Intelligent driving vehicle safety redundant control system, method, and vehicle

Abstract

The application discloses a kind of intelligent driving vehicle safety redundancy control system, method and vehicle.Intelligent driving safety vehicle redundancy control system includes whole vehicle control unit, main control unit and backup control unit connected with each other communication.The whole vehicle control unit receives the first vehicle control instruction sent by main control unit through the first communication link, and receives the backup control instruction sent by backup control unit through the second communication link, and the whole vehicle control unit is also used to obtain the first running state information of main control unit and the first channel state information of the first communication link, and according to the first running state information and the first channel state information, determine target vehicle control instruction from the first vehicle control instruction and backup control instruction.According to the embodiment of the application, the response speed of intelligent driving safety vehicle redundancy control can be improved, and safety and reliability can be improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of vehicle control, and particularly relates to an intelligent driving vehicle safety redundancy control system, method and vehicle. BACKGROUND

[0002] With the continuous development of vehicle automatic control technology, vehicle intelligent technology is becoming mature. In the process of automatically controlling vehicle driving, it is particularly important to ensure the safe and stable operation of intelligent driving vehicles. Among them, ensuring the safety of the whole vehicle control process is an essential part of the development of vehicle automatic control technology.

[0003] At present, the safety redundancy scheme of the whole vehicle control system of the vehicle is not perfect. For example, in the safety redundancy control scheme, most of the master-slave controllers are used. When the master controller fails, the backup control takes over the control object of the master controller after receiving the fault information of the master controller. When the backup controller takes over the control object, the backup controller can take over the control object only after the backup controller's takeover permission of the control object is audited. Therefore, the real-time performance of the existing safety redundancy scheme of the whole vehicle control system is low, and the safety and reliability of the whole vehicle control need to be improved. SUMMARY

[0004] The embodiments of the application provide an intelligent driving vehicle safety redundancy control system, method and vehicle, which can improve the response speed of intelligent driving vehicle safety redundancy control and the safety and reliability of whole vehicle control.

[0005] In a first aspect, the embodiments of the application provide an intelligent driving vehicle safety redundancy control system. The intelligent driving vehicle safety redundancy control system comprises a whole vehicle control unit, a master control unit and a backup control unit which are connected in communication with each other. The master control unit and the whole vehicle control unit are connected by a first communication link, and the backup control unit and the whole vehicle control unit are connected by a second communication link.

[0006] The whole vehicle control unit receives a first vehicle control instruction sent by the master control unit through the first communication link, and receives a backup control instruction sent by the backup control unit through the second communication link.

[0007] The whole vehicle control unit further acquires first running state information of the master control unit and first channel state information of the first communication link, and determines a target vehicle control instruction from the first vehicle control instruction and the backup control instruction according to the first running state information and the first channel state information.

[0008] In some implementable manners of the first aspect, when the first running state information includes running fault information, the whole vehicle control unit determines the backup control instruction as the target vehicle control instruction.

[0009] In some possible implementation of the first aspect, when the first channel status information comprises the communication failure information, the vehicle control unit determines the backup control instruction as the target vehicle control instruction.

[0010] In some possible implementation of the first aspect, when the first running status information comprises the normal running information and the first channel status information comprises the normal communication information, the vehicle control unit determines the first vehicle control instruction as the target vehicle control instruction.

[0011] In some possible implementation of the first aspect, the backup control unit is further configured to monitor a running status of the main control unit, and obtain first running status information of the main control unit;

[0012] The backup control unit sends, to the vehicle control unit, second running status information of the backup control unit and second channel status information of the second communication link when the first running status information comprises the running failure information.

[0013] In some possible implementation of the first aspect, the main control unit sends the first running status information and the first channel status information to the vehicle control unit according to a preset sending period.

[0014] In some possible implementation of the first aspect, the intelligent driving vehicle safety redundancy control system further comprises a steering unit, a braking unit and a driving unit,

[0015] The steering unit, the braking unit and the driving unit are respectively in communication connection with the vehicle control unit, and are configured to execute the target vehicle control instruction determined by the vehicle control unit.

[0016] In some possible implementation of the first aspect, the braking unit is in communication connection with the main control unit, and the main control unit sends a braking control instruction to the braking unit when receiving the third running status information of the vehicle control unit.

[0017] In some possible implementation of the first aspect, the intelligent driving vehicle safety redundancy control system further comprises a data acquisition unit, the data acquisition unit is respectively in communication connection with the main control unit and the backup control unit,

[0018] The data acquisition unit is configured to acquire vehicle running environment data, and send the vehicle running environment data to the main control unit, so that the main control unit generates the main control instruction according to the vehicle running environment information,

[0019] and send the vehicle running environment data to the backup control unit, so that the backup control unit generates the backup control instruction according to the vehicle running environment information.

[0020] In a second aspect, the embodiments of the present application provide a method for intelligent driving vehicle safety redundancy control. The method is applied to the intelligent driving vehicle safety redundancy control system as described in the first aspect or any possible implementation manner of the first aspect. The method comprises the following steps:

[0021] obtaining the main control instruction generated by the main control unit, the backup control instruction generated by the backup control unit, and the first running state information and the first channel state information of the main control unit,

[0022] determining the target vehicle control instruction from the main control instruction and the backup control instruction according to the first running state information and the first channel state information, wherein the target vehicle control instruction is executed by the vehicle control unit.

[0023] In a third aspect, the embodiments of the present application provide a vehicle. The vehicle comprises the intelligent driving vehicle safety redundancy control system as described in the first aspect or any possible implementation manner of the first aspect.

[0024] The embodiments of the present application provide an intelligent driving vehicle safety redundancy control system, method and vehicle. The intelligent driving vehicle safety redundancy control system comprises a vehicle control unit, a main control unit and a backup control unit which are connected to each other. In the control process of the intelligent driving vehicle safety redundancy control system on the vehicle control system, since the main control unit and the backup control unit both send control instructions to the vehicle control unit, the vehicle control unit can determine the availability of the control instruction sent by the main control unit through the first running state information and the first channel state information corresponding to the main control unit, and can select the control instruction sent by the backup control unit as the control instruction to be executed at any time. Based on this, the response time of the backup control unit can be effectively reduced, the response speed of the intelligent driving vehicle safety redundancy control can be improved, and the safety and reliability of the vehicle control can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed in the embodiments of the present application will be briefly introduced. Those skilled in the art can obtain other drawings according to these drawings without creating any creative labor.

[0026] Figure 1 is a structural schematic diagram of a first intelligent driving vehicle safety redundancy control system provided by the embodiments of the present application;

[0027] Figure 2 is a structural schematic diagram of a second intelligent driving vehicle safety redundancy control system provided by the embodiments of the present application;

[0028] Figure 3 is a structural schematic diagram of a third intelligent driving vehicle safety redundancy control system provided by the embodiments of the present application;

[0029] Figure 4 Fig. 4 is a structural schematic diagram of a fourth intelligent driving vehicle safety redundancy control system provided by an embodiment of the present application;

[0030] Figure 5 Fig. 5 is a flow schematic diagram of an intelligent driving vehicle safety redundancy control method provided by an embodiment of the present application. DETAILED DESCRIPTION

[0031] The features and exemplary embodiments of various aspects of the present application will be described in detail below with reference to the drawings. For the purpose of clarity, the description is divided into the following sections: technical field, background, summary, detailed description, and claims. The description is provided to enable those skilled in the art to make and use the present application. Descriptions of specific embodiments are intended to provide examples, and are not intended to limit the present application in any way.

[0032] It should be noted that, in this document, relational terms such as first and second and the like can be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by the statement "comprises... " does not exclude the existence of additional identical elements in the process, method, article, or apparatus that includes the element.

[0033] With the continuous development of vehicle automatic control technology, vehicle intelligent technology is becoming more and more mature. In the process of automatic control of vehicle driving, it is particularly important to ensure the safe and stable operation of intelligent driving vehicles. Among them, ensuring the safety of the whole vehicle control process is an essential part of the development of vehicle automatic control technology.

[0034] At present, the safety redundancy scheme of the whole vehicle control system of the vehicle is not perfect, for example, in the safety redundancy control scheme, most of the master and backup controllers are adopted, when the master controller fails, the backup control takes over the control object of the master controller after receiving the fault information of the master controller. When the backup controller takes over the control object, the backup controller can take over the control object only after the backup controller's takeover permission of the control object is audited. Therefore, the real-time performance of the existing safety redundancy scheme of the whole vehicle control system is low, and the safety and reliability of the whole vehicle control need to be improved.

[0035] In order to solve the problems in the prior art, the embodiments of the present application provide a kind of intelligent driving vehicle safety redundancy control system and vehicle, can improve the response speed of intelligent driving vehicle safety redundancy control, and the safety and reliability of whole vehicle control.

[0036] Firstly, the intelligent driving vehicle safety redundancy control system provided by the embodiments of the present application is introduced. Figure 1 The structure schematic diagram of the first intelligent driving vehicle safety redundancy control system provided by one embodiment of the present application is shown. As shown in Figure 1 The intelligent driving vehicle safety redundancy control system can be connected to each other through the whole vehicle control unit 210, the master control unit 110 and the backup control unit 120. Among them, the first communication link between the master control unit 110 and the whole vehicle control unit 210, and the second communication link 121 between the backup control unit 120 and the whole vehicle control unit 210.

[0037] The whole vehicle control unit 210 receives the master control instruction sent by the master control unit 110 through the first communication link 111, and receives the backup control instruction sent by the backup control unit 120 through the second communication link 121. The whole vehicle control unit 210 is also used to obtain the first running state information of the master control unit 110 and the first channel state information of the first communication link 111, and determine the target vehicle control instruction from the master control instruction and the backup control instruction according to the first running state information and the first channel state information.

[0038] Optionally, the backup control unit 120 can also send the second running state information of the backup control unit 120 and the second channel state information of the second communication link to the whole vehicle control unit 210, so as to facilitate the whole vehicle control unit 210 to understand the reliability of the backup control instruction.

[0039] In some embodiments, the primary control unit 110 and the backup control unit 120 are part of the intelligent driving control unit of the vehicle. For example, the primary control unit 110 can be an Automated Driving Control Unit (ADU), and the backup control unit 120 can be a Fail Operation Unit (FOU).

[0040] Optionally, the first communication link 111 and the second communication link 121 can be a Controller Area Network (CAN) bus.

[0041] The vehicle control unit (VCU) can be part of the vehicle chassis control unit.

[0042] The first operating status information of the primary control unit 110 can include the operating status information of the primary control unit 110 itself. The first channel status information of the first communication link 111 can be used to determine whether the first communication link 111 is in a normal communication state. The vehicle control unit 210 can determine whether the primary control instruction from the primary control unit 110 is available according to the first operating status information and the first channel status information. When the primary control instruction of the primary control unit 110 is available, the vehicle control unit 210 takes the primary control instruction as the target vehicle control instruction. That is, the vehicle control unit 210 executes the primary control instruction.

[0043] For example, when the operating status information of the primary control unit 110 includes operating failure information, it indicates that the primary control unit is failed, and at this time, the primary control instruction is not available. The vehicle control unit 210 takes the backup control instruction sent by the backup control unit 120 as the target vehicle control instruction. That is, the vehicle control unit 210 executes the backup control instruction.

[0044] The target vehicle control instruction, for example, includes path planning and vehicle control decision to realize the lateral and longitudinal motion control of the vehicle. The lateral and longitudinal motion control, for example, includes steering control, braking control, and driving control of the vehicle, and the like, which are not listed one by one here.

[0045] Optionally, the backup control unit 120 can also send the second operating status information of the backup control unit 120 and the second channel status information of the second communication link to the vehicle control unit 210, so as to facilitate the vehicle control unit 210 to understand the reliability of the backup control instruction.

[0046] According to the embodiment of the present application, in the intelligent driving vehicle safety redundant control system, the main control unit 110 and the backup control unit 120 both send control instructions to the vehicle control unit 210, and the vehicle control unit 210 can determine the availability of the control instructions sent by the main control unit 110 through the first running state information and the first channel state information corresponding to the main control unit 110, and can select the target vehicle control instruction from the main control instruction and the backup control instruction at any time. Based on this, the response time of the backup control unit 120 can be effectively reduced, the response speed of the intelligent driving vehicle safety redundant control can be improved, and the safety and reliability of the vehicle can be improved.

[0047] In some embodiments, the main control unit 110 sends the first running state information and the first channel state information to the vehicle control unit 210 according to a preset sending period. The preset sending period can be set according to the actual application scene of the vehicle, which is not specifically limited here.

[0048] In some embodiments, when the first running state information includes normal running information and the first channel state information includes normal communication information, the vehicle control unit 210 determines the main control instruction as the target vehicle control instruction.

[0049] In some embodiments, when the first running state information includes running fault information, the vehicle control unit 210 determines the backup control instruction as the target vehicle control instruction.

[0050] During the operation of the main control unit 110, the running state of the main control unit 110 can be detected to determine whether a fault occurs. When the main control unit 110 fails, the reliability of the vehicle control instruction generated by the main control unit 110 is reduced. At this time, the first running state information sent by the main control unit 110 to the vehicle control unit 210 includes running fault information, so that the vehicle control unit 210 can directly select the backup control instruction as the target vehicle control instruction to improve the safety and reliability of the vehicle control process.

[0051] In some embodiments, when the first channel state information includes communication fault information, the vehicle control unit 210 determines the backup control instruction as the target vehicle control instruction.

[0052] For example, the whole vehicle control unit 210 can detect whether the first communication link is in a normal communication state through the first channel state information after receiving the first channel state information. For example, it is detected whether the first communication link has one or more of the following communication errors: checksum error, live counter error, node loss, Cyclic Redundancy Check (CRC) error, etc. When the first communication link has the above communication errors, the first communication link 111 can have communication failure information. Therefore, at this time, the whole vehicle control unit 210 can directly select the backup control instruction as the target vehicle control instruction to improve the safety and reliability of the vehicle control process.

[0053] Optionally, in some embodiments, the backup control unit 120 is also used to monitor the running state of the main control unit 110, and obtain first running state information of the main control unit 110; the backup control unit 120 sends second running state information of the backup control unit 120 and second channel state information of the second communication link to the whole vehicle control unit 210 when the first running state information includes running failure information.

[0054] Optionally, the main control unit 110 and the backup control unit 120 can be communicatively connected based on a CAN bus. The backup control unit 120 can obtain the first running state information of the main control unit in real time to monitor the running state of the main control unit 110 in real time. The backup control unit 120 can understand the running state of the main control unit 110 according to the first running state information.

[0055] When the first running state information includes running normal information, the backup control unit 120 instructs the whole vehicle control unit 210 to use the main control instruction sent by the main control unit 110 when the backup control unit 120 can send the backup control instruction to the whole vehicle control unit 210. When the first running state information includes running failure information, the backup control unit 120 instructs the whole vehicle control unit 210 to use the backup control instruction when the backup control unit 120 can send the second control instruction to the whole vehicle control unit 210.

[0056] As a specific example, the backup control unit 120 can also send the second running state information of the backup control unit 120 and the second channel state information of the second communication link to the whole vehicle control unit 210 in response to the first running state information. Thus, the whole vehicle control unit 210 can understand the reliability of the backup control instruction.

[0057] In some embodiments, the intelligent driving vehicle safety redundant control system further comprises a steering unit 221, a braking unit 222 and a driving unit 223. The steering unit 221, the braking unit 222 and the driving unit 223 are respectively communicatively connected with the vehicle control unit 210, and are configured to execute the target vehicle control instruction determined by the vehicle control unit 210.

[0058] Specifically, the steering unit 221, the braking unit 222 and the driving unit 223 can be part of the vehicle chassis control unit 20. Exemplarily, Figure 2 is a structural schematic diagram of a second intelligent driving vehicle safety redundant control system provided by an embodiment of the present application. In the vehicle chassis control unit 20, the steering unit 221, the braking unit 222 and the driving unit 223 are respectively communicatively connected with the vehicle control unit 210. After determining the target vehicle control instruction, the vehicle control unit 210 can send the target vehicle control instruction to the steering unit 221, the braking unit 222 and / or the driving unit 223, and the steering unit 221, the braking unit 222 and / or the driving unit 223 execute the target vehicle control instruction.

[0059] In some embodiments, the braking unit 222 is communicatively connected with the main control unit, and the main control unit 110 sends the braking control instruction to the braking unit when receiving the third running state information of the vehicle control unit.

[0060] Exemplarily, Figure 3 is a structural schematic diagram of a third intelligent driving vehicle safety redundant control system provided by an embodiment of the present application. In combination with Figure 3 , it is shown that the braking unit 222 can be connected with the main control unit through the second communication link 121. It can be understood that, Figure 3 the connection mode of the driving unit to the main control unit and the connection mode of the braking unit to the main control unit are only exemplary, and not as a specific limitation of the embodiments of the present application.

[0061] As a specific example, the third running state information can include the running state information of the vehicle control unit 210 and the control state information of the vehicle control unit to the braking unit 222. Exemplarily, when the vehicle control unit 210 has a running failure, or when the vehicle control unit 210 controls the braking unit 222 to fail, the vehicle control unit can send the third running state information to the main control unit 110.

[0062] When receiving the third running state information of the vehicle control unit, the main control unit 110 can directly send the braking control instruction to the braking unit 222 to ensure the safety of driving. Exemplarily, the second target vehicle control instruction can be to control the vehicle to stop according to the planned path to ensure the safety of driving.

[0063] Optionally, the backup control unit 120 can also be communicatively connected with the brake unit 222. After the main control unit 110 sends the brake control instruction to the brake unit 222, the backup control unit 120 simultaneously detects the operation state of the main control unit 110. When detecting that the main control unit 110 has an operation failure, or when detecting that the main control unit 110 has a communication failure with the brake unit 222, the backup control unit 120 can directly send the brake control instruction to the brake unit to ensure driving safety.

[0064] In some embodiments, the intelligent driving vehicle safety redundant control system further comprises a data acquisition unit 130, which is communicatively connected with the main control unit 110 and the backup control unit 120, respectively. The data acquisition unit 130 is configured to acquire vehicle operating environment data, and send the vehicle operating environment data to the main control unit, so that the main control unit generates a main control instruction according to the vehicle operating environment information; and send the vehicle operating environment data to the backup control unit 120, so that the backup control unit generates a backup control instruction according to the vehicle operating environment information.

[0065] Optionally, the data acquisition unit 130 can communicate with the main control unit 110 and the backup control unit 120 through a CAN with Flexible Datarate (CAN FD) bus.

[0066] Specifically, the data acquisition unit 130 can be another part of the intelligent driving control unit 10. For example, Figure 4 is a structural schematic diagram of a fourth intelligent driving vehicle safety redundant control system provided by the embodiments of the present application, which is combined with Figure 4 As shown in the figure, the data acquisition unit 130 is communicatively connected with the main control unit 110 and the backup control unit 120, respectively. The data acquisition unit 130 acquires information such as road and lane line information, traffic sign information, vehicle, pedestrian, and obstacle information, speed of the obstacle information, distance of the obstacle information, and the like. The main control unit 110 and the backup control unit 120 can make path planning and vehicle control decisions according to the information acquired by the data acquisition unit 130, and then generate vehicle control instructions.

[0067] After determining the target vehicle control instruction, the whole vehicle control unit 210 controls the steering unit 221, the brake unit 222, and the driving unit 223 to execute the target vehicle control instruction.

[0068] According to the embodiment of the present application, the main control unit and the backup control unit are redundant to each other, and the double communication links are redundant to each other. The backup control unit can monitor the running state and the communication state of the main control unit in real time. In the technical solution of the embodiment of the present application, the running failure of the main control unit is considered, and the communication failure is also considered, so that the problem of intelligent driving out of control caused by the running failure of the main control unit and the communication failure is effectively solved.

[0069] In addition, according to the embodiment of the present application, the driving unit and the braking unit are directly connected with the main control unit, so that the safe redundant control of vehicle braking can be realized. Especially in the case of failure of the vehicle controller, the braking unit can directly respond to the braking command of the main control unit. Based on this, the reliability of the driving control vehicle operation is effectively improved, and the automatic driving safety is ensured.

[0070] Based on the same inventive concept, the present application also provides a kind of intelligent driving vehicle safety redundant control method, Figure 5 It is a kind of intelligent driving vehicle safety redundant control method flow chart provided by the embodiment of the present application, combines Figure 5 The method shown in FIG. 5 can include steps 510 to 520.

[0071] Step 510, obtaining the main control instruction generated by the main control unit, the backup control instruction generated by the backup control unit, and the first running state information and the first channel state information of the main control unit,

[0072] Step 520, according to the first running state information and the first channel state information, determining the target vehicle control instruction from the main control instruction and the backup control instruction, wherein the target vehicle control instruction is executed by the vehicle control unit.

[0073] Specifically, in the case that the first running state information includes running failure information, the vehicle control unit determines the backup control instruction as the target vehicle control instruction.

[0074] In some embodiments, in the case that the first channel state information includes communication failure information, the vehicle control unit determines the backup control instruction as the target vehicle control instruction.

[0075] In some embodiments, in the case that the first running state information includes running normal information and the first channel state information includes communication normal information, the vehicle control unit determines the main control instruction as the target vehicle control instruction.

[0076] In some embodiments, the backup control unit is further used to monitor the running state of the main control unit, and obtain the first running state information of the main control unit;

[0077] The backup control unit sends the second running state information of the backup control unit and the second channel state information of the second communication link to the vehicle control unit in a case where the first running state information includes running fault information.

[0078] In some embodiments, the main control unit sends the first running state information and the first channel state information to the vehicle control unit according to a preset sending period.

[0079] In some embodiments, the intelligent driving vehicle safety redundant control system further comprises a steering unit, a braking unit and a driving unit,

[0080] The steering unit, the braking unit and the driving unit are respectively in communication connection with the vehicle control unit and are used to execute the target vehicle control instruction determined by the vehicle control unit.

[0081] In some embodiments, the braking unit is in communication connection with the main control unit, and the main control unit sends a braking control instruction to the braking unit when receiving the third running state information of the vehicle control unit.

[0082] In some embodiments, the intelligent driving vehicle safety redundant control system further comprises a data acquisition unit, the data acquisition unit is respectively in communication connection with the main control unit and the backup control unit,

[0083] The data acquisition unit is used to acquire vehicle running environment data and send the vehicle running environment data to the main control unit, so that the main control unit generates a main control instruction according to the vehicle running environment information,

[0084] and send the vehicle running environment data to the backup control unit, so that the backup control unit generates a backup control instruction according to the vehicle running environment information.

[0085] It can be understood that the intelligent driving vehicle safety redundant control method of the embodiments of the present application can correspond to the intelligent driving vehicle safety redundant control system provided by the embodiments of the present application, and the specific details of the intelligent driving vehicle safety redundant control method can be referred to the description of the corresponding part of the intelligent driving vehicle safety redundant control system of the embodiments of the present application. In order to be brief, it will not be repeated here.

[0086] The intelligent driving vehicle safety redundancy control method of the embodiments of the present application comprises a vehicle control unit, a main control unit and a backup control unit which are connected to each other in communication in an intelligent driving vehicle safety redundancy control system. In the control process of the intelligent driving vehicle safety redundancy control system on the vehicle control system, since the main control unit and the backup control unit both send control instructions to the vehicle control unit, the vehicle control unit can determine the availability of the control instructions sent by the main control unit through the first running state information and the first channel state information corresponding to the main control unit, and can select the control instructions sent by the backup control unit as the control instructions to be executed at any time. Based on this, the response time of the backup control unit can be effectively reduced, the response speed of the intelligent driving vehicle safety redundancy control can be improved, and the safety and reliability of the vehicle control can be improved.

[0087] Based on the same inventive concept, the present application also provides a vehicle, which can comprise any intelligent driving vehicle safety redundancy control system provided by the embodiments of the present application.

[0088] The above is only a specific implementation of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited to this, and any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. An intelligent vehicle safety redundancy control system, comprising: The intelligent driving vehicle safety redundancy control system comprises a vehicle control unit, a main control unit and a backup control unit which are connected in communication with each other, wherein the main control unit and the vehicle control unit are connected through a first communication link, and the backup control unit and the vehicle control unit are connected through a second communication link, The vehicle control unit receives the main control instruction sent by the main control unit through the first communication link, and receives the backup control instruction sent by the backup control unit through the second communication link, The vehicle control unit is further configured to acquire first running state information of the main control unit and first channel state information of the first communication link, and determine a target vehicle control instruction from the main control instruction and the backup control instruction according to the first running state information and the first channel state information. The backup control unit sends second running state information of the backup control unit and second channel state information of the second communication link to the vehicle control unit when the first running state information comprises running fault information.

2. The system of claim 1, wherein, When the first running state information comprises running fault information, the vehicle control unit determines the backup control instruction as the target vehicle control instruction.

3. The system of claim 1, wherein, When the first channel state information comprises communication fault information, the vehicle control unit determines the backup control instruction as the target vehicle control instruction.

4. The system of claim 1, wherein, When the first running state information comprises running normal information and the first channel state information comprises communication normal information, the vehicle control unit determines the main control instruction as the target vehicle control instruction.

5. The system of claim 2, wherein, The backup control unit is further configured to monitor the running state of the main control unit and acquire the first running state information of the main control unit.

6. The system of claim 1, wherein, The main control unit sends the first running state information and the first channel state information to the vehicle control unit according to a preset sending period.

7. The system of claim 1, wherein, The intelligent driving vehicle safety redundancy control system further comprises a steering unit, a braking unit and a driving unit, The steering unit, the braking unit and the driving unit are connected in communication with the vehicle control unit and are configured to execute the target vehicle control instruction determined by the vehicle control unit.

8. The system of claim 7, wherein, The braking unit is connected in communication with the main control unit, and the main control unit sends a braking control instruction to the braking unit when receiving third running state information of the vehicle control unit.

9. The system of claim 1, wherein, The intelligent driving vehicle safety redundancy control system further comprises a data acquisition unit connected in communication with the main control unit and the backup control unit, The data acquisition unit is configured to acquire vehicle running environment data, send the vehicle running environment data to the main control unit so that the main control unit generates the main control instruction according to the vehicle running environment information, and send the vehicle running environment data to the backup control unit so that the backup control unit generates the backup control instruction according to the vehicle running environment information. The method is applied to the intelligent driving vehicle safety redundancy control system according to any one of claims 1 to 9, and the method comprises:

10. A method for intelligent driving vehicle safety redundant control, the method comprising: ​ acquire a main control instruction generated by a main control unit, a backup control instruction generated by a backup control unit, and first running state information and first channel state information of the main control unit, determine a target vehicle control instruction from the main control instruction and the backup control instruction according to the first running state information and the first channel state information, wherein the target vehicle control instruction is executed by a whole vehicle control unit.

11. A vehicle characterized by comprising: The vehicle comprises the intelligent driving vehicle safety redundancy control system according to any one of claims 1 to 9.

Images