A safety redundancy system for autonomous driving in an engineering park

Abstract

The present invention discloses a safety redundancy system for autonomous driving in an engineering park, characterized in that the system includes: a chassis controller, which is located in the autonomous driving vehicle and is used to receive control instructions and control the wire control device in the autonomous driving vehicle according to the control instructions; an emergency stop switch, which is distributed in various stops in the engineering park and establishes a wireless communication connection with the chassis controller when the distance to the chassis controller is within a preset range; wherein, when the chassis controller communicates with the emergency stop switch, it monitors the status of the emergency stop switch, and when the emergency stop switch is triggered, the chassis controller controls the wire control device in the autonomous driving vehicle to brake. The technical solution provided by the present invention realizes a safety redundancy solution for station collaboration scenarios and improves the safety of autonomous driving in engineering parks.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to a safety redundancy system for autonomous driving in an engineering park. Background Art

[0002] As the research, development, application, and commercialization of autonomous driving technology accelerate, the demand for driving safety technologies is also increasing. More closed-scene autonomous driving systems require the removal of safety officers to achieve true autonomous driving. Therefore, safety redundancy design for autonomous driving systems in closed parks is particularly important. Currently, safety redundancy designs for autonomous driving systems are relatively simple, often focusing on safety redundancy for individual steering, braking, and throttle actuators, backup redundancy for sensors like lidar, or redundant backup for the main controller (the controller used to process perception sensors and decision-making and planning calculations). However, existing safety redundancy solutions typically only address general road driving scenarios and are unable to achieve truly safe autonomous driving in specialized scenarios within engineering parks, such as logistics and construction. Summary of the Invention

[0003] In view of this, an embodiment of the present invention provides a safety redundant system for autonomous driving in an engineering park, thereby realizing a safe unmanned driving function for the engineering park.

[0004] According to a first aspect, the present invention provides a safety redundancy system for autonomous driving in an engineering park, the system comprising: a chassis controller, the chassis controller being located in an autonomous driving vehicle, for receiving control instructions and controlling a wire-controlled device in the autonomous driving vehicle according to the control instructions; an emergency stop switch, the emergency stop switch being distributed in each stop station in the engineering park, and establishing a wireless communication connection with the chassis controller when the distance to the chassis controller is within a preset range; wherein, when communicating with the emergency stop switch, the chassis controller monitors the status of the emergency stop switch, and when the emergency stop switch is triggered, the chassis controller controls the wire-controlled device in the autonomous driving vehicle to brake.

[0005] Optionally, the system also includes: a central controller, which is located in the autonomous driving vehicle and is in communication with the chassis controller; a perception base station, which is distributed on both sides of the road in front of the stop, and establishes a wireless communication connection with the central controller when the distance between the perception base station and the central controller is within a preset range; wherein, when the perception base station maintains communication with the central controller, the perception base station obtains distance information and sends the distance information to the central controller, and the distance information is the distance information between the autonomous driving vehicle and its nearby obstacles.

[0006] Optionally, the autonomous driving vehicle further includes a redundant chassis controller, and the redundant chassis controller is clock-synchronized with the chassis controller.

[0007] Optionally, the autonomous driving vehicle has a main vehicle and a rear compartment, the rear compartment is equipped with an emergency stop switch, and the rear compartment includes a communication unit, which is communicatively connected to a central controller in the main vehicle; wherein, when the main vehicle loses connection with the rear compartment, the main vehicle reports fault information to a cloud server through the central controller, and the cloud server sends an emergency stop message to the communication unit upon receiving the fault information, and when the communication unit receives the emergency stop message, it triggers the emergency stop switch on the rear compartment, and when the emergency stop switch is triggered, it triggers the brake wire control device in the rear compartment.

[0008] Optionally, an emergency stop switch is deployed on the main vehicle, and the emergency stop switch on the main vehicle is synchronized in clock and trigger with the emergency stop switch on the rear compartment.

[0009] Optionally, the system also includes a memory, which is located in the autonomous driving vehicle and is communicatively connected to the central controller, and the memory includes: a normal braking unit, used to send a pull-over parking instruction to the chassis controller and send fault information to the cloud server; a takeover unit, used to send a remote takeover request to the cloud server; an emergency braking unit, used to assist emergency braking; an emergency stop unit, used to trigger the emergency stop switch; an alarm unit, used to display or voice broadcast information of manually triggering the emergency stop switch; wherein, when the central controller detects that pull-over parking is required, the central controller executes the normal braking unit and the takeover unit; if the autonomous driving vehicle does not reach the preset speed after the normal braking unit and the takeover unit are executed for a preset time, the emergency braking unit is executed; if the emergency braking unit fails to execute, the emergency stop unit and the alarm unit are executed.

[0010] Optionally, the autonomous driving vehicle includes sensors, which are communicatively connected to the central controller. The sensors include at least a lidar, a camera, a millimeter-wave radar, and an ultrasonic radar. The central controller performs obstacle perception based at least on the fused perception data of the lidar, camera, millimeter-wave radar, and ultrasonic radar.

[0011] Optionally, the sensor further includes an odometer, and the central controller performs positioning based on the fusion data of the odometer and the lidar.

[0012] Optionally, an anti-pinch controller is deployed in the rear compartment, and the door of the rear compartment is communicatively connected to the anti-pinch controller through a door wire control device. An anti-pinch device is deployed on the door of the rear compartment, and the anti-pinch device includes a living body detection sensor and a telescopic arm; wherein, when the anti-pinch controller detects that a living body is located in the middle of the door of the rear compartment through the living body detection sensor, it executes an open door command; if the door wire control device does not respond to the open door command to keep the door of the rear compartment open, the anti-pinch controller controls the anti-pinch device to extend the telescopic arm into the middle of the door.

[0013] Optionally, the system further includes an ultrasonic radar, which is deployed in a garage within the engineering park and is used to issue an alarm when a target is detected approaching.

[0014] The technical solution provided by this application has the following advantages:

[0015] The technical solution provided by this application is aimed at scenarios where autonomous vehicles in industrial parks stop at multiple stations along their routes, such as logistics vehicles and commuter vehicles. A communication connection protocol is configured between the chassis controller and the emergency stop switch at the stop station, so that when the autonomous vehicle approaches the stop station, a wireless communication connection is automatically established immediately after the distance between the chassis controller and the emergency stop switch enters a preset range. Therefore, when the autonomous vehicle is operating unmanned in the park, if the central controller used to generate planning and control decisions, the sensor used to collect and perceive environmental information, or any other module unit of the autonomous driving system fails (causing the chassis controller to be unable to receive normal parking instructions), the user at the stop station can trigger the emergency stop switch in the stop station to directly feed back the switch state change information to the chassis controller, so that the chassis controller controls the wire-controlled brake in response to the information to brake. This implements a safety redundancy solution for station collaboration scenarios and improves the safety of autonomous driving in engineering parks. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] The features and advantages of the present invention will be more clearly understood by referring to the accompanying drawings, which are schematic and should not be construed as limiting the present invention in any way. In the accompanying drawings:

[0017] Figure 1 A schematic diagram of the structure of an autonomous driving safety redundancy system for a station collaboration scenario in one embodiment of the present invention is shown;

[0018] Figure 2 A schematic diagram of the structure of an automatic driving safety redundancy system for a U-turn scenario in one embodiment of the present invention is shown;

[0019] Figure 3A schematic diagram of circuit connections of a redundant chassis controller in one embodiment of the present invention is shown;

[0020] Figure 4 A schematic diagram of the structure of an autonomous driving safety redundancy system for an autonomous driving vehicle in one embodiment of the present invention is shown;

[0021] Figure 5 A schematic diagram of the target perception data fusion process in one embodiment of the present invention is shown;

[0022] Figure 6 A schematic diagram of the fusion process of positioning perception data in one embodiment of the present invention is shown;

[0023] Figure 7 A schematic diagram showing the installation position of an anti-pinch device in one embodiment of the present invention is shown;

[0024] Figure 8 A schematic diagram of the working process of an emergency braking system in one embodiment of the present invention is shown. DETAILED DESCRIPTION

[0025] To make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of the present invention.

[0026] See also Figure 1 In one embodiment, a safety redundancy system for autonomous driving within an engineering park includes a chassis controller 1 and an emergency stop switch 2. The chassis controller 1 is located in the autonomous vehicle and is configured to receive control instructions and control a wired control device in the autonomous vehicle according to the control instructions. The emergency stop switch 2 is distributed at various stops within the engineering park and establishes a wireless communication connection with the chassis controller 1 when the emergency stop switch 2 is within a preset range from the chassis controller 1.

[0027] Among them, when the chassis controller 1 communicates with the emergency stop switch 2, it monitors the status of the emergency stop switch 2. When the emergency stop switch 2 is triggered, the chassis controller 1 controls the wire control device in the automatic driving vehicle to brake.

[0028] Specifically, an embodiment of the present invention provides a safety redundancy solution for the "station collaboration scenario" of autonomous driving vehicle operations in an industrial park. Autonomous driving vehicles need to stop at multiple stations according to a predetermined driving route, such as logistics vehicles and commuter vehicles. The chassis controller 1 is a controller that controls the wire control device in the autonomous driving vehicle, and is used to receive control instructions issued by the central controller 3 or the cloud server, and respond to the control instructions to control the wire control device. The wire control device includes but is not limited to wire control throttle, wire control brake, wire control gear, wire control steering, and suspension. This embodiment pre-configures a communication connection protocol between the chassis controller 1 and the emergency stop switch 2 of the stop station, such as the transport layer UDP protocol and the application layer protocol MQTT, so that when the autonomous driving vehicle approaches the stop station, the chassis controller 1 can establish a wireless communication connection with the emergency stop switch 2, that is, when the distance between the chassis controller 1 and the emergency stop switch 2 enters the preset range (for example, 50 meters), a wireless communication connection is automatically established immediately, and the chassis controller 1 reads the trigger status of the emergency stop switch 2 in real time. The wireless communication connection method between the chassis controller 1 and the emergency stop switch 2 can be one or more of Zigbee, Bluetooth, wireless broadband (Wi-Fi), ultra-wideband (UWB) and near-field communication (NFC) in short-range wireless communication technology. In an autonomous vehicle, assuming that the central controller 3 used to generate driving decisions, the sensor 9 used to collect perception data, or other safety redundancy equipment fails, the chassis controller 1 cannot receive normal parking instructions. At this time, the user at the stop can trigger the emergency stop switch 2 in the stop (for example, the emergency stop switch 2 is a switch that can be pressed by hand or stepped on), and directly feed back the information of the switch state change to the chassis controller 1, thereby realizing the braking of the autonomous driving vehicle. A safety redundancy solution for station collaboration scenarios is implemented, which improves the safety of autonomous driving in the engineering park.

[0029] Specifically, if Figure 2 As shown, in one embodiment, the safety redundant system for autonomous driving in an engineering park provided by an embodiment of the present invention further includes a central controller 3 and a perception base station 4. The central controller 3 is located in the autonomous driving vehicle and is communicatively connected to the chassis controller 1; the perception base stations 4 are distributed on both sides of the road in front of the stop, and the perception base stations 4 establish a wireless communication connection with the central controller 3 when the distance between the perception base stations 4 and the central controller 3 is within a preset range.

[0030] Among them, when the perception base station 4 maintains communication with the central controller 3, the perception base station 4 obtains distance information and sends the distance information to the central controller 3. The distance information is the distance information between the autonomous driving vehicle and its nearby obstacles.

[0031] Specifically, within engineering parks, autonomous vehicles often need to make U-turns near stops. For U-turns and right-angle turns within these parks, large logistics trucks or tractors, due to their bulk, often leave sensors 9, such as cameras 11 and radars, on autonomous vehicles with significant blind spots. For example, a commuter vehicle may need to make a brief stop at a stop below a staff dormitory building before turning back the same way. During this time, there are many people walking around the stop. Due to the blind spots, the vehicle's sensors alone may not be able to fully identify collision risks during the U-turn. To address this, this embodiment deploys multiple sensing base stations 4 on both sides of the road in front of the stop, targeting U-turns at stations. These base stations 4 can measure the distance between the autonomous vehicle and nearby obstacles using cameras, lasers, ultrasound, and other methods, thereby assisting the autonomous vehicle in recognizing obstacles. The autonomous vehicle includes a central controller 3, which receives data from external sensors 9 and makes driving decisions. The central controller 3 is in communication with the chassis controller 1, transmitting these decisions to the chassis controller 1 and controlling the corresponding drive-by-wire devices.

[0032] In actual applications, when an autonomous driving vehicle makes a U-turn / a right-angle turn at a stop, the central controller 3 enters the traffic range of the sensing base station 4. The sensing base station 4 measures the distance information between the autonomous driving vehicle and nearby obstacles in real time and sends the distance information to the central controller 3. After receiving the distance information, the central controller 3 can analyze whether the current automatic driving route will collide with an obstacle based on the vehicle speed, vehicle posture, distance information, etc. If a collision occurs, the central controller will brake immediately and adjust the U-turn / right-angle turn route. In this embodiment, if the autonomous vehicle is too close to a nearby obstacle, the sensing base station 4, upon detecting that the distance information is below a preset threshold, emits a buzzer or displays a warning text or image on the station display screen, reminding pedestrians or vehicles near the stop to promptly avoid it and press the emergency stop switch 2 at the stop. Upon reading that the emergency stop switch 2 is on, the chassis controller 1 of the safety redundancy system controls the vehicle to an emergency stop via a wired control device. After the collision warning risk is resolved, the vehicle's autonomous driving system re-controls the vehicle to restart operation. In this embodiment, the communication between the chassis controller 1 and the emergency stop switch 2 at the stop, and between the sensing base station 4 and the central controller 3, can be implemented based on V2X technology. The specific principles of V2X technology are not further described here. Based on the above steps, the safe driving of autonomous vehicles within the engineering park is further improved.

[0033] Specifically, if Figure 3As shown, in one embodiment, the autonomous driving vehicle also includes a redundant chassis controller 5, which is clock-synchronized with the chassis controller 1. The redundant chassis controller 5 is also configured with the same communication protocol on the line with other devices that have established communication with the chassis controller 1. The communication methods include but are not limited to bus communication, vehicle Ethernet communication, WIFI, Bluetooth, and mobile 3G\4G\5G communication. Specifically, when the chassis controller 1 fails, it automatically switches to the redundant chassis controller 5 and operates normally. Compared with the redundant backup of the central controller 3 and the redundant backup of all sensors 9 commonly used in the prior art, while ensuring basic emergency braking, safe driving and other functions, the cost of safety redundancy is greatly reduced, and the possibility of implementing autonomous driving technology in special scenarios is increased.

[0034] Specifically, if Figure 4 As shown, in one embodiment, if the autonomous driving vehicle has a main vehicle 6 and a rear compartment 7, the rear compartment 7 is equipped with an emergency stop switch 8, and the rear compartment 7 includes a communication unit, which is communicatively connected to the central controller 3 in the main vehicle 6;

[0035] Among them, when the main vehicle 6 loses connection with the rear compartment 7, the main vehicle 6 reports the fault information to the cloud server through the central controller 3. When the cloud server receives the fault information, it sends an emergency stop message to the communication unit. When the communication unit receives the emergency stop message, it triggers the emergency stop switch 8 on the rear compartment 7. When the emergency stop switch 8 is triggered, it directly triggers the brake wire control device in the rear compartment 7.

[0036] Specifically, for logistics vehicles such as large trailers in the engineering park, in order to avoid the danger that the main vehicle 6 cannot continue to control the rear compartment 7 due to uncoupling of the trailer's rear compartment 7 or problems between the main vehicle 6 and the rear compartment 7 due to wiring problems, the embodiment of the present invention installs an emergency stop switch 8 that can be manually triggered and signal triggered on the rear compartment 7. The emergency stop switch 8 directly controls the brake wire control device (wire-controlled brake) in the autonomous driving vehicle. When the emergency stop switch 8 is triggered, the brake wire control device in the autonomous driving vehicle is directly triggered to brake the rear compartment 7, avoiding the risk of the driving route being deviated and thus colliding due to uncoupling of the rear compartment 7. In a specific embodiment, it is assumed that the main vehicle 6 is uncoupled from the rear compartment 7, and the communication line between the rear compartment 7 and the main vehicle 6 is damaged. The main vehicle 6 cannot maintain communication with the communication unit of the rear compartment 7 and cannot monitor the status of the rear compartment 7. Therefore, when the main vehicle 6 and the rear compartment 7 lose connection, the main vehicle 6 sends a fault message indicating that the automatic driving vehicle has a fault to the cloud server, and the cloud server communicates remotely with the communication unit of the rear compartment 7. When the cloud server receives the fault message sent by the main vehicle 6, it sends an emergency stop message to the communication unit, thereby directly triggering the emergency stop switch 8 of the rear compartment 7 to brake the rear compartment 7, further improving the safety of automatic driving of large engineering vehicles in the engineering park.

[0037] Specifically, in this embodiment, an emergency stop switch 8 is also deployed on the main vehicle 6, and the emergency stop switch 8 on the main vehicle 6 is synchronized with the emergency stop switch 8 on the rear compartment 7 in terms of clock and triggering. Thus, a user can trigger the emergency stop switch 8 on the main vehicle 6 to simultaneously cause the rear compartment 7 to perform an emergency stop. This embodiment provides an additional layer of safety protection when other safety redundancy solutions fail.

[0038] Specifically, in one embodiment, in order to further increase the safety redundancy of the automatic driving of large-scale engineering vehicles in the engineering park, the embodiment of the present invention implements safety redundancy for the instructions executed by the central controller 3. In this embodiment, the safety redundancy system also includes a memory, which is located in the automatic driving vehicle and is in communication with the central controller 3. The memory includes a normal braking unit, a takeover unit, an emergency braking unit, an emergency stop unit, and an alarm unit. The normal braking unit is used to send a pull-over instruction to the chassis controller 1 and send fault information to the cloud server; the takeover unit is used to send a remote takeover request to the cloud server; the emergency braking unit is used to assist in emergency braking; the emergency stop unit is used to trigger the emergency stop switch 8; and the alarm unit is used to display or voice broadcast the information of manually triggering the emergency stop switch 8.

[0039] Based on the above-mentioned units, when the central controller 3 detects a need for a pullover (e.g., due to a failure of the sensor 9 connected to the central controller 3 and inability to collect sensor data, or due to a fault code decision generated by another component failure), the central controller 3 executes the normal braking unit and the takeover unit to perform a normal pullover and notifies the cloud server to allocate manual takeover of the autonomous driving system for remote manual driving. Assuming that the normal braking unit and the takeover unit have been executed for a preset time (e.g., 50 seconds), it is assumed that the autonomous vehicle has been stably pulled over. If the autonomous vehicle has not reached a preset speed (e.g., the speed should be below 5 km / h, but the speed has not dropped below this speed after 50 seconds), it is considered that the autonomous vehicle may have experienced a failure in the chassis controller 1 to respond to the command. The central controller 3 immediately executes the emergency braking unit, issues a new command, and immediately performs emergency braking, causing the brake-by-wire device to stop the current slow braking action and perform a full-force braking operation. If the emergency braking unit fails to execute, the central controller 3 continues to execute the emergency stop unit and the warning unit, triggering the emergency stop switch 8 with a signal and reminding pedestrians to manually trigger the emergency stop switch 8 on the vehicle body surface through screen display and / or voice broadcast. Through the above steps, a combination of multiple safety redundant instructions is used to ensure the safe parking of engineering vehicles to the greatest extent possible, further improving the safety of autonomous driving within the engineering park.

[0040] Specifically, if Figure 5As shown, in one embodiment, the autonomous driving vehicle includes a sensor 9, which is communicatively connected to the central controller 3. The sensor 9 includes at least a laser radar 10, a camera 11, a millimeter-wave radar 12, and an ultrasonic radar 13. The central controller 3 performs obstacle perception based on at least the fused perception data of the laser radar 10, the camera 11, the millimeter-wave radar 12, and the ultrasonic radar 13.

[0041] Specifically, in order to achieve autonomous driving, engineering vehicles need to use sensors 9 to sense obstacles around the vehicle. In this embodiment, the autonomous driving vehicle includes multiple sensors 9, including at least a laser radar 10, a camera 11, a millimeter-wave radar 12, an ultrasonic radar 13, and other sensor 9 elements. In actual application scenarios, there is a risk of damage to the sensor 9. Once the sensor 9 is damaged, the perception data collected by the sensor 9 will fail to be obtained, and the driving decision made by the central controller 3 will be inaccurate. Based on this, this embodiment not only obtains data from multiple sensors 9, but also verifies and fuses the perception results of various types of data. The fusion program runs in the central controller 3. Even if a single sensor 9 fails, it will not have a substantial impact on the final obstacle recognition result, thus avoiding the occurrence of erroneous decisions and further improving the safety of autonomous driving.

[0042] Specifically, if Figure 6 As shown, in one embodiment, the sensor 9 also includes an odometer 14, which includes but is not limited to GNSS, IMU, and SLAM odometers 14. The central controller 3 performs positioning based on the fusion data of the odometer 14 and the laser radar 10. Specifically, in this embodiment, since there are non-open-air scenes in the engineering park, such as tunnels, when the autonomous vehicle enters the tunnel, the positioning signal of the positioning device will be weakened, making it impossible to accurately guide. To solve this problem, this embodiment also uses the odometer 14 and the laser radar 10 to perform fusion navigation with the positioning device. For example, when the autonomous vehicle is driving on a road with good signal, a GNSS+IMU combined navigation device is used, applying satellite navigation positioning technology, combined with real-time dynamic carrier phase difference technology, to achieve centimeter-level positioning accuracy. In areas with poor or no satellite signals, high-precision positioning is achieved through the laser SLAM (Simultaneous Localization and Mapping) odometer 14. The combined navigation and positioning program runs on the computing platform. The central controller 3 processes perception fusion, positioning maps, and planning control models. Finally, it calculates the brake, throttle, and steering signals and sends them to the chassis controller 1, thereby further improving the safety of autonomous driving in scenarios with poor satellite signals.

[0043] Specifically, if Figure 7As shown, in one embodiment, the autonomous driving vehicle is a large trailer having a main vehicle 6 and a rear compartment 7. In order to avoid safety hazards in loading and unloading scenarios, an anti-pinch controller is deployed in the rear compartment 7 in an embodiment of the present invention. The door of the rear compartment 7 is communicated with the anti-pinch controller through a door wire control device. An anti-pinch device 15 is deployed on the door of the rear compartment 7. The anti-pinch device 15 includes a living body detection sensor and a telescopic arm 16; wherein, when the anti-pinch controller detects that a living body is located in the middle of the door of the rear compartment 7 through the living body detection sensor, it executes an open door command; if the door wire control device does not respond to the open door command and keeps the door of the rear compartment 7 open, the anti-pinch controller controls the anti-pinch device 15 to extend the telescopic arm 16 into the middle of the door, thereby jamming the door to prevent the door from closing tightly and causing personal injury, further providing a reliable safety redundancy solution for loading and unloading scenarios.

[0044] Specifically, in one embodiment, the safety redundancy system for autonomous driving in an engineering park provided by an embodiment of the present invention further includes:

[0045] Ultrasonic radar 13 is deployed in the garage within the engineering park, specifically next to or above obstacles. It is used to issue an alarm (including but not limited to sending an alarm signal to the central controller 3 and emitting a buzzer) when it detects an approaching target. This can prevent parking collisions caused by malfunctioning onboard reversing radar, assist with parking, and facilitate maintenance.

[0046] Specifically, if Figure 8 As shown, in one embodiment, a separate emergency braking system is also deployed based on the camera 11 and millimeter-wave radar 12. The central controller 3 receives obstacle information collected by the camera 11 and millimeter-wave radar 12 and performs filtering, fusion, and tracking processing on the obstacle information. When a collision is threatening, the most dangerous target is selected based on the vehicle's position and obstacle information. The predicted collision time, warning level, and expected deceleration are calculated and output to the drive-by-wire chassis for emergency braking to avoid or mitigate the risk of a collision.

[0047] Through the various components described above, the autonomous driving safety redundancy system for an industrial park provided by an embodiment of the present invention is designed for scenarios where autonomous vehicles within an industrial park stop at multiple stations along their routes, such as logistics vehicles and commuter vehicles. A communication connection protocol is configured between the chassis controller 1 and the emergency stop switch 2 at the stop. This ensures that when the autonomous vehicle approaches a stop and the distance between the chassis controller 1 and the emergency stop switch 2 falls within a preset range, a wireless communication connection is automatically established. Consequently, if the central controller 3 for generating driving decisions, the sensor 9 for collecting perception data, or other safety redundancy components in the autonomous vehicle fail, the chassis controller 1 will not receive normal parking instructions. Users at the stop can trigger the emergency stop switch 2 at the stop, directly feeding back information about the switch status change to the chassis controller 1, which then responds to this information by controlling the brake-by-wire system. This implements a safety redundancy solution for station collaboration scenarios, improving the safety of autonomous driving within the industrial park.

[0048] In addition, safety redundancy is implemented for U-turn / right-angle turn scenarios based on V2X technology, safety redundancy is implemented for the main vehicle 6 and rear compartment 7 of large engineering vehicles based on the emergency stop switch 8, and program safety redundancy is implemented based on the instructions of the central controller 3. This ensures safety redundancy for various application scenarios within the engineering park at the lowest possible cost, thereby improving the safety of autonomous driving.

[0049] Although the embodiments of the present invention have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present invention. Such modifications and variations are all within the scope defined by the appended claims.

Claims

1. A safety redundancy system for autonomous driving in an engineering park, characterized in that: The system comprises: a chassis controller, located in the autonomous vehicle, configured to receive control instructions and control a control-by-wire device in the autonomous vehicle according to the control instructions; Emergency stop switches, which are distributed at various stops within the engineering park and establish a wireless communication connection with the chassis controller when the distance to the chassis controller is within a preset range; a central controller, located in the autonomous vehicle and in communication with the chassis controller; A sensing base station, the sensing base station is distributed on both sides of the road in front of the stop, and the sensing base station establishes a wireless communication connection with the central controller when the distance between the sensing base station and the central controller is within a preset range; wherein the chassis controller monitors the state of the emergency stop switch when communicating with the emergency stop switch, and when the emergency stop switch is triggered, the chassis controller controls the wire control device in the autonomous driving vehicle to brake; When the perception base station maintains communication with the central controller, the perception base station obtains distance information and sends the distance information to the central controller, where the distance information is distance information between the autonomous driving vehicle and nearby obstacles; The autonomous driving vehicle comprises a main vehicle and a rear compartment, wherein the rear compartment is provided with an emergency stop switch, and the rear compartment comprises a communication unit, wherein the communication unit is communicatively connected to a central controller in the main vehicle; when the main vehicle loses connection with the rear compartment, the main vehicle reports fault information to a cloud server via the central controller, and upon receiving the fault information, the cloud server sends an emergency stop message to the communication unit, and upon receiving the emergency stop message, the communication unit triggers the emergency stop switch in the rear compartment, and when the emergency stop switch is triggered, the brake wire control device in the rear compartment is triggered; An anti-pinch controller is deployed in the rear compartment, and the door of the rear compartment is communicatively connected to the anti-pinch controller via a door wire control device. An anti-pinch device is deployed on the door of the rear compartment, and the anti-pinch device includes a living body detection sensor and a telescopic arm; When the anti-pinch controller detects that a living person is located between the doors of the rear compartment through the living body detection sensor, it executes a door opening instruction; If the door wire control device does not respond to the door opening instruction to keep the door of the rear compartment open, the anti-pinch controller controls the anti-pinch device to extend the telescopic arm into the middle of the door.

2. The system according to claim 1, wherein: The autonomous driving vehicle also includes a redundant chassis controller, which is clock-synchronized with the chassis controller.

3. The system according to claim 1, wherein: An emergency stop switch is deployed on the main vehicle, and the emergency stop switch on the main vehicle is synchronized with the emergency stop switch on the rear compartment in clock and trigger synchronization.

4. The system according to claim 3, characterized in that The system further includes a memory, which is located in the autonomous driving vehicle and is in communication with the central controller, and includes: a normal braking unit, configured to send a pull-over parking instruction to the chassis controller and send a fault message to the cloud server; A takeover unit, configured to send a remote takeover request to the cloud server; Emergency brake unit, used to assist emergency braking; Emergency stop unit, used to trigger the emergency stop switch; Alarm unit, used to display or voice broadcast the information of manual triggering of emergency stop switch; Wherein, when the central controller detects that the vehicle needs to park by the side of the road, the central controller executes the normal braking unit and the takeover unit; If the automatic driving vehicle does not reach the preset speed after the normal braking unit and the takeover unit have been executed for a preset time, the emergency braking unit is executed; If the emergency braking unit fails to execute, the emergency stop unit and the alarm unit are executed.

5. The system according to claim 4, characterized in that The autonomous driving vehicle includes sensors, which are communicatively connected to the central controller. The sensors include at least a lidar, a camera, a millimeter-wave radar, and an ultrasonic radar. The central controller performs obstacle perception based at least on the fused perception data of the lidar, the camera, the millimeter-wave radar, and the ultrasonic radar.

6. The system according to claim 5, characterized in that The sensor also includes an odometer, and the central controller performs positioning based on fusion data of the odometer and the lidar.

7. The system according to claim 1, wherein: The system further comprises: Ultrasonic radar, which is deployed in a garage within the engineering park and is used to issue an alarm when it detects an approaching target.

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