Backup safety control device and method for millimeter wave radar and automatic driving controller

Abstract

The present invention relates to a backup safety control device and method for a millimeter-wave radar and an automatic driving controller, and belongs to the field of radar detection. The purpose of the present invention is to provide a backup safety control device and method for a millimeter-wave radar and an automatic driving controller. When the radar signal processor fails, the controller processor in the automatic driving controller directly controls the radar radio frequency chip and processes the radar signal, without increasing the system hardware cost, so that the millimeter-wave radar with a failed processor can fully or partially realize the target detection function, ensure that the automatic driving system does not fail, and ensure the safety of the vehicle. This device is arranged in an automatic driving vehicle, and a first signal switching switch and a second signal switching switch are set in the millimeter-wave radar. Among them, the first signal switching switch is set between the radar signal processor and the millimeter-wave radar vehicle bus interface, and the second signal switching switch is set between the radar radio frequency chip and the radar signal processor.

Description

Technical Field

[0001] The present invention relates to a backup safety control device and method for a millimeter wave radar and an automatic driving controller, and belongs to the field of radar detection. Background Art

[0002] Self-driving cars rely on millimeter-wave radars to detect pedestrians, vehicles and other targets around the vehicle. Currently, the self-driving system uses multiple millimeter-wave radars and on-board cameras installed on the vehicle body to detect targets in different directions, and then transmits the targets to the controller through the vehicle bus for target fusion, path planning decisions and vehicle control.

[0003] L4 and L5 high-level autonomous driving systems require the vehicle to take responsibility for driving behavior instead of the driver, so the millimeter-wave radar cannot fail during the vehicle's driving. Considering that any electronic device will fail, when an electronic device in the millimeter-wave radar fails, other electronic devices are needed to fully or partially implement the functions of the failed device. Summary of the invention

[0004] The purpose of the present invention is to provide a backup safety control device and method for a millimeter-wave radar and an automatic driving controller. When the radar signal processor fails, the controller processor in the automatic driving controller directly controls the radar RF chip and processes the radar signal without increasing the system hardware cost. The millimeter-wave radar with a failed processor can fully or partially realize the target detection function, thereby ensuring that the automatic driving system does not fail and protecting the safety of the vehicle.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A backup safety control device for a millimeter-wave radar and an automatic driving controller, the device being arranged in an automatic driving vehicle, the automatic driving vehicle comprising a millimeter-wave radar and an automatic driving controller, the automatic driving controller having a controller processor; a plurality of millimeter-wave radars being arranged on the body of the automatic driving vehicle, each millimeter-wave radar comprising a radar radio frequency chip and a radar signal processor; the radar signal processor and the radar radio frequency chip of each millimeter-wave radar are connected via an internal circuit of the millimeter-wave radar, and the radar signal processor and the controller processor are connected via a vehicle bus; wherein a first signal switching switch and a second signal switching switch are arranged in the millimeter-wave radar; wherein the first signal switching switch is arranged between the radar signal processor and the millimeter-wave radar vehicle bus interface, and the second signal switching switch is arranged between the radar radio frequency chip and the radar signal processor;

[0007] When the millimeter wave radar works normally, the first signal switching switch and the second signal switching switch are in the first switching position, thereby forming a first signal path;

[0008] When the first signal switching switch and the second signal switching switch are in the first switching position, the radar signal processor and the radar RF chip of each millimeter-wave radar are electrically connected, and the radar signal processor and the controller processor are connected through the vehicle bus; the radar intermediate frequency signal enters the radar signal processor through the second signal switching switch, and the radar signal processor performs digital signal processing on the radar intermediate frequency signal to extract target information; the radar signal processor transmits the target information detected by the radar to the controller processor of the automatic driving controller through the vehicle bus via the first signal switching switch; the controller processor of the automatic driving controller sends a control signal of the controller to the radar signal processor through the vehicle bus via the first signal switching switch, and the radar signal processor sends a RF chip control signal to control the radar RF chip via the second signal switching switch, thereby controlling the millimeter-wave radar;

[0009] When the radar signal processor of one or more millimeter-wave radars fails, the first signal switching switch and the second signal switching switch of the failed millimeter-wave radar are in the second switching position, thereby forming a second signal path;

[0010] When the first signal switching switch and the second signal switching switch of the millimeter-wave radar whose radar signal processor fails are in the second switching position, the radar RF chip of the millimeter-wave radar whose radar signal processor fails transmits the target information detected by the radar to the controller processor of the automatic driving controller via the second signal switching switch and the first signal switching switch through the vehicle bus; the controller processor of the automatic driving controller sends the RF chip control signal through the first signal switching switch and the second signal switching switch through the vehicle bus to control the radar RF chip, thereby controlling the millimeter-wave radar whose radar signal processor fails.

[0011] The first signal switching switch and the second signal switching switch are integrated in the same chip.

[0012] The second signal switching switch is integrated in the radio frequency chip.

[0013] A backup safety control method for a millimeter wave radar and an automatic driving controller using the backup safety control device of the millimeter wave radar and the automatic driving controller, wherein the method comprises the following steps:

[0014] S1. The automatic driving controller detects that the millimeter-wave radar does not respond to the control signal sent by the automatic driving controller, and determines that the millimeter-wave radar processor of the millimeter-wave radar is failed;

[0015] S2. The automatic driving controller switches the first signal switch and the second signal switch in the millimeter-wave radar whose millimeter-wave radar processor fails to the second switch position, thereby forming a second signal path, disconnecting the original signal path between the radar RF chip and the radar signal processor, and establishing a signal path between the controller processor and the radar RF chip;

[0016] S3. The controller processor sends instructions and receives data using the RF chip interface protocol. At the same time, the radar signal processing software runs inside the autonomous driving controller to process the radar intermediate frequency data sent by the radar RF chip instead of the radar signal processor, and sends RF chip control signals to control the radar RF chip, thereby controlling the millimeter-wave radar whose radar signal processor fails.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] Limited by the internal space and cost of the car, self-driving cars often only install one millimeter-wave radar in one detection direction. Therefore, when one radar fails, other millimeter-wave radars cannot cover the detection area of ​​the failed radar due to different installation positions and orientations, causing the self-driving system to fail.

[0019] The present invention proposes a method in which, when the radar signal processor fails, the controller processor in the autonomous driving controller directly controls the radar RF chip and processes the radar signal, without increasing the system hardware cost, so that the millimeter-wave radar with a failed processor can fully or partially realize the target detection function, thereby ensuring that the autonomous driving system does not fail and protecting the vehicle safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A system diagram of a millimeter wave radar and an automatic driving controller in the prior art;

[0021] Figure 2 This is a schematic diagram of the switch status and signal flow when the millimeter wave radar is working normally;

[0022] Figure 3 Schematic diagram of the switch status and signal flow of a millimeter-wave radar with a failed radar signal processor. DETAILED DESCRIPTION

[0023] The specific implementation of the present invention will be further described below in conjunction with the accompanying drawings.

[0024] like Figure 1As shown, in the prior art, an autonomous driving car includes a millimeter wave radar and an autonomous driving controller, and the autonomous driving controller has a controller processor. Multiple millimeter wave radars are arranged on the body of the autonomous driving car, and each millimeter wave radar includes a radar radio frequency chip and a radar signal processor. The radar signal processor and the radar radio frequency chip of each millimeter wave radar are connected through the internal circuit of the millimeter wave radar, and the radar signal processor and the controller processor are connected through the vehicle bus.

[0025] The radar signal processor sends instructions and receives data to control the radar RF chip using the RF chip interface protocol. At the same time, the radar signal processor runs the radar signal processing software to process the radar intermediate frequency data sent by the radar RF chip.

[0026] When the millimeter-wave radar is working normally, the radar RF chip generates electromagnetic waves and transmits them through the radar antenna. The electromagnetic waves are reflected back when they hit targets such as vehicles, pedestrians, and obstacles, and are received by the radar antenna. They are amplified, down-converted, and ADC-sampled in the radar RF chip to become radar intermediate frequency signals, also called radar original signals or radar sampling signals. The radar signal processor performs digital signal processing on the radar intermediate frequency signal to extract target information. The radar signal processor transmits the target information detected by the radar to the controller processor of the autonomous driving controller through the vehicle bus. The controller processor of the autonomous driving controller sends a controller control signal to the radar signal processor through the vehicle bus, and the radar signal processor sends a RF chip control signal to control the radar RF chip, thereby controlling the millimeter-wave radar.

[0027] like Figure 2 and Figure 3 As shown, a backup safety control device of a millimeter wave radar and an automatic driving controller of the present invention is arranged in an automatic driving vehicle, and a first signal switching switch and a second signal switching switch are set in the millimeter wave radar. The first signal switching switch is set between the radar signal processor and the millimeter wave radar vehicle bus interface, and the second signal switching switch is set between the radar radio frequency chip and the radar signal processor.

[0028] Preferably, the first signal switching switch and the second signal switching switch are integrated in the same chip.

[0029] Preferably, the second signal switching switch is integrated in the radio frequency chip.

[0030] like Figure 2 As shown, when the millimeter wave radar works normally, the first signal switching switch and the second signal switching switch are in the first switching position, thereby forming a first signal path.

[0031] When the first signal switching switch and the second signal switching switch are in the first switching position, the radar signal processor of each millimeter wave radar is electrically connected to the radar RF chip, and the radar signal processor and the controller processor are connected through the vehicle bus. The radar intermediate frequency signal enters the radar signal processor via the second signal switching switch, and the radar signal processor performs digital signal processing on the radar intermediate frequency signal to extract target information; the radar signal processor transmits the target information detected by the radar to the controller processor of the automatic driving controller through the first signal switching switch through the vehicle bus; the controller processor of the automatic driving controller sends the controller control signal to the radar signal processor through the first signal switching switch through the vehicle bus, and the radar signal processor sends the RF chip control signal to control the radar RF chip through the second signal switching switch, thereby controlling the millimeter wave radar.

[0032] like Figure 3 As shown, when the radar signal processor of one or more millimeter-wave radars fails, the first signal switching switch and the second signal switching switch of the failed millimeter-wave radar are in the second switching position, thereby forming a second signal path.

[0033] When the first signal switching switch and the second signal switching switch of the millimeter-wave radar whose radar signal processor fails are in the second switching position, the radar RF chip of the millimeter-wave radar whose radar signal processor fails transmits the target information detected by the radar to the controller processor of the automatic driving controller via the second signal switching switch and the first signal switching switch through the vehicle bus; the controller processor of the automatic driving controller sends the RF chip control signal through the first signal switching switch and the second signal switching switch through the vehicle bus to control the radar RF chip, thereby controlling the millimeter-wave radar whose radar signal processor fails.

[0034] If the transmission rate (bit rate) of the vehicle bus is lower than the rate required for the radar intermediate frequency signal transmission, the autonomous driving controller sends a control signal to reduce the radar RF chip ADC sampling rate and / or extend the radar cycle and / or adopt a radar modulation waveform in a single radar mode to reduce the bus data transmission rate required for the radar intermediate frequency signal.

[0035] If the computing power of the autonomous driving controller processor is insufficient, the aforementioned method can be used to reduce the amount of intermediate frequency signal data sent by the radar RF chip and the computing power required for radar signal processing based on actual needs; or, on the premise of ensuring vehicle safety, reduce the computing power allocation of other parts of the autonomous driving system software. For example, when the vehicle is driving on the right, it will no longer process data sent by the right sensor, reduce the vehicle's speed and ignore targets at extremely long distances, such as targets 200 meters away.

[0036] A backup safety control method for a millimeter wave radar and an automatic driving controller using the backup safety control device of the millimeter wave radar and the automatic driving controller comprises the following steps:

[0037] S1. The automatic driving controller detects that the millimeter-wave radar does not respond to the control signal sent by the automatic driving controller, and determines that the millimeter-wave radar processor of the millimeter-wave radar is failed;

[0038] S2. The automatic driving controller switches the first signal switch and the second signal switch in the millimeter-wave radar whose millimeter-wave radar processor fails to the second switch position, thereby forming a second signal path, disconnecting the original signal path between the radar RF chip and the radar signal processor, and establishing a signal path between the controller processor and the radar RF chip;

[0039] S3. The controller processor sends instructions and receives data using the RF chip interface protocol. At the same time, the radar signal processing software runs inside the autonomous driving controller to process the radar intermediate frequency data sent by the radar RF chip instead of the radar signal processor, and sends RF chip control signals to control the radar RF chip, thereby controlling the millimeter-wave radar whose radar signal processor fails.

Claims

1. A backup safety control device for a millimeter-wave radar and an autonomous driving controller, the device being arranged in an autonomous driving vehicle, the autonomous driving vehicle comprising a millimeter-wave radar and an autonomous driving controller, the autonomous driving controller comprising a controller processor; multiple millimeter-wave radars are arranged on the body of the autonomous driving vehicle, each millimeter-wave radar comprising a radar radio frequency chip and a radar signal processor; the radar signal processor and the radar radio frequency chip of each millimeter-wave radar are connected via an internal circuit of the millimeter-wave radar, and the radar signal processor and the controller processor are connected via a vehicle bus; Features: A first signal switching switch and a second signal switching switch are set in the millimeter wave radar; wherein the first signal switching switch is set between the radar signal processor and the millimeter wave radar vehicle bus interface, and the second signal switching switch is set between the radar radio frequency chip and the radar signal processor; When the millimeter wave radar works normally, the first signal switching switch and the second signal switching switch are in the first switching position, thereby forming a first signal path; When the first signal switching switch and the second signal switching switch are in the first switching position, the radar signal processor and the radar RF chip of each millimeter-wave radar are electrically connected, and the radar signal processor and the controller processor are connected through the vehicle bus; the radar intermediate frequency signal enters the radar signal processor through the second signal switching switch, and the radar signal processor performs digital signal processing on the radar intermediate frequency signal to extract target information; the radar signal processor transmits the target information detected by the radar to the controller processor of the automatic driving controller through the vehicle bus via the first signal switching switch; the controller processor of the automatic driving controller sends a control signal of the controller to the radar signal processor through the vehicle bus via the first signal switching switch, and the radar signal processor sends a RF chip control signal to control the radar RF chip via the second signal switching switch, thereby controlling the millimeter-wave radar; When the radar signal processor of one or more millimeter-wave radars fails, the first signal switching switch and the second signal switching switch of the failed millimeter-wave radar are in the second switching position, thereby forming a second signal path; When the first signal switching switch and the second signal switching switch of the millimeter-wave radar whose radar signal processor fails are in the second switching position, the radar RF chip of the millimeter-wave radar whose radar signal processor fails transmits the target information detected by the radar to the controller processor of the automatic driving controller via the second signal switching switch and the first signal switching switch through the vehicle bus; the controller processor of the automatic driving controller sends the RF chip control signal through the first signal switching switch and the second signal switching switch through the vehicle bus to control the radar RF chip, thereby controlling the millimeter-wave radar whose radar signal processor fails.

2. The backup safety control device of the millimeter wave radar and the automatic driving controller as claimed in claim 1, Features: The first signal switching switch and the second signal switching switch are integrated in the same chip.

3. The backup safety control device of the millimeter wave radar and the automatic driving controller as claimed in claim 1, Features: The second signal switching switch is integrated in the radio frequency chip.

4. A backup safety control method for a millimeter wave radar and an automatic driving controller using the backup safety control device for the millimeter wave radar and the automatic driving controller according to any one of claims 1 to 3, Features: The method comprises the following steps: S1. The automatic driving controller detects that the millimeter-wave radar does not respond to the control signal sent by the automatic driving controller, and determines that the millimeter-wave radar processor of the millimeter-wave radar is failed; S2. The automatic driving controller switches the first signal switch and the second signal switch in the millimeter-wave radar whose millimeter-wave radar processor fails to the second switch position, thereby forming a second signal path, disconnecting the original signal path between the radar RF chip and the radar signal processor, and establishing a signal path between the controller processor and the radar RF chip; S3. The controller processor sends instructions and receives data using the RF chip interface protocol. At the same time, the radar signal processing software runs inside the autonomous driving controller to process the radar intermediate frequency data sent by the radar RF chip instead of the radar signal processor, and sends RF chip control signals to control the radar RF chip, thereby controlling the millimeter-wave radar whose radar signal processor fails.

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