Intelligent driving control system and vehicle

Abstract

The present application provides an intelligent driving control system and a vehicle. When the vehicle is operating in energy-saving mode, the main controller stops the operation of the first sensor set and ends the driving control of the vehicle. The redundant controller performs vehicle driving control based on the information detected by the second sensor set to which it is connected, thereby reducing the energy consumption of the main controller and the first sensor set. While ensuring the safety of intelligent driving, the energy consumption required for intelligent driving control is reduced, thereby improving the vehicle's endurance.

Description

Technical Field

[0001] The present application relates to the field of vehicle autonomous driving technology, and in particular to an intelligent driving control system and a vehicle. Background Art

[0002] With the development of the automotive industry, cars are becoming increasingly involved in our daily lives and work, appearing in a variety of life scenarios. Driving safety is a key focus of the automotive industry. To improve driving safety and prevent accidents before they occur, intelligent driving systems have been developed.

[0003] At present, the achievable functions of intelligent driving systems can be roughly divided into two categories: one is functions related to active safety, which assist the driver in dealing with dangerous situations, mostly through sound or image reminders, and will not interfere with vehicle control; the other is functions related to driving assistance, which are designed from the perspective of assisting the driver in controlling the vehicle.

[0004] Intelligent driving systems with advanced driving assistance features can be equipped with a primary controller and a redundant controller based on functional safety requirements. If the primary controller fails, the redundant controller is required to control the vehicle to a safe state before disabling the driving assistance functions. However, the high-power sensor architecture and high-power dual controllers of advanced intelligent driving systems result in high energy consumption, resulting in poor vehicle range. Summary of the Invention

[0005] In view of this, the purpose of this application is to propose an intelligent driving control system and vehicle, so as to reduce the energy consumption required for intelligent driving control while ensuring the safety of intelligent driving, thereby improving the vehicle's endurance.

[0006] Based on the above objectives, the present application provides an intelligent driving control system, comprising a main controller, a redundant controller, a first sensor set electrically connected to the main controller, and a second sensor set electrically connected to the redundant controller, wherein the first sensor set and the second sensor set are not completely the same, and the main controller is connected to the redundant controller, wherein;

[0007] The main controller is configured to control the first sensor set to stop operating and terminate driving control of the vehicle when detecting that the vehicle is operating in the energy-saving mode;

[0008] The redundant controller is configured to obtain second detection information from the second sensor set when detecting that the vehicle is operating in the energy-saving mode, and perform driving control on the vehicle according to the second detection information.

[0009] Optionally, the system further includes an automatic driving association device, wherein the automatic driving association device is connected to the main controller and the redundant controller respectively;

[0010] The main controller is further configured to, when the vehicle is in a normal power consumption mode, obtain first detection information from the first sensor set, receive second detection information from the second sensor set sent by the redundant controller, and generate a first control signal based on the first detection information and the second detection information and send the signal to the automatic driving associated device, wherein the signal status indicator in the first control signal indicates that the signal is valid;

[0011] The redundant controller is further configured to, when the vehicle is in a normal power consumption mode, generate a second control signal based on the second detection information and send it to the automatic driving associated device; and, when the vehicle is in an energy-saving mode, generate a third control signal based on the second detection information and send it to the automatic driving associated device, wherein the signal status identifier in the second control signal indicates that the signal is invalid, and the signal status identifier in the third control signal indicates that the signal is valid;

[0012] The automatic driving associated device is also used to determine the current valid control signal according to the signal status identification of each control signal when receiving each control signal, and perform driving control based on the current valid control signal.

[0013] Optionally, the autonomous driving association device includes an interaction module;

[0014] The interactive module is used to determine the current valid warning signal according to the signal status identification of each safety warning signal when receiving each safety warning signal, and display the warning prompt information corresponding to the current valid warning signal on the interactive interface.

[0015] Optionally, the automatic driving association device further includes a lateral and longitudinal control module;

[0016] The transverse and longitudinal control module is used to determine the current valid transverse and longitudinal signals according to the signal status identifiers of the transverse and longitudinal control signals when receiving the transverse and longitudinal control signals, and perform transverse and longitudinal control on the vehicle's driving according to the current valid transverse and longitudinal signals.

[0017] Optionally, the automatic driving association device further includes a real vehicle video acquisition module;

[0018] The real vehicle video acquisition module is used to determine the current valid recording signal according to the signal status identifier of each video recording signal when receiving each video recording signal, record the driving process of the vehicle through a preset camera based on the current valid recording signal, and store the recorded video.

[0019] Optionally, the autonomous driving association device further includes a vehicle communication module;

[0020] The vehicle communication module is used to determine the current valid rescue signal according to the signal status identifier of each vehicle rescue signal when receiving each vehicle rescue signal, and establish a call connection with other rescue equipment based on the current valid rescue signal.

[0021] Optionally, the interaction module is further configured to send an energy-saving mode switching instruction to the main controller and the redundant controller when detecting an energy-saving mode switching instruction input by a user;

[0022] The main controller is further configured to determine, based on the energy-saving mode switching instruction, whether the vehicle is switched from the normal power consumption mode to the energy-saving mode;

[0023] The redundant controller is further configured to determine, based on the energy-saving mode switching instruction, whether the vehicle switches from the normal power consumption mode to the energy-saving mode.

[0024] Optionally, the main controller is further configured to determine a current power level of the vehicle, and when detecting that the current power level is less than a preset power level threshold, generate an energy-saving mode switching instruction, determine based on the energy-saving mode switching instruction that the vehicle switches from the normal power consumption mode to the energy-saving mode, and send the energy-saving mode switching instruction to the redundant controller; or

[0025] The redundant controller is also used to determine the current power level of the vehicle, and when it is detected that the current power level is less than a preset power threshold, generate an energy-saving mode switching instruction, determine based on the energy-saving mode switching instruction that the vehicle switches from the normal power consumption mode to the energy-saving mode, and send the energy-saving mode switching instruction to the main controller.

[0026] Optionally, the main controller is further configured to, when the vehicle is in a normal power consumption mode, perform fault detection on the redundant controller, the first sensor set, and the second sensor set, and if a fault is detected, send a fault signal to at least one of the interaction module, the lateral and longitudinal control module, the real vehicle video acquisition module, and the vehicle communication module;

[0027] The interactive module is further configured to display a driving takeover prompt message on the interactive interface upon receiving the fault signal;

[0028] The transverse and longitudinal control module is further configured to control the vehicle to pull over when receiving the fault signal;

[0029] The real vehicle video acquisition module is further configured to record the driving process of the vehicle through a preset camera and store the recorded video when the fault signal is received;

[0030] The vehicle communication module is further configured to establish a communication connection with other rescue equipment upon receiving the fault signal.

[0031] Optionally, the second sensor set is used to collect detection information required for basic active safety functions in intelligent driving control.

[0032] Based on the same purpose, the present application also provides a vehicle, which includes the intelligent driving control system provided by any embodiment of the present application.

[0033] From the above description, it can be seen that in the intelligent driving control system provided by the present application, when the vehicle is operating in energy-saving mode, the main controller stops the operation of the first sensor set and ends the driving control of the vehicle. The redundant controller performs vehicle driving control based on the information detected by the second sensor set to which it is connected, thereby reducing the energy consumption of the main controller and the first sensor set. While ensuring the safety of intelligent driving, it reduces the energy consumption required for intelligent driving control, thereby improving the vehicle's endurance. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in this application or related technologies, the following briefly introduces the drawings required for use in the embodiments or related technical descriptions. Obviously, the drawings described below are merely embodiments of this application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0035] Figure 1 A schematic diagram of the structure of an intelligent driving control system provided in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of the architecture of an intelligent driving control system provided in an embodiment of the present application;

[0037] Figure 3 A schematic diagram of the structure of another intelligent driving control system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] In order to make the objectives, technical solutions and advantages of this application more clear, this application is further described in detail below in combination with specific embodiments and with reference to the accompanying drawings.

[0039] It should be noted that, unless otherwise defined, the technical terms or scientific terms used in the embodiments of the present application should have the usual meanings understood by people with ordinary skills in the field to which this application belongs. The "first", "second" and similar words used in the embodiments of the present application do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word cover the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0040] Figure 1 This is a schematic diagram of the structure of an intelligent driving control system provided in an embodiment of the present application. The intelligent driving control system includes a main controller 11, a redundant controller 12, a first sensor set 110 electrically connected to the main controller 11, and a second sensor set 120 electrically connected to the redundant controller. The first sensor set 110 and the second sensor set 120 are not completely identical. The main controller 11 is connected to the redundant controller 12.

[0041] The main controller 11 is configured to control the first sensor assembly 110 to stop operating and terminate driving control of the vehicle when detecting that the vehicle is operating in the energy-saving mode;

[0042] The redundant controller 12 is configured to obtain second detection information from the second sensor set 120 when detecting that the vehicle is operating in the energy-saving mode, and perform driving control on the vehicle according to each second detection information.

[0043] In this embodiment, the vehicle's energy consumption mode can be divided into two types: normal power consumption mode and energy-saving mode. The vehicle's energy consumption in normal power consumption mode is greater than that in energy-saving mode. Specifically, the vehicle can be in normal power consumption mode when the remaining battery level is high (e.g., greater than a first set battery level threshold), and in energy-saving mode when the remaining battery level is low (e.g., less than a second set battery level threshold).

[0044] In this embodiment, the mode can be switched between normal power consumption mode and energy-saving mode according to an operation triggered by the user on the vehicle interface, or can be switched between normal power consumption mode and energy-saving mode according to the remaining power of the vehicle.

[0045] The first sensor assembly 110 constitutes the sensor architecture of the main controller 11. The first sensor assembly 110 may include various components mounted on the main controller 11 for detecting the vehicle's surrounding environment, such as a millimeter-wave radar sensor, a camera, or a lidar sensor. In this embodiment, the main controller 11 can power the first sensor assembly 110 connected thereto and receive first detection information transmitted by the first sensor assembly 110. The first detection information may include information detected by each component in the first sensor assembly 110.

[0046] The second sensor assembly 120 constitutes the sensor architecture of the redundant controller 12. The second sensor assembly 120 may include various devices onboard the redundant controller 12 for detecting the vehicle's surrounding field of view, such as a millimeter-wave radar sensor, a camera, or a lidar sensor. In this embodiment, the redundant controller 12 can power the second sensor assembly 120 connected thereto and receive second detection information transmitted by the second sensor assembly 120. The second detection information may include information detected by each device in the second sensor assembly 120.

[0047] In this embodiment, the first sensor set 110 and the second sensor set 120 can be used to collect environmental information required for intelligent driving control decision-making, such as lane vision information required for lane keeping assist, vehicle forward vision information required for forward collision warning, vehicle forward vision information required for automatic following, or vehicle rearward vision information required for rear cross traffic warning.

[0048] It should be noted that the first sensor set 110 and the second sensor set 120 in this embodiment together constitute a complete sensor architecture for intelligent driving control, i.e., a complete sensor architecture that implements all functions of intelligent driving control. Specifically, the first detection information collected by the first sensor set 110 and the second detection information collected by the second sensor set 120 together constitute the detection information required for all functions of intelligent driving control. It is understood that the functions included in the intelligent driving control of different vehicles may vary. For example, the intelligent driving control functions of vehicles at the L1 autonomous driving level may not be exactly the same as those of vehicles at the L2 or L3 autonomous driving levels. Specifically, the first sensor set 110 and the second sensor set 120 may be equipped based on the functions required by the intelligent driving control of the vehicle.

[0049] Specifically, all devices included in the first sensor set 110 are not completely identical to all devices included in the second sensor set 120 , that is, the second sensor set 120 at least includes devices different from those of the first sensor set 110 .

[0050] Optionally, the second sensor set 120 may form a sensor architecture corresponding to a basic active safety function in intelligent driving control. That is, the second sensor set 120 may collect detection information required by the basic active safety function in intelligent driving control.

[0051] Among them, basic active safety functions include but are not limited to AEB (Autonomous Emergency Braking), LKA (Lane Keeping Assist), BSD (Blind Spot Detection), SAS (Speed ​​Assist System), LDW (Lane Departure Warning) and human-computer interaction warning prompts.

[0052] Specifically, AEB can include AEB_CCR (Car-to-Car Automatic Emergency Braking), AEB VRU_PED (Vulnerable Road User_Pedestrian), and AEB Two-Wheeler. BSD can include BSD_C2C (Car-to-Car Blind Spot Detection) and BSD_C2TW (Car-to-Two-Wheel Blind Spot Detection). SAS can include SAS_SLIF (SAS Speed ​​Limit Information Function) and SAS_SLF (SAS Speed ​​Limitation Function).

[0053] Exemplarily, the second sensor set 120 may also have an operating power consumption lower than that of the first sensor set 110 while ensuring the collection of environmental information required for basic active safety functions in intelligent driving control.

[0054] In one embodiment, the second sensor set 120 carried on the redundant controller 12 is used to collect detection information required for basic active safety functions in intelligent driving control, and the first sensor set 110 carried on the main controller is used to collect detection information required for other functions in intelligent driving control except the basic active safety functions.

[0055] For example, the first sensor set 110 or the second sensor set 120 may include a laser radar sensor, a millimeter wave radar sensor, a camera, or an ultrasonic radar sensor, wherein each type of device has corresponding characteristics.

[0056] Specifically, lidar sensors are expensive, have a detection angle of 15° to 360°, and offer strong long-range detection capabilities and nighttime detection capabilities, but weak all-weather detection capabilities and detection capabilities in adverse weather conditions. They also have strong temperature stability, weak vehicle speed measurement capabilities, and are unable to recognize road signs. Millimeter-wave radar sensors are moderately expensive, have a detection angle of 10° to 70°, weak long-range detection capabilities, but strong nighttime, all-weather, and adverse weather detection capabilities, strong temperature stability, and strong vehicle speed measurement capabilities, but are unable to recognize road signs. Ultrasonic radar sensors are relatively inexpensive, have a detection angle of 120°, weak long-range detection capabilities, strong nighttime detection capabilities, weak all-weather detection capabilities, average adverse weather detection capabilities, weak temperature stability, average vehicle speed measurement capabilities, and are unable to recognize road signs. Cameras are moderately expensive, have a detection angle of 30°, weak long-range detection capabilities, nighttime, all-weather, and adverse weather detection capabilities, strong temperature stability, and weak vehicle speed measurement capabilities, but can recognize road signs.

[0057] In this embodiment, the sensor sets of the main controller 11 and the redundant controller 12 can be exactly the same. In order to further improve the accuracy of intelligent driving control, the sensor set of the main controller 11 can be determined in combination with the cost of various types of devices, detection capabilities in various situations, etc., as well as the sensor set of the redundant controller 12 that can make up for the defects of the sensor set of the main controller 11.

[0058] Optionally, the first sensor set 110 includes a rearview camera, four side-view cameras, a left-corner lidar sensor, and a right-corner lidar sensor; the second sensor set 120 includes a front-view camera, a front millimeter-wave radar sensor, four side-view cameras, and a four-corner millimeter-wave radar sensor; wherein the energy consumption of the second sensor set 120 during operation is less than the energy consumption of the first sensor set 110 during operation.

[0059] That is, the first sensor set carried on the main controller 11 can include a rear-view camera, four side-view cameras, a left-corner lidar sensor, and a right-corner lidar sensor; the second sensor set carried on the redundant controller 12 can include a front-view camera, a front millimeter-wave radar sensor, four side-view cameras, and four corner millimeter-wave radar sensors.

[0060] In the above example, the second sensor set 120 carried by the redundant controller 12 can meet the basic regulatory requirements for intelligent driving (i.e., basic active safety functions), and the first sensor set 110 carried by the main controller 11 can meet other functions in addition to the basic regulatory requirements for intelligent driving, that is, meet other functions in addition to the basic active safety functions.

[0061] For example, Figure 2 This is a schematic diagram of the architecture of an intelligent driving control system provided in an embodiment of the present application. A communication connection can be established between the main controller 11 and the redundant controller 12 via Ethernet. The main controller 11 and the redundant controller 12 are respectively connected to autonomous driving-related devices. The various sensors and cameras electrically connected to the main controller 11 can collect detection information required for other functions of the vehicle's intelligent driving control in addition to basic active safety functions. The various sensors and cameras electrically connected to the redundant controller 12 can also collect detection information required for basic active safety functions of the vehicle's intelligent driving control.

[0062] Moreover, the sensor architectures of the main controller 11 and the redundant controller 12 are not exactly the same, so that the sensor architecture of the redundant controller 12 can make up for the weak long-distance detection capability, night environment detection capability, all-weather detection capability or adverse weather environment detection capability in the sensor architecture of the main controller 11 while ensuring the realization of basic active safety functions.

[0063] In addition, the lidar sensor is a high-power device, and the sensor architecture of the redundant controller 12 does not include the lidar sensor, which can make the operating power consumption of the sensor architecture of the redundant controller 12 much lower than the operating power consumption of the sensor architecture of the main controller 12, further reducing the energy consumption required for intelligent driving control in normal power consumption mode, and further reducing the energy consumption required for intelligent driving control in energy-saving mode, greatly improving the vehicle's endurance.

[0064] In this embodiment, both the main controller 11 and the redundant controller 12 possess intelligent driving control decision-making and control capabilities. Specifically, they can determine decision information based on detection information and then perform corresponding driving control of the vehicle based on this information. For example, the main controller 11 and the redundant controller 12 can implement automatic following, lane keeping assist, lever lane change, automatic emergency braking, blind spot detection and warning, forward collision warning, lane departure warning, rear cross traffic warning, adaptive cruise control, and speed limit sign recognition.

[0065] Specifically, when the vehicle is in the normal power consumption mode, the main controller 11 controls the driving of the vehicle. When the vehicle is in the energy-saving mode, the redundant controller 12 controls the driving of the vehicle.

[0066] Among them, the main controller 11 is used to obtain the first detection information of the first sensor set 110 when the vehicle is in normal power consumption mode, receive the second detection information of the second sensor set 120 sent by the redundant controller 12, and control the driving of the vehicle according to the first detection information and the second detection information.

[0067] Specifically, when the vehicle is in normal power consumption mode, the main controller 11 supplies power to the first sensor set 110, enabling the first sensor set 110 to detect the vehicle's surrounding environment and obtain first detection information from the first sensor set 110. Simultaneously, the redundant controller 12 supplies power to the second sensor set 120, enabling the second sensor set 120 to detect the vehicle's surrounding environment and obtain second detection information from the second sensor set 120, which is then sent to the main controller 11. The main controller 11 determines decision information based on the first and second detection information, and controls the vehicle accordingly.

[0068] It should be noted that since the first sensor set 110 and the second sensor set 120 are not exactly the same, the first detection information and the second detection information are not exactly the same. The main controller 11 controls the driving of the vehicle based on the first detection information and the second detection information. Specifically, it can be: the main controller 11 fuses the first detection information and the second detection information, obtains decision information based on the information fusion result, and then performs corresponding driving control on the vehicle based on the decision information.

[0069] The advantage of the main controller 11 controlling vehicle driving based on both the first and second detection information is that, compared to a method where the main controller 11 controls driving based solely on the first detection information, incorporating the second detection information improves control accuracy. This is particularly true when the second sensor set is not identical to the first sensor set. Incorporating the second detection information can prevent the first sensor set's detection capabilities from affecting intelligent driving control. Furthermore, the second sensor set can operate in both normal power consumption mode and energy-saving mode, eliminating the need to switch to operation in energy-saving mode. This reduces the waiting time between normal power consumption mode and energy-saving mode.

[0070] When the vehicle is in energy-saving mode, the main controller 11 stops supplying power to the first sensor assembly 110, thereby stopping the operation of the first sensor assembly 110. Furthermore, the main controller 11 enters a silent state, meaning that the main controller 11 no longer sends any signals, thereby terminating driving control of the vehicle. The redundant controller 12 controls the driving of the vehicle based on the second detection information from the second sensor assembly 120.

[0071] That is, when the vehicle is in energy-saving mode, all components in the first sensor assembly 110 cease operation, the main controller 11 no longer sends signals, and the redundant controller 12 takes over driving control from the main controller 11. During this process, because the first sensor assembly 110 ceases operation and the main controller 11 is in a silent state in energy-saving mode, power consumption in energy-saving mode is much lower than in normal power consumption mode.

[0072] In the intelligent driving control system provided in the embodiment of the present application, when the vehicle is operating in energy-saving mode, the main controller stops the operation of the first sensor set and ends the driving control of the vehicle. The redundant controller performs vehicle driving control based on the information detected by the second sensor set to which it is connected, thereby reducing the energy consumption of the main controller and the first sensor set. While ensuring the safety of intelligent driving, it also reduces the energy consumption required for intelligent driving control, thereby improving the vehicle's endurance.

[0073] Figure 3 This is a schematic diagram of the structure of another intelligent driving control system provided by an embodiment of the present application. Based on the above embodiments, an autonomous driving associated device is added to the system, and the main controller and redundant controller can also send control signals to the autonomous driving associated device.

[0074] Specifically, the intelligent driving control system includes a main controller 21, a redundant controller 22, an automatic driving associated device 23, a first sensor set 210 electrically connected to the main controller 21, and a second sensor set 220 electrically connected to the redundant controller. The first sensor architecture 210 and the second sensor architecture 220 are not completely the same. The automatic driving associated device 23 is connected to the main controller 21 and the redundant controller 22 respectively, and the main controller 21 is connected to the redundant controller 22.

[0075] The main controller 21 is further configured to, when the vehicle is in a normal power consumption mode, obtain first detection information from the first sensor set 210, receive second detection information from the second sensor set 220 sent by the redundant controller 22, generate a first control signal based on the first detection information and the second detection information, and send the signal to the automatic driving associated device 23, wherein a signal status indicator in the first control signal indicates that the signal is valid;

[0076] The redundant controller 22 is further configured to generate a second control signal based on the second detection information and send it to the automatic driving associated device 23 when the vehicle is in the normal power consumption mode; and to generate a third control signal based on the second detection information and send it to the automatic driving associated device 23 when the vehicle is in the energy saving mode, wherein the signal status indicator in the second control signal indicates that the signal is invalid, and the signal status indicator in the third control signal indicates that the signal is valid;

[0077] The automatic driving associated device 23 is also used to determine the current valid control signal according to the signal status identification of each control signal when receiving each control signal, and perform driving control based on the current valid control signal.

[0078] Among them, the automatic driving associated device 23 can be a related device for performing driving control, such as an interactive module, a lateral and longitudinal control module, a real vehicle video acquisition module or a vehicle communication module.

[0079] In this embodiment, when the vehicle is in normal power consumption mode, the main controller 21 can generate a first control signal based on the first detection information and the second detection information and send it to the automatic driving associated device 23. At the same time, the redundant controller 22 can generate a second control signal based on the second detection information and send it to the automatic driving associated device 23. The signal status indicator in the first control signal indicates that the signal is valid, and the signal status indicator in the second control signal indicates that the signal is invalid.

[0080] Furthermore, when the automatic driving association device 23 receives the first control signal and the second control signal at the same time, it can determine that the first control signal is the current valid control signal based on the signal status identifier in the control signal, and then perform driving control based on the current valid control signal to realize the driving control of the vehicle by the main controller 21 in normal power consumption mode.

[0081] When the vehicle is in energy-saving mode, the main controller 21 does not send a control signal, and the redundant controller 22 generates a third control signal and sends it to the automatic driving associated device 23, wherein the signal status identifier in the third control signal indicates that the signal is valid.

[0082] Furthermore, when the automatic driving associated device 23 receives the third control signal, it can determine that the third control signal is the current valid control signal based on the signal status identifier in the control signal, and then perform driving control based on the current valid control signal to realize the driving control of the vehicle by the redundant controller 22 in the energy-saving mode.

[0083] In other words, in both normal power consumption mode and energy-saving mode, the redundant controller 22 needs to send a control signal to the automatic driving associated device 23. Specifically, the redundant controller can set the signal status flag to the flag corresponding to the invalid signal in normal power consumption mode, and set the signal status flag to the flag corresponding to the valid signal in energy-saving mode.

[0084] It should be noted that the purpose of the redundant controller 22 sending the second control signal in normal power consumption mode and sending the third control signal in energy-saving mode is to enable the redundant controller 22 to continuously send control signals. When the vehicle switches from normal power consumption mode to energy-saving mode, the redundant controller 22 only needs to modify the signal status identifier to achieve control of the vehicle, reducing the waiting time when switching from normal power consumption mode to energy-saving mode, and improving the takeover efficiency of the redundant controller when switching to energy-saving mode.

[0085] In a specific embodiment, the automatic driving association device 23 includes an interactive module; the interactive module is used to determine the current valid warning signal according to the signal status identification of each safety warning signal when receiving each safety warning signal, and display the warning prompt information corresponding to the current valid warning signal on the interactive interface.

[0086] The interaction module may include an HMI (Human Machine Interface). Specifically, the main controller 21 or the redundant controller 22 may generate a safety warning signal based on the detection information and send it to the interaction module. The safety warning signal may include a lane departure warning signal, a front vehicle collision warning signal, a blind spot object warning signal, a speed limit warning signal, or a rear lateral traffic participant warning signal.

[0087] For example, when the main controller 21 or the redundant controller 22 determines that the vehicle has deviated from the lane based on the detection information, it generates a lane departure warning signal and sends it to the interaction module; or, when it determines that there is a lateral traffic participant behind the vehicle based on the detection information, it generates a rear lateral traffic participant warning signal and sends it to the interaction module.

[0088] Furthermore, after receiving each safety warning signal, the interactive module can determine the currently valid warning signal based on the signal status identifier of each safety warning signal. This can be done by determining the safety warning signal sent by the main controller 21 as the currently valid warning signal in normal power consumption mode, and by determining the safety warning signal sent by the redundant controller 22 as the currently valid warning signal in energy-saving mode. The interactive module can then display warning prompt information corresponding to the currently valid warning signal on the interactive interface. The interactive interface can be a vehicle-mounted interface, a user terminal interface, or the like. The warning prompt information can be displayed in the form of voice, text, images, or signal lights.

[0089] Through the above-mentioned interaction module, warning assistance functions in intelligent driving control are realized, such as lane departure warning, front vehicle collision warning, blind spot object warning, speed limit warning, etc.; moreover, the interaction module can continuously receive safety warning signals sent by the redundant controller in normal power consumption mode and energy-saving mode, thereby improving the efficiency of the interaction module in executing corresponding operations when switching to energy-saving mode.

[0090] Optionally, the interactive module is also used to send an energy-saving mode switching instruction to the main controller 21 and the redundant controller 22 when an energy-saving mode switching instruction input by the user is detected; the main controller 21 is also used to determine whether the vehicle switches from the normal power consumption mode to the energy-saving mode based on the energy-saving mode switching instruction; the redundant controller 22 is also used to determine whether the vehicle switches from the normal power consumption mode to the energy-saving mode based on the energy-saving mode switching instruction.

[0091] The energy-saving mode switching voice command can be determined based on the energy-saving mode switching operation performed by the user on the interactive interface; or the energy-saving mode switching voice command can be determined based on the energy-saving mode switching voice input by the user. Specifically, when the interactive module detects the energy-saving mode switching voice command, it can send the energy-saving mode switching command to the main controller 21 and the redundant controller 22, so that the main controller 21 and the redundant controller 22 determine that the vehicle switches to energy-saving mode based on the energy-saving mode switching command. Through the above method, mode switching based on user input commands is realized, and users can switch modes according to vehicle usage needs, thereby improving vehicle endurance.

[0092] In addition to the above-mentioned mode switching according to the user input instruction, in another specific embodiment, the mode switching can also be performed according to the remaining power of the vehicle.

[0093] That is, optionally, the main controller 21 is also used to determine the current power of the vehicle, and when it detects that the current power is less than a preset power threshold, generates an energy-saving mode switching instruction, determines that the vehicle switches from normal power consumption mode to energy-saving mode based on the energy-saving mode switching instruction, and sends the energy-saving mode switching instruction to the redundant controller 22; or, the redundant controller 22 is also used to determine the current power of the vehicle, and when it detects that the current power is less than a preset power threshold, generates an energy-saving mode switching instruction, determines that the vehicle switches from normal power consumption mode to energy-saving mode based on the energy-saving mode switching instruction, and sends the energy-saving mode switching instruction to the main controller 21.

[0094] The current battery level may be the current remaining battery level of the vehicle; the preset battery level threshold may be a preset critical battery level at which the vehicle needs to switch to the energy-saving mode. Specifically, the main controller 21 or the redundant controller 22 may obtain the current battery level of the vehicle and determine whether the current battery level is less than the preset battery level threshold. If so, it may generate an energy-saving mode switching instruction and send the energy-saving mode switching instruction to the redundant controller 12 or the main controller 21.

[0095] Furthermore, the main controller 21 and the redundant controller 22 may determine that the vehicle switches from the normal power consumption mode to the energy-saving mode according to the energy-saving mode switching instruction.

[0096] It can be understood that the main controller 21 or the redundant controller 22 can also generate a normal mode switching instruction when the current power level is greater than the preset power threshold, and send the normal mode switching instruction to the redundant controller 22 or the main controller 21; the main controller 21 and the redundant controller 22 are also used to determine whether the vehicle switches from energy-saving mode to normal power consumption mode based on the normal mode switching instruction.

[0097] Through the above method, automatic mode switching based on the remaining power of the vehicle can be achieved, and the user can be automatically switched to energy-saving mode without user operation, thereby improving the user experience. In addition, especially when the user is unaware of the normal power consumption mode and energy-saving mode, the vehicle's endurance is automatically improved.

[0098] In a specific embodiment, the automatic driving association device 23 also includes a transverse and longitudinal control module; the transverse and longitudinal control module is used to determine the current valid transverse and longitudinal signal according to the signal status identifier of each transverse and longitudinal control signal when receiving each transverse and longitudinal control signal, and perform transverse and longitudinal control on the vehicle's driving according to the current valid transverse and longitudinal signal.

[0099] The lateral and longitudinal control modules can be used to perform both lateral and longitudinal vehicle control. Specifically, the primary controller 21 or the redundant controller 22 can generate lateral and longitudinal control signals based on detection information and send them to the lateral and longitudinal control modules. These lateral and longitudinal control signals can be used for lateral vehicle control, longitudinal vehicle control, or both. Exemplarily, the lateral and longitudinal control signals can include at least one of longitudinal acceleration, lateral acceleration, front wheel deflection angle, and rear wheel deflection angle.

[0100] For example, when the main controller 21 or the redundant controller 22 determines that the vehicle has deviated from the lane based on the detection information, it generates a lateral and longitudinal control signal and sends it to the lateral and longitudinal control module to keep the vehicle in the center of the lane through lateral and longitudinal control; or, when it determines that there is a front vehicle collision warning based on the detection information, it generates a lateral and longitudinal control signal and sends it to the lateral and longitudinal control module to slow down the vehicle through lateral and longitudinal control; or, when automatically following the vehicle based on the detection information, it generates a lateral and longitudinal control signal and sends it to the lateral and longitudinal control module to control the vehicle to automatically follow the vehicle through lateral and longitudinal control.

[0101] Furthermore, after receiving each lateral and longitudinal control signal, the lateral and longitudinal control state can determine the current valid lateral and longitudinal signals according to the signal state identifier of each lateral and longitudinal control signal, so as to determine that the lateral and longitudinal control signals sent by the main controller 21 are the current valid lateral and longitudinal signals in the normal power consumption mode, and determine that the lateral and longitudinal control signals sent by the redundant controller 22 are the current valid lateral and longitudinal signals in the energy-saving mode; and then perform lateral and longitudinal control on the vehicle's driving according to the current valid lateral and longitudinal signals.

[0102] Through the above-mentioned lateral and longitudinal control modules, the lateral and longitudinal control functions in intelligent driving control, such as lane keeping, front collision assistance, automatic following, automatic emergency braking, etc., are realized; moreover, the lateral and longitudinal control modules can continuously receive lateral and longitudinal control signals sent by the redundant controller in normal power consumption mode and energy-saving mode, thereby improving the efficiency of the lateral and longitudinal control modules in performing corresponding operations when switching to energy-saving mode.

[0103] In a specific embodiment, the automatic driving association device 23 also includes a real vehicle video acquisition module; the real vehicle video acquisition module is used to determine the current valid recording signal according to the signal status identifier of each video recording signal when receiving each video recording signal, and based on the current valid recording signal, record the vehicle's driving process through a preset camera and store the recorded video.

[0104] The real vehicle video acquisition module may include a DVR (Digital Video Recorder). Specifically, the main controller 21 or the redundant controller 22 may generate a video recording signal based on the detection information and send it to the real vehicle video acquisition module.

[0105] For example, when the main controller 21 or the redundant controller 22 determines that there is an object in the blind spot of the vehicle based on the detection information, it generates a video recording signal and sends it to the real vehicle video acquisition module to record the video of the blind spot of the vehicle; or, when it determines that the vehicle has a front vehicle collision warning based on the detection information, it generates a video recording signal and sends it to the real vehicle video acquisition module to record the video in front of the vehicle; or, when it determines that there is a lateral traffic participant behind the vehicle based on the detection information, it generates a video recording signal and sends it to the real vehicle video acquisition module to record the video of the rear of the vehicle.

[0106] Furthermore, after receiving each video recording signal, the real vehicle video acquisition module can determine the current valid recording signal based on the signal status identifier of each video recording signal, so as to determine that the video recording signal sent by the main controller 21 is the current valid recording signal in normal power consumption mode, and determine that the video recording signal sent by the redundant controller 22 is the current valid recording signal in energy-saving mode; and then record the video through the preset camera according to the current valid recording signal, and store the recorded video.

[0107] Through the above-mentioned real-vehicle video acquisition module, the video recording function in intelligent driving control is realized, such as front collision assistance, automatic emergency braking, rear lateral traffic warning and other functions that require video recording; and the real-vehicle video acquisition module can continuously receive the video recording signals sent by the redundant controller in normal power consumption mode and energy-saving mode, thereby improving the efficiency of the real-vehicle video acquisition module in performing corresponding operations when switching to energy-saving mode.

[0108] In a specific embodiment, the automatic driving association device 23 also includes a vehicle communication module; the vehicle communication module is used to determine the current valid rescue signal according to the signal status identifier of each vehicle rescue signal when receiving each vehicle rescue signal, and establish a communication connection with other rescue equipment based on the current valid rescue signal.

[0109] The vehicle communication module may be a T-Box (Telematics Box, a vehicle-mounted communication terminal). Specifically, the main controller 21 or the redundant controller 22 may generate a vehicle rescue signal based on the detection information and send it to the vehicle communication module.

[0110] For example, when the main controller 21 or the redundant controller 22 determines that the vehicle has collided based on the detection information, it generates a vehicle rescue signal and sends it to the vehicle communication module; or, when it determines that there is an accident around the vehicle based on the detection information, it generates a vehicle rescue signal and sends it to the vehicle communication module.

[0111] Furthermore, after receiving each vehicle rescue signal, the vehicle communication module can determine the current valid rescue signal based on the signal status identifier of each vehicle rescue signal, so as to determine that the vehicle rescue signal sent by the main controller 21 is the current valid rescue signal in normal power consumption mode, and determine that the vehicle rescue signal sent by the redundant controller 22 is the current valid rescue signal in energy-saving mode; and then establish a call connection with other rescue equipment based on the current valid rescue signal.

[0112] Other rescue devices include, but are not limited to, the cloud platform, surrounding vehicles, and terminals of associated users. For example, the vehicle communication module can send a call request to the cloud platform based on the current valid rescue signal to establish a call connection with the cloud platform; or send a call request to surrounding vehicles based on the current valid rescue signal to establish a call connection with surrounding vehicles; or send a call request to a terminal of a preset associated user based on the current valid rescue signal to establish a call connection with the terminal of the associated user.

[0113] Through the above-mentioned vehicle communication module, the rescue call function in intelligent driving control, such as collision rescue call, is realized; and the vehicle communication module can continuously receive vehicle rescue signals sent by the redundant controller in normal power consumption mode and energy-saving mode, thereby improving the efficiency of the vehicle communication module in performing corresponding operations when switching to energy-saving mode.

[0114] In this embodiment, the main controller 21 can also perform fault detection on other components. Optionally, the main controller 21 is further configured to perform fault detection on the redundant controller 22, the first sensor set 210, and the second sensor set 220 when the vehicle is in normal power consumption mode. If a fault is detected, the main controller 21 sends a fault signal to at least one of the interaction module, the lateral and longitudinal control module, the real vehicle video acquisition module, and the vehicle communication module.

[0115] The interactive module is further configured to display a driving takeover prompt message on the interactive interface upon receiving a fault signal;

[0116] The transverse and longitudinal control module is also used to control the vehicle to pull over when a fault signal is received;

[0117] The real vehicle video acquisition module is also used to record the vehicle's driving process through a preset camera and store the recorded video when a fault signal is received;

[0118] The vehicle communication module is also used to establish a communication connection with other rescue equipment when a fault signal is received.

[0119] Specifically, the main controller 21 can send a fault signal to at least one of the interaction module, the lateral and longitudinal control module, the vehicle video acquisition module, and the vehicle communication module, based on the number or type of faulty components. The interaction module can prompt the user of a driving function degradation in the event of a component failure, i.e., it can notify the user that the intelligent driving control function has been degraded and that manual control of the vehicle is required. The lateral and longitudinal control module can directly control the vehicle to pull over in the event of a component failure. The vehicle video acquisition module can record and store video in the event of a component failure. The vehicle communication module can call for other rescue equipment in the event of a component failure.

[0120] For example, if a large number of components fail, the system will send a prompt to the interaction module to prompt the driver to take over the vehicle. Furthermore, if the driver fails to take over within a set time, a fault signal will be sent to the lateral and longitudinal control modules, which will then control the vehicle to pull over. If the failed component is a redundant controller, a fault signal can be sent to the interaction module, the real-vehicle video acquisition module, and the vehicle communication module. If the driver fails to take over within a set time, a fault signal will be sent to the lateral and longitudinal control modules.

[0121] Of course, the main controller 21 can also perform fault self-checking. If it detects a fault in itself, it sends a takeover instruction to the redundant controller 22, and the redundant controller 22 controls the vehicle driving according to the takeover instruction; and the main controller 21 can also send fault signals to the interactive module, the real vehicle video acquisition module and the vehicle communication module, and send a fault signal to the lateral and longitudinal control modules when it detects that the driver has not taken over the vehicle within the set time.

[0122] It should be noted that the redundant controller 22 can also be used to perform fault detection on the main controller 21, the first sensor set 210 and the second sensor set 220 when the vehicle is in energy-saving mode. If a fault is detected, a fault signal is sent to at least one of the interaction module, the lateral and longitudinal control module, the real vehicle video acquisition module and the vehicle communication module.

[0123] In energy-saving mode, the redundant controller 22 can also perform fault self-detection. If a fault is detected in itself, it sends a takeover instruction to the main controller 21. The main controller 21 controls the vehicle driving according to the takeover instruction. In addition, the redundant controller 22 can also send fault signals to the interactive module, the real vehicle video acquisition module and the vehicle communication module, and send a fault signal to the lateral and longitudinal control modules when it detects that the driver has not taken over the vehicle within the set time.

[0124] Of course, when the vehicle is in normal power consumption mode, the main controller 21 can also perform fault detection on the interaction module, lateral and longitudinal control modules, real vehicle video acquisition module, and vehicle communication module. If a fault is detected, a fault signal can be sent to the unfaulted autonomous driving related devices. When the vehicle is in energy saving mode, the redundant controller 22 can also perform fault detection on the interaction module, lateral and longitudinal control modules, real vehicle video acquisition module, and vehicle communication module. If a fault is detected, a fault signal can be sent to the unfaulted autonomous driving related devices.

[0125] Through the above method, fault detection of intelligent driving control in normal power consumption mode and energy-saving mode is realized, which reduces the energy consumption required for intelligent driving control while ensuring the safety of intelligent driving control.

[0126] The intelligent driving control system provided by the embodiment of the present application is such that, when the vehicle is in normal power consumption mode, the main controller sends a first control signal to the automatic driving associated device, and the redundant controller sends a second control signal to the automatic driving associated device, and the automatic driving associated device determines that the first control signal is the currently valid control signal based on the signal status identifier; when the vehicle is in energy-saving mode, the redundant controller sends a third control signal to the automatic driving associated device, and the automatic driving associated device determines that the third control signal is the currently valid control signal based on the signal status identifier, and the control signal is continuously sent through the redundant controller. When the vehicle switches from normal power consumption mode to energy-saving mode, the redundant controller only needs to modify the signal status identifier to achieve control of the vehicle, thereby reducing the waiting time when switching from normal power consumption mode to energy-saving mode and improving the takeover efficiency of the redundant controller when switching to energy-saving mode.

[0127] An embodiment of the present application also provides a vehicle, which includes the intelligent driving control system provided by any embodiment of the present application.

[0128] For the convenience of description, the above devices are described as being divided into various modules according to their functions. Of course, when implementing this application, the functions of each module can be implemented in the same or multiple software and / or hardware.

[0129] It should be noted that the above description is limited to some embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in an order different from that described in the above embodiments and still achieve the desired results. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential order shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0130] The embodiments of the present application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the embodiments of the present application should be included in the scope of protection of this application.

Claims

1. An intelligent driving control system, characterized in that: The system comprises a main controller, a redundant controller, a first sensor set electrically connected to the main controller, and a second sensor set electrically connected to the redundant controller, wherein the first sensor set is not completely identical to the second sensor set, and the main controller is connected to the redundant controller, wherein; The main controller is configured to control the first sensor set to stop operating and terminate driving control of the vehicle when detecting that the vehicle is operating in the energy-saving mode; The redundant controller is configured to, when detecting that the vehicle is operating in the energy-saving mode, obtain second detection information collected by the second sensor set, and perform driving control on the vehicle according to the second detection information; Among them, the main controller is used to obtain the first detection information of the first sensor set when the vehicle is in normal power consumption mode, receive the second detection information of the second sensor set sent by the redundant controller, and control the driving of the vehicle according to the first detection information and the second detection information.

2. The system according to claim 1, wherein: The system further includes an automatic driving association device, wherein the automatic driving association device is connected to the main controller and the redundant controller respectively; The main controller is further configured to, when the vehicle is in a normal power consumption mode, obtain first detection information from the first sensor set, receive second detection information from the second sensor set sent by the redundant controller, and generate a first control signal based on the first detection information and the second detection information and send the signal to the automatic driving associated device, wherein the signal status indicator in the first control signal indicates that the signal is valid; The redundant controller is further configured to, when the vehicle is in a normal power consumption mode, generate a second control signal based on the second detection information and send it to the automatic driving associated device; and, when the vehicle is in an energy-saving mode, generate a third control signal based on the second detection information and send it to the automatic driving associated device, wherein the signal status identifier in the second control signal indicates that the signal is invalid, and the signal status identifier in the third control signal indicates that the signal is valid; The automatic driving associated device is also used to determine the current valid control signal according to the signal status identification of each control signal when receiving each control signal, and perform driving control based on the current valid control signal.

3. The system according to claim 2, characterized in that The autonomous driving association device includes an interaction module; The interactive module is used to determine the current valid warning signal according to the signal status identification of each safety warning signal when receiving each safety warning signal, and display the warning prompt information corresponding to the current valid warning signal on the interactive interface.

4. The system according to claim 3, characterized in that The automatic driving associated device further includes a lateral and longitudinal control module; The transverse and longitudinal control module is used to determine the current valid transverse and longitudinal signals according to the signal status identifiers of the transverse and longitudinal control signals when receiving the transverse and longitudinal control signals, and perform transverse and longitudinal control on the vehicle's driving according to the current valid transverse and longitudinal signals.

5. The system according to claim 4, characterized in that The automatic driving association device further includes a real vehicle video acquisition module; The real vehicle video acquisition module is used to determine the current valid recording signal according to the signal status identifier of each video recording signal when receiving each video recording signal, record the driving process of the vehicle through a preset camera based on the current valid recording signal, and store the recorded video.

6. The system according to claim 5, characterized in that The autonomous driving association device further includes a vehicle communication module; The vehicle communication module is used to determine the current valid rescue signal according to the signal status identifier of each vehicle rescue signal when receiving each vehicle rescue signal, and establish a call connection with other rescue equipment based on the current valid rescue signal.

7. The system according to claim 6, characterized in that The main controller is further configured to determine a current power level of the vehicle, and when detecting that the current power level is less than a preset power level threshold, generate an energy-saving mode switching instruction, determine based on the energy-saving mode switching instruction that the vehicle switches from the normal power consumption mode to the energy-saving mode, and send the energy-saving mode switching instruction to the redundant controller; or The redundant controller is also used to determine the current power level of the vehicle, and when it is detected that the current power level is less than a preset power threshold, generate an energy-saving mode switching instruction, determine based on the energy-saving mode switching instruction that the vehicle switches from the normal power consumption mode to the energy-saving mode, and send the energy-saving mode switching instruction to the main controller.

8. The system according to claim 6, wherein: The main controller is further configured to perform fault detection on the redundant controller, the first sensor set, and the second sensor set when the vehicle is in a normal power consumption mode, and if a fault is detected, send a fault signal to at least one of the interaction module, the lateral and longitudinal control module, the real vehicle video acquisition module, and the vehicle communication module; The interactive module is further configured to display a driving takeover prompt message on the interactive interface upon receiving the fault signal; The transverse and longitudinal control module is further configured to control the vehicle to pull over when receiving the fault signal; The real vehicle video acquisition module is further configured to record the driving process of the vehicle through a preset camera and store the recorded video when the fault signal is received; The vehicle communication module is further configured to establish a communication connection with other rescue equipment upon receiving the fault signal.

9. The system according to claim 1, wherein: The second sensor set is used to collect detection information required for the basic active safety functions of the vehicle during the intelligent driving control process.

10. A vehicle, characterized in that: The vehicle includes the intelligent driving control system according to any one of claims 1 to 9.

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