Vehicle control system

Abstract

According to the vehicle control system, redundant design is carried out on control cores, power supply and communication of braking, steering and whole vehicle control, redundant brakes of front wheels and rear wheels are arranged under different power modules except a main brake in a split mode, three power modules are adopted for braking, steering and whole vehicle control, and power redundancy is achieved; according to the invention, the influence of power failure on the safety performance of the vehicle can be reduced, and when the two power modules fail, the braking reliability can still be guaranteed, and the safety of the vehicle is improved. According to the vehicle control system, all-around redundancy design is conducted on braking, steering and whole vehicle control, redundancy brakes of the front wheels and the rear wheels are arranged under different power modules except for a main brake in a split mode, redundancy of three power modules can be provided on the whole, and when two power modules break down, the redundancy of the three power modules can be achieved. The reliability of braking can be guaranteed in a targeted mode, and the safety of the vehicle under the condition of major power failure is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of automobile control, and in particular to a vehicle control system. Background Art

[0002] Self-driving vehicles are considered in many cases a higher level of autonomous transportation that rely on complex sensor networks and advanced algorithms for environmental perception, decision making, and vehicle control.

[0003] However, in general autonomous driving architectures, the vehicle's communication topology and power supply structure are usually relatively simple. This design may cause the vehicle to lose the ability to perceive and control the vehicle's status and environment when facing a node failure or communication failure. If a node in the vehicle's control system, sensor system, or actuator system fails, the vehicle may not be able to correctly receive or process data from the sensor, or accurately control the vehicle's various systems, such as speed, steering angle, lights, brakes, etc. In this case, the vehicle may lose the ability to perceive and judge the environment and cannot maintain the autonomous driving state, requiring manual intervention in driving and manual control of the vehicle to avoid danger. That is, in the existing technology, the safety and reliability of the intelligent driving system are insufficient. Summary of the invention

[0004] Based on this, an object of the present invention is to provide a vehicle control system to solve the problem of insufficient safety and reliability of the intelligent driving system in the prior art.

[0005] The present invention provides a vehicle control system, comprising: a first power module, a second power module and a third power module connected to a power battery, wherein:

[0006] The first power module is used for powering the main brake module and the first steering module, the second power module is used for powering the main vehicle controller and the first redundant brake module, the third power module is used for powering the second redundant brake module, the second steering module and the redundant vehicle controller, and the first redundant brake module and the second redundant brake module are used for braking the front wheels and the rear wheels respectively;

[0007] The main brake module, the first redundant brake module, the second redundant brake module, the first steering module, and the second steering module are all communicatively connected to the first communication bus and the second communication bus, and the first communication bus and the second communication bus are also communicatively connected to the intelligent driving domain controller;

[0008] Among them, the intelligent driving domain controller is also used to simultaneously send message instructions through the first communication bus and the second communication bus, so that when a communication failure occurs in one of the first communication bus and the second communication bus, when the main braking module, the first redundant braking module, the second redundant braking module, the first steering module, and the second steering module determine that a communication failure occurs according to preset fault judgment conditions, they switch to executing message instructions received through another communication bus.

[0009] Optionally, the first power module is communicatively connected to the third communication bus and the fourth communication bus, the second power module is communicatively connected to the first communication bus and the third communication bus, and the third power module is communicatively connected to the third communication bus and the second communication bus;

[0010] The main vehicle controller is communicatively connected to the third communication bus and the fourth communication bus, and the redundant vehicle controller is communicatively connected to the first communication bus and the third communication bus;

[0011] The third communication bus and the fourth communication bus are also both in communication connection with the gear controller and the motor control unit.

[0012] Optionally, the intelligent driving domain controller includes a primary intelligent driving domain controller and a redundant intelligent driving domain controller, and the primary intelligent driving domain controller and the redundant intelligent driving domain controller are both communicatively connected to the first communication bus, the second communication bus and the third communication bus.

[0013] Optionally, the terminal resistor of the third communication bus is arranged in at least one of the main vehicle controller and the redundant vehicle controller.

[0014] Optionally, the first communication bus is also communicatively connected to a vehicle body controller, and a terminal resistor of the first communication bus is arranged on the vehicle body controller.

[0015] Optionally, the body controller is also communicatively connected to a fifth communication bus, the fifth communication bus is also communicatively connected to the vehicle's Internet of Vehicles subsystem and keyless subsystem, and the Internet of Vehicles subsystem and the keyless subsystem are also communicatively connected to the fourth communication bus.

[0016] Optionally, the vehicle networking subsystem and the keyless subsystem are also communicatively connected to a sixth communication bus.

[0017] Optionally, the second communication bus is a private bus, and each communication bus other than the second communication bus is connected to the same gateway.

[0018] Optionally, the first communication bus and the second communication bus are both CANFD type buses.

[0019] The vehicle control system provided by the present invention comprises a first power module, a second power module and a third power module connected to a power battery, wherein the first power module is used for supplying power to a main brake module and a first steering module, the second power module is used for supplying power to a main vehicle controller and a first redundant brake module, the third power module is used for supplying power to a second redundant brake module, a second steering module and a redundant vehicle controller, the first redundant brake module and the second redundant brake module are respectively used for braking of the front wheels and the rear wheels, and when any power module fails, the reliability of redundant takeover of braking, steering and vehicle control can be guaranteed, and the controllability of the vehicle can be guaranteed, and the redundant braking of the front wheels and the rear wheels are split and arranged under different power modules other than the main brake, and are supplied with power separately, so that when two power modules fail, the reliability of braking can still be guaranteed. Improve the safety of the vehicle; at the same time, the main brake module, the first redundant brake module, the second redundant brake module, the first steering module, and the second steering module are all connected to the first communication bus and the second communication bus, and the first communication bus and the second communication bus are also connected to the intelligent driving domain controller. In intelligent driving, the intelligent driving domain controller sends message instructions through the first communication bus and the second communication bus at the same time. When a communication failure occurs in one of the first communication bus and the second communication bus, the main brake module, the first redundant brake module, the second redundant brake module, the first steering module, and the second steering module determine that a communication failure occurs according to a preset fault judgment condition, and then execute the message instruction received through another communication bus, which can ensure the response speed of the communication redundancy takeover and improve the effectiveness of redundant control. The vehicle control system of the present invention performs redundant design for braking, steering, and vehicle control, including power supply redundancy and communication redundancy, which can effectively ensure the reliability of intelligent driving, and split the redundant braking of the front and rear wheels under different power modules outside the main brake, and supply power separately. When two power modules fail, the reliability of braking can be targeted to improve the safety of the vehicle in the event of a major power failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a partial power configuration of a vehicle control system in an embodiment of the present invention;

[0021] Figure 2 Schematic diagram of the communication bus architecture of the vehicle control system in an embodiment of the present invention.

[0022] The following specific implementation manner will further illustrate the present invention in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0023] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0026] To solve the problem of insufficient safety and reliability of the intelligent driving system in the prior art. The present invention provides a vehicle control system, which has redundant design for the control core, power supply and communication of braking, steering and whole vehicle control, and splits the redundant braking of the front and rear wheels under different power modules outside the main brake. Three power modules are used as a whole to achieve power redundancy for braking, steering and whole vehicle control, which can reduce the impact of power failure rate on vehicle safety performance, and when two power modules fail, the reliability of braking can be targeted to improve the safety of the vehicle in the event of a major power failure.

[0027] Specifically, Figure 1 and Figure 2 As shown, the vehicle control system of this embodiment includes a first power module 11, a second power module 12 and a third power module 13 connected to the power battery 10. Each power module includes a DC-to-DC transformer and a battery, so that when the power battery 10 fails, it can be powered by its own configured battery to ensure the power reliability of the back-end emergency control, the control reliability in emergency situations, and the safety.

[0028] The first power module 11 is used for powering the main brake module 31 and the first steering module 41, the second power module 12 is used for powering the main vehicle controller 61 and the first redundant brake module 321, and the third power module 13 is used for powering the second redundant brake module 322, the second steering module 42 and the redundant vehicle controller 62. The first redundant brake module 321 and the second redundant brake module 322 are respectively used for braking the front wheels and the rear wheels, and the main brake module 31 is used for total braking of the front wheels and the rear wheels. The redundant brake module 32 is divided into the first redundant brake module 321 and the second redundant brake module 322 according to the independent braking of the front wheels and the rear wheels, which can effectively improve the effectiveness of the braking control. When two power modules fail, the effectiveness of the braking can still be guaranteed, which greatly improves the safety. In addition, by increasing the number of redundant power modules, the power supply dispersion of the redundant modules of other working modules can be improved, the load of each power module can be reduced, the failure rate of each power module can be reduced, and the reliability of power supply can be improved, thereby further improving the effectiveness of the redundant design and improving the safety of the vehicle.

[0029] Furthermore, the main braking module 31, the first redundant braking module 321, the second redundant braking module 322, the first steering module 41, and the second steering module 42 are all communicatively connected to the first communication bus CAN1 and the second communication bus CAN2, and the first communication bus CAN1 and the second communication bus CAN2 are also communicatively connected to the intelligent driving domain controller to realize intelligent driving control of steering and braking.

[0030] In order to ensure the response speed of communication redundancy takeover, in this embodiment, the intelligent driving domain controller is also used to simultaneously send message instructions through the first communication bus CAN1 and the second communication bus CAN2, so that when a communication failure occurs in one of the first communication bus CAN1 and the second communication bus CAN2, when the main braking module 31, the first redundant braking module 321, the second redundant braking module 322, the first steering module 41, and the second steering module 42 determine that a communication failure occurs according to preset fault judgment conditions, they switch to executing message instructions received through another communication bus.

[0031] The fault determination condition is, for example, that when no message instruction on the first communication bus CAN1 is received for three consecutive frames, it is determined that the first communication bus CAN1 is faulty.

[0032] The steering module 40 is provided with two steering motor control units according to the independent controllable requirements of the first steering module 41 and the second steering module 42 , which are used for steering drive of the first steering module 41 and the second steering module 42 , respectively.

[0033] The redundant braking module 32 is configured with two groups of brake motor control units, corresponding to the first redundant braking module 321 and the second redundant braking module 322 respectively, and the two groups of brake motor control units are independently connected to the first communication bus CAN1 for communication. Correspondingly, the first communication bus CAN1 of the first communication bus CAN1 and the second communication bus CAN2 is used as the main communication bus. When the main braking module 31 performs braking control, it also provides braking control instructions to the two groups of brake motor control units through the first communication bus CAN1, so that when the main brake fails, the redundant braking module can take over directly to ensure the reliability of redundant braking of the front and rear wheels.

[0034] The first power module 11 is connected to the third communication bus CAN3 and the fourth communication bus CAN4, the second power module 12 is connected to the first communication bus CAN1 and the third communication bus CAN3, and the third power module 13 is connected to the third communication bus CAN3 and the second communication bus CAN2; the third communication bus CAN3 is also connected to the main vehicle controller 61, the redundant vehicle controller 62, the gear controller 91 and the motor control unit 92, so as to receive the control instructions of the main vehicle controller 61 through the third communication bus CAN3. Among them, the main vehicle controller 61, the gear controller 91 and the motor control unit 92 are also connected to the fourth communication bus CAN4, and the fourth communication bus CAN4 can be used as a redundancy for communication therebetween to improve the reliability of vehicle control.

[0035] The redundant vehicle controller 62 and the second power supply module 12 use the first communication bus CAN1 as communication redundancy, corresponding to the third power supply module 13 which is mainly used for powering the second redundant braking module 322, the second steering module 42 and the redundant vehicle controller 62. The third power supply module 13 uses the second communication bus CAN2 as communication redundancy, and the communication redundancy of the second redundant braking module 322, the second steering module 42 and the redundant vehicle controller 62 is consistent, thereby improving the redundant control consistency between the third power supply module 13 and its power supply object, and improving the reliability of redundant control.

[0036] That is, in this embodiment, the redundant communication bus configurations of the first power module 11, the second power module 12, and the third power module 13 are also different, which can further improve the redundant control effect of each power module, improve the operation reliability of each power module, and enhance the system security. In addition, the decentralized configuration can reduce the load rate of each communication bus and improve the long-term communication stability of each communication bus.

[0037] To ensure the reliability of intelligent driving control, in this embodiment, the intelligent driving domain controller includes a main intelligent driving domain controller 51 and a redundant intelligent driving domain controller 52. The main intelligent driving domain controller 51 and the redundant intelligent driving domain controller 52 are both communicatively connected to the first communication bus CAN1, the second communication bus CAN2 and the third communication bus CAN3, and can communicate with the main vehicle controller 61 and the redundant vehicle controller 62 through the third communication bus CAN3, and communicate with the redundant vehicle controller 62 through the first communication bus CAN1.

[0038] The terminal resistor of the third communication bus CAN3 is set in at least one of the main vehicle controller 61 and the redundant vehicle controller 62. The first communication bus CAN1 is also connected to the vehicle body controller 70 for communication, and the terminal resistor of the first communication bus CAN1 is set in the vehicle body controller 70.

[0039] The body controller 70 is also communicatively connected to the fifth communication bus CAN5, and the fifth communication bus CAN5 is also communicatively connected to the vehicle's Internet of Vehicles subsystem 81 and keyless subsystem 82, and the Internet of Vehicles subsystem 81 and keyless subsystem 82 are also communicatively connected to the fourth communication bus CAN4, so as to realize the communication between the Internet of Vehicles subsystem 81 and the keyless subsystem 82 and the body controller 70 and the main vehicle controller 61, and realize the association of the Internet of Vehicles subsystem 81 and the keyless subsystem 82 with intelligent driving.

[0040] In order to improve the communication reliability between the vehicle networking subsystem 81 and the keyless subsystem 82 , in the present embodiment, the vehicle networking subsystem 81 and the keyless subsystem 82 are also communicatively connected to the sixth communication bus CAN6 .

[0041] In order to improve the redundant security of the second communication bus CAN2, in the present embodiment, the second communication bus CAN2 is a private bus, which is not connected to the gateway 01 of the Internet of Vehicles. All communication buses other than the second communication bus CAN2 are connected to the same gateway 01, and information exchange between the communication buses can be realized through the gateway 01. At the same time, the information security of the second communication bus CAN2 is guaranteed, thereby reducing the risk of failure of the system due to network attacks and improving information security.

[0042] In order to improve the response speed of intelligent driving control, in this embodiment, the first communication bus CAN1 and the second communication bus CAN2 are both CANFD type buses, and the communication baud rate can reach 2Mbps. The baud rate of other communication buses can be selected as 500Kbps. While ensuring the control response speed of intelligent driving, the reliability of other vehicle communications can be guaranteed and the overall implementation cost can be reduced.

[0043] The vehicle control system provided by the present invention has redundant designs for the control core, power supply and communication of braking, steering and whole vehicle control, and the redundant braking of the front wheels and the rear wheels are split and arranged under different power modules outside the main brake. Three power modules are used as a whole to achieve power redundancy for braking, steering and whole vehicle control, which can reduce the impact of the power failure rate on the safety performance of the vehicle. In addition, when two power modules fail, the reliability of braking can be specifically guaranteed, thereby improving the safety of the vehicle in the event of a major power failure.

[0044] Setting up three power modules can also improve the dispersion of power supply, reduce the load of each power module, reduce the power failure rate, and further improve system reliability.

[0045] Configuring multiple communication buses and connecting each module to the corresponding communication bus in a dispersed manner can reduce the load rate of the communication bus and improve the long-term operation stability of the communication bus, thereby further improving the reliability of vehicle control and improving vehicle safety.

[0046] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0047] The above-mentioned embodiments only express several specific implementation methods of the present invention, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present invention, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be subject to the attached claims.

Claims

1. A vehicle control system, characterized in that: include: A first power module, a second power module and a third power module connected to the power battery, wherein: The first power module is used for powering the main brake module and the first steering module, the second power module is used for powering the main vehicle controller and the first redundant brake module, the third power module is used for powering the second redundant brake module, the second steering module and the redundant vehicle controller, and the first redundant brake module and the second redundant brake module are used for braking the front wheels and the rear wheels respectively; The main brake module, the first redundant brake module, the second redundant brake module, the first steering module, and the second steering module are all communicatively connected to the first communication bus and the second communication bus, and the first communication bus and the second communication bus are also communicatively connected to the intelligent driving domain controller; Among them, the intelligent driving domain controller is also used to simultaneously send message instructions through the first communication bus and the second communication bus, so that when a communication failure occurs in one of the first communication bus and the second communication bus, when the main braking module, the first redundant braking module, the second redundant braking module, the first steering module, and the second steering module determine that a communication failure occurs according to preset fault judgment conditions, they switch to executing message instructions received through another communication bus.

2. The vehicle control system according to claim 1, characterized in that: The first power supply module is communicatively connected to the third communication bus and the fourth communication bus, the second power supply module is communicatively connected to the first communication bus and the third communication bus, and the third power supply module is communicatively connected to the third communication bus and the second communication bus; The main vehicle controller is communicatively connected to the third communication bus and the fourth communication bus, and the redundant vehicle controller is communicatively connected to the first communication bus and the third communication bus; The third communication bus and the fourth communication bus are also both in communication connection with the gear controller and the motor control unit.

3. The vehicle control system according to claim 2, characterized in that: The intelligent driving domain controller includes a primary intelligent driving domain controller and a redundant intelligent driving domain controller, and the primary intelligent driving domain controller and the redundant intelligent driving domain controller are both communicatively connected to the first communication bus, the second communication bus and the third communication bus.

4. The vehicle control system according to claim 3, characterized in that: The terminal resistor of the third communication bus is arranged in at least one of the main vehicle controller and the redundant vehicle controller.

5. The vehicle control system according to claim 2, characterized in that: The first communication bus is also connected to the vehicle body controller for communication, and the terminal resistor of the first communication bus is arranged on the vehicle body controller.

6. The vehicle control system according to claim 5, characterized in that: The vehicle body controller is also communicatively connected to a fifth communication bus, the fifth communication bus is also communicatively connected to a vehicle networking subsystem and a keyless subsystem of the vehicle, and the vehicle networking subsystem and the keyless subsystem are also communicatively connected to the fourth communication bus.

7. The vehicle control system according to claim 6, characterized in that: The vehicle networking subsystem and the keyless subsystem are also communicatively connected to a sixth communication bus.

8. The vehicle control system according to any one of claims 1 to 7, characterized in that: The second communication bus is a private bus, and each communication bus other than the second communication bus is connected to the same gateway.

9. The vehicle control system according to claim 8, characterized in that: The first communication bus and the second communication bus are both CANFD type buses.

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