A safety architecture and control method for a self-driving vehicle handle control mode

Abstract

A kind of unmanned vehicle handle control car mode safety architecture, including: handle, gateway, automatic driving controller, chassis, the gateway is built into the handle, the automatic driving controller, chassis is installed on unmanned vehicle, communication connection is established between the gateway and automatic driving controller, the automatic driving controller and chassis establish communication connection, when safety officer is in handle control car to unmanned vehicle, attention is not concentrated or error operation such as handle hangs N gear after operation causes vehicle to slide, handle hangs D gear or R gear when continuously press maximum throttle possibly causes vehicle accident, when the situation, 0x383 message-Autodrive_en=0;Handcontrol=0 can be issued to chassis and automatic driving controller by gateway, brake deceleration is issued to chassis by automatic driving controller to brake vehicle and avoid accident accident.

Description

Technical Field

[0001] This invention belongs to the field of autonomous driving, specifically relating to a safety architecture and control method for a handle-controlled vehicle mode for unmanned vehicles. Background Technology

[0002] Currently, when safety operators are using the joystick to control autonomous vehicles, they may experience inattention or make mistakes, such as the vehicle rolling away after being put in neutral (N) without being operated, or the vehicle causing an accident by continuously pressing the maximum throttle when the joystick is in drive (D) or reverse (R). Summary of the Invention

[0003] This invention provides a safety architecture and control method for the handle control mode of unmanned vehicles, aiming to solve the problem that improper operation of the handle control mode of unmanned vehicles can easily lead to traffic accidents in the prior art.

[0004] To achieve the above-mentioned objectives, the technical solution adopted by this invention is as follows: A safety architecture for a driverless vehicle control mode using a handle includes: a handle, a gateway, an autonomous driving controller, and a chassis. The gateway is built into the handle, and the autonomous driving controller and chassis are mounted on the driverless vehicle. A communication connection is established between the gateway and the autonomous driving controller, and a communication connection is established between the autonomous driving controller and the chassis.

[0005] Preferably, the gateway and the handle are connected via a 5G network.

[0006] This invention also provides a safety architecture control method for the handle-controlled vehicle mode of an unmanned vehicle, comprising: Step 1: Activate the handle vehicle control mode and enable the connection between the handle and the vehicle; Step 2: The handle continuously sends a message with frame ID 0x383 to the autonomous driving controller and the vehicle chassis through the gateway. The message includes two signals: Autodrive_en=0 and Handcontrol=1. At this time, the handle can send any operation command such as shifting gears, accelerator, and brake, and control the vehicle by sending the command to the chassis through 0x383. Step 3: After the handle has not been operated for 2 seconds, Handcontrol in the 0x383 message will be set to 0. At this time, the automatic driving controller will continuously send the 0x219 message Breakacc=-1.5m / s2 braking deceleration to the chassis. The chassis will also select to execute the instructions of the automatic driving controller according to the setting of Handcontrol to 0 to prevent slipping. Step 4: After switching the lever to D or R and pressing the maximum throttle for 2 seconds, the automatic driving controller sets Handcontrol in the 0x383 message to 0, and the automatic driving controller continues to send braking deceleration to stop the vehicle.

[0007] Preferably, in step 3, after the handlebar performs any vehicle control operation such as shifting gears or applying the brakes, the Handcontrol message in the 0x383 will be set to 1 again, restoring normal handlebar vehicle control.

[0008] Preferably, in step 4, when the handlebar performs other operations such as braking or releasing the accelerator, Hanadcontrol will be reset to 1 again, restoring handlebar control.

[0009] Preferably, in step 3, when the vehicle is on a sloped surface, after the handle is engaged and shifted from P to N or another gear, no further operation is performed. The gateway forwards the handle's 0x383 message -Autodrive_en=0;Handcontrol=0 to the chassis and the autopilot controller. Based on these two signals, the autopilot controller continuously sends a 0x219 message -Breakacc=-1.5m / s2 to the chassis to prevent slippage.

[0010] Preferably, in step 4, when the vehicle is controlled by the handlebar, it is in D or R gear and the maximum throttle is continuously pressed. After 2 seconds, the gateway will forward the handlebar's 0x383 message -Autodrive_en=0;Handcontrol=0 to the chassis and the autopilot controller. Based on these two signals, the autopilot controller will then continuously send the chassis a 0x219 message -Breakacc=-1.5m / s2 to achieve a smooth and rapid deceleration and braking effect.

[0011] The beneficial effects of this invention are as follows: 1. When a safety operator is using a joystick to control an autonomous vehicle, and is inattentive or makes a mistake, such as failing to engage the joystick after shifting to neutral (N) and causing the vehicle to roll away, or continuously pressing the maximum throttle while the joystick is in drive (D) or reverse (R) and potentially causing an accident, this invention can send a 0x383 message -Autodrive_en=0;Handcontrol=0 to the chassis and the autonomous driving controller via the gateway. The autonomous driving controller can then send a braking deceleration signal to the chassis to brake the vehicle and prevent accidents.

[0012] 2. The security architecture is simple and controllable, with clear logic and easy implementation. Attached Figure Description

[0013] Figures 1-3 This is a flowchart of the method of the present invention. Detailed Implementation

[0014] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0015] Example 1: As Figure 1 , 2 As shown in Figure 3, this embodiment provides a safety architecture for a driverless vehicle control mode using a handle, including: a handle, a gateway, an autonomous driving controller, and a chassis. The gateway is built into the handle, and the autonomous driving controller and chassis are installed on the driverless vehicle. A communication connection is established between the gateway and the autonomous driving controller, and a communication connection is established between the autonomous driving controller and the chassis.

[0016] This invention also provides a safety architecture control method for the handle-controlled vehicle mode of an unmanned vehicle, comprising: Step S1: Activate the handle vehicle control mode, and enable the connection between the handle and the vehicle; Step S2: The handle continuously sends a message with frame ID 0x383 to the autonomous driving controller and the vehicle chassis through the gateway. The message includes two signals: Autodrive_en=0 and Handcontrol=1. At this time, the handle can send any operation command such as shifting gears, accelerator, and brake, and control the vehicle by sending the command to the chassis through 0x383. Step S3: After the handle has not been operated for 2 seconds, Handcontrol in the 0x383 message will be set to 0. At this time, the automatic driving controller will continuously send the 0x219 message Breakacc=-1.5m / s2 braking deceleration to the chassis. The chassis will also select to execute the instructions of the automatic driving controller according to the setting of Handcontrol to 0 to prevent slipping. Step S4: After switching the lever to D or R and pressing the maximum throttle for 2 seconds, the automatic driving controller sets Handcontrol in the 0x383 message to 0, and the automatic driving controller continues to send braking deceleration to stop the vehicle.

[0017] Example 2: Based on Example 1, the gateway and the handle establish a connection through a 5G network.

[0018] Furthermore, in step S3, after the handlebar performs any vehicle control operation such as shifting gears or applying the brakes, the Handcontrol message in the 0x383 will be set to 1 again, restoring normal handlebar vehicle control.

[0019] Furthermore, in step S4, when the handlebar performs other operations such as braking or releasing the accelerator, Hanadcontrol will be reset to 1 again, restoring handlebar control.

[0020] Furthermore, such as Figure 2 As shown, in step S3, when the vehicle is on a sloped surface, after the handle is connected and shifted from P to N or other gears, no further operation is performed. The gateway forwards the handle's 0x383 message -Autodrive_en=0;Handcontrol=0 to the chassis and the autopilot controller. Based on these two signals, the autopilot controller continuously sends a 0x219 message -Breakacc=-1.5m / s2 to the chassis to prevent it from slipping on the slope.

[0021] Furthermore, such as Figure 3 As shown, in step S4, when the vehicle is controlled by the throttle and in D or R gear, the maximum throttle is continuously pressed. At this time, an accident may occur due to the safety driver's inattention or repeated accidental pressing of the maximum throttle. Two seconds later, the gateway forwards the 0x383 message -Autodrive_en=0;Handcontrol=0 from the throttle to the chassis and the autopilot controller. Based on these two signals, the autopilot controller then continuously sends a 0x219 message -Breakacc=-1.5m / s² to the chassis, achieving a smooth and rapid deceleration and braking effect. The safety driver only needs to slightly release the throttle or slightly adjust the steering wheel to restore throttle control.

[0022] The sequence numbers of the above embodiments of the present invention are merely for descriptive purposes and do not represent the superiority or inferiority of the embodiments. The embodiments of the present invention have been described above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art, under the guidance of the present invention, can make many modifications without departing from the spirit and scope of the claims, and all such modifications are within the protection scope of the present invention.

Claims

1. A control method for a safety architecture of a handle-controlled vehicle mode for an autonomous vehicle, comprising: Step 1. Activate the handle vehicle control mode and enable the connection between the handle and the vehicle; Step 2. The handle continuously sends a message with frame ID 0x383 to the autonomous driving controller and the vehicle chassis through the gateway. The message includes two signals: Autodrive_en=0 and Handcontrol=1. At this time, the handle can send gear shifting, accelerator and brake operation commands to the chassis through 0x383 to control the vehicle. Step 3. After the handle has not been operated for 2 seconds, the Handcontrol setting in the 0x383 message will be set to 0. At this time, the autopilot controller will continuously send the 0x219 message Breakacc=-1.5m / s to the chassis. 2 The chassis will also select and execute the instructions of the automatic driving controller based on the Handcontrol setting to 0 to prevent slipping on the slope; Step 4. After the lever is switched to D or R and the maximum throttle is pressed for 2 seconds, the automatic driving controller sets Handcontrol in the 0x383 message to 0 and continuously sends braking deceleration to stop the vehicle. In step 3, the vehicle is on an inclined surface. After the lever is engaged and shifted from P to N or another gear, no further operation is performed. The gateway forwards the lever's 0x383 message -Autodrive_en=0;Handcontrol=0 to the chassis and autopilot controller. Based on these two signals, the autopilot controller continuously sends a 0x219 message -Breakacc=-1.5m / s to the chassis. 2 To achieve the goal of preventing the slope from slipping; In step 4, while the vehicle is controlled by the throttle, it is in Drive (D) or Reverse (R) gear, and the accelerator is continuously pressed to maximum. After 2 seconds, the gateway forwards the 0x383 message (Autodrive_en=0; Handcontrol=0) from the throttle to the chassis and the autopilot controller. Based on these two signals, the autopilot controller then continuously sends a 0x219 message (Breakacc=-1.5m / s) to the chassis. 2 This achieves a smooth and rapid deceleration and braking effect.

2. The control method for a safety architecture of a handle-controlled vehicle mode for an unmanned vehicle as described in claim 1, characterized in that, In step 3, after the lever performs gear shifting and brake control operations, the Handcontrol message in the 0x383 will be set to 1 again, restoring normal lever control.

3. The control method for a safety architecture of a handle-controlled vehicle mode for an unmanned vehicle as described in claim 1, characterized in that, In step 4, when the handlebar is used to brake or release the throttle, Handcontrol will be reset to 1, restoring handlebar control.

4. A safety architecture for a joystick-controlled vehicle mode for unmanned vehicles, characterized in that, A control method for implementing the safety architecture of the handle-controlled vehicle mode of an unmanned vehicle as described in any one of claims 1-3 includes: a handle, a gateway, an autopilot controller, and a chassis. The gateway is built into the handle, and the autopilot controller and the chassis are mounted on the unmanned vehicle. A communication connection is established between the gateway and the autopilot controller, and a communication connection is established between the autopilot controller and the chassis.

5. The safety architecture for a driverless vehicle control mode as described in claim 4, characterized in that, The gateway and the handle are connected via a 5G network.

Images