Self-driving vehicle chassis control method, device and computer equipment

Abstract

The application discloses a chassis control method of an unmanned vehicle, and comprises the following steps: S202, monitoring the health state of a main embedded terminal and a main chassis control node running in the main embedded terminal; S204, when the main embedded terminal fails, controlling the chassis by a backup embedded terminal; and S206, when the main chassis control node running in the main embedded terminal fails, controlling the chassis by a backup chassis control node running in the main embedded terminal. The method can improve the driving safety of the unmanned vehicle.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular to a method, apparatus and computer equipment for controlling the chassis of an autonomous vehicle. Background Technology

[0002] With the development of computer technology, autonomous driving technology has emerged. Autonomous vehicles are a type of intelligent vehicle, also known as wheeled mobile robots, primarily relying on an onboard computer system to achieve autonomous driving. However, in traditional autonomous vehicles, when the control terminal and / or chassis control nodes malfunction, the chassis loses control, compromising the vehicle's safety. Summary of the Invention

[0003] Therefore, it is necessary to provide a method, device, and computer equipment for controlling the chassis of an autonomous vehicle that can improve the driving safety of autonomous vehicles, in response to the above-mentioned technical problems.

[0004] An autonomous vehicle chassis control method is applied to an autonomous vehicle system. The autonomous vehicle system includes a main embedded terminal, a backup embedded terminal, and a vehicle chassis. A main vehicle chassis control node and a backup vehicle chassis control node run in the main embedded terminal and the backup embedded terminal, respectively. After startup, the autonomous vehicle system controls the vehicle chassis through the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal. The method includes:

[0005] Monitor the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal;

[0006] When the main embedded terminal fails, the vehicle chassis is controlled via the backup embedded terminal; and

[0007] When the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the main embedded terminal.

[0008] In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; when the main embedded terminal fails, the backup embedded terminal controls the vehicle chassis, including:

[0009] When the source of fault data in the main embedded terminal is detected, and the source of fault data is not the main vehicle chassis control node running in the main embedded terminal, the vehicle chassis is controlled through the corresponding target function node running in the backup embedded terminal.

[0010] When the source of fault data in the main embedded terminal is detected, and the source of fault data is the main vehicle chassis control node running in the main embedded terminal, the step of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal is executed.

[0011] When no fault data source is detected in the main embedded terminal, the vehicle chassis is globally controlled through the backup embedded terminal.

[0012] In one embodiment, when a fault data source is detected in the main embedded terminal, and the fault data source is not the main vehicle chassis control node running in the main embedded terminal, controlling the vehicle chassis through the corresponding target function node running in the backup embedded terminal includes:

[0013] When the source of fault data in the main embedded terminal is detected, and the source of the fault data is the backup chassis control node running in the main embedded terminal, the chassis is controlled through the main chassis control node running in the backup embedded terminal.

[0014] In one embodiment, the method further includes:

[0015] When the main vehicle chassis control node running in the backup embedded terminal fails, the vehicle chassis is controlled through the backup vehicle chassis control node running in the backup embedded terminal.

[0016] In one embodiment, controlling the vehicle chassis via a backup vehicle chassis control node running in the main embedded terminal includes:

[0017] The backup vehicle chassis control node running in the main embedded terminal receives autonomous driving control commands sent by the autonomous driving computing center; and

[0018] The vehicle chassis is controlled by the aforementioned autonomous driving control commands.

[0019] In one embodiment, the autonomous driving control command is an emergency stop command, and controlling the vehicle chassis via the autonomous driving control command includes:

[0020] The emergency stop command controls the vehicle chassis to perform emergency braking.

[0021] In one embodiment, the health status monitoring step of the main embedded terminal includes:

[0022] The backup embedded terminal periodically receives heartbeat data packets sent by the main embedded terminal; and

[0023] If the backup embedded terminal does not receive the heartbeat data packet for a preset time interval, it is determined that the main embedded terminal has malfunctioned.

[0024] In one embodiment, the health status monitoring step of the main vehicle chassis control node includes:

[0025] The health status of the corresponding main vehicle chassis control node is obtained by monitoring the corresponding main vehicle chassis control node in real time through the monitoring program.

[0026] In one embodiment, the method further includes:

[0027] Receive raw radar data sent by radar sensors;

[0028] Extract the azimuth information from the raw radar data;

[0029] Based on the azimuth information, the original radar data with azimuth angles within a preset angle range are used as point cloud data;

[0030] Based on the point cloud data, determine whether there are obstacles ahead of the autonomous vehicle in its direction of travel; and

[0031] When an obstacle is present, the vehicle chassis is controlled to perform emergency braking.

[0032] In one embodiment, determining whether there is an obstacle ahead of the autonomous vehicle's driving direction based on the point cloud data includes:

[0033] The fan-shaped area defined by the preset angle range is determined as the obstacle detection area;

[0034] Determine the density values ​​of the coordinate points corresponding to the point cloud data in the obstacle detection area; and

[0035] When the density value is greater than a preset density threshold, it is determined that there is an obstacle in front of the autonomous vehicle's driving direction.

[0036] An autonomous vehicle chassis control device is applied to an autonomous vehicle system. The autonomous vehicle system includes a main embedded terminal, a backup embedded terminal, and a vehicle chassis. A main vehicle chassis control node and a backup vehicle chassis control node operate in the main embedded terminal and the backup embedded terminal, respectively. After startup, the autonomous vehicle system controls the vehicle chassis through the main embedded terminal and the main vehicle chassis control node operating in the main embedded terminal. The device includes:

[0037] The monitoring module is used to monitor the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal;

[0038] The control module is used to control the vehicle chassis through the backup embedded terminal when the main embedded terminal fails; and to control the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal when the main vehicle chassis control node running in the main embedded terminal fails.

[0039] A computer device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the methods described in the above embodiments.

[0040] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the methods described in the above embodiments.

[0041] The aforementioned autonomous vehicle chassis control method, device, and computer equipment monitor the health status of the main embedded terminal and the main chassis control node running within it. When the main embedded terminal fails, the chassis is controlled via a backup embedded terminal; and when the main chassis control node running within the main embedded terminal fails, the chassis is controlled via a backup chassis control node running within the main embedded terminal. In this way, the autonomous vehicle system can achieve real-time monitoring of its own embedded terminal and chassis control node. Upon detecting a failure in the currently controlled embedded terminal and / or chassis control node, a backup embedded terminal and / or chassis control node can take over control of the chassis, ensuring normal chassis control and thus improving the driving safety of the autonomous vehicle. Attached Figure Description

[0042] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is an application scenario diagram of an autonomous vehicle chassis control method in one embodiment;

[0044] Figure 2 This is a flowchart illustrating an autonomous vehicle chassis control method in one embodiment;

[0045] Figure 3 This is a system architecture diagram of an autonomous vehicle chassis control method in one embodiment;

[0046] Figure 4 This is a flowchart illustrating the chassis control method for an unmanned vehicle in another embodiment;

[0047] Figure 5 This is a structural block diagram of the chassis control device for an unmanned vehicle in one embodiment.

[0048] Figure 6 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0050] The unmanned vehicle chassis control method provided in this application can be applied to, for example... Figure 1 The application environment shown includes an autonomous vehicle system 102. The autonomous vehicle system 102 includes a main embedded terminal 1021, a backup embedded terminal 1022, and a vehicle chassis 1023. The main embedded terminal 1021 runs a main vehicle chassis control node 1021a and a backup vehicle chassis control node 1021b; the backup embedded terminal 1022 runs a main vehicle chassis control node 1022a and a backup vehicle chassis control node 1022b. The main embedded terminal 1021 and the backup embedded terminal 1022 are isomorphic, and the control logic of the main vehicle chassis control node 102a and the backup vehicle chassis control node 102b is the same. After startup, the autonomous vehicle system 102 controls the vehicle chassis through the main embedded terminal 1021 and the main vehicle chassis control node 102a running within the main embedded terminal. Those skilled in the art will understand that… Figure 1 The application environments shown are only some scenarios related to the solution of this application and do not constitute a limitation on the application environment of the solution of this application.

[0051] The autonomous vehicle system 102 monitors the health status of the main embedded terminal 1021 and the main vehicle chassis control node 102a running in the main embedded terminal 1021; when the main embedded terminal 1021 fails, the vehicle chassis is controlled through the backup embedded terminal 1022; and when the main vehicle chassis control node 102a running in the main embedded terminal 1021 fails, the vehicle chassis 1023 is controlled through the backup vehicle chassis control node 1022 running in the main embedded terminal 1021.

[0052] In one embodiment, such as Figure 2 As shown, a chassis control method for an autonomous vehicle is provided, which is applied to... Figure 1 Taking the unmanned vehicle system 102 as an example, the explanation includes the following steps:

[0053] S202 monitors the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal.

[0054] Specifically, the autonomous vehicle can be equipped with an autonomous vehicle system, which includes a main embedded terminal, a backup embedded terminal, and a vehicle chassis. The main and backup embedded terminals each run a main chassis control node and a backup chassis control node. The main and backup embedded terminals are isomorphic, and their control logic is identical. After startup, the autonomous vehicle system controls the vehicle chassis through the main embedded terminal and the main chassis control node running within it. The isomorphism between the main and backup embedded terminals means they share the same structure and functional modules. Each main and backup embedded terminal has independent hardware and power supply.

[0055] In one embodiment, during operation, the autonomous vehicle may experience malfunctions in the main embedded terminal and / or the main chassis control node. The autonomous vehicle system can monitor the health status of the main embedded terminal and the main chassis control node in real time.

[0056] S204: When the main embedded terminal fails, the vehicle chassis is controlled through the backup embedded terminal.

[0057] Specifically, when the autonomous vehicle system detects a malfunction in the main embedded terminal, it can transfer chassis control authority from the main embedded terminal to a backup embedded terminal. The autonomous vehicle system can then control the chassis via the backup embedded terminal. At this time, the malfunctioning main embedded terminal also loses chassis control authority.

[0058] S206: When the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled through the backup vehicle chassis control node running in the main embedded terminal.

[0059] Specifically, when the autonomous vehicle system detects a failure in the main chassis control node running in the main embedded terminal, the system can transfer chassis control authority from the main chassis control node to a backup chassis control node running in the main embedded terminal. Subsequently, the autonomous vehicle system can control the chassis through the backup chassis control node. At this time, the failed main chassis control node also loses its chassis control authority.

[0060] In one embodiment, the autonomous vehicle system's control over the vehicle chassis includes at least one of lateral control, longitudinal control, gear control, turn signal control, and vehicle status control.

[0061] In the aforementioned autonomous vehicle chassis control method, the health status of the main embedded terminal and the main chassis control node running on the main embedded terminal is monitored. When the main embedded terminal fails, the chassis is controlled by a backup embedded terminal; and when the main chassis control node running on the main embedded terminal fails, the chassis is controlled by a backup chassis control node running on the main embedded terminal. In this way, the autonomous vehicle system can achieve real-time monitoring of its own embedded terminal and chassis control node. When a failure is detected in the embedded terminal and / or chassis control node currently under user control, the backup embedded terminal and / or chassis control node can take over control of the chassis, ensuring normal control of the autonomous vehicle's chassis and thus improving the driving safety of the autonomous vehicle.

[0062] In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; step S204, which is the step of controlling the vehicle chassis through the backup embedded terminal when the main embedded terminal fails, includes: when a fault data source is detected in the main embedded terminal, and the fault data source is not the main vehicle chassis control node running in the main embedded terminal, controlling the vehicle chassis through the corresponding target functional node running in the backup embedded terminal; when a fault data source is detected in the main embedded terminal, and the fault data source is the main vehicle chassis control node running in the main embedded terminal, executing the step of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal; when no fault data source is detected in the main embedded terminal, globally controlling the vehicle chassis through the backup embedded terminal.

[0063] Specifically, a failure in the main embedded terminal can be caused by a failure in the main vehicle chassis control node, a failure in the backup vehicle chassis control node, or a failure in any functional node other than the main and backup vehicle chassis control nodes. It can be understood that the main and backup vehicle chassis control nodes are also functional nodes within the main embedded terminal. When a fault data source is detected in the main embedded terminal, and the source is not the main vehicle chassis control node running in the main embedded terminal, the autonomous vehicle system can control the chassis through the corresponding target functional node running in the backup embedded terminal. When a fault data source is detected in the main embedded terminal, and the source is the main vehicle chassis control node running in the main embedded terminal, the autonomous vehicle system can execute the step of controlling the chassis through the backup vehicle chassis control node running in the main embedded terminal. When no fault data source is detected in the main embedded terminal, the chassis is globally controlled by the backup embedded terminal; that is, the backup embedded terminal takes over full control of the chassis, and the main embedded terminal no longer has control over the chassis.

[0064] For example, the main embedded terminal and the backup embedded terminal each run a main vehicle chassis control node, a backup vehicle chassis control node, a radar preprocessing node, an obstacle detection node, and a monitoring node, respectively. When the fault data detected in the main embedded terminal originates from the radar preprocessing node running in the main embedded terminal, the autonomous vehicle system can control the chassis through the corresponding radar preprocessing node running in the backup embedded terminal. Similarly, when the fault data detected in the main embedded terminal originates from the main vehicle chassis control node running in the main embedded terminal, the autonomous vehicle system can control the chassis through the backup vehicle chassis control node running in the main embedded terminal.

[0065] In one embodiment, the step of controlling the vehicle chassis by the corresponding target function node running in the backup embedded terminal when the source of fault data in the main embedded terminal is detected and the source of fault data is not the main vehicle chassis control node running in the main embedded terminal includes: when the source of fault data in the main embedded terminal is detected and the source of fault data is the backup vehicle chassis control node running in the main embedded terminal, controlling the vehicle chassis by the main vehicle chassis control node running in the backup embedded terminal.

[0066] Specifically, when the source of fault data detected in the main embedded terminal is the backup chassis control node running in the main embedded terminal, the autonomous vehicle system can control the chassis through the main chassis control node running in the backup embedded terminal.

[0067] In one embodiment, the autonomous vehicle chassis control method further includes: when the main chassis control node running in the backup embedded terminal fails, controlling the chassis through the backup chassis control node running in the backup embedded terminal.

[0068] Specifically, when the main vehicle chassis control node running in the backup embedded terminal fails, the autonomous vehicle system can control the vehicle chassis through the backup vehicle chassis control node running in the backup embedded terminal.

[0069] In one embodiment, step S206, which involves controlling the vehicle chassis via a backup chassis control node running in the main embedded terminal, specifically includes: receiving autonomous driving control commands sent by the autonomous driving computing center via the backup chassis control node running in the main embedded terminal; and controlling the vehicle chassis via the autonomous driving control commands.

[0070] Among them, the autonomous driving computing center is the unified control center for driverless vehicles, and it runs on the control terminal of the driverless vehicle system.

[0071] Specifically, the autonomous vehicle system also includes a control terminal, which runs an autonomous driving computing center. The autonomous driving computing center can generate autonomous driving control commands and send them to the main embedded terminal. The main embedded terminal can receive the autonomous driving control commands sent by the autonomous driving computing center through a backup chassis control node running on the main embedded terminal, and control the chassis through the autonomous driving control commands.

[0072] In the above embodiments, the backup vehicle chassis control node running in the main embedded terminal receives the autonomous driving control commands sent by the autonomous driving computing center; and controls the vehicle chassis through the autonomous driving control commands. In this way, even if the main vehicle chassis control node running in the main embedded terminal fails, the safe driving of the driverless vehicle can still be guaranteed.

[0073] In one embodiment, when the main vehicle chassis control node is not faulty, the autonomous vehicle system can receive autonomous driving control commands sent by the autonomous driving computing center through the main vehicle chassis control node, and control the vehicle chassis through the autonomous driving control commands.

[0074] In one embodiment, the autonomous driving control command is an emergency stop command. The steps of controlling the vehicle chassis through the autonomous driving control command specifically include: controlling the vehicle chassis to perform emergency braking through the emergency stop command.

[0075] The emergency stop command is a command to control the vehicle chassis to bring it to an emergency stop.

[0076] Specifically, the autonomous driving computing center can generate an emergency stop command and send it to the embedded terminal. The embedded terminal can receive the emergency stop command sent by the autonomous driving computing center through the backup vehicle chassis control node, and control the vehicle chassis to perform an emergency stop through the emergency stop command.

[0077] In the above embodiments, when the main vehicle chassis control node sends a fault, the backup vehicle chassis control node receives an emergency stop command sent by the autonomous driving computing center and controls the chassis to perform emergency braking. This further ensures the safe operation of the autonomous vehicle even when the main vehicle chassis control node sends a fault.

[0078] In one embodiment, the health status monitoring step of the main embedded terminal in step S202 specifically includes: receiving heartbeat data packets sent by the main embedded terminal at regular intervals through the backup embedded terminal; and determining that the main embedded terminal has failed when the backup embedded terminal has not received heartbeat data packets for a preset time interval.

[0079] Among them, the heartbeat data packet is a custom command word that periodically notifies the other party of its status between the main embedded terminal and the backup embedded terminal. It is sent at certain time intervals, similar to a heartbeat, hence the name heartbeat data packet.

[0080] Specifically, the autonomous vehicle system can send heartbeat data packets to the backup embedded terminal via the main embedded terminal at preset time intervals. The autonomous vehicle system can also periodically receive heartbeat data packets from the main embedded terminal via the backup embedded terminal. If the backup embedded terminal does not receive a heartbeat data packet for a preset time interval, it is determined that the main embedded terminal has malfunctioned.

[0081] In the above embodiments, the backup embedded terminal monitors the heartbeat of the main embedded terminal through a heartbeat mechanism to ensure that the backup embedded terminal can detect the failure of the main embedded terminal in a timely manner, thereby further improving the safety of the autonomous vehicle.

[0082] In one embodiment, the health status monitoring step of the main vehicle chassis control node in step S202 specifically includes: monitoring the corresponding main vehicle chassis control node in real time through a monitoring program to obtain the health status of the main vehicle chassis control node.

[0083] Specifically, a monitoring program runs in the embedded terminal, and the autonomous vehicle system can monitor the corresponding master chassis control node in real time through the monitoring program to obtain the health status of the master chassis control node.

[0084] In the above embodiments, the monitoring program in the embedded terminal monitors the corresponding main vehicle chassis control node in real time to ensure that the corresponding embedded terminal can detect the failure of the main vehicle chassis control node in a timely manner, thereby further improving the safety of the autonomous vehicle.

[0085] In one embodiment, the above-mentioned unmanned vehicle chassis control method includes: receiving raw radar data sent by a radar sensor; extracting azimuth information from the raw radar data; using the azimuth information to take the raw radar data with azimuth angles within a preset angle range as point cloud data; determining whether there is an obstacle in front of the unmanned vehicle's driving direction based on the point cloud data; and controlling the chassis to perform emergency braking when there is an obstacle.

[0086] Point cloud data is a collection of vectors in a coordinate system. The scanned data is recorded in the form of points, each point containing multi-dimensional coordinates, such as three-dimensional coordinates (distance, azimuth, elevation) or four-dimensional coordinates (distance, azimuth, elevation, reflection intensity).

[0087] Specifically, the autonomous vehicle system can receive raw radar data from radar sensors via an embedded terminal, extract azimuth information from the raw radar data, and use raw radar data with azimuth angles within a preset range as point cloud data. Based on the point cloud data, the autonomous vehicle system can determine whether there are obstacles ahead of the vehicle's direction of travel. If an obstacle is present, the system will control the chassis to apply emergency braking.

[0088] Optionally, the point cloud data can be all the raw radar data obtained by the radar sensor scan, or it can be the data generated after the raw data obtained by the radar sensor scan has been preprocessed.

[0089] Optionally, the radar sensor can compress the raw radar data to facilitate network transmission. The autonomous vehicle system performs data preprocessing on the raw radar data, specifically by decompressing the raw radar data.

[0090] Optionally, the raw radar data acquired by the radar sensor includes data from all azimuth angles. The autonomous vehicle system performs data preprocessing on the raw radar data, specifically cleaning and filtering the raw radar data.

[0091] In the above embodiments, determining whether there are obstacles ahead of the autonomous vehicle's travel direction using point cloud data can improve the accuracy of obstacle detection. When an obstacle is detected ahead of the autonomous vehicle's travel direction, the autonomous vehicle system can control the chassis to perform emergency braking, ensuring the safety of the autonomous vehicle.

[0092] In one embodiment, the step of determining whether there is an obstacle in front of the autonomous vehicle's driving direction based on point cloud data specifically includes: defining a fan-shaped area defined by a preset angle range as an obstacle detection area; determining the density value of the coordinate points corresponding to the point cloud data in the obstacle detection area; and determining that there is an obstacle in front of the autonomous vehicle's driving direction when the density value is greater than a preset density threshold.

[0093] Specifically, the autonomous vehicle system can define a sector-shaped area within a preset angle range as the obstacle detection area. Then, the system can determine the density value of the coordinate points corresponding to the point cloud data within the obstacle detection area. The system can compare this density value with a preset density threshold; if the density value is greater than the threshold, the system can determine that an obstacle exists ahead of the vehicle's direction of travel.

[0094] In the above embodiments, by defining the fan-shaped area limited by a preset angle range as the obstacle detection area and determining the density value of the coordinate points corresponding to the point cloud data in the obstacle detection area, the system can then determine whether there is an obstacle in front of the autonomous vehicle's driving direction based on the density value, thereby further improving the obstacle detection accuracy.

[0095] In one embodiment, such as Figure 3 As shown, the autonomous vehicle system includes radar sensors, a main embedded terminal running an embedded real-time operating system, a backup embedded terminal running a redundant backup embedded real-time operating system, and a vehicle chassis. The radar sensors can communicate with the main and backup embedded terminals via Ethernet. The main and backup embedded terminals can communicate via a bus. The main and backup embedded terminals can also communicate with the vehicle chassis via CAN (Controller Area Network). The radar sensors can include both LiDAR and Radar sensors. The most fundamental difference between these two types of radar sensors lies in the wavelengths they use. Radar uses millimeter waves, typically with a wavelength range of 4-12 mm. LiDAR uses nanometer waves, typically with a wavelength range of 900-1500 nm. The embedded real-time operating system and the redundant backup embedded real-time operating system can include a radar preprocessing module, an obstacle detection module, a CAN chassis control module, a CAN backup node, and a CAN monitoring module. Control of the vehicle chassis can include at least one of the following: lateral control, longitudinal control, gear shift control, turn signal control, and vehicle status control.

[0096] In one embodiment, such as Figure 4As shown, the autonomous vehicle system can acquire raw radar data through radar sensors and send it to the radar preprocessing module. The radar preprocessing module preprocesses the raw radar data to generate point cloud data. The obstacle detection module can determine whether there are obstacles ahead of the autonomous vehicle's travel direction based on the point cloud data. When an obstacle is present ahead of the autonomous vehicle's travel direction, the CAN chassis control module receives an emergency stop command from the autonomous driving computing center and controls the chassis to perform an emergency stop. Simultaneously, the autonomous vehicle system can monitor the health status of the main embedded terminal and the main chassis control node through a heartbeat mechanism. When the main embedded terminal fails, the backup embedded terminal controls the chassis; when the main chassis control node fails, the backup chassis control node controls the chassis to perform an emergency stop. Thus, when a failure is detected in the currently controlled embedded terminal and / or chassis control node, the backup embedded terminal and / or chassis control node can take over control of the chassis, ensuring normal control of the autonomous vehicle's chassis and improving driving safety.

[0097] It should be understood that, although Figure 2 The steps are shown in sequence, but they are not necessarily executed in that order. Unless otherwise specified herein, there is no strict order in which these steps are performed; they can be executed in other orders. Furthermore, the above... Figure 2 At least some of the steps in the process may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be executed in turn or alternately with other steps or at least some of the sub-steps or stages of other steps.

[0098] In one embodiment, such as Figure 5 As shown, an unmanned vehicle chassis control device 500 is provided, which is applied to an unmanned vehicle system. The unmanned vehicle system includes a main embedded terminal, a backup embedded terminal, and a chassis. A main chassis control node and a backup chassis control node run in the main embedded terminal and the backup embedded terminal, respectively. After startup, the unmanned vehicle system controls the chassis through the main embedded terminal and the main chassis control node running in the main embedded terminal. The unmanned vehicle chassis control device 500 includes a monitoring module 501 and a control module 502, wherein:

[0099] The monitoring module 501 is used to monitor the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal.

[0100] The control module 502 is used to control the vehicle chassis through the backup embedded terminal when the main embedded terminal fails; and to control the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal when the main vehicle chassis control node running in the main embedded terminal fails.

[0101] In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; the control module 502 is further configured to control the vehicle chassis through the corresponding target functional node running in the backup embedded terminal when a fault data source is detected in the main embedded terminal and the fault data source is not the main vehicle chassis control node running in the main embedded terminal; when a fault data source is detected in the main embedded terminal and the fault data source is the main vehicle chassis control node running in the main embedded terminal, execute the step of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal; when no fault data source is detected in the main embedded terminal, the vehicle chassis is globally controlled through the backup embedded terminal.

[0102] In one embodiment, the control module 502 is further configured to control the chassis through the main chassis control node running in the backup embedded terminal when a fault data source is detected in the main embedded terminal and the fault data source is the backup chassis control node running in the main embedded terminal.

[0103] In one embodiment, the control module 502 is further configured to control the chassis via the backup chassis control node running in the backup embedded terminal when the main chassis control node running in the backup embedded terminal fails.

[0104] In one embodiment, the control module 502 is further configured to receive autonomous driving control commands sent by the autonomous driving computing center through a backup vehicle chassis control node running in the main embedded terminal; and to control the vehicle chassis through the autonomous driving control commands.

[0105] In one embodiment, the control module 502 is also used to control the vehicle chassis to perform emergency braking via an emergency stop command.

[0106] In one embodiment, the monitoring module 501 is further configured to receive heartbeat data packets sent by the main embedded terminal at regular intervals through the backup embedded terminal; and to determine that the main embedded terminal has malfunctioned when the backup embedded terminal fails to receive heartbeat data packets for a preset time interval.

[0107] In one embodiment, the monitoring module 501 is further configured to monitor the corresponding main vehicle chassis control node in real time through a monitoring program to obtain the health status of the main vehicle chassis control node.

[0108] In one embodiment, the control module 502 is further configured to receive raw radar data sent by the radar sensor; extract azimuth information from the raw radar data; use the raw radar data with azimuth angles within a preset angle range as point cloud data based on the azimuth information; determine whether there is an obstacle in front of the autonomous vehicle's driving direction based on the point cloud data; and control the vehicle chassis to perform emergency braking when there is an obstacle.

[0109] In one embodiment, the control module 502 is further configured to determine the fan-shaped area defined by the preset angle range as the obstacle detection area; determine the density value of the coordinate points corresponding to the point cloud data in the obstacle detection area; and when the density value is greater than the preset density threshold, determine that there is an obstacle in front of the autonomous vehicle's driving direction.

[0110] The aforementioned autonomous vehicle chassis control device monitors the health status of the main embedded terminal and the main chassis control node running within it. When the main embedded terminal fails, the backup embedded terminal controls the chassis; and when the main chassis control node running within the main embedded terminal fails, the backup chassis control node running within the main embedded terminal controls the chassis. In this way, the autonomous vehicle system can achieve real-time monitoring of its own embedded terminal and chassis control node. Upon detecting a failure in the currently controlled embedded terminal and / or chassis control node, the backup embedded terminal and / or chassis control node can take over control of the chassis, ensuring normal control of the autonomous vehicle's chassis and thus improving the driving safety of the autonomous vehicle.

[0111] Specific limitations regarding the chassis control device for autonomous vehicles can be found in the limitations of the chassis control method for autonomous vehicles mentioned above, and will not be repeated here. Each module in the aforementioned chassis control device for autonomous vehicles can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in or independent of the processor in a computer device in hardware form, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0112] In one embodiment, a computer device is provided, the computer device being capable of operating the above-described... Figure 1 The internal structure diagram of the unmanned vehicle system 102 can be shown as follows: Figure 6As shown, the computer device includes a processor, memory, network interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a method for controlling the chassis of an unmanned vehicle. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad mounted on the computer device casing, or an external keyboard, touchpad, or mouse.

[0113] Those skilled in the art will understand that Figure 6 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0114] In one embodiment, a computer device is provided, including a memory and a processor. The memory stores a computer program, and the processor executes the computer program to perform the following steps: monitoring the health status of a main embedded terminal and a main vehicle chassis control node running in the main embedded terminal; controlling the vehicle chassis through a backup embedded terminal when the main embedded terminal fails; and controlling the vehicle chassis through a backup vehicle chassis control node running in the main embedded terminal when the main vehicle chassis control node running in the main embedded terminal fails.

[0115] In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; when the processor executes the computer program, it also implements the following steps: when a fault data source is detected in the main embedded terminal, and the fault data source is not the main vehicle chassis control node running in the main embedded terminal, the vehicle chassis is controlled through the corresponding target functional node running in the backup embedded terminal; when a fault data source is detected in the main embedded terminal, and the fault data source is the main vehicle chassis control node running in the main embedded terminal, the step of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal is executed; when no fault data source is detected in the main embedded terminal, the vehicle chassis is globally controlled through the backup embedded terminal.

[0116] In one embodiment, when the processor executes the computer program, it further performs the following steps: when a fault data source is detected in the main embedded terminal, and the fault data source is the backup chassis control node running in the main embedded terminal, the chassis is controlled through the main chassis control node running in the backup embedded terminal.

[0117] In one embodiment, when the processor executes the computer program, it also performs the following steps: when the main vehicle chassis control node running in the backup embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the backup embedded terminal.

[0118] In one embodiment, when the processor executes the computer program, it also performs the following steps: receiving autonomous driving control commands sent by the autonomous driving computing center through a backup vehicle chassis control node running in the main embedded terminal; and controlling the vehicle chassis through the autonomous driving control commands.

[0119] In one embodiment, when the processor executes the computer program, it also performs the following steps: controlling the vehicle chassis to perform emergency braking via an emergency stop command.

[0120] In one embodiment, when the processor executes the computer program, it further implements the following steps: periodically receiving heartbeat data packets sent by the main embedded terminal through the backup embedded terminal; and determining that the main embedded terminal has malfunctioned when the backup embedded terminal fails to receive heartbeat data packets for a preset time interval.

[0121] In one embodiment, when the processor executes the computer program, it also performs the following steps: real-time monitoring of the corresponding main vehicle chassis control node by a monitoring program to obtain the health status of the main vehicle chassis control node.

[0122] In one embodiment, when the processor executes the computer program, it further performs the following steps: receiving raw radar data sent by the radar sensor; extracting azimuth information from the raw radar data; using the raw radar data with azimuth angles within a preset angle range as point cloud data based on the azimuth information; determining whether there is an obstacle in front of the autonomous vehicle's driving direction based on the point cloud data; and controlling the vehicle chassis to perform emergency braking when there is an obstacle.

[0123] In one embodiment, when the processor executes the computer program, it further implements the following steps: determining a sector area defined by a preset angle range as an obstacle detection area; determining the density value of the coordinate points corresponding to the point cloud data in the obstacle detection area; and when the density value is greater than a preset density threshold, determining that there is an obstacle in front of the autonomous vehicle's driving direction.

[0124] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, which, when executed by a processor, performs the following steps: monitoring the health status of a main embedded terminal and a main vehicle chassis control node; controlling the vehicle chassis via a backup embedded terminal when the main embedded terminal fails; and controlling the vehicle chassis via a backup vehicle chassis control node running in the main embedded terminal when the main vehicle chassis control node running in the main embedded terminal fails.

[0125] In one embodiment, the main embedded terminal and the backup embedded terminal also run functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; when the computer program is executed by the processor, it also implements the following steps: when a fault data source is detected in the main embedded terminal, and the fault data source is not the main vehicle chassis control node running in the main embedded terminal, the vehicle chassis is controlled through the corresponding target functional node running in the backup embedded terminal; when a fault data source is detected in the main embedded terminal, and the fault data source is the main vehicle chassis control node running in the main embedded terminal, the step of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal is executed; when no fault data source is detected in the main embedded terminal, the vehicle chassis is globally controlled through the backup embedded terminal.

[0126] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: when a fault data source is detected in the main embedded terminal, and the fault data source is the backup chassis control node running in the main embedded terminal, the chassis is controlled through the main chassis control node running in the backup embedded terminal.

[0127] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: when the main vehicle chassis control node running in the backup embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the backup embedded terminal.

[0128] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: receiving autonomous driving control commands sent by the autonomous driving computing center through a backup vehicle chassis control node running in the main embedded terminal; and controlling the vehicle chassis through the autonomous driving control commands.

[0129] In one embodiment, when the computer program is executed by the processor, it also performs the following steps: controlling the vehicle chassis to perform emergency braking via an emergency stop command.

[0130] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: periodically receiving heartbeat data packets sent by the main embedded terminal through the backup embedded terminal; and determining that the main embedded terminal has malfunctioned when the backup embedded terminal fails to receive heartbeat data packets for a preset time interval.

[0131] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: real-time monitoring of the corresponding master chassis control node by a monitoring program to obtain the health status of the master chassis control node.

[0132] In one embodiment, when the computer program is executed by the processor, it further performs the following steps: receiving raw radar data sent by the radar sensor; extracting azimuth information from the raw radar data; using the raw radar data with azimuth angles within a preset angle range as point cloud data based on the azimuth information; determining whether there is an obstacle in front of the autonomous vehicle's driving direction based on the point cloud data; and controlling the vehicle chassis to perform emergency braking when there is an obstacle.

[0133] In one embodiment, when the computer program is executed by the processor, it further implements the following steps: determining a sector area defined by a preset angle range as an obstacle detection area; determining the density value of the coordinate points corresponding to the point cloud data in the obstacle detection area; and when the density value is greater than a preset density threshold, determining that there is an obstacle in front of the autonomous vehicle's driving direction.

[0134] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0135] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0136] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for controlling the chassis of an unmanned vehicle, characterized in that, It is applied to an autonomous vehicle system; the autonomous vehicle system includes a main embedded terminal, a backup embedded terminal and a vehicle chassis, wherein the main embedded terminal and the backup embedded terminal run a main vehicle chassis control node, a backup vehicle chassis control node and functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; After the autonomous vehicle system is started, it controls the vehicle chassis through the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal. The method includes: Monitor the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal; When the source of fault data in the main embedded terminal is detected, and the source of the fault data is the backup vehicle chassis control node running in the main embedded terminal, the vehicle chassis is controlled through the main vehicle chassis control node running in the backup embedded terminal. When the source of fault data in the main embedded terminal is detected, and the source of the fault data is the main vehicle chassis control node running in the main embedded terminal, the vehicle chassis is controlled through the backup vehicle chassis control node running in the main embedded terminal. When no fault data source is detected in the main embedded terminal, the vehicle chassis is globally controlled via the backup embedded terminal; and When the main vehicle chassis control node running in the main embedded terminal fails, the vehicle chassis is controlled by the backup vehicle chassis control node running in the main embedded terminal.

2. The method according to claim 1, characterized in that, The method further includes: When the main vehicle chassis control node running in the backup embedded terminal fails, the vehicle chassis is controlled through the backup vehicle chassis control node running in the backup embedded terminal.

3. The method according to claim 1, characterized in that, The step of controlling the vehicle chassis through the backup vehicle chassis control node running in the main embedded terminal includes: The backup vehicle chassis control node running in the main embedded terminal receives autonomous driving control commands sent by the autonomous driving computing center; and The vehicle chassis is controlled by the aforementioned autonomous driving control commands.

4. The method according to claim 3, characterized in that, The autonomous driving control command is an emergency stop command, and controlling the vehicle chassis through the autonomous driving control command includes: The emergency stop command controls the vehicle chassis to perform emergency braking.

5. The method according to claim 1, characterized in that, The health status monitoring steps of the main embedded terminal include: The backup embedded terminal periodically receives heartbeat data packets sent by the main embedded terminal; and If the backup embedded terminal does not receive the heartbeat data packet for a preset time interval, it is determined that the main embedded terminal has malfunctioned.

6. The method according to claim 1, characterized in that, The health status monitoring steps for the main vehicle chassis control node include: The health status of the corresponding main vehicle chassis control node is obtained by monitoring the corresponding main vehicle chassis control node in real time through the monitoring program.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Receive raw radar data sent by radar sensors; Extract the azimuth information from the raw radar data; Based on the azimuth information, the original radar data with azimuth angles within a preset angle range are used as point cloud data; Based on the point cloud data, determine whether there are obstacles ahead of the autonomous vehicle in its direction of travel; and When an obstacle is present, the vehicle chassis is controlled to perform emergency braking.

8. The method according to claim 7, characterized in that, The step of determining whether there is an obstacle ahead of the autonomous vehicle's driving direction based on the point cloud data includes: The fan-shaped area defined by the preset angle range is determined as the obstacle detection area; Determine the density values ​​of the coordinate points corresponding to the point cloud data in the obstacle detection area; and When the density value is greater than a preset density threshold, it is determined that there is an obstacle in front of the autonomous vehicle's driving direction.

9. A chassis control device for an unmanned vehicle, characterized in that, It is applied to an autonomous vehicle system; the autonomous vehicle system includes a main embedded terminal, a backup embedded terminal and a vehicle chassis, wherein the main embedded terminal and the backup embedded terminal run a main vehicle chassis control node, a backup vehicle chassis control node and functional nodes other than the main vehicle chassis control node and the backup vehicle chassis control node; After the autonomous vehicle system is started, it controls the vehicle chassis through the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal. The device includes: The monitoring module is used to monitor the health status of the main embedded terminal and the main vehicle chassis control node running in the main embedded terminal; The control module is configured to: control the vehicle chassis via the main vehicle chassis control node running in the backup vehicle chassis control node in the backup vehicle chassis control node running in the backup vehicle chassis control node running in the main embedded terminal when a fault data source is detected in the main embedded terminal; control the vehicle chassis via the backup vehicle chassis control node running in the main embedded terminal when a fault data source is detected in the main embedded terminal; control the vehicle chassis globally via the backup vehicle chassis control node when no fault data source is detected in the main embedded terminal; and control the vehicle chassis via the backup vehicle chassis control node running in the main embedded terminal when the main vehicle chassis control node running in the main embedded terminal fails.

10. The apparatus according to claim 9, characterized in that, The control module is also used to control the chassis through the backup chassis control node running in the backup embedded terminal when the main chassis control node running in the backup embedded terminal fails.

11. The apparatus according to claim 9, characterized in that, The control module is also used to receive autonomous driving control commands sent by the autonomous driving computing center through the backup vehicle chassis control node running in the main embedded terminal; and to control the vehicle chassis through the autonomous driving control commands.

12. The apparatus according to claim 11, characterized in that, The autonomous driving control command is an emergency stop command, and the control module is also used to control the vehicle chassis to perform emergency braking through the emergency stop command.

13. The apparatus according to claim 9, characterized in that, The monitoring module is also used to periodically receive heartbeat data packets sent by the main embedded terminal through the backup embedded terminal; and to determine that the main embedded terminal has malfunctioned when the backup embedded terminal fails to receive the heartbeat data packets for a preset time interval.

14. The apparatus according to claim 9, characterized in that, The monitoring module is also used to monitor the corresponding main vehicle chassis control node in real time through a monitoring program to obtain the health status of the main vehicle chassis control node.

15. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method according to any one of claims 1 to 8.

16. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method according to any one of claims 1 to 8.

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