A vehicle control system

Abstract

The application provides a vehicle control system, which is redundantly designed in control core, power supply and communication of braking, steering and vehicle control, and redundantly distributed braking of front wheels and rear wheels is arranged under different power modules other than main braking, power redundancy of three power modules is adopted for braking, steering and vehicle control, the influence of power failure on vehicle safety performance can be reduced, and the reliability of braking can still be guaranteed when two power modules fail, and the safety of the vehicle is improved. The vehicle control system is omnidirectionally redundantly designed in braking, steering and vehicle control, and redundantly distributed braking of front wheels and rear wheels is arranged under different power modules other than main braking, redundancy of three power modules can be provided as a whole, the reliability of braking can be targetedly guaranteed when two power modules fail, and the safety of the vehicle under the condition of major power failure can be improved.

Description

TECHNICAL FIELD

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

[0002] Autonomous vehicles are considered as a higher level of autonomous vehicles in many cases, which rely on complex sensor networks and advanced algorithms for environment perception, decision making and vehicle control.

[0003] However, in general autonomous architecture, the communication topology and power supply structure of the vehicle are usually simple, which may cause the vehicle to lose the ability to perceive and control the vehicle state and environment when facing the failure of a node or communication failure. If a node in the control system, sensor system or actuator system of the vehicle fails, it may cause the vehicle to be unable to correctly receive or process data from the sensor, or to accurately control various systems of the vehicle, such as vehicle speed, steering angle, light, brake, etc. In this case, the vehicle may lose the ability to perceive and judge the environment and cannot maintain the autonomous driving state, so manual intervention is required to drive the vehicle manually to avoid danger. That is, in the prior art, the safety and reliability of the intelligent driving system are insufficient. SUMMARY

[0004] Therefore, the purpose of the present application 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 application provides a vehicle control system, comprising: a first power module, a second power module and a third power module connected with a power battery, wherein,

[0006] The first power module is used for power supply of a main brake module and a first steering module, the second power module is used for power supply of a main vehicle controller and a first redundant brake module, and the third power module is used for power supply of a second redundant brake module, a second steering module and a redundant vehicle controller, and the first redundant brake module and the second redundant brake module are used for braking of front wheels and 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 in communication connection with a first communication bus and a second communication bus, and the first communication bus and the second communication bus are also in communication connection with an intelligent driving domain controller;

[0008] The intelligent driving domain controller is also used to simultaneously send message commands through the first communication bus and the second communication bus, so that if 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 has occurred according to preset fault determination conditions, the controller will switch to executing the message command received through the other 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] Both the third and fourth communication buses are also connected to the gear position 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, both of which are communicatively connected to the first communication bus, the second communication bus, and the third communication bus.

[0013] Optionally, the terminating resistor of the third communication bus is provided 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 the body controller, and the terminating resistor of the first communication bus is located in the body controller.

[0015] Optionally, the body controller is also connected to a fifth communication bus, which is also connected to the vehicle's vehicle networking subsystem and keyless subsystem. The vehicle networking subsystem and the keyless subsystem are also connected to the fourth communication bus.

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

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

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

[0019] The vehicle control system provided by this invention includes a first power module, a second power module, and a third power module connected to a power battery. The first power module supplies power to the main braking module and the first steering module; the second power module supplies power to the main vehicle controller and the first redundant braking module; and the third power module supplies power to the second redundant braking module, the second steering module, and the redundant vehicle controller. The first and second redundant braking modules are used for braking the front and rear wheels, respectively. In the event of a failure in any one power module, the reliability of the redundant takeover of braking, steering, and vehicle control can be guaranteed, ensuring vehicle controllability. Furthermore, by separating the redundant braking of the front and rear wheels and placing them under different power modules other than the main braking module, each powered separately, the reliability of braking can still be guaranteed even if two power modules fail. This invention enhances vehicle safety. Simultaneously, the main braking module, first redundant braking module, second redundant braking module, first steering module, and second steering module are all communicatively connected to the first and second communication buses. Both the first and second communication buses are also communicatively connected to the intelligent driving domain controller. During intelligent driving, the intelligent driving domain controller simultaneously sends message commands through the first and second communication buses. If a communication failure occurs on one of the first or second communication buses, and the main braking module, first redundant braking module, second redundant braking module, first steering module, or second steering module determines a communication failure based on preset fault judgment conditions, they will switch to executing the message commands received through the other communication bus. This ensures the response speed of communication redundancy takeover and improves the effectiveness of redundant control. The vehicle control system of this invention employs redundant design for braking, steering, and vehicle control, including power redundancy and communication redundancy. This effectively ensures the reliability of intelligent driving. Furthermore, the redundant braking of the front and rear wheels is separated and arranged under different power modules outside the main braking system, each powered separately. In the event of a failure in two power modules, the reliability of braking can be specifically guaranteed, improving vehicle safety in the event of a major power failure. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a partial power supply configuration of the vehicle control system in an embodiment of the present invention.

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

[0022] The following detailed description, in conjunction with the accompanying drawings, will further illustrate the present invention. Detailed Implementation

[0023] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Several embodiments of the invention are illustrated in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0024] It should be noted that when a component is said to be "fixed to" another component, it can be directly on the other component or there may be an intervening component. When a component is said to be "connected to" another component, it can be directly connected to the other component or there may be an intervening component. The terms "vertical," "horizontal," "left," "right," and similar expressions used in this document are for illustrative purposes only.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] To address the shortcomings in safety and reliability of existing intelligent driving systems, this invention provides a vehicle control system with redundant design for the control cores, power supply, and communication of braking, steering, and overall vehicle control. Furthermore, redundant braking for the front and rear wheels is separated and arranged under different power modules outside the main brake. The overall system employs three power modules to achieve power redundancy for braking, steering, and overall vehicle control. This reduces the impact of power failure rates on vehicle safety performance and, in the event of two power module failures, specifically ensures braking reliability, thereby improving vehicle safety in the event of a major power failure.

[0027] Specifically, such as 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-DC transformer and a battery, so that when the power battery 10 fails, it can be powered by its respective battery, ensuring the reliability of power supply for back-end emergency control, ensuring the reliability of control in emergency situations, and ensuring safety.

[0028] The first power module 11 supplies power to the main braking module 31 and the first steering module 41. The second power module 12 supplies power to the main vehicle controller 61 and the first redundant braking module 321. The third power module 13 supplies power to the second redundant braking module 322, the second steering module 42, and the redundant vehicle controller 62. The first redundant braking module 321 and the second redundant braking module 322 are used for braking the front and rear wheels, respectively. The main braking module 31 is used for the overall braking of the front and rear wheels. By splitting the redundant braking module 32 into the first redundant braking module 321 and the second redundant braking module 322 according to the independent braking of the front and rear wheels, the effectiveness of braking control can be effectively improved. Even if two power modules fail, the effectiveness of braking can still be guaranteed, greatly improving safety. Increasing the number of redundant power modules can improve the power supply distribution of redundant modules in other working modules, reduce the load of each power module, reduce the failure rate of each power module, improve the reliability of power supply, and further improve the effectiveness of the redundancy design and enhance vehicle safety.

[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 connected to the first communication bus CAN1 and the second communication bus CAN2. The first communication bus CAN1 and the second communication bus CAN2 are also connected to the intelligent driving domain controller to realize intelligent driving control of steering and braking.

[0030] To ensure the response speed of communication redundancy takeover, in this embodiment, the intelligent driving domain controller is also used to simultaneously send message commands through the first communication bus CAN1 and the second communication bus CAN2. In the event of a communication failure 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 has occurred according to preset fault determination conditions, the controller will switch to executing the message command received through the other communication bus.

[0031] For example, the fault determination condition is: if no message command is received from the first communication bus CAN1 for 3 consecutive frames, the first communication bus CAN1 is determined to be faulty.

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

[0033] The redundant braking module 32 is equipped with two sets of brake motor control units, corresponding to the first redundant braking module 321 and the second redundant braking module 322 respectively. The two sets of brake motor control units are independently connected to the first communication bus CAN1. Correspondingly, the first communication bus CAN1 is used as the main communication bus in the first communication bus CAN1 and the second communication bus CAN2. When the main braking module 31 performs braking control, it also provides braking control commands to the two sets of brake motor control units through the first communication bus CAN1. In case of failure of the main braking, the redundant braking module can directly take over, ensuring the reliability of the redundant braking of the front and rear wheels.

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

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

[0036] 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 all different, which can further improve the redundancy control effect of each power module, improve the operational reliability of each power module, and enhance system security. Furthermore, the distributed 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. Both the main intelligent driving domain controller 51 and the redundant intelligent driving domain controller 52 are connected to the first communication bus CAN1, the second communication bus CAN2 and the third communication bus CAN3. They can communicate with the main vehicle controller 61 and the redundant vehicle controller 62 through the third communication bus CAN3, and with the redundant vehicle controller 62 through the first communication bus CAN1.

[0038] The terminating resistor of the third communication bus CAN3 is located 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 body controller 70, and the terminating resistor of the first communication bus CAN1 is located in the body controller 70.

[0039] The body controller 70 is also connected to the fifth communication bus CAN5, which is also connected to the vehicle network subsystem 81 and the keyless subsystem 82. The vehicle network subsystem 81 and the keyless subsystem 82 are also connected to the fourth communication bus CAN4 to enable communication between the vehicle network subsystem 81 and the keyless subsystem 82 and the body controller 70 and the main vehicle controller 61, thereby enabling the vehicle network subsystem 81 and the keyless subsystem 82 to be associated with intelligent driving.

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

[0041] To improve the redundancy and security of the second communication bus CAN2, in this embodiment, the second communication bus CAN2 is a private bus and is not connected to the vehicle network gateway 01. All communication buses other than the second communication bus CAN2 are connected to the same gateway 01. Information exchange between the communication buses can be realized through the gateway 01, while ensuring the information security of the second communication bus CAN2, reducing the risk of system failure due to network attacks, and improving information security.

[0042] 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 with a communication baud rate of up to 2Mbps. The baud rate of other communication buses can be selected as 500Kbps. This can ensure the reliability of other vehicle communications while ensuring the control response speed of intelligent driving, and reduce the overall implementation cost.

[0043] The vehicle control system provided by this invention features redundant design for the control core, power supply, and communication of braking, steering, and vehicle control. Furthermore, the redundant braking of the front and rear wheels is separated and arranged under different power modules outside the main brake. The overall system uses three power modules to achieve power redundancy for braking, steering, and vehicle control, which can reduce the impact of power failure rate on vehicle safety performance. Moreover, in the event of failure of two power modules, 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 supply modules can also improve the distribution of power supply, reduce the load on each power supply module, reduce the power supply failure rate, and further improve system reliability.

[0045] By configuring multiple communication buses and distributing each module to its corresponding communication bus, the load rate of the communication bus can be reduced, the long-term operational stability of the communication bus can be improved, and the reliability of vehicle control and vehicle safety can be further enhanced.

[0046] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0047] The above-described embodiments are merely illustrative of several specific implementations of the present invention, and while the descriptions are detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A vehicle control system, characterized in that, include: The first power module, the second power module, and the third power module are connected to the power battery, wherein... The first power module is used to supply power to the main braking module and the first steering module; the second power module is used to supply power to the main vehicle controller and the first redundant braking module; the third power module is used to supply power to the second redundant braking module, the second steering module and the redundant vehicle controller; the first redundant braking module and the second redundant braking module are used for braking the front wheels and the rear wheels, respectively. The main braking module, the first redundant braking module, the second redundant braking module, the first steering module, and the second steering module are all connected to the first communication bus and the second communication bus. The first communication bus and the second communication bus are also connected to the intelligent driving domain controller. The intelligent driving domain controller is also used to simultaneously send message commands through the first communication bus and the second communication bus, so that if 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 has occurred according to preset fault determination conditions, they switch to executing the message commands received through the other communication bus. 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. 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; Both the third and fourth communication buses are also connected to the gear position controller and the motor control unit.

2. The vehicle control system according to claim 1, characterized in that, The intelligent driving domain controller includes a primary intelligent driving domain controller and a redundant intelligent driving domain controller, both of which are communicatively connected to the first communication bus, the second communication bus, and the third communication bus.

3. The vehicle control system according to claim 2, characterized in that, The terminating resistor of the third communication bus is provided in at least one of the main vehicle controller and the redundant vehicle controller.

4. The vehicle control system according to claim 1, characterized in that, The first communication bus is also connected to the body controller, and the terminating resistor of the first communication bus is located in the body controller.

5. The vehicle control system according to claim 4, characterized in that, The vehicle body controller is also connected to a fifth communication bus, which is also connected to the vehicle's Internet of Vehicles (IoV) subsystem and keyless entry system. The IoV subsystem and keyless entry system are also connected to the fourth communication bus.

6. The vehicle control system according to claim 5, characterized in that, The vehicle networking subsystem and the keyless subsystem are also connected to the sixth communication bus.

7. The vehicle control system according to any one of claims 1 to 6, characterized in that, The second communication bus is a private bus, and all other communication buses are connected to the same gateway.

8. The vehicle control system according to claim 7, characterized in that, Both the first communication bus and the second communication bus are CANFD type buses.

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