Vehicle automatic driving redundancy control method and system

Abstract

The invention relates to a vehicle automatic driving redundancy control method and system. The vehicle automatic driving redundancy control method comprises the following steps: acquiring information required by automatic driving; calculating a control quantity for automatic driving according to the acquired information by a chassis domain controller and an automatic driving domain controller; and comparing a control quantity from the chassis domain controller with a control quantity from the automatic driving domain controller, and if a difference between the control quantity from the chassis domain controller and the control quantity from the automatic driving domain controller is within a predetermined threshold range, determining that the chassis domain controller is in the automatic driving domain controller. If yes, the control quantity from the automatic driving domain controller is output to an actuator of the vehicle so as to control automatic driving of the vehicle, and otherwise, the control quantity from the chassis domain controller is output to the actuator of the vehicle so as to control automatic driving of the vehicle.

Description

Technical Field

[0001] The present disclosure relates to autonomous driving, and in particular to a redundant control method and system for autonomous driving of a vehicle. Background Art

[0002] The motion control of current autonomous driving technology is generally implemented on low-computing chassis domain controllers (such as MCU, Microcontroller Unit). MCUs usually have limited resources and can only handle basic vehicle control tasks, such as simple trajectory tracking and vehicle stability maintenance, so their tracking effect is not fine enough.

[0003] In addition, autonomous driving domain controllers with high computing power (such as SOC, System on a Chip) have more powerful computing resources and can run more complex algorithms and process larger amounts of data. This makes trajectory tracking control more sophisticated and intelligent, but also creates a higher risk of solution failure or control system loss of control.

[0004] The present disclosure has been improved with respect to but not limited to the above-mentioned factors. Summary of the invention

[0005] To this end, the present disclosure proposes a redundant control scheme using an autonomous driving domain controller (i.e., an SOC-side controller) and a chassis domain controller (i.e., an MCU-side controller). The scheme disclosed in the present disclosure can quickly switch between the three control states of the autonomous driving domain controller, the chassis domain controller, and the autonomous driving domain and chassis domain safety redundant control as needed, wherein the autonomous driving domain controller includes a control node, in which a trajectory tracking controller that can be deployed in the chassis domain controller and a high-performance controller that requires high computing power, such as an MPC, an NMPC controller, etc. are encapsulated. As a result, the scheme disclosed in the present disclosure increases the redundant backup of functional safety, effectively improves the risk resistance of the vehicle to hardware failures or software failures during the autonomous driving process, improves the safety and stability of the vehicle during the autonomous driving process, and improves the reliability of the autonomous driving vehicle. In addition, the scheme disclosed in the present disclosure makes full use of the high performance of high-computing power chips and the stability and low cost of low-computing power chips to achieve high-performance and high-reliability vehicle tracking control. The present disclosure can also quickly realize the implementation and deployment of high-computing power algorithms and quickly migrate to low-cost platforms.

[0006] In this way, the solution disclosed in the present invention realizes safe redundant control of autonomous driving in complex environments by respectively deploying controllers on the SOC-side chip and the MCU-side chip, and has strong safety redundancy for the SOC-side chip, the MCU-side chip, or a single controller (such as the problem of MPC control solution failure that may occur in the SOC-side controller); it can quickly perform joint simulation on the SOC side and the planning and perception modules in the autonomous driving domain to verify the feasibility of the control algorithm and facilitate rapid deployment; it can switch between the three states of SOC side, MCU side, and redundant control according to different vehicle hardware, effectively reducing the mass production cost of autonomous driving control and realizing the rapid deployment and mass production of autonomous driving systems.

[0007] According to a first aspect of the present disclosure, a vehicle autonomous driving redundant control method is provided, comprising: acquiring information required for autonomous driving; respectively calculating, by a chassis domain controller and an autonomous driving domain controller, a control amount for autonomous driving based on the acquired information; and comparing the control amount from the chassis domain controller with the control amount from the autonomous driving domain controller, if the difference between the control amount from the chassis domain controller and the control amount from the autonomous driving domain controller is within a predetermined threshold range, outputting the control amount from the autonomous driving domain controller to an actuator of the vehicle for controlling the autonomous driving of the vehicle, otherwise outputting the control amount from the chassis domain controller to the actuator of the vehicle for controlling the autonomous driving of the vehicle.

[0008] According to one embodiment, the acquired information includes information related to the vehicle status, positioning, and path planning, wherein the information related to the vehicle status includes status information of the vehicle's engine, doors, accelerator and brake pedal, and information related to the front wheel angle, speed, and acceleration; the information related to the vehicle positioning includes the vehicle's position and posture information in a high-precision map or a global coordinate system; and the information related to path planning includes the planned autonomous driving path trajectory and the distance to the target point.

[0009] According to another embodiment, the control variable includes at least one of a target acceleration, a speed, a torque, and a front wheel steering angle.

[0010] According to yet another embodiment, the predetermined threshold range varies according to the control amount.

[0011] According to yet another embodiment, the method is executed for each planned autonomous driving road section.

[0012] According to yet another embodiment, the method further comprises starting or terminating execution in response to receiving a control request from a driver.

[0013] According to another embodiment, the method further includes outputting the control amount from the chassis domain controller to the actuator of the vehicle for controlling the autonomous driving of the vehicle when the autonomous driving domain controller fails to calculate the control amount.

[0014] According to another embodiment, the autonomous driving domain controller is a SOC-side controller, and the chassis domain controller is an MCU-side controller.

[0015] According to a second aspect of the present disclosure, a vehicle autonomous driving redundant control system is provided, the system comprising: an acquisition module, the acquisition module being configured to acquire information required for autonomous driving; a chassis domain controller, the chassis domain controller being configured to receive information from the acquisition module and calculate a control amount for autonomous driving based on the information; an autonomous driving domain controller, the autonomous driving domain controller being configured to receive information from the acquisition module and calculate a control amount for autonomous driving based on the information; and a redundant control module, the redundant control module being configured to: compare the control amount from the chassis domain controller with the control amount from the autonomous driving domain controller, and if the difference between the control amount from the chassis domain controller and the control amount from the autonomous driving domain controller is within a predetermined threshold range, output the control amount from the autonomous driving domain controller to an actuator of the vehicle for controlling the autonomous driving of the vehicle, otherwise output the control amount from the chassis domain controller to the actuator of the vehicle for controlling the autonomous driving of the vehicle.

[0016] According to an embodiment, the control variable includes at least one of a target acceleration, a speed, a torque, and a front wheel steering angle.

[0017] According to yet another embodiment, the predetermined threshold range varies according to the control amount.

[0018] According to a third aspect of the present disclosure, a vehicle autonomous driving redundant control system is provided, the system comprising: a processor; and a memory, the memory being arranged to store processor executable instructions, the processor executable instructions, when executed by the processor, causing the method described in the first aspect of the present disclosure to be executed.

[0019] According to a fourth aspect of the present disclosure, a vehicle is provided, comprising the system according to the second and third aspects of the present disclosure.

[0020] Aspects generally include methods, apparatus, systems, computer program products, and processing systems substantially as described herein with reference to and as illustrated by the accompanying figures.

[0021] The foregoing has broadly outlined the features and technical advantages of examples according to the present disclosure so that the following detailed description can be better understood. Additional features and advantages will be described hereinafter. The disclosed concepts and specific examples can be easily used as the basis for modifying or designing other structures for implementing the same purpose as the present disclosure. Such equivalent constructions do not depart from the scope of the appended claims. The characteristics of the concepts disclosed herein, both in terms of their organization and method of operation, and the associated advantages will be better understood by considering the following description in conjunction with the accompanying drawings. Each of the accompanying drawings is provided for illustration and description purposes and does not define limitations on the claims. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to understand in detail the manner in which the above-stated features of the present disclosure are used, the above briefly summarized content may be described in more detail with reference to various aspects, some of which are illustrated in the accompanying drawings. However, it should be noted that the accompanying drawings illustrate only certain typical aspects of the present disclosure and should not be considered to limit its scope, as the description may allow for other equally effective aspects. The same reference numerals in different drawings may identify the same or similar elements.

[0023] Figure 1 A flowchart showing a redundant control method for autonomous driving of a vehicle according to an example embodiment of the present disclosure is shown;

[0024] Figure 2 A schematic diagram of a redundant control system for autonomous driving of a vehicle according to an example embodiment of the present disclosure is shown;

[0025] Figure 3 A schematic diagram showing another vehicle autonomous driving redundant control system according to an example embodiment of the present disclosure; and

[0026] Figure 4 A schematic diagram of a vehicle is shown according to an example embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] The inventors recognize that current autonomous driving technology is constantly improving, with significant progress from assisted driving to fully autonomous driving. Motion control is a core component of the autonomous driving system. It not only affects the safety and reliability of the vehicle, but also directly affects ride comfort and energy efficiency. It plays a vital role in all levels of autonomous driving, and its role becomes more complex and sophisticated as the level of autonomous driving increases. With the development of autonomous driving technology, tracking control algorithms are also constantly improving to meet the needs of higher levels of autonomous driving.

[0028] The motion control of the vehicle is to track the planned trajectory by controlling the lateral motion, yaw motion, longitudinal speed and acceleration of the vehicle. The current motion control of autonomous vehicles can be divided into control algorithms with low computing power requirements and control algorithms with high computing power requirements. Low computing power requirement control algorithms such as PID (proportional-integral-differential) control, sliding film control, pure tracking control, Stanley control, etc. require less computing resources and can be deployed in low-computing chassis domain controllers, such as microcontroller units MCU. High-computing power requirement control algorithms require more powerful computing resources and need to be deployed on high-computing power autonomous driving domain controllers, such as system-on-chip SOC, which can make trajectory tracking control more sophisticated and intelligent, such as using model predictive control based on dynamic models, adaptive control, or learning-based control strategies.

[0029] However, simply deploying it on a low-computing-power controller (such as a chassis domain controller) or a high-computing-power controller (such as an autonomous driving domain controller) makes it difficult to simultaneously meet the requirements for control performance and system safety: low-computing-power chassis domain controllers usually have limited resources and can only handle basic vehicle control tasks, with poor trajectory tracking effects; high-computing-power autonomous driving domain controllers have more powerful computing resources and can run more complex algorithms and process larger amounts of data, but this also creates a higher risk of solution failure or control system loss of control.

[0030] To this end, the present disclosure proposes a redundant control scheme using an autonomous driving domain controller (i.e., an SOC-side controller) and a chassis domain controller (i.e., an MCU-side controller): quickly switching between the three control states of the autonomous driving domain controller, the chassis domain controller, and the autonomous driving domain and chassis domain safety redundant control as needed, wherein the autonomous driving domain controller includes a control node, which encapsulates a trajectory tracking controller that can be deployed on the chassis domain controller and high-performance controllers that require high computing power, such as MPC and NMPC controllers.

[0031] The three states of vehicle control are defined as follows:

[0032] 1. Autonomous driving domain controller control:

[0033] Only the SOC-side controller is used for control, and the MCU side does not perform lateral and longitudinal tracking control operations on the vehicle. The main process includes: the trajectory analysis module of the SOC control chip receives the trajectory information from the planning layer and the controller input information processed by the vehicle state estimation module (for example, located at the MCU), and integrates this information into processed control input and sends it to the SOC-side control node; after receiving this information, the control node calls the lateral and longitudinal controllers deployed on the SOC side to calculate the required steering wheel angle, acceleration and deceleration and other control information, and finally sends this control information to the chassis to control the vehicle to track the target path.

[0034] 2. Chassis domain controller control

[0035] Only the MCU-side controller is used for control, and the SOC side does not perform lateral and longitudinal tracking control operations on the vehicle. The main process includes: the trajectory analysis module on the MCU side receives the trajectory information from the planning layer and the controller input information processed by the vehicle state estimation module, and integrates this information into the processed control input and sends it to the MCU-side control module; after receiving this information, the MCU-side control module calls the lateral and longitudinal controllers (such as PID controllers) deployed on the MCU side to calculate the required steering wheel angle, acceleration and deceleration and other control information, and finally sends this control information to the chassis to control the vehicle to track the target path.

[0036] 3. Redundant safety control between autonomous driving domain and chassis domain

[0037] The safety redundancy control of the autonomous driving domain and the chassis domain can include the MCU control module, the SOC control module and the redundant control module, the vehicle status information processing module, the trajectory information processing module, etc. The MCU control module is mainly deployed on the lateral and longitudinal trajectory tracking controller and the data processing and sending module on the MCU side; the SOC side control module mainly includes the control node, the trajectory tracking controller, the high computing power and high performance trajectory tracking controller, etc. The redundant control module mainly switches the control instructions to make the SOC side controller and the MCU side controller output the control quantity, compares the control quantity on the SOC side with the control quantity on the MCU side, and outputs the best to the actuator of the vehicle. The main function of the planned trajectory parsing module is to receive the planned trajectory information, parse it into information such as the nearest point and the vehicle gear information, and send the parsed information to the SOC side controller and the MCU side controller. The main function of the vehicle status information processing module is to receive the status information of the vehicle itself, such as the vehicle turning angle, speed and the positioning information sent by the positioning module, and perform corresponding processing, and send it to the MCU control module and the SOC side controller module through the CAN bus for use.

[0038] Therefore, the solution disclosed in the present invention increases the redundant backup of functional safety, effectively improves the risk resistance of the vehicle to hardware failure or software failure during the autonomous driving process, improves the safety and stability of the vehicle during the autonomous driving process, and improves the reliability of the autonomous driving vehicle. In addition, the solution disclosed in the present invention makes full use of the high performance of high-computing power chips and the stability and low cost of low-computing power chips to achieve high-performance and high-reliability vehicle tracking control. The present invention can also quickly realize the implementation and deployment of high-computing power algorithms and quickly migrate to low-cost platforms.

[0039] In this way, the solution disclosed in the present invention realizes safe redundant control of autonomous driving in complex environments by respectively deploying controllers on the SOC-side chip and the MCU-side chip, and has strong safety redundancy for the SOC-side chip, the MCU-side chip, or a single controller (such as the problem of MPC control solution failure that may occur in the SOC-side controller); it can quickly perform joint simulation on the SOC side and the planning and perception modules in the autonomous driving domain to verify the feasibility of the control algorithm and facilitate rapid deployment; it can switch between the three states of SOC side, MCU side, and redundant control according to different vehicle hardware, effectively reducing the mass production cost of autonomous driving control and realizing the rapid deployment and mass production of autonomous driving systems.

[0040] The detailed description set forth below in conjunction with the accompanying drawings is intended as a description of various configurations and is not intended to represent the only configurations in which the concepts described herein may be practiced. This detailed description includes specific details to provide a thorough understanding of the various concepts. However, it will be apparent to those skilled in the art that these concepts may be practiced without these specific details.

[0041] It should be noted that all actions of acquiring signals, information or data in this application are carried out in compliance with the relevant data protection laws and policies of the country where they are located, and with the authorization given by the owner of the corresponding device.

[0042] refer to Figure 1 , which shows an example flow chart of a redundant control method 100 for autonomous driving of a vehicle according to an embodiment of the present disclosure;

[0043] like Figure 1 As shown, method 100 may include, in box 110, obtaining information required for autonomous driving. In one embodiment of the present disclosure, the information obtained may include information related to vehicle status, positioning, and path planning, wherein the information related to the vehicle status may include status information of the vehicle's engine, door, accelerator, and brake pedal, as well as information related to the front wheel angle, speed, and acceleration, the information related to the vehicle positioning may include the vehicle's position information in a high-precision map or a global coordinate system, and the information related to path planning may include the planned autonomous driving path trajectory, the distance to the target point, and the like. Those skilled in the art will understand that any other required information related to autonomous driving may also be obtained, which will not be repeated here.

[0044] In another embodiment of the present disclosure, the method 100 may also optionally receive a control request from the driver, and start or terminate execution in response to the control request. For example, the driver may use an automatic driving switch to issue a command to start or turn off / terminate automatic driving, and the method 100 may start or terminate execution accordingly. For example, after the driver turns on automatic parking, the method 100 may start execution accordingly.

[0045] Next, in box 120, method 100 may include the chassis domain controller and the autonomous driving domain controller respectively calculating the control amount for autonomous driving based on the acquired information.

[0046] In one embodiment of the present disclosure, the chassis domain controller (e.g., MCU-side controller) and the autonomous driving domain controller (e.g., SOC-side controller) may pre-process the acquired information (such as vehicle information, planning information, positioning information, etc.), and use the pre-processed information to respectively calculate the target acceleration, speed, torque, wheel angle and other control information. For example, the planning information may include the planned autonomous driving path trajectory, and the chassis domain controller and the autonomous driving domain controller may pre-process the information into specific trajectory points that the vehicle currently needs to track, such as the distance from the target point, the vehicle gear position, etc. It will be understood that the vehicle status information (such as angle, speed and positioning information, etc.) can be sent to the chassis domain controller and the autonomous driving domain controller via the CAN bus, which will not be repeated here.

[0047] In another embodiment of the present disclosure, the method 100 may include first preprocessing the acquired information, and transmitting the preprocessed information to the chassis domain controller and the autonomous driving domain controller for use in calculating the control amount for autonomous driving. In other words, the information preprocessing may not be performed by the chassis domain controller and the autonomous driving domain controller respectively, but may be performed outside the chassis domain controller and the autonomous driving domain controller, and then transmitted to them respectively for use in calculating the control amount.

[0048] In one embodiment of the present disclosure, the control amount may include at least one of target acceleration, speed, torque, and front wheel angle. For example, after receiving trajectory information, positioning information, etc., the autonomous driving domain controller may calculate the tracking error, establish and solve the optimization problem to obtain the optimal control amount (e.g., front wheel angle); after receiving trajectory information, positioning information, etc., the chassis domain controller may calculate a reasonable control amount (e.g., front wheel angle) by running a controller such as a PID controller to track the trajectory.

[0049] Continue to refer Figure 1 , method 100 may include, at box 130, comparing the control amount from the chassis domain controller with the control amount from the autonomous driving domain controller, and at box 140, if the difference between the control amount from the chassis domain controller and the control amount from the autonomous driving domain controller is within a predetermined threshold range, outputting the control amount from the autonomous driving domain controller to an actuator of the vehicle for controlling the autonomous driving of the vehicle, otherwise outputting the control amount from the chassis domain controller to the actuator of the vehicle for controlling the autonomous driving of the vehicle.

[0050] In a preferred embodiment of the present disclosure, the above-mentioned predetermined threshold range may vary depending on the control amount. In another embodiment, the difference between the control amount calculated by the chassis domain controller and the control amount calculated by the autonomous driving domain controller may be an absolute value or a percentage value. In a preferred embodiment, when the value of the control amount itself is small, the difference may be in the form of a percentage value, for example, the difference may be a certain percentage of the control amount calculated by the chassis domain controller, and thus the predetermined threshold range may be a predetermined percentage range; when the value of the control amount itself is large, the difference may be in the form of an absolute value, for example, the difference may be the absolute value of the difference between the control amount calculated by the chassis domain controller and the control amount calculated by the autonomous driving domain controller, and thus the predetermined threshold range may be a predetermined difference absolute value range.

[0051] In another preferred embodiment of the present disclosure, the predetermined threshold range of the control amount difference can be switched between a predetermined difference absolute value range and a predetermined percentage range depending on the size of the control amount. For example, when the control amount is greater than or equal to a specific value, the predetermined threshold range adopts a predetermined difference absolute value range; and when the control amount is less than a specific value, the predetermined threshold range adopts a predetermined percentage range. Taking the control amount as an example, if the speed is about 80km / h, the predetermined threshold range can be in the form of a predetermined difference absolute value range (for example, 0-4km / h), so that when the speed difference exceeds this range, the control amount deviation exceeds the range; however, if the speed is within 5km / h (for example, in the case of automatic parking), the predetermined threshold range can be in the form of a predetermined percentage range (for example, 0-10%), so that although the speed difference is very small, the control amount deviation can be detected to be out of range (for example, if the above predetermined difference absolute value range of 0-4km / h is still adopted, the speed difference will basically not exceed this range, so that the situation where the control amount has a large deviation cannot be detected).

[0052] In another embodiment of the present disclosure, method 100 may further include outputting the control amount from the chassis domain controller to the actuator of the vehicle for controlling the autonomous driving of the vehicle when the autonomous driving domain controller fails to calculate the control amount (i.e., the autonomous driving domain controller fails to solve).

[0053] In a preferred embodiment of the present disclosure, method 100 may be executed for each planned autonomous driving section. It will be understood that during the autonomous driving process, the planned path from the vehicle's own position to the destination position may include multiple autonomous driving sections, so method 100 may be executed for each autonomous driving section. For example, in the first autonomous driving section, method 100 may determine that the difference between the control amount from the chassis domain controller and the control amount from the autonomous driving domain controller exceeds a predetermined threshold range, and output the control amount from the chassis domain controller to the vehicle's actuator for controlling the vehicle's autonomous driving; then, in the second autonomous driving section, method 100 may be re-executed, so that the chassis domain controller and the autonomous driving domain controller respectively calculate the control amount for autonomous driving based on the acquired information, so that when the difference between the control amount from the chassis domain controller and the control amount from the autonomous driving domain controller is within the predetermined threshold range, the control amount from the autonomous driving domain controller is output to the vehicle's actuator for controlling the vehicle's autonomous driving; and so on, until the end of this autonomous driving. Therefore, method 100 can make full use of the high performance of the autonomous driving domain controller to make vehicle control more precise, while avoiding loss of control caused by reasons such as failure of the autonomous driving domain controller to solve the problem.

[0054] In another embodiment of the present disclosure, the method 100 may be executed by any computing device with processing capabilities, such as a vehicle control unit or domain controller such as a vehicle industrial computer, a system-level chip, a microcontroller unit, a vehicle controller, etc. Alternatively, the method 100 may also be executed by a server in remote communication with the vehicle.

[0055] In this way, method 100 can fully utilize the more sophisticated control of the autonomous driving domain controller for autonomous driving, and use the chassis domain controller as redundancy to overcome defects such as the failure of the autonomous driving domain controller to solve, so that the chassis domain controller can intervene more promptly (because the chassis domain controller is also calculating the control amount). In addition, after the chassis domain controller intervenes, it can take over until the end of the current autonomous driving section, which allows the autonomous driving domain controller to still take over control in subsequent sections, thereby making full use of its higher performance.

[0056] In another preferred embodiment of the present disclosure, method 100 may also optionally include entering the chassis domain controller control mode after the autonomous driving domain controller fails to solve continuously for a predetermined number of times, thereby only using the MCU-side controller for control, and the SOC side does not perform vehicle lateral tracking and longitudinal tracking control operations.

[0057] refer to Figure 2 , which shows a schematic diagram of a vehicle automatic driving redundant control system 200 according to an example embodiment of the present disclosure.

[0058] like Figure 2 As shown, the system 200 may include a collection module 201 , a chassis domain controller 203 , an autonomous driving domain controller 205 , and a redundant control module 207 .

[0059] In one embodiment of the present disclosure, the acquisition module 201 may be configured to obtain information required for autonomous driving. For example, the acquisition module 201 may collect information related to vehicle status, positioning, path planning, etc. In this example, information related to the vehicle status may include status information of the vehicle's engine, door, accelerator and brake pedal, as well as information related to the front wheel angle, speed, and acceleration. Information related to vehicle positioning may include the vehicle's position information in a high-precision map or a global coordinate system. Information related to path planning may include the planned autonomous driving path trajectory, the distance from the target point, and the like. Those skilled in the art will understand that the acquisition module 201 may also be configured to obtain any other required information related to autonomous driving, which will not be repeated here.

[0060] In one embodiment of the present disclosure, the chassis domain controller 203 may be configured to receive information from the acquisition module 201 and calculate the control amount for autonomous driving accordingly; accordingly, the autonomous driving domain controller 205 may be configured to receive information from the acquisition module 201 and calculate the control amount for autonomous driving accordingly. In one example, the control amount may include at least one of target acceleration, speed, torque, and front wheel angle.

[0061] In one embodiment of the present disclosure, the redundant control module 207 may be configured to compare the control amount from the chassis domain controller 203 with the control amount from the autonomous driving domain controller 205, and if the difference between the control amount from the chassis domain controller 203 and the control amount from the autonomous driving domain controller 205 is within a predetermined threshold range, the control amount from the autonomous driving domain controller 205 is output to the vehicle's actuator for controlling the vehicle's autonomous driving, otherwise the control amount from the chassis domain controller 203 is output to the vehicle's actuator for controlling the vehicle's autonomous driving.

[0062] In a preferred embodiment of the present disclosure, the above-mentioned predetermined threshold range may vary depending on the control amount. For example, for a less sensitive control amount, the predetermined threshold range may be larger, and for a more sensitive control amount, the predetermined threshold range may be smaller. In another embodiment, the difference between the control amount calculated by the chassis domain controller and the control amount calculated by the autonomous driving domain controller may be an absolute value or a percentage value. In a preferred embodiment, when the value of the control amount itself is small, the difference may be in the form of a percentage value, for example, the difference may be a certain percentage of the control amount calculated by the chassis domain controller, and thus the predetermined threshold range may be a predetermined percentage range; when the value of the control amount itself is large, the difference may be in the form of an absolute value, for example, the difference may be the absolute value of the difference between the control amount calculated by the chassis domain controller and the control amount calculated by the autonomous driving domain controller, and thus the predetermined threshold range may be a predetermined difference absolute value range.

[0063] In yet another embodiment of the present disclosure, the acquisition module 201 may be further configured to acquire a control request from the driver, and the system 200 may start or terminate operation in response to the control request.

[0064] In another embodiment of the present disclosure, the autonomous driving domain controller 205 may be a high-performance SOC-side controller, while the chassis domain controller 203 may be a lower-performance MCU-side controller.

[0065] like Figure 2 As shown, the system 200 may also optionally include a pre-processing module 209, such as Figure 2 As shown in the dashed box in . In one embodiment of the present disclosure, the preprocessing module 209 may be configured to preprocess the information from the acquisition module 201, and transmit the preprocessed information to the chassis domain controller 203 and the autonomous driving domain controller 205. For example, the planning information acquired by the acquisition module 201 may include the planned autonomous driving path trajectory, and the preprocessing module 209 may be configured to preprocess the information into specific trajectory points that the vehicle currently needs to track, such as the distance from the target point, the vehicle gear position, etc. It will be understood that vehicle status information (such as turning angle, speed, and positioning information, etc.) can be sent to the chassis domain controller 203 and the autonomous driving domain controller 205 via the CAN bus.

[0066] Reference below Figure 3 , which shows a schematic diagram of a vehicle automatic driving redundant control system 300 according to an example embodiment of the present disclosure. As shown in the figure, the system 300 may include a processor 305 and a memory 310. The memory 310 stores processor executable instructions 315, which can be executed by the processor 305 to implement the above combination Figure 1 Method 100 is described.

[0067] Figure 4 FIG. 4 is a schematic diagram of a vehicle 400 according to an example embodiment of the present disclosure. In this embodiment, the vehicle 400 may be configured to implement the autonomous driving redundant control method according to the present disclosure (e.g., in combination with Figure 1 The method 100) and the autonomous driving redundant control system (e.g., in combination Figure 2 and 3 Systems 200 and 300 described above).

[0068] In another embodiment of the present disclosure, a non-transitory processor-readable storage medium storing processor-executable instructions is also provided. When the instructions are executed by the processor, the processor executes the method according to the present disclosure (for example, referring to Figure 1 Method 100 described herein).

[0069] The above detailed description includes references to the accompanying drawings, which form part of the detailed description. The accompanying drawings illustrate specific embodiments that can be practiced by way of illustration. These embodiments are also referred to herein as "examples". Such examples may include elements other than those shown or described. However, examples including the elements shown or described are also contemplated. In addition, examples using any combination or arrangement of those elements shown or described are also contemplated, or with reference to the specific examples (or one or more aspects thereof) shown or described herein, or with reference to other examples (or one or more aspects thereof) shown or described herein.

[0070] In the appended claims, the terms "including" and "comprising" are open ended, that is, systems, devices, articles, or processes having elements other than those elements listed after such terms in a claim are still deemed to fall within the scope of that claim. Furthermore, in the appended claims, the terms "first," "second," and "third," etc. are used merely as labels and are not intended to indicate a numerical order to their objects.

[0071] In addition, the order of each operation explained in this specification is exemplary. In alternative embodiments, each operation can be performed in a different order than that shown in the drawings, and each operation can be combined into a single operation or split into more operations.

[0072] The above description is intended to be illustrative, not restrictive. For example, the examples described above (or one or more aspects thereof) may be used in conjunction with other embodiments. Other embodiments may be used, such as by a person of ordinary skill in the art, after reviewing the above description. The abstract allows the reader to quickly determine the nature of the present technology disclosure. The abstract is submitted, and it is understood that the abstract will not be used to interpret or limit the scope or meaning of the claims. In addition, in the above specific embodiments, various features may be grouped together to make the disclosure fluent. However, the claims may not state every feature disclosed herein, because the embodiments may characterize a subset of the features. In addition, the embodiments may include fewer features than those disclosed in a particular example. Therefore, the attached claims are thus incorporated into the specific embodiments, and a claim exists independently as a separate embodiment. The scope of the embodiments disclosed herein should be determined with reference to the attached claims and the full scope of equivalents to which such claims are entitled.

Claims

1. A redundant control method for automatic driving of a vehicle, comprising: Obtain information needed for autonomous driving; The chassis domain controller and the autonomous driving domain controller respectively calculate the control amount for autonomous driving based on the acquired information; as well as comparing the control amount from the chassis domain controller with the control amount from the autonomous driving domain controller, If the difference between the control amount from the chassis domain controller and the control amount from the autonomous driving domain controller is within a predetermined threshold range, the control amount from the autonomous driving domain controller is output to the actuator of the vehicle for controlling the autonomous driving of the vehicle; otherwise The control quantity from the chassis domain controller is output to the actuator of the vehicle for controlling the automatic driving of the vehicle.

2. The method according to claim 1, characterized in that The information obtained includes information related to the vehicle status, positioning, and path planning. The information related to the vehicle status includes the status information of the vehicle's engine, doors, accelerator and brake pedal, and information related to the front wheel angle, speed, and acceleration. The information related to the vehicle positioning includes the vehicle's position and posture information in a high-precision map or global coordinate system. The information related to path planning includes the planned autonomous driving path trajectory and the distance to the target point.

3. The method according to claim 1, characterized in that The control variable includes at least one of a target acceleration, a speed, a torque, and a front wheel steering angle.

4. The method according to claim 3, characterized in that The predetermined threshold range varies according to the control amount.

5. The method according to claim 1, characterized in that The method is executed for each planned autonomous driving road section, and / or the method also includes starting or terminating execution in response to receiving a control request from a driver, and / or the method also includes outputting the control amount from the chassis domain controller to the actuator of the vehicle for controlling the autonomous driving of the vehicle when the autonomous driving domain controller fails to calculate the control amount.

6. The method according to claim 1, characterized in that The autonomous driving domain controller is a SOC-side controller, and the chassis domain controller is an MCU-side controller.

7. A vehicle automatic driving redundant control system, the system comprising: A collection module, wherein the collection module is configured to obtain information required for autonomous driving; A chassis domain controller, the chassis domain controller being configured to receive information from the acquisition module and calculate a control amount for autonomous driving based on the information; An autonomous driving domain controller, the autonomous driving domain controller being configured to receive information from the acquisition module and calculate a control amount for autonomous driving based on the information; as well as A redundant control module, wherein the redundant control module is configured to: comparing the control amount from the chassis domain controller with the control amount from the autonomous driving domain controller, and If the difference between the control amount from the chassis domain controller and the control amount from the autonomous driving domain controller is within a predetermined threshold range, the control amount from the autonomous driving domain controller is output to the vehicle's actuator for controlling the vehicle's autonomous driving; otherwise, the control amount from the chassis domain controller is output to the vehicle's actuator for controlling the vehicle's autonomous driving.

8. The system according to claim 7, characterized in that The control amount includes at least one of a target acceleration, a speed, a torque, and a front wheel steering angle, and the predetermined threshold range varies depending on the control amount.

9. A vehicle automatic driving redundant control system, the system comprising: processor; as well as A memory arranged to store processor-executable instructions which, when executed by the processor, cause the method of any one of claims 1 to 6 to be performed.

10. A vehicle comprising a system according to any one of claims 7-8.

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