Steering control methods, devices, equipment and storage media

Abstract

This invention relates to the field of autonomous driving, and more particularly to a steering control method, apparatus, device, and storage medium. The method includes: acquiring driving control signals of an autonomous vehicle during operation, wherein the driving control signals include a main control signal and redundant control signals; identifying whether a switching instruction exists in the main control signal, and determining a valid signal in the driving control signals based on the identification result, wherein the switching instruction is used to indicate a switch between the main control signal and the redundant control signals; if the identification result indicates that no switching instruction exists in the main control signal, performing communication fault analysis on the main control signal and the redundant control signals, and determining a valid signal in the driving control signals based on the analysis result; and performing steering control on the autonomous vehicle based on the valid signal. This application, by identifying and analyzing faults in the driving control signals to determine the valid signal and execute steering control, greatly improves the reliability of autonomous driving.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and more particularly to a steering control method, apparatus, device, and storage medium. Background Technology

[0002] In the current field of autonomous driving, steering control is a crucial component of vehicle safety and driving control. During autonomous driving, it needs to provide accurate and sufficiently redundant control signals. From a functional perspective, this requires designing a steering control system with one primary and one backup signal source to ensure sufficient safety. However, while common steering control systems also have one primary and one backup signal source, often only one signal is active, while the other is in a cold or hot standby state. This leads to untimely switching between the primary and backup signals in the event of a fault, affecting driving safety. Summary of the Invention

[0003] The main objective of this invention is to solve the technical problem that existing steering control schemes cannot select a valid signal for switching in a timely manner when there is an abnormal signal, resulting in frame loss in steering control.

[0004] The first aspect of the present invention provides a steering control method, the steering control method comprising: acquiring driving control signals of an autonomous vehicle during driving, wherein the driving control signals include a main control signal and redundant control signals; identifying whether a switching instruction exists in the main control signal, and determining a valid signal in the driving control signal based on the identification result, wherein the switching instruction is used to indicate a switching between the main control signal and the redundant control signal; if the identification result is that no switching instruction exists in the main control signal, performing communication fault analysis on the main control signal and the redundant control signal, and determining a valid signal in the driving control signal based on the analysis result; and performing steering control on the autonomous vehicle based on the valid signal.

[0005] Optionally, in a first implementation of the first aspect of the present invention, acquiring the driving control signals of the autonomous vehicle during driving includes: acquiring driving control signals from the main control communication bus and the redundant communication bus respectively; parsing each driving control signal to obtain a corresponding data ID, wherein the data ID is used to mark the source of the signal; determining the source of the corresponding driving control signal based on the data ID to obtain the main control signal and the redundant control signal.

[0006] Optionally, in a second implementation of the first aspect of the present invention, the data ID is further used to mark the functional type of the signal. Before performing communication fault analysis on the main control signal and the redundant control signal, and determining the valid signal in the driving control signal based on the analysis result, the method further includes: classifying the main control signal and the redundant control signal by function based on the data ID to obtain a first signal set and a second signal set, wherein the first signal set includes a main braking signal and / or a redundant braking signal, and the second signal set includes a main driving signal and / or a redundant driving signal; and identifying the source of the signals in the first signal set and the second signal set respectively.

[0007] Optionally, in a third implementation of the first aspect of the present invention, the step of performing communication fault analysis on the main control signal and the redundant control signal, and determining the valid signal in the driving control signal based on the analysis result, includes: determining whether the sources of the signals in the first signal set and the second signal set both satisfy the simultaneous existence of the main control signal and the redundant control signal; if not, determining that the system corresponding to the signal set that does not satisfy the condition has a communication fault, and taking the signals present in the signal set that does not satisfy the condition as valid signals.

[0008] Optionally, in a fourth implementation of the first aspect of the present invention, determining that the system corresponding to the set of signals that do not meet the requirements has a communication fault, and taking the signals in the set of signals that do not meet the requirements as valid signals, includes: calculating the transmission interval of each signal in the set of signals that do not meet the requirements, and determining whether there is a timeout signal based on the transmission interval; if so, determining that there is a communication fault, and taking the signals in the set of signals that do not time out as valid signals.

[0009] Optionally, in a fifth implementation of the first aspect of the present invention, the step of performing steering control on the autonomous vehicle based on the valid signal includes: determining the data ID of the valid signal; and performing steering control on the module corresponding to the data ID based on the valid signal.

[0010] Optionally, in a sixth implementation of the first aspect of the present invention, when it is determined that neither the source of the signals in the first signal set nor the second signal set contains a main control signal or a redundant control signal, the steering control method further includes: obtaining the main control signal of the previous control cycle of the autonomous vehicle to continue steering control of the autonomous vehicle.

[0011] A second aspect of the present invention provides a steering control device, comprising: an acquisition module for acquiring driving control signals of an autonomous vehicle during driving, wherein the driving control signals include a main control signal and a redundant control signal; a switching instruction identification module for identifying whether a switching instruction exists in the main control signal, and determining a valid signal in the driving control signals based on the identification result, wherein the switching instruction is used to indicate a switching between the main control signal and the redundant control signal; a fault analysis module for performing communication fault analysis on the main control signal and the redundant control signal if the identification result indicates that no switching instruction exists in the main control signal, and determining a valid signal in the driving control signals based on the analysis result; and a steering control module for performing steering control on the autonomous vehicle based on the valid signal.

[0012] Optionally, in a first implementation of the second aspect of the present invention, the acquisition module is specifically used to: acquire driving control signals from the main control communication bus and the redundant communication bus respectively; parse each driving control signal to obtain a corresponding data ID, wherein the data ID is used to mark the source of the signal; determine the source of the corresponding driving control signal based on the data ID, and obtain the main control signal and the redundant control signal.

[0013] Optionally, in a second implementation of the second aspect of the present invention, the steering control device further includes a signal source identification module, which is specifically used to: classify the main control signal and the redundant control signal according to the data ID to obtain a first signal set and a second signal set, wherein the first signal set includes a main braking signal and / or redundant braking signals, and the second signal set includes a main driving signal and / or redundant driving signals; and identify the source of the signals in the first signal set and the second signal set respectively.

[0014] Optionally, in a third implementation of the second aspect of the present invention, the fault analysis module is specifically used for: a signal judgment unit, which judges whether the sources of signals in the first signal set and the second signal set both satisfy the simultaneous existence of a main control signal and a redundant control signal; and a communication fault determination unit, which, if not, determines that the system corresponding to the signal set that does not satisfy the condition has a communication fault, and takes the signals present in the signal set that does not satisfy the condition as valid signals.

[0015] Optionally, in a fourth implementation of the second aspect of the present invention, the communication fault determination unit is specifically used to: calculate the transmission interval of each signal in the signal set that does not meet the requirements, and determine whether there is a timeout signal based on the transmission interval; if so, determine that there is a communication fault, and take the signals in the signal set that are determined not to have timeout as valid signals.

[0016] Optionally, in a fifth implementation of the second aspect of the present invention, the steering control module is specifically used to: determine the data ID of the valid signal; and perform steering control on the module corresponding to the data ID based on the valid signal.

[0017] Optionally, in a sixth implementation of the second aspect of the present invention, the steering control device further includes a signal latching module, which is specifically used to: acquire the main control signal of the previous control cycle of the autonomous vehicle to continue steering control of the autonomous vehicle.

[0018] A third aspect of the present invention provides a steering control device, comprising: a memory and at least one processor, wherein the memory stores a request, and the memory and the at least one processor are interconnected via a line; the at least one processor invokes the request in the memory to cause the steering control device to perform the steps of the steering control method described above.

[0019] A fourth aspect of the present invention provides a computer-readable storage medium storing a request that, when executed on a computer, causes the computer to perform the steps of the steering control method described above.

[0020] In the technical solution of this invention, driving control signals of an autonomous vehicle during operation are acquired. These driving control signals include a main control signal and redundant control signals. The system identifies whether a switching instruction exists in the main control signal and determines the valid signal within the driving control signal based on the identification result. The switching instruction indicates a switch between the main control signal and the redundant control signal. If the identification result indicates that no switching instruction exists in the main control signal, communication fault analysis is performed on the main control signal and the redundant control signal, and the valid signal within the driving control signal is determined based on the analysis result. Steering control of the autonomous vehicle is then performed based on the valid signal. This application significantly improves the reliability of autonomous driving by identifying and analyzing driving control signals to determine the valid signal and executing steering control based on the determined valid signal. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the first embodiment of the steering control method in this invention;

[0022] Figure 2 This is a schematic diagram of a second embodiment of the steering control method in this invention;

[0023] Figure 3 This is a schematic diagram of a third embodiment of the steering control method in this invention;

[0024] Figure 4 This is a schematic diagram of one embodiment of the steering control device in this invention;

[0025] Figure 5 This is a schematic diagram of another embodiment of the steering control device in this invention;

[0026] Figure 6 This is a schematic diagram of one embodiment of the steering control device in this invention. Detailed Implementation

[0027] In the technical solution of this invention, driving control signals of an autonomous vehicle during operation are acquired. These driving control signals include a main control signal and redundant control signals. The system identifies whether a switching instruction exists in the main control signal and determines the valid signal within the driving control signal based on the identification result. The switching instruction indicates a switch between the main control signal and the redundant control signal. If the identification result indicates that no switching instruction exists in the main control signal, communication fault analysis is performed on the main control signal and the redundant control signal, and the valid signal within the driving control signal is determined based on the analysis result. Steering control of the autonomous vehicle is then performed based on the valid signal. This application significantly improves the reliability of autonomous driving by identifying and analyzing driving control signals to determine the valid signal and executing steering control based on the determined valid signal.

[0028] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification, claims, and accompanying drawings of this invention are used to distinguish similar elements and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” or “having,” and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0029] For ease of understanding, the specific process of the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 1 The first embodiment of the steering control method in this invention includes:

[0030] 101. Acquire driving control signals of autonomous vehicles during operation;

[0031] In this embodiment, the autonomous vehicle steers during operation using a steering control system. This steering control system includes a main steering control subsystem and a redundant steering control subsystem. The main steering control subsystem includes a steering module, a main autonomous driving module, a main braking module, and a main communication bus. The redundant steering control subsystem includes a redundant autonomous driving module, a redundant braking module, and a redundant communication bus. By detecting the signal content within the steering control system, the steering module updates the response states of the main autonomous driving module, the main braking module, and the main communication bus based on the signal content. Based on these updated response states, the steering module responds to the corresponding redundant autonomous driving module, redundant braking module, and redundant communication bus within the redundant steering control subsystem.

[0032] Specifically, the driving control signal is issued by the main automatic driving module, the main braking module, the redundant automatic driving module, and the redundant braking module, and transmitted to the steering module, which then performs steering operations based on the driving control signal.

[0033] It is understandable that autonomous vehicles use a steering control system to steer during driving. The steering control system consists of a steering module, a main autonomous driving module, a main braking module, a redundant autonomous driving module, and a redundant braking module, which are connected through a main communication bus and a redundant communication bus. The steering module processes the signals sent by the other modules.

[0034] 102. Identify whether there is a switching command in the main control signal, and determine the valid signal in the driving control signal based on the identification result;

[0035] In this embodiment, an identification result is generated by identifying whether a switching command exists in the main control signal. The identification result includes whether the command exists or not. The steering module determines the valid signal in the driving control signal based on the identification result.

[0036] Specifically, the switching command is issued by the main automatic driving module and the main braking module. When the steering module receives the switching command, it confirms the module that generated the switching command. If the generating module is the main automatic driving module, the steering module responds to the output signal of the redundant automatic driving module; if the issuing module is the main braking module, the steering module responds to the output signal of the redundant braking module.

[0037] On one hand, the redundant automatic driving module verifies the signal content of the main automatic driving module and determines whether the working status of the main automatic driving module is normal; if not, a switching command is issued to the steering module through the main communication bus; the steering module stops responding to the main automatic driving module based on the switching command.

[0038] 103. If the identification result shows that there is no switching command in the main control signal, then perform communication fault analysis on the main control signal and redundant control signal, and determine the valid signal in the driving control signal based on the analysis result.

[0039] In this embodiment, if the main control signal does not have a switching instruction in the identification result of step 102, then a communication fault analysis is performed on the main control signal and the redundant control signal, and the effective signal is selected based on the analysis result.

[0040] Specifically, the driving control signals include signals issued by the main automatic driving module, the main braking module, the redundant automatic driving module, and the redundant braking module, namely a first signal set and a second signal set. The first signal set includes the main braking signal and / or the redundant braking signal, and the second signal set includes the main driving signal and / or the redundant driving signal.

[0041] On the one hand, if both the first signal set and the second signal set are fault-free, the main control signal is selected as the valid signal.

[0042] 104. Steering control of autonomous vehicles based on valid signals.

[0043] In this embodiment, after determining the valid signal in the driving control signal through step 103, the steering module responds to the valid signal and then performs steering control on the autonomous vehicle.

[0044] Specifically, valid signals include the main braking signal or redundant braking signal, as well as the main driving signal or redundant driving signal.

[0045] In this embodiment, driving control signals of an autonomous vehicle during operation are acquired. These driving control signals include a main control signal and redundant control signals. The presence of a switching instruction in the main control signal is identified, and a valid signal within the driving control signals is determined based on the identification result. The switching instruction indicates a switch between the main control signal and the redundant control signals. If the identification result indicates that no switching instruction exists in the main control signal, communication fault analysis is performed on the main control signal and the redundant control signals, and a valid signal within the driving control signals is determined based on the analysis result. Steering control of the autonomous vehicle is then performed based on the valid signal. This application significantly improves the reliability of autonomous driving by identifying and analyzing driving control signals for faults, determining valid signals, and executing steering control based on the determined valid signals.

[0046] Please see Figure 2 The second embodiment of the steering control method in this invention includes:

[0047] 201. Obtain driving control signals from autonomous vehicles during operation;

[0048] 202. Identify whether there is a switching command in the main control signal, and determine the valid signal in the driving control signal based on the identification result;

[0049] 203. Based on the data ID, classify the main control signal and redundant control signal by function to obtain the first signal set and the second signal set;

[0050] In this embodiment, each signal in the driving control signal, namely the main braking signal, the redundant braking signal, the main driving signal, and the redundant driving signal, has a corresponding data ID. The data ID is used to identify the generation module of each signal. The generation module includes the main automatic driving module, the main braking module, the redundant automatic driving module, and the redundant braking module.

[0051] Specifically, based on the data ID, the main control signal and redundant control signal are functionally classified to obtain a first signal set for controlling braking and a second signal set for controlling autonomous driving. Each signal set should contain both main signals and redundant signals applied to the same function.

[0052] On the one hand, if all the generating modules are fault-free, the first signal set includes the main braking signal and the redundant braking signal; the second signal set includes the main driving signal and the redundant driving signal.

[0053] 204. Identify the sources of the signals in the first signal set and the second signal set, respectively;

[0054] In this embodiment, the source of the signals in the first signal set and the second signal set is determined by the data ID. The source of the first signal set includes the main braking module and the redundant braking module; the source of the second signal set includes the main automatic driving module and the redundant automatic driving module.

[0055] Specifically, by determining the source of the signal, the main control signals of the first and second signal sets are identified. By analyzing whether the main control signals contain switching instructions, subsequent steps are determined.

[0056] Specifically, if a switching instruction exists for the main control signal, the main control signal with the switching instruction is determined based on the data ID, and then the system switches to the redundant control signal in the corresponding signal set based on the main control signal with the switching instruction.

[0057] Specifically, if a switching command exists in the main control signal, the main control signal with the switching command is determined based on the data ID; it is then determined whether the main control signal with the switching command is the main braking signal. If it is, the redundant braking signals in the first signal set are determined to be valid signals; otherwise, the redundant driving signals in the second signal set are determined to be valid signals.

[0058] 205. If the identification result shows that there is no switching instruction in the main control signal, then determine whether the sources of the signals in the first signal set and the second signal set both satisfy the simultaneous existence of the main control signal and the redundant control signal.

[0059] In this embodiment, if the identification result shows that there is no switching instruction in the main control signal, it is then determined whether the main control signal and the redundant control signal exist simultaneously in the first signal set and the second signal set. If they exist simultaneously, the main control signal in the first signal set and the second signal set is selected as the valid signal.

[0060] 206. If not, calculate the transmission interval of each signal in the set of signals that do not meet the requirements, and determine whether there is a timeout signal based on the transmission interval;

[0061] In this embodiment, if not, the data ID of the unsatisfied signal is determined, and the transmission interval is calculated for the data ID of the unsatisfied signal to determine whether the unsatisfied signal is a timeout signal.

[0062] Specifically, for example, a complete scheduling cycle is 10ms, and the transmission cycle of any signal in the driving control signal is 2ms. If any module fails to send the corresponding signal to the steering module for 6ms, it is confirmed that the module has a timeout signal.

[0063] 207. If a timeout signal exists, a communication failure is determined, and the signals in the signal set that do not time out are taken as valid signals;

[0064] In this embodiment, if the steering module confirms the existence of a timeout signal, then the signal that has not timed out in the signal set is used as the valid signal.

[0065] Specifically, based on the data ID of the acquired driving control signal, the set of signals corresponding to the timeout signal is determined, and the corresponding main control signal or redundant control signal is applied.

[0066] 208. Steering control of autonomous vehicles based on valid signals.

[0067] This embodiment, based on the previous embodiment, describes in detail the process of determining whether the sources of signals in the first signal set and the second signal set both satisfy the simultaneous presence of a main control signal and a redundant control signal; if not, it is determined that the system corresponding to the signal set that does not satisfy the condition has a communication fault, and the signals present in the signal set that does not satisfy the condition are taken as valid signals. Compared with traditional methods, this embodiment clarifies that each signal in the driving control signal, namely the main braking signal, the redundant braking signal, the main driving signal, and the redundant driving signal, has a corresponding data ID. The data ID is used to identify the generation module of each signal, and the generation module includes the main automatic driving module, the main braking module, the redundant automatic driving module, and the redundant braking module.

[0068] Please see Figure 3 The third embodiment of the steering control method in this invention includes:

[0069] 301. Obtain the main control signal from the previous control cycle of the autonomous vehicle to continue steering control of the autonomous vehicle;

[0070] In this embodiment, the autonomous vehicle confirms the valid signal of the current control cycle in each control cycle and performs steering control based on the valid signal in the current control cycle. If the steering module does not obtain the valid signal of the corresponding control cycle in the current control cycle, it will continue to control the steering of the autonomous vehicle using the main control signal determined in the previous control cycle.

[0071] On the one hand, if the steering module does not obtain a valid signal for the corresponding control cycle within the current control cycle, it will use the valid signal determined in the previous control cycle to continue steering control of the autonomous vehicle.

[0072] On the one hand, if there is a timeout signal in either the first signal set or the second signal set within the current control cycle, then the effective signal of the previous control cycle shall be used to continue steering control of the autonomous vehicle.

[0073] 302. Acquire driving control signals from the main control communication bus and the redundant communication bus respectively;

[0074] In this embodiment, the driving control signal is transmitted to the steering module simultaneously through the main control communication bus and the redundant communication bus. That is, the main control communication bus and the redundant communication bus should play a consistent role in the signal transmission process. When either communication bus fails, the steering module uses the other communication bus to transmit the driving control signal.

[0075] On one hand, monitor whether the response status of the main automatic driving module and / or the main braking module and / or the main communication bus is a stop response; if so, update the response status of the corresponding redundant steering control subsystem based on the redundancy relationship; and respond to the corresponding redundant automatic driving module, redundant braking module, and redundant communication bus based on the response status.

[0076] 303. Analyze each driving control signal to obtain the corresponding data ID;

[0077] In this embodiment, the data ID corresponding to each driving control signal is obtained by parsing the data header of the driving control signal.

[0078] 304. Based on the data ID, determine the source of the corresponding driving control signal to obtain the main control signal and redundant control signal;

[0079] In this embodiment, the source of each signal in the driving control signal is determined based on the data ID, and then the main control signal and redundant control signal in each signal are determined. When there is no communication failure in either the main control signal or the redundant control signal, the main control signal determined based on the data ID is taken as the valid signal and is executed by the steering module.

[0080] 305. Identify whether there is a switching command in the main control signal, and determine the valid signal in the driving control signal based on the identification result;

[0081] 306. If the identification result shows that there is no switching command in the main control signal, then perform communication fault analysis on the main control signal and redundant control signal, and determine the valid signal in the driving control signal based on the analysis result.

[0082] 307. Determine the data ID of the valid signal;

[0083] In this embodiment, the data ID corresponding to each driving control signal is obtained by parsing the data header of the driving control signal.

[0084] 308. Based on valid signals, perform steering control on the module corresponding to the data ID.

[0085] In this embodiment, the steering module will execute steering control actions based on a determined valid signal and in response to the module corresponding to the data ID of the valid signal.

[0086] It is understandable that by determining the valid signal of the current cycle and transmitting it to the steering module for steering control, if there is a timeout signal in either the first signal set or the second signal set, the valid signal of the previous cycle will be used for steering control.

[0087] This embodiment, based on the previous embodiment, describes in detail the process of acquiring driving control signals from the main control communication bus and the redundant communication bus respectively; parsing each driving control signal to obtain a corresponding data ID, wherein the data ID is used to mark the source of the signal; and determining the source of the corresponding driving control signal based on the data ID to obtain the main control signal and the redundant control signal. Compared with the traditional method, this embodiment clarifies that the driving control signal is transmitted to the steering module simultaneously through the main control communication bus and the redundant communication bus. That is, the main control communication bus and the redundant communication bus should play a consistent role in the signal transmission process. When either communication bus fails, the steering module uses the other communication bus to transmit the driving control signal.

[0088] The steering control method in the embodiments of the present invention has been described above. The steering control device in the embodiments of the present invention is described below. Please refer to [link / reference]. Figure 4 One embodiment of the steering control device in this invention includes:

[0089] The acquisition module 401 is used to acquire driving control signals of the autonomous vehicle during driving, wherein the driving control signals include a main control signal and a redundant control signal;

[0090] The switching instruction identification module 402 is used to identify whether there is a switching instruction in the main control signal, and to determine the valid signal in the driving control signal based on the identification result, wherein the switching instruction is used to indicate the mutual switching between the main control signal and the redundant control signal;

[0091] The fault analysis module 403 is used to perform communication fault analysis on the main control signal and the redundant control signal if the identification result is that there is no switching instruction in the main control signal, and to determine the valid signal in the driving control signal based on the analysis result.

[0092] A steering control module 404 is used to perform steering control on the autonomous vehicle based on the valid signal. In this embodiment of the invention, the steering control device operates the above-described steering control method, including: acquiring driving control signals of the autonomous vehicle during driving, wherein the driving control signals include a main control signal and redundant control signals; identifying whether a switching instruction exists in the main control signal, and determining a valid signal in the driving control signals based on the identification result, wherein the switching instruction is used to indicate a switch between the main control signal and the redundant control signals; if the identification result is that no switching instruction exists in the main control signal, performing communication fault analysis on the main control signal and the redundant control signals, and determining a valid signal in the driving control signals based on the analysis result; and performing steering control on the autonomous vehicle based on the valid signal. This application greatly improves the reliability of autonomous driving by identifying and analyzing the driving control signals for faults, determining the valid signal, and performing steering control based on the determined valid signal.

[0093] Please see Figure 5 A second embodiment of the steering control device in this invention includes:

[0094] The acquisition module 401 is used to acquire driving control signals of the autonomous vehicle during driving, wherein the driving control signals include a main control signal and a redundant control signal;

[0095] The switching instruction identification module 402 is used to identify whether there is a switching instruction in the main control signal, and to determine the valid signal in the driving control signal based on the identification result, wherein the switching instruction is used to indicate the mutual switching between the main control signal and the redundant control signal;

[0096] The fault analysis module 403 is used to perform communication fault analysis on the main control signal and the redundant control signal if the identification result is that there is no switching instruction in the main control signal, and to determine the valid signal in the driving control signal based on the analysis result.

[0097] Steering control module 404 is used to perform steering control on the autonomous vehicle based on the valid signal.

[0098] In this embodiment, the acquisition module 401 is specifically used for:

[0099] Driving control signals are acquired from the main control communication bus and the redundant communication bus, respectively; each driving control signal is parsed to obtain a corresponding data ID, wherein the data ID is used to mark the source of the signal; based on the data ID, the source of the corresponding driving control signal is determined to obtain the main control signal and the redundant control signal.

[0100] In this embodiment, the steering control device further includes a signal source identification module 405, which is specifically used for:

[0101] Based on the data ID, the main control signal and the redundant control signal are functionally classified to obtain a first signal set and a second signal set, wherein the first signal set includes the main braking signal and / or redundant braking signal, and the second signal set includes the main driving signal and / or redundant driving signal; the source of the signal in the first signal set and the second signal set is identified respectively.

[0102] In this embodiment, the fault analysis module 403 is specifically used for:

[0103] The signal judgment unit 4031 determines whether the sources of signals in the first signal set and the second signal set both satisfy the simultaneous existence of a main control signal and a redundant control signal; the communication fault determination unit 4032 determines that the system corresponding to the signal set that does not satisfy the condition has a communication fault if not, and takes the signals present in the signal set that does not satisfy the condition as valid signals.

[0104] In this embodiment, the communication fault determination unit 4032 is specifically used for:

[0105] Calculate the transmission interval of each signal in the set of signals that do not meet the requirements, and determine whether there is a timeout signal based on the transmission interval; if so, determine that there is a communication failure, and take the signals in the set of signals that are determined not to have timeout as valid signals.

[0106] In this embodiment, the steering control module 404 is specifically used for:

[0107] Determine the data ID of the valid signal; based on the valid signal, perform steering control on the module corresponding to the data ID.

[0108] In this embodiment, the steering control device further includes a signal latch module 406, which is specifically used for:

[0109] The main control signal from the previous control cycle of the autonomous vehicle is obtained to continue steering control of the autonomous vehicle.

[0110] Based on the previous embodiment, this embodiment describes in detail the specific functions of each module and the unit composition of some modules. Through the above modules, the specific functions of the original modules are refined, the operation of the steering control device is improved, its operational reliability is enhanced, and the actual logic between each step is clarified, thereby improving the practicality of the device.

[0111] above Figure 4 and Figure 5 The steering control device in the embodiments of the present invention will be described in detail from the perspective of modular functional entities. The steering control device in the embodiments of the present invention will be described in detail from the perspective of hardware processing.

[0112] Figure 6 This is a schematic diagram of a steering control device 600 provided in an embodiment of the present invention. The steering control device 600 can vary significantly due to different configurations or performance characteristics. It may include one or more central processing units (CPUs) 610 (e.g., one or more processors) and a memory 620, and one or more storage media 630 (e.g., one or more mass storage devices) storing application programs 633 or data 632. The memory 620 and storage media 630 can be temporary or persistent storage. The program stored in the storage media 630 may include one or more modules (not shown in the diagram), each module may include a series of request operations on the steering control device 600. Furthermore, the processor 610 may be configured to communicate with the storage media 630 and execute the series of request operations in the storage media 630 on the steering control device 600 to implement the steps of the aforementioned steering control method.

[0113] The steering control device 600 may also include one or more power supplies 640, one or more wired or wireless network interfaces 650, one or more input / output interfaces 660, and / or one or more operating systems 631, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. Those skilled in the art will understand that... Figure 6 The illustrated steering control device structure does not constitute a limitation on the steering control device provided in this application. It may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0114] The present invention also provides a computer-readable storage medium, which may be a non-volatile computer-readable storage medium or a volatile computer-readable storage medium, wherein the computer-readable storage medium stores a request that, when the request is executed on a computer, causes the computer to perform the steps of the steering control method.

[0115] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working process of the system, device, or unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0116] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several requests to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0117] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A steering control method, characterized in that, The steering control method includes: Acquire driving control signals of an autonomous vehicle during driving, wherein the driving control signals include a main control signal and a redundant control signal; the driving control signals include signals issued by the main autonomous driving module, the main braking module, the redundant autonomous driving module, and the redundant braking module, namely a first signal set and a second signal set, wherein the first signal set includes the main braking signal and / or the redundant braking signal, and the second signal set includes the main driving signal and / or the redundant driving signal; The system identifies whether a switching instruction exists in the main control signal and determines the valid signal in the driving control signal based on the identification result, wherein the switching instruction is used to indicate the mutual switching between the main control signal and the redundant control signal; If the identification result is that there is no switching instruction in the main control signal, then a communication fault analysis is performed on the main control signal and the redundant control signal, and the valid signal in the driving control signal is determined based on the analysis result. The autonomous vehicle is steering based on the valid signals; The step of performing communication fault analysis on the main control signal and the redundant control signal, and determining the valid signals in the driving control signal based on the analysis results, includes: Determine whether the sources of the signals in the first signal set and the second signal set both satisfy the condition that a main control signal and a redundant control signal exist simultaneously; If not, then the system corresponding to the set of signals that does not meet the requirements is determined to have a communication fault, and the signals present in the set of signals that do not meet the requirements are taken as valid signals.

2. The steering control method according to claim 1, characterized in that, The acquisition of driving control signals of the autonomous vehicle during driving includes: Driving control signals are collected from the main control communication bus and the redundant communication bus, respectively; Each of the driving control signals is parsed to obtain a corresponding data ID, wherein the data ID is used to mark the source of the signal; Based on the data ID, the source of the corresponding driving control signal is determined, and the main control signal and redundant control signal are obtained.

3. The steering control method according to claim 2, characterized in that, The data ID is also used to mark the function type of the signal. Before performing communication fault analysis on the main control signal and the redundant control signal, and determining the valid signal in the driving control signal based on the analysis results, the method further includes: Based on the data ID, the main control signal and the redundant control signal are functionally classified to obtain a first signal set and a second signal set, wherein the first signal set includes the main braking signal and / or the redundant braking signal, and the second signal set includes the main driving signal and / or the redundant driving signal. Identify the sources of signals in the first signal set and the second signal set, respectively.

4. The steering control method according to claim 1, characterized in that, The system corresponding to the set of signals that do not meet the requirements is experiencing a communication failure, and signals present in the set of signals that do not meet the requirements are considered valid signals, including: Calculate the transmission interval of each signal in the set of signals that do not meet the requirements, and determine whether there is a timeout signal based on the transmission interval; If so, a communication failure is confirmed, and the signals in the signal set that do not time out are taken as valid signals.

5. The steering control method according to claim 3, characterized in that, The step of steering the autonomous vehicle based on the valid signal includes: Determine the data ID of the valid signal; Based on the valid signal, steering control is performed on the module corresponding to the data ID.

6. The steering control method according to claim 1, characterized in that, When it is determined that neither the primary control signal nor the redundant control signal exists in the sources of the signals in the first signal set and the second signal set, the steering control method further includes: The main control signal from the previous control cycle of the autonomous vehicle is obtained to continue steering control of the autonomous vehicle.

7. A steering control device, characterized in that, The steering control device includes: The acquisition module is used to acquire driving control signals of the autonomous vehicle during driving. The driving control signals include main control signals and redundant control signals. The driving control signals include signals issued by the main autonomous driving module, the main braking module, the redundant autonomous driving module, and the redundant braking module, namely a first signal set and a second signal set. The first signal set includes the main braking signal and / or the redundant braking signal, and the second signal set includes the main driving signal and / or the redundant driving signal. A switching instruction identification module is used to identify whether a switching instruction exists in the main control signal, and to determine the valid signal in the driving control signal based on the identification result, wherein the switching instruction is used to indicate the mutual switching between the main control signal and the redundant control signal; The fault analysis module is used to perform communication fault analysis on the main control signal and the redundant control signal if the identification result is that there is no switching instruction in the main control signal, and to determine the valid signal in the driving control signal based on the analysis result. A steering control module is used to perform steering control on the autonomous vehicle based on the valid signal; The fault analysis module includes a signal judgment unit, used to determine whether the sources of signals in the first signal set and the second signal set both satisfy the simultaneous existence of a main control signal and a redundant control signal; if not, it is determined that the system corresponding to the signal set that does not satisfy the condition has a communication fault, and the signals present in the signal set that does not satisfy the condition are taken as valid signals.

8. An electronic device, characterized in that, The electronic device includes a memory and at least one processor, the memory storing instructions; the at least one processor invokes the instructions in the memory to cause the electronic device to perform the steps of the steering control method as described in any one of claims 1-6.

9. A computer-readable storage medium storing instructions thereon, characterized in that, When the instructions are executed by the processor, they implement the various steps of the steering control method as described in any one of claims 1-6.

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