a manual driving mode based on input from a human driver. For another example, when the automatic control unit 150 outputs a control signal, the gateway module 154 may determine the current driving mode of the vehicle 130 as an automatic driving mode. As another example, when an abnormality occurs (e.g., a signal interruption, a processor crash), the gateway module 154 may determine the current driving mode of the vehicle 130 as a safety mode.

[0053] In some embodiments, the gateway module 154 may send the operation of the human driver to at least two ECUs when it is determined that the current driving mode of the vehicle 130 is a manual driving mode. For example, the gateway module 154 may send the pressing operation of the accelerator of the vehicle 130 performed by the human driver to the engine management module 132 when it is determined that the current driving mode of the vehicle 130 is a manual driving mode. When it is determined that the current driving mode of the vehicle 130 is an automatic driving mode, the gateway module 154 may send the control signal of the automatic control unit 150 to at least two ECUs. For example, the gateway module 154 may send the control signal associated with the steering operation to the SCM 138 when it is determined that the current driving mode of the vehicle 130 is an automatic driving mode. When it is determined that the current driving mode of the vehicle 130 is a semi-automatic driving mode, the gateway module 154 may send the operation of the human driver and the control signal of the automatic control unit 150 to at least two ECUs. When it is determined that the current driving mode of the vehicle 130 is a safety mode, the gateway module 154 may send an error signal to at least two ECUs. In some embodiments, when the vehicle 130 is in the autonomous driving mode and receives a driver's command, the gateway module 154 can transmit the human driver's operation to at least two ECUs.

[0054] In some embodiments, the autonomous driving system 100 may include a controller area network (CAN) 160. CAN 160 may be a robust vehicle bus standard (e.g., a message-based protocol) that allows microcontrollers (e.g., the autonomous control unit 150) and devices (e.g., the engine management module 132, the power module 136, the ESC 134, and / or the SCM 138, etc.) to communicate with each other in applications without a host computer. CAN 160 may be configured to connect the autonomous control unit 150 with at least two ECUs (e.g., the engine management module 132, the power module 136, the ESC 134, or the SCM 138).

[0055] The engine management module 132 may be configured to determine the engine performance of the vehicle 130. In some embodiments, the engine management module 132 may determine the engine performance of the vehicle 130 based on a control signal from the automatic control unit 150. For example, when the current driving mode is the automatic driving mode, the engine management module 132 may determine the engine performance of the vehicle 130 based on a control signal associated with the acceleration from the automatic control unit 150. In some embodiments, the engine management module 132 may determine the engine performance of the vehicle 130 based on the operation of a human driver. For example, when the current driving mode is the manual driving mode, the engine management module 132 may determine the engine performance of the vehicle 130 based on the pressing of the accelerator by the human driver.

[0056] The engine management module 132 may include at least two sensors and at least one microprocessor. At least two sensors may be configured to detect one or more physical signals and convert one or more physical signals into electrical signals for processing. In some embodiments, at least two sensors may include various temperature sensors, air flow sensors, throttle position sensors, pump pressure sensors, speed sensors, oxygen sensors, load sensors, knock sensors, etc., or any combination thereof. One or more physical signals may include but are not limited to engine temperature, engine intake volume, cooling water temperature, engine speed, etc., or any combination thereof. The microprocessor may determine engine performance based on at least two engine control parameters. The microprocessor may determine at least two engine control parameters based on at least two electrical signals. At least two engine control parameters may be determined to optimize engine performance. At least two engine control parameters may include ignition timing, fuel delivery, idling airflow, etc., or any combination thereof.

[0057] The throttle adjustment module 1322 may be configured to change the motion of the vehicle 130. For example, the throttle adjustment module 1322 may determine the speed of the vehicle 130 based on the engine output. For another example, the throttle adjustment module 1322 may cause acceleration of the vehicle 130 based on the engine output. The throttle adjustment module 1322 may include a fuel injector, a fuel pressure regulator, an auxiliary air valve, a temperature switch, a throttle, an idle speed motor, a fault indicator, an ignition coil, a relay, etc., or any combination thereof.

[0058] In some embodiments, the throttle adjustment module 1322 may be an external actuator to the engine management module 132. The throttle adjustment module 1322 may be configured to control the engine output based on at least two engine control parameters determined by the engine management module 132.

[0059] ESC 134 can be configured to improve the stability of the vehicle. ESC 134 can improve the stability of the vehicle 130 by detecting and reducing the loss of traction. In some embodiments, ESC 134 can control the operation of brake module 1342 to help manipulate the vehicle 130 when it is determined that ESC 134 detects the loss of steering control. For example, when the vehicle 130 starts on an uphill slope by braking, ESC 134 can improve the stability of the vehicle 130. In some embodiments, ESC 134 can further control engine performance to improve the stability of the vehicle. For example, when loss of steering control may occur, ESC 134 can reduce engine power. When the vehicle 130 slides during the steering of an emergency avoidance, when the vehicle 130 understeers or oversteers during a turn that is not well judged on a slippery road, loss of steering control may occur.

[0060] The braking module 1342 may be configured to control the motion state of the vehicle 130. For example, the braking module 1342 may decelerate the vehicle 130. For another example, the braking module 1342 may stop the vehicle 130 in one or more road conditions (e.g., downhill). As another example, the braking module 1342 may maintain the vehicle 130 at a constant speed when the vehicle 130 is traveling downhill.

[0061] The brake module 1342 may include a mechanical control component, a hydraulic unit, a power unit (e.g., a vacuum pump), an actuator, etc., or any combination thereof. The mechanical control component may include a pedal, a hand brake, etc. The hydraulic unit may include hydraulic oil, a hydraulic hose, a brake pump, etc. The actuator may include a brake caliper, a brake pad, a brake disc, etc.

[0062] The power module 136 can be configured to control the power supply of the vehicle 130. The power module 136 can supply, transmit and / or store power for the vehicle 130. For example, the power module 136 may include one or more batteries and an alternator. The alternator can be configured to charge the battery, and the battery can be connected to other parts of the vehicle 130 (e.g., a starter to provide power). In some embodiments, the power module 136 can control the power supply to the steering module 1382. For example, when it is determined that the vehicle 130 should make a sharp turn (e.g., turning the steering wheel all the way to the left or all the way to the right), the power module 136 can provide a large power to the steering module 1382 to generate a large steering torque for the vehicle 130.

[0063] The SCM 138 may be configured to control the steering wheel of the vehicle. The SCM 138 may lock / unlock the steering wheel of the vehicle. The SCM 138 may lock / unlock the steering wheel of the vehicle 130 based on the current driving mode of the vehicle 130. For example, the SCM 138 may lock the steering wheel of the vehicle 130 when it is determined that the current driving mode is the autonomous driving mode. When it is determined that the current driving mode is the autonomous driving mode, the SCM 138 may further retract the steering column shaft. As another example, the SCM 138 may unlock the steering wheel of the vehicle 130 when it is determined that the current driving mode is the semi-autonomous driving mode, the manual driving mode, and / or the safety mode.

[0064] The SCM 138 may control the steering of the vehicle 130 based on the control signal of the automatic control unit 150. The control signal may include information regarding the direction of the turn, the position of the turn, the angle of the turn, etc., or any combination thereof.

[0065] The steering module 1382 may be configured to steer the vehicle 130. In some embodiments, the steering module 1382 may steer the vehicle 130 based on a signal sent from the SCM 138. For example, the steering module 1382 may steer the vehicle 130 based on a control signal of the automatic control unit 150 sent from the SCM 138, if it is determined that the current driving mode is the automatic driving mode. In some embodiments, the steering module 1382 may steer the vehicle 130 based on the operation of a human driver. For example, when the human driver turns the steering wheel to the left direction, the steering module 1382 may steer the vehicle 130 to the left direction to determine that the current driving mode is the manual driving mode.

[0066] In some embodiments, the vehicle 130 may include an interface for the driver to interact with the automated driving system 100. For example, the interface may display icons for each of the manual driving mode, the automated driving mode, and the safety mode. The driver may switch the driving mode via the interface by voice commands, text commands, or by pressing an icon corresponding to the driving mode.

[0067] It should be noted that the above is provided for illustrative purposes only and is not intended to limit the scope of the present application. For those of ordinary skill in the art, various changes and modifications can be made according to the description of the present application. However, these changes and modifications will not deviate from the scope of the present application. For example, the autonomous driving system 100 may include a transmission system capable of selecting a gear for the vehicle 130. For another example, the autonomous driving system 100 may include an actuator for actuating the autonomous driving platform.

[0068] Figure 21 is a schematic diagram of exemplary hardware and / or software components of an exemplary computing device according to some embodiments of the present application. In some embodiments, processing device 110 can be implemented on computing device 200. For example, processing device 112 can be implemented on computing device 200 and configured to perform the functions of processing device 112 disclosed in the present application.

[0069] The computing device 200 may be used to implement any component of the autonomous driving system 100 of the present application. For example, the processing device 112 of the autonomous driving system 100 may be implemented on the computing device 200 by its hardware, software program, firmware, or a combination thereof. Although only one such computer is shown for convenience, the computer functions associated with the autonomous driving system 100 as described herein may be implemented in a distributed manner on multiple similar platforms to distribute the processing load.

[0070] For example, computing device 200 may include a communication (COMM) port 250 connected to a network and a network connected thereto (e.g., network 120) to facilitate data communication. Computing device 200 may also include at least one processing device (e.g., processor 220) in the form of one or more processors (e.g., logic circuits) for executing program instructions. For example, processor 220 may include an interface circuit and a processing circuit therein. The interface circuit may be configured to receive an electrical signal from bus 210, wherein the electrical signal encodes structured data and / or instructions for the processing circuit. The processing circuit may perform logical calculations and then determine the conclusion, result, and / or instruction encoding as an electrical signal. The interface circuit may then send an electrical signal from the processing circuit via bus 210.

[0071] The computing device 200 may also include different forms of program storage and data storage, such as a disk 270, a read-only memory (ROM) 230, or a random access memory (RAM) 240, for storing various data files processed and / or transmitted by the computing device 200. The computing device 200 may also include program instructions stored in the ROM 230, the RAM 240, and / or other types of non-transitory storage media executed by the processor 220. The methods and / or processes of the present application may be implemented in the form of program instructions. The computing device 200 also includes an I / O component 260, which supports input / output between the computing device 200 and other components therein. The computing device 200 may also receive programming and data via network communications.

[0072] For illustration purposes only, only one processor is shown in the computing device 200. However, it should be noted that the computing device 200 in the present application may also include multiple processors, so the operations performed by one processor described in the present application may also be performed by multiple processors. For example, the computing device 200 may include a main processor and a backup processor. The main processor of the computing device 200 performs one or more operations associated with autonomous driving. The backup processor of the computing device 200 can be used as a backup device for the main processor. When the main processor fails, the backup processor can perform at least a portion of the one or more operations related to autonomous driving instead of the main processor.

[0073] Figure 3 1 is a block diagram of exemplary subsystems of an autonomous driving system according to some embodiments of the present application. The subsystems of the autonomous driving system 100 may include an acquisition subsystem 320, a power subsystem 320, a processing subsystem 330, a control subsystem 340, and a communication subsystem 350. Each subsystem may have a redundant structure.

[0074] The power subsystem 320 provides power to the autonomous driving system 100. The power subsystem 310 may include a main power device and a backup power device. The main power device may be configured to provide power to one or more devices or subsystems of the autonomous driving system 100. The backup power device may be a backup device for the main power device, which provides alternative power to one or more devices or subsystems of the autonomous driving system 100 when the main power device fails (e.g., is at low power). The backup power device may be a backup power device for the main power device, which provides alternative power to one or more devices or subsystems of the autonomous driving system 100 when the main power device has a problem (e.g., low power). In some embodiments, the main power device may power one or more devices of the acquisition subsystem 320, the processing subsystem 330, and / or the control subsystem 340. In some embodiments, the main power device and / or the backup power device may include a battery, such as a lead-acid battery, a lithium battery, a fuel cell, etc.

[0075] The acquisition subsystem 320 can collect environmental information related to the vehicle 130. The environmental information can include information about one or more objects on the moving route of the vehicle 130. The moving route of the vehicle 130 refers to the route of the vehicle 130 predicted based on information, and the information includes, for example, driving information, environmental information, etc., or a combination thereof. The object can be any object that can affect the movement, speed, route, and / or vehicle safety due to the location, movement, size and / or other characteristics of the object. The object can be stationary or moving. In some embodiments, one or more objects can include vehicles (e.g., cars, buses, trucks, motorcycles, bicycles), pedestrians, animals, roadblocks, buildings, traffic lights, pedestrian crossings, intersections, etc. The acquisition subsystem 320 can receive information related to one or more objects from at least two acquisition devices (e.g., lidar, camera) installed on the vehicle.

[0076] In some embodiments, the at least two acquisition devices may include at least one main acquisition device (also referred to as a main sensor) and at least one backup acquisition device (also referred to as a backup sensor). The main acquisition device may include a core device for acquiring information of one or more objects in the path of travel of the vehicle 130. In some embodiments, the core device may include one or more light detection and ranging devices (lidar). The backup acquisition device may provide supplementary information of one or more objects in the path of travel of the vehicle 130. In some embodiments, at least one backup acquisition device 520 may include one or more cameras, one or more ultrasonic devices, one or more radars, vehicle-to-everything communications (V2X), etc., or any combination thereof.

[0077] The processing subsystem 330 may process data / information and generate a control plan for controlling the vehicle 130. The processing subsystem 330 may include a primary processing device and a backup processing device.

[0078] The main processing device may include sensor fusion, a map processor, and a main plan and control processor. Sensor fusion may include at least two processors, processing and acquiring data from the acquisition device of the acquisition subsystem 320, and determining the characteristics of one or more objects on the moving route of the vehicle 130. The characteristics associated with one or more objects include height, width, performance, position, moving direction, moving speed, etc. The map processor may generate map-related data. In some embodiments, the map processor may obtain a high-definition map from a storage device (e.g., storage device 140, disk 270, etc.), and generate data by processing the high-definition map. The main plan and control processor may receive the determined characteristics of one or more objects from sensor fusion and the map-related data from the map processor, and determine the control plan of the vehicle 130 based on the determined characteristics of the object and / or the map-related data. The control plan of the vehicle 130 may include a moving route, a braking operation, a steering operation (e.g., turn left, turn right), an acceleration operation, etc., or a combination thereof.

[0079] The backup processing device may include a backup plan and control processor. The backup plan and control processor may be a backup device for the main plan and control processor. In some embodiments, the backup plan and control processor may generate a control plan for stopping the vehicle 130 in an emergency and monitor the main plan and control processor 650 in real time.

[0080] The control subsystem 340 may control the vehicle through one or more ECUs. The control subsystem 340 may include one or more main control devices and one or more backup control devices.

[0081] One or more main control devices may generate control instructions for controlling the vehicle 130 through one or more mechanical or electrical components of the vehicle 130 (e.g., motors, brake pedals, accelerator pedals, etc.). In some embodiments, the one or more main control devices may include a powertrain device, a main brake device, and a main steering device. One or more backup control devices may generate control instructions for controlling the vehicle 130 through one or more mechanical or electrical components of the vehicle 130 (e.g., motors, brake pedals, accelerator pedals, etc.). One or more backup control devices may be backup devices for one or more main control devices. For example, when a main control device fails, the backup control device may start working.

[0082] The communication subsystem 350 can facilitate the communication between the processing subsystem 330 and the control subsystem 340, as well as the internal communication between the components of the control subsystem 340. The communication subsystem 350 may include a main gateway and a backup gateway. One or more control devices (e.g., ECU) of the control subsystem 340 may be connected to the processing subsystem 330 (e.g., the main plan and control processor and the backup plan and control processor) through the main gateway or the backup gateway. The backup gateway may be a backup device for the main gateway. In this case, four connection interfaces including a first interface, a second interface, a third interface, and a fourth interface may be formed. The first interface may connect the main plan and control processor and the backup plan and control processor to the main gateway. The second interface may be a backup interface of the first interface. The second interface may connect the main plan and control processor and the backup plan and control processor to the backup gateway. The third interface may connect the main gateway to one or more control devices. The fourth interface may be a backup interface of the third interface, and the fourth interface may connect the backup gateway to one or more control devices.

[0083] The subsystems of the autonomous driving system 100 may be connected or communicate with each other via a wired connection or a wireless connection. The wired connection may include a metal cable, an optical cable, a hybrid cable, or the like, or any combination thereof. The wireless connection may include a local area network (LAN), a wide area network (WAN), Bluetooth, a ZigBee network, a near field communication (NFC), or the like, or any combination thereof. Any two subsystems may be combined into a single subsystem, and any one subsystem may be divided into two or more subsystems.

[0084] Figure 4 3 is a block diagram of an exemplary power subsystem according to some embodiments of the present application. The power subsystem 310 may include a main power device 410 and a backup power device 420 .

[0085] The main power device 410 can be configured to provide power to one or more devices or subsystems of the autonomous driving system 100. In some embodiments, the main power device 410 can power one or more devices of the acquisition subsystem 320, the processing subsystem 330, and / or the control subsystem 340. For example, the main power device 410 can power at least one main acquisition device 510 and the first part of at least one backup acquisition device 520. For illustration purposes only, at least one main acquisition device 510 may include a laser radar, and the first part of at least one backup acquisition device 520 may include a first camera and an ultrasonic device. And the main power device 410 can power the laser radar, the ultrasonic device, and the first camera.

[0086] The backup power supply device 420 may be configured to provide power to one or more devices or subsystems of the autonomous driving system 100. The backup power supply device 420 may be a backup device for the main power supply device 410, and when the main power supply device 410 fails (e.g., is at low power), it provides alternative power to one or more devices or subsystems of the autonomous driving system 100. In some embodiments, the backup power supply device 420 may power one or more devices of the acquisition subsystem 320, the processing subsystem 330, and / or the control subsystem 340. For example, the backup power supply device 420 may power at least one main acquisition device 510 and the second part of at least one backup acquisition device 520. For illustration purposes only, at least one main acquisition device 510 may include a laser radar, and the second part of at least one backup acquisition device 520 may include a second camera, a radar, and V2X. And the backup power supply device 420 may power the laser radar, the second camera, the radar, and V2X. In some embodiments, at least one backup acquisition device 520 may include two acquisition devices of the same type, and the two acquisition devices may be powered by the main power supply device and the backup power supply device, respectively. For example, if the backup acquisition device 520 includes a first camera and a second camera, the first camera can be powered by the main power supply device 410, and the second camera can be powered by the backup power supply device 420. In this way, even if the power supply device fails, one of the two cameras can work.

[0087] In some embodiments, both the main power supply device 410 and the backup power supply device 420 can provide power to the processing subsystem 330 and / or the control subsystem 340. By way of example only, both the main power supply device 410 and the backup power supply device 420 can power each device of the processing subsystem 330 and / or the control subsystem 340. For example, a control device of the control subsystem 340 that controls the autonomous driving (e.g., automatic steering, automatic braking, and automatic acceleration) of the vehicle 130 can be powered by the main power supply device 410 and the backup power supply device 420.

[0088] In some embodiments, the main power supply device 410 and / or the backup power supply device 420 may include a battery, such as a lead-acid battery, a lithium battery, a fuel cell, etc. In some embodiments, the main power supply device 410 and / or the backup power supply device 420 may include a battery pack having at least two batteries. For example, the main power supply device 410 may include a rechargeable lithium battery pack.

[0089] Figure 53 is a block diagram of an exemplary acquisition subsystem according to some embodiments of the present application. The acquisition subsystem 320 can collect environmental information associated with the vehicle 130. The environmental information may include information of one or more objects on the path of the vehicle 130. In some embodiments, the one or more objects may include vehicles (e.g., cars, buses, trucks, motorcycles, bicycles), pedestrians, animals, roadblocks, buildings, traffic lights, crosswalks, intersections, etc. The acquisition subsystem 320 can receive information associated with one or more objects from at least two acquisition devices (e.g., lidar, camera) installed on the vehicle.

[0090] In some embodiments, the at least two acquisition devices may include at least one main acquisition device 510 and at least one backup acquisition device 520. The main acquisition device 510 may include a core device for collecting information of one or more objects on the path of travel of the vehicle 130. In some embodiments, the core device may include one or more light detection and ranging devices (lidar). Lidar can determine the distance to the target object by irradiating the target object with a pulsed laser and measuring the reflected pulses of the pulsed laser. In some embodiments, the laser radar can generate a digital three-dimensional (3D) image of the target object after the laser radar scans the target object. In some embodiments, the vehicle 130 may be equipped with one or more laser radars as the main acquisition device 510 to collect the distance, position and / or size of one or more objects on the path of travel of the vehicle 130.

[0091] The backup acquisition device 520 can provide supplementary information of one or more objects on the path of the vehicle 130. In some embodiments, at least one backup acquisition device 520 may include one or more cameras, one or more ultrasonic devices, one or more radars, V2X, etc., or any combination thereof. The camera may be an optical camera, an infrared camera, or a combination of both. The ultrasonic device can detect the distance and movement of the target object by emitting ultrasonic waves to the target object and measuring the ultrasonic waves reflected by the target object. The radar works similarly to the ultrasonic device, except that the radar emits radio waves. V2X can obtain information from any entity that may affect the vehicle (for example, a vehicle within a specific range of the vehicle 130) and transmit the information from the vehicle to the entity. V2X can be used for forward collision warnings, lane change warnings, road warnings, emergency vehicle approaching, etc. In some embodiments, when the main acquisition device 510 is determined to be faulty or insufficient, the backup acquisition device 520 can operate. In some embodiments, the backup acquisition device 520 can operate as a supplement to the main acquisition device 510. For example, under certain weather conditions, the primary collection device 510 is suboptimal, and the backup collection device 520 can operate as a replacement or supplement for the primary collection device 510 .

[0092] In some embodiments, the collection subsystem 320 may use one or more of the main collection device and the backup collection device to collect information about objects on the moving path of the vehicle 130. Even if part of the main collection device and / or the backup collection device fails, the other devices may help the autonomous driving system 100 obtain sufficient surrounding environment information.

[0093] Figure 6 6 is a block diagram of an exemplary processing subsystem according to some embodiments of the present application. The processing subsystem 330 may include a main processing device 610 and a backup processing device 620 .

[0094] The main processing device 610 may include a sensor fusion 630, a map processor 640, and a main planning and control processor 650. The sensor fusion 630 may process data acquired from the acquisition device of the acquisition subsystem 320 and determine the characteristics of one or more objects on the path of travel of the vehicle 130. The sensor fusion 630 may include at least two sensor processors, for example, sensor processors 631, 632, 633. At least two sensor processors may correspond to the acquisition devices of the acquisition subsystem 320. In some embodiments, each acquisition device of the acquisition subsystem 320 may correspond to at least one sensor processor. For example, the sensor fusion 630 may include six sensor processors. The six sensor processors may be electrically connected to a laser radar, a first camera, a second camera, a radar, an ultrasonic device, and V2X, respectively. Each of the six sensor processors may acquire and process data acquired from the acquisition device corresponding to the sensor processor. In some embodiments, the autonomous driving system 100 may merge the data processed by at least two sensors and the characteristics associated with one or more objects on the path of travel of the vehicle 130 based on the merged data. Features associated with one or more objects may include height, width, attributes, location, moving direction, moving speed, etc.

[0095] The map processor 640 may generate map-related data. In some embodiments, the map processor 640 may obtain the location information of the vehicle 130 from a positioning device, such as a global positioning system (GPS), a global navigation satellite system (GLONASS), a compass navigation system (COMPASS), a Galileo positioning system, a quasi-zenith satellite system (QZSS), a wireless fidelity (Wi-Fi) positioning technology, etc., or any combination thereof, and process the obtained location information to determine the exact location of the vehicle 130 on the map. In some embodiments, the map processor 640 may obtain a high-definition map from a memory (e.g., a storage device 140, a disk 270, etc.), and generate map data by processing the high-definition map.

[0096] The master plan and control processor 650 may receive the determined features of one or more objects and map-related data from the map processor 640 from the sensor fusion 630, and determine a control plan for the vehicle 130 based on the determined features of the objects and / or the map-related data. The control plan for the vehicle 130 may include a driving route, a braking operation, a steering operation (e.g., a left turn, a right turn), an acceleration operation, etc., or a combination thereof. The control plan may be sent to the control subsystem 340 to generate control instructions for controlling the vehicle via one or more components of the vehicle.

[0097] The backup processing device 620 may include a backup plan and control processor 660. The backup plan and control processor 660 may be used as a backup device for the main plan and control processor 650. In some embodiments, the backup plan and control processor 660 may generate a control plan for stopping the vehicle 130 in an emergency and monitor the main plan and control processor 650 in real time. Once the main plan and control processor 650 fails (e.g., does not respond), the backup plan and control processor 660 may receive the determined characteristics of the object from the sensor fusion 630 and the map-related data from the map processor 640, and determine the control plan of the vehicle based on the determined object characteristics and / or map-related data. In some embodiments, the processing subsystem 330 including the main processing device 610 and the backup processing device 620 may be powered by the main power supply device 410 and the backup power supply device 420.

[0098] It should be noted that the processing subsystem is for illustrative purposes only and is not intended to limit the scope of the present application. For those of ordinary skill in the art, various changes or modifications can be made based on the description of the present application. For example, the backup processing device 620 may also include a sensor fusion and / or map processor, which serves as a backup device for the sensor fusion 630 and / or map processor 640. However, these changes and modifications will not deviate from the scope of the present application.

[0099] Figure 7 3 is a block diagram of an exemplary control subsystem according to some embodiments of the present application. The control subsystem 340 may include one or more main control devices 710 and one or more backup control devices 720 .

[0100] One or more main control devices 710 can generate control instructions for controlling the vehicle 130 through one or more mechanical or electrical components (e.g., motors, brake pedals, accelerator pedals, etc.) of the vehicle 130. In some embodiments, one or more main control devices 710 may include a powertrain device, a main brake device, and a main steering device. The powertrain device may be configured to generate power and transmit the power to the wheels of the vehicle 130 to control the movement of the vehicle 130. The steering device may be configured to adjust the azimuth and / or direction of the vehicle 130. The brake device may be configured to perform a braking operation to stop the vehicle 130. In some embodiments, one or more main control devices 710 may further include other control devices, such as an acceleration device, an air conditioning device, a seat heating device, a cabin lighting device, etc. The acceleration device may be configured to control the speed and / or acceleration of the vehicle 130.

[0101] One or more backup control devices 720 may generate control instructions for controlling the vehicle 130 through one or more mechanical or electrical components (e.g., a motor, a brake pedal, an accelerator pedal, etc.) of the vehicle 130. One or more backup control devices 720 may be used as backup devices for one or more main control devices 710. For example, the backup control device 720 may start working when a main control device 710 corresponding to the backup control device 720 fails.

[0102] In some embodiments, each of the one or more main control devices may have a backup control device, which serves as a backup device for the main control device. In some embodiments, each of the one or more main control devices may have more than one backup control device, which serves as a backup device for the main control device. In some embodiments, a portion of the one or more main control devices may be more important, and each portion of the one or more main control devices may have a backup control device, which serves as a backup device for the main control device. For example, the one or more backup control devices 720 may include a backup braking device and a backup steering device, which serve as backup devices for the main braking device and the main steering device, respectively. In some embodiments, the control subsystem 340 including the one or more main control devices 710 and the one or more backup control devices 720 may be powered by a main power supply device and a backup power supply device.

[0103] It should be noted that the control subsystem is only for illustrative purposes and is not intended to limit the scope of the present application. For those of ordinary skill in the art, various changes or modifications can be made based on the description of the present application. For example, the control subsystem can also include one or more standby control subsystems. However, these changes and modifications will not deviate from the scope of the present application.

[0104] Figure 88 is a schematic diagram of an exemplary redundant structure of an autonomous driving system according to some embodiments of the present application. The autonomous driving system 800 may include a sensor 810, an arithmetic control unit (ACU) 820, and a vehicle platform 830. The sensor 810, the arithmetic control unit 820, and the vehicle platform 830 may be installed in an autonomous driving vehicle (e.g., vehicle 130).

[0105] Sensor 810 can be used as a collection device for collecting information of objects on the path of the autonomous driving vehicle. Sensor 810 may include at least two sensors. At least two sensors may include at least one main sensor and at least one backup sensor. When at least one main sensor fails to detect an object on the path of the vehicle (e.g., not working), at least one backup sensor may be used as a backup device for at least one main sensor. By way of example only, the at least one main sensor may include one or more laser radars. At least one backup sensor may include one or more cameras (e.g., camera 1 and camera 2), one or more radars, one or more ultrasonic devices (e.g., ultrasonic radars), and V2X. Sensor 810 may be powered by two power lines 850 and 851 represented by solid thick lines and thick dashed lines, respectively. Power line 850 may be connected to a main power supply device. Power line 851 may be connected to a backup power supply device. In some embodiments, the main power supply device and the backup power supply device may be battery packs. When the main power supply device fails to provide power (e.g., at low power), the backup power supply device may provide alternative power to one or more sensors. The main power supply device may power a first portion of at least one main sensor and at least one backup sensor. The backup power supply device can power the second part of at least one main sensor and at least one backup sensor. For example, the main power supply device can power one or more lidars, camera 1, and one or more ultrasonic devices, and the backup power supply device can power one or more lidars, camera 2, one or more radars, and V2X.

[0106] The arithmetic control unit 820 may include a sensor fusion 821, a high-resolution (HD-MAP) processor 822, a main plan and control processor 823, and a backup plan and control processor 824. The sensor fusion 821 may include at least two processors (e.g., processor 1, processor 2 ... processor n). In some embodiments, each processor of the sensor fusion 821 may be operably connected to a sensor, obtain information about an object on the vehicle's path from the sensor, and process the acquired information. In some embodiments, the information processed by at least two sensors may be combined to determine the characteristics of the object. The map processor 822 may generate map-related data. The main plan and control processor 823 may receive the determined object characteristics and map-related data from the sensor fusion 821 and the map processor 822, respectively, and determine the control plan of the vehicle based on the determined object characteristics and / or map-related data. The control plan may include a driving route, a braking operation, a steering operation (e.g., a left turn, a right turn), an acceleration operation, etc., or a combination thereof. The backup plan and control processor 824 may be used as a backup device for the main plan and control processor 823. The backup plan and control processor 824 may receive the determined object features and map-related data from the sensor fusion 821 and the map processor 822, respectively, and determine the control plan of the vehicle based on the determined object features and / or map-related data when the main plan and control processor 823 fails to determine the control plan of the vehicle. In some embodiments, the arithmetic control unit 820 may be powered by the main power line 850 and the backup power line 851.

[0107] The vehicle platform 830 may include at least two control devices for controlling the autonomous vehicle (e.g., vehicle 130) through one or more mechanical or electrical components (e.g., motor, brake pedal, steering wheel) of the autonomous vehicle. The vehicle platform 830 may obtain a control plan from the main plan and control processor 823 or the backup plan and control processor 824, and generate control instructions for controlling the autonomous vehicle based on the control plan. At least two control devices may constitute a control subsystem, which may include one or more main control devices and one or more backup control devices. In some embodiments, each of the one or more main control devices may have a backup control device, which serves as a backup device for the main control device. In some embodiments, each of the one or more main control devices may have more than one backup control device, which serves as a backup device for the main control device. In some embodiments, a portion of the one or more main control devices may be more important, and each portion of the one or more main control devices may have a backup control device, which serves as a backup device for the main control device. For illustration purposes only, the one or more main control devices may include a powertrain electronic control unit (ECU), a main brake electronic control unit, and a main steering electronic control unit. The vehicle platform 830 may further include a backup brake electronic control unit and a backup steering electronic control unit, which are used as backup devices for the main brake electronic control unit and the main steering electronic control unit, respectively.

[0108] The vehicle platform 830 can be connected to the main plan and control processor 823 and the backup plan and control processor 824 through the main gateway 831 or the backup gateway 832. The backup gateway 832 can be a backup device for the main gateway 831. In this case, four connection interfaces including a first interface, a second interface, a third interface, and a fourth interface can be formed. The first interface represented by the dotted line can connect the main plan and control processor 823 and the backup plan and control processor 824 to the main gateway 831. The second interface represented by the double dotted line can be a backup interface of the first interface, and the second interface can connect the main plan and control processor 823 and the backup plan and control processor 824 to the backup gateway 832. The third interface represented by the dotted line can connect the main gateway 831 to one or more control devices. The fourth interface represented by the double dotted line can be a backup interface of the third interface, and the fourth interface can connect the backup gateway 832 to one or more control devices. In some embodiments, the control plan generated by the main plan and control processor 823 or the backup plan and control processor 824 can pass through the main gateway 831 through the first interface and be sent to the control subsystem through the third interface. In some embodiments, the control plan generated by the main plan and control processor 823 or the backup plan and control processor 824 can be sent to the control subsystem via the second interface through the backup gateway 832 and via the fourth interface when the main gateway 831 fails to obtain and / or send the control plan to the control subsystem. The vehicle platform 830 can be powered by the main power line 850 and the backup power line 851.

[0109] In some embodiments, the arithmetic control unit 820 and / or the vehicle platform 830 may be connected to the cloud center 840. The cloud center 840 may provide data / information to the arithmetic control unit 820 and / or the vehicle platform 830. The provided data / information may be used to process information of an object collected from the sensor 810, determine the characteristics of the object, generate data related to a map, and generate control instructions. In some embodiments, the provided data / information may include parameters, values, algorithms, program codes, models, images, etc., or a combination thereof. For example, the cloud center may provide a high-definition map to the main planning and control processor 823 to plan the route of the vehicle.

[0110] The basic concepts have been described above. Obviously, for those of ordinary skill in the art who have read this application, the above invention disclosure is only for example and does not constitute a limitation of this application. Although not explicitly stated here, those of ordinary skill in the art may make various modifications, improvements and amendments to this application. Such modifications, improvements and amendments are suggested in this application, so such modifications, improvements and amendments still belong to the spirit and scope of the exemplary embodiments of this application.

[0111] At the same time, the present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0112] In addition, it will be appreciated by those skilled in the art that the various aspects of the present application may be illustrated and described by a number of patentable categories or situations, including any new and useful combination of processes, machines, products or substances, or any new and useful improvements thereto. Accordingly, the various aspects of the present application may be performed entirely by hardware, entirely by software (including firmware, resident software, microcode, etc.), or by a combination of hardware and software. The above hardware or software may all be referred to as "data blocks", "modules", "engines", "units", "components" or "systems". In addition, the various aspects of the present application may take the form of a computer program product embodied in one or more computer-readable media, wherein computer-readable program codes are contained therein.

[0113] A computer readable signal medium may include a propagated data signal containing computer program code, such as in baseband or as part of a carrier wave. Such propagated signals may be in a variety of forms, including electromagnetic, optical, etc., or any suitable combination. A computer readable signal medium may be any computer readable medium other than a computer readable storage medium that can be connected to an instruction execution system, device, or apparatus to communicate, propagate, or transmit a program for use. The program code on a computer readable signal medium may be propagated via any suitable medium, including radio, cable, fiber optic cable, RF, etc., or any combination of the above.

[0114] The computer program code required for the operation of each part of the present application can be written in any one or more programming languages, including object-oriented programming languages ​​such as Java, Scala, Smalltalk, Eiffel, JADE, Emerald, C++, C#, VB.NET, Python, etc., conventional procedural programming languages ​​such as C programming language, Visual Basic, Fortran2003, Perl, COBOL 2002, PHP, ABAP, dynamic programming languages ​​such as Python, Ruby and Groovy, or other programming languages, etc. The program code can be run completely on the user's computer, or run on the user's computer as an independent software package, or run partially on the user's computer and partially on the remote computer, or run completely on the remote computer or server. In the latter case, the remote computer can be connected to the user's computer through any network form, such as a local area network (LAN) or a wide area network (WAN), or connected to an external computer (e.g., via the Internet), or in a cloud computing environment, or used as a service such as software as a service (SaaS).

[0115] In addition, unless explicitly stated in the claims, the order of the processing elements and sequences described in this application, the use of alphanumeric characters, or the use of other names are not intended to limit the order of the processes and methods of this application. Although the above disclosure discusses some invention embodiments that are currently considered useful through various examples, it should be understood that such details are only for illustrative purposes, and the attached claims are not limited to the disclosed embodiments. On the contrary, the claims are intended to cover all modifications and equivalent combinations that are consistent with the essence and scope of the embodiments of this application. For example, although the system components described above can be implemented by hardware devices, they can also be implemented only by software solutions, such as installing the described system on an existing server or mobile device.

[0116] Similarly, it should be noted that in order to simplify the description disclosed in this application and thus facilitate the understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of the application, multiple features are sometimes grouped into one embodiment, figure, or description thereof. However, this method of the application should not be interpreted as reflecting the intention that the claimed object material to be scanned requires more features than those explicitly stated in each claim. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

Claims

1. An autonomous driving system, include: A collection subsystem, comprising at least one main collection device and at least one backup collection device; The collection subsystem is configured to collect environmental information related to the vehicle, wherein the environmental information includes information of one or more objects on a moving route of the vehicle; The at least one backup acquisition device is further configured to provide supplemental information of the one or more objects in the vehicle's path of travel; A power subsystem configured to provide power to one or more devices or subsystems of the autonomous driving system, the power subsystem comprising: The main power supply device is configured to supply power to the at least one main acquisition device and the first part of the at least one backup acquisition device; and The backup power supply device is configured to supply power to the at least one main acquisition device and the second part of the at least one backup acquisition device; and A processing subsystem connected to the acquisition subsystem, the processing subsystem comprising: a main processing device powered by the main power supply device and the backup power supply device; and A backup processing device, serving as a backup device for at least a portion of the main processing device, the backup processing device being powered by the main power supply device and the backup power supply device; The main processing equipment includes sensor fusion, map processor, main planning and control processor; wherein the sensor fusion is configured to process the information obtained from the acquisition subsystem and determine the characteristics of the one or more objects in the moving path of the vehicle; the master planning and control processor being configured to receive characteristics of the one or more objects determined from the sensor fusion and map-related data from the map processor, and to determine a control plan for the vehicle based on the characteristics of the determined objects and / or the map-related data; The backup processing device includes a backup plan and control processor; The backup plan and control processor is used as a backup device for the main plan and control processor, which is configured to generate a control plan for stopping the vehicle in an emergency and monitor the main plan and control processor in real time.

2. The system according to claim 1, further comprising: include: A control subsystem, including: One or more master control devices; and One or more backup control devices, each of the one or more main control devices has at least one of the one or more backup control devices as a backup device for the main control device.

3. The system according to claim 2, wherein the main control device includes a power transmission device, a main braking device and a main steering control device, and the backup control device includes a backup braking device and a backup steering device.

4. The system according to claim 2, wherein the control subsystem is powered by the main power supply device and the backup power supply device.

5. The system according to claim 2, further comprising: include: A main gateway connecting the main processing device and the standby processing device to the control subsystem; as well as A backup gateway connected to the control subsystem using the main processing device and the backup processing device.

6. The system according to claim 5, further comprising: include: A communication subsystem, comprising: connecting the primary processing device and the backup processing device to the first interface of the primary gateway; and A second interface serving as a backup interface for the first interface, the second interface connecting the main processing device and the backup processing device to the backup gateway.

7. The system according to claim 6, further comprising: include: A third interface connecting the main gateway and the control subsystem; as well as The fourth interface is a backup interface of the third interface, and the fourth interface connects the backup gateway and the control subsystem.

8. According to the system according to any one of claims 1 to 6, the at least one main acquisition device includes a lidar, and the at least one backup acquisition device includes a camera, a radar, an ultrasonic radar or a vehicle-to-the-world information exchange V2X. 9 . The system according to claim 8 , wherein the at least one backup acquisition device comprises two sensors of the same type, and the two sensors of the same type are powered by the main power supply device and the backup power supply device, respectively.

10. The system according to claim 8, wherein the main processing device includes at least two sensor processors and a main planning and control processor, and the backup processing device includes a backup planning and control processor, and the backup planning and control processor is a backup device for the main planning and control processor.

11. The system of claim 1, wherein the main power supply device and the backup power supply device comprise batteries independent of each other.

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