Method, system, storage medium and autonomous vehicle for redundant park control
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- ZERON AUTOMOBILE TECHNOLOGY CO LTD
- Filing Date
- 2024-11-27
- Publication Date
- 2026-06-16
Smart Images
Figure CN119459669B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of computer technology, specifically to big data technology, data acquisition technology and other technical fields, and particularly to a method, system, storage medium and autonomous vehicle for redundant parking control. Background Technology
[0002] In autonomous driving technology, the automatic parking function of the intelligent driving parking system can help the vehicle automatically park in a designated position to ensure the safety of the vehicle and avoid problems such as slippage.
[0003] Currently, most intelligent parking systems for autonomous vehicles use single-link control, which cannot guarantee normal system operation when the control unit or execution unit fails, and can easily lead to safety issues when the system fails. Summary of the Invention
[0004] This application provides a method, system, storage medium, and autonomous vehicle for redundant parking control, which can solve the problem of poor reliability in parking control. The technical solution is as follows:
[0005] Firstly, a method for redundant parking control is provided, applied to a redundant parking system, the redundant parking system including an intelligent driving control module, a first signal processing module, a second signal processing module, and a parking control module; the method includes:
[0006] The intelligent driving control module sends the first control information and the second control information to the first signal processing module and the second signal processing module in parallel.
[0007] The first signal processing module performs pre-detection processing on the received first control information and second control information to obtain first parking control information, and sends the first parking control information to the parking control module;
[0008] The second signal processing module performs pre-detection processing on the received first control information and second control information to obtain second parking control information, and sends the second parking control information to the parking control module;
[0009] The parking control module uses a preset detection strategy to detect and process the received first parking control information and second parking control information. If the detection and processing result is consistent with the first parking control information and the second parking control information, the module performs parking control processing on the vehicle based on the first parking control information or the second parking control information.
[0010] In one possible implementation, the vehicle's redundant parking system further includes a first bus and a second bus, and the intelligent driving control module sends the first control information and the second control information in parallel to the first signal processing module and the second signal processing module, including:
[0011] The intelligent driving control module sends the first control information to the first signal processing module and the second signal processing module respectively through the first bus;
[0012] The intelligent driving control module sends the second control information to the first signal processing module and the second signal processing module respectively through the second bus, wherein the first control information and the second control information are sent in parallel.
[0013] In one possible implementation, the redundant parking system of the vehicle further includes a third bus and a fourth bus, and the step of sending the first parking control information to the parking control module includes:
[0014] The first signal processing module sends the first parking control information to the parking control module via the third bus;
[0015] Sending the second parking control information to the parking control module includes:
[0016] The second signal processing module sends the second parking control information to the parking control module via the fourth bus.
[0017] In one possible implementation, the parking control module utilizes a preset detection strategy to detect and process the received first parking control information and second parking control information, including:
[0018] The parking control module determines the first parking control information and the second parking control information that satisfy the preset verification conditions based on preset verification conditions, the first parking control information, and the second parking control information.
[0019] The parking control module compares the first parking control information and the second parking control information that meet the preset verification conditions to obtain the comparison result.
[0020] The result of the comparison process is used as the result of the detection process.
[0021] In one possible implementation, the first parking control information includes a first intelligent driving switch signal and a first verification code signal, and the second parking control information includes a second intelligent driving switch signal and a second verification code signal. The parking control module, based on preset verification conditions, the first parking control information, and the second parking control information, determines the first parking control information and the second parking control information that satisfy the preset verification conditions, including:
[0022] The parking control module determines first parking control information that meets preset verification conditions based on the first verification code signal and the first intelligent driving switch signal.
[0023] The parking control module determines the second parking control information that meets the preset verification conditions based on the second verification code signal and the second intelligent driving switch signal.
[0024] In one possible implementation, after performing parking control processing on the vehicle, the method further includes:
[0025] The parking control module acquires the result of the parking control processing;
[0026] The parking control module feeds back the result of the parking control processing to the intelligent driving control module through the first signal processing module and / or the second signal processing module.
[0027] Secondly, a redundant parking control system is provided, the redundant parking system including an intelligent driving control module, a first signal processing module, a second signal processing module and a parking control module;
[0028] The intelligent driving control module is used to send the first control information and the second control information to the first signal processing module and the second signal processing module in parallel.
[0029] The first signal processing module is used to perform pre-detection processing on the received first control information and second control information to obtain first parking control information, and send the first parking control information to the parking control module.
[0030] The second signal processing module is used to perform pre-detection processing on the received first control information and second control information to obtain second parking control information, and send the second parking control information to the parking control module.
[0031] The parking control module is used to detect and process the received first parking control information and second parking control information using a preset detection strategy, so that if the detection and processing result is consistent with the first parking control information and the second parking control information, the module can perform parking control processing on the vehicle based on the first parking control information or the second parking control information.
[0032] Thirdly, a computer-readable storage medium is provided, wherein at least one instruction is stored therein, the at least one instruction being loaded and executed by a processor to implement the aspects and any possible implementations described above.
[0033] Fourthly, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the aspects and any possible implementations described above.
[0034] Fifthly, an autonomous vehicle is provided, including the system described above.
[0035] The beneficial effects of the technical solution provided in this application include at least the following:
[0036] As can be seen from the above technical solution, in this embodiment, the intelligent driving control module can send the first control information and the second control information in parallel to the first signal processing module and the second signal processing module. The first signal processing module can then perform pre-detection processing on the received first and second control information to obtain first parking control information, and send the first parking control information to the parking control module. The second signal processing module can also perform pre-detection processing on the received first and second control information to obtain second parking control information, and send the second parking control information to the parking control module. This allows the parking control module to use a preset detection strategy to detect and process the received first and second parking control information. If the detection result shows that the first and second parking control information are consistent, the parking control module can perform parking control processing on the vehicle based on either the first or second parking control information. Since redundant parking control information can be provided to the parking control module through the first and second signal processing modules, the safety and reliability of the intelligent parking function of the autonomous vehicle can be improved.
[0037] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this application, nor is it intended to limit the scope of this application. Other features of this application will become readily apparent from the following description. Attached Figure Description
[0038] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0039] Figure 1 This is a flowchart illustrating a method for redundant parking control provided in one embodiment of this application;
[0040] Figure 2 This is a schematic diagram of the architecture of a redundant parking system provided in another embodiment of this application;
[0041] Figure 3 This is a schematic diagram of the architecture of a redundant parking system in an application scenario provided in another embodiment of this application. Detailed Implementation
[0042] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.
[0043] Obviously, the described embodiments are only some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.
[0044] It should be noted that the terminal devices involved in the embodiments of this application may include, but are not limited to, smart devices such as mobile phones, personal digital assistants (PDAs), wireless handheld devices, and tablet computers; the display devices may include, but are not limited to, personal computers, televisions, and other devices with display functions.
[0045] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.
[0046] Please refer to Figure 1 This document illustrates a flowchart of a redundant parking control method according to an embodiment of this application. This redundant parking control method can be applied to a redundant parking system, which includes an intelligent driving control module, a first signal processing module, a second signal processing module, and a parking control module. Specifically, it may include:
[0047] Step 101: The intelligent driving control module sends the first control information and the second control information in parallel to the first signal processing module and the second signal processing module.
[0048] Step 102: The first signal processing module performs pre-detection processing on the received first control information and second control information to obtain first parking control information, and sends the first parking control information to the parking control module.
[0049] Step 103: The second signal processing module performs pre-detection processing on the received first control information and second control information to obtain second parking control information, and sends the second parking control information to the parking control module.
[0050] Step 104: The parking control module uses a preset detection strategy to detect and process the received first parking control information and second parking control information, so that if the detection and processing result is consistent with the first parking control information and the second parking control information, the module performs parking control processing on the vehicle based on the first parking control information or the second parking control information.
[0051] It should be noted that the first control information and the second control information can be control information sent simultaneously from the intelligent driving control module to the first signal processing module and the second signal processing module.
[0052] It should be noted that the first control information may include handbrake signals, verification code signals, intelligent driving switch signals, etc. The second control information may also include handbrake signals, verification code signals, intelligent driving switch signals, etc.
[0053] It should be noted that, here, parking control processing can refer to controlling the vehicle to perform handbrake control operations, such as engaging or disengaging the handbrake.
[0054] In this way, the intelligent driving control module can send the first control information and the second control information in parallel to the first signal processing module and the second signal processing module. The first signal processing module can then perform pre-detection processing on the received first control information and the second control information to obtain first parking control information, and send the first parking control information to the parking control module. The second signal processing module can also perform pre-detection processing on the received first control information and the second control information to obtain second parking control information, and send the second parking control information to the parking control module. This allows the parking control module to use a preset detection strategy to detect and process the received first parking control information and the second parking control information. If the detection and processing result shows that the first parking control information and the second parking control information are consistent, parking control processing can be performed on the vehicle based on either the first parking control information or the second parking control information. Since the first signal processing module and the second signal processing module can provide redundant parking control information to the parking control module, the safety and reliability of the intelligent parking function of the autonomous vehicle can be improved.
[0055] Optionally, in one possible implementation of this embodiment, the redundant parking system of the vehicle further includes a first bus and a second bus. In step 101, specifically, the intelligent driving control module can send first control information to the first signal processing module and the second signal processing module through the first bus, and at the same time, the intelligent driving control module can send second control information to the first signal processing module and the second signal processing module through the second bus.
[0056] In this implementation, the first control information and the second control information are sent in parallel.
[0057] Here, the intelligent driving control module can be connected to the first signal processing module and the second signal processing module via the first bus. Simultaneously, the intelligent driving control module can also be connected to the first signal processing module and the second signal processing module via the second bus.
[0058] Preferably, the control information transmitted via the first bus can be first control information. Both the first signal processing module and the second signal processing module can receive the first control information. The control information transmitted via the second bus can be second control information. Both the first signal processing module and the second signal processing module can receive the second control information.
[0059] In this way, control information can be sent to the first signal processing module and the second signal processing module in parallel via the first bus and the second bus, so as to ensure that both the first signal processing module and the second signal processing module can receive the control information sent through the two buses, thereby ensuring the redundancy of the control information and further ensuring the reliability of the parking control.
[0060] Optionally, in one possible implementation of this embodiment, the redundant parking system of the vehicle may further include a third bus and a fourth bus. In step 102, the first signal processing module can send the first parking control information to the parking control module via the third bus. In step 103, the second signal processing module can send the second parking control information to the parking control module via the fourth bus.
[0061] This ensures that the parking control module receives redundant parking control information, allowing the system to continue operating normally even after a single-threaded network or single signal processing unit failure, further enhancing the safety and reliability of the parking function in intelligent driving vehicles.
[0062] In this implementation, both the first control information and the second control information may include intelligent driving switch signals, verification code signals, handbrake signals, etc.
[0063] In a specific implementation of this method, in step 102, firstly, the first signal processing module can determine the first control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the first control information, and can determine the second control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the second control information. Secondly, the first signal processing module can compare the handbrake signal of the first control information that meets the preset verification conditions with the handbrake signal of the second control information that meets the preset verification conditions to determine whether the handbrake signal of the first control information and the handbrake signal of the second control information are consistent. Thirdly, if it is determined that the handbrake signal of the first control information and the handbrake signal of the second control information are consistent, the first control information or the second control information can be encapsulated to obtain the first parking control information sent to the parking control module.
[0064] In another specific implementation of this method, in step 103, firstly, the second signal processing module can determine the first control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the first control information, and can determine the second control information that meets the preset verification conditions based on the check code signal and the intelligent driving switch signal of the second control information. Secondly, the second signal processing module can compare the handbrake signal of the first control information that meets the preset verification conditions with the handbrake signal of the second control information that meets the preset verification conditions to determine whether the handbrake signal of the first control information and the handbrake signal of the second control information are consistent. Thirdly, if the second signal processing module determines that the handbrake signal of the first control information and the handbrake signal of the second control information are consistent, the second signal processing module can encapsulate the first control information or the second control information to obtain the second parking control information sent to the parking control module.
[0065] It is understandable that the first signal processing module and the second signal processing module can perform the same pre-detection processing on the received first control information and second control information to achieve pre-detection of redundant information, so as to ensure the effectiveness of redundant control information.
[0066] It should be noted that the specific implementation process provided in this embodiment can be combined with various specific implementation processes provided in the aforementioned implementation methods to achieve the redundant parking control method of this embodiment. Detailed descriptions can be found in the relevant content of the aforementioned implementation methods, and will not be repeated here.
[0067] Optionally, in one possible implementation of this embodiment, in step 104, specifically, the parking control module can determine the first parking control information and the second parking control information that satisfy the preset verification conditions based on preset verification conditions, the first parking control information, and the second parking control information. Then, the parking control module can perform comparison processing on the first parking control information and the second parking control information that satisfy the preset verification conditions to obtain the result of the comparison processing, and use the result of the comparison processing as the result of the detection processing.
[0068] In this implementation, the first parking control information may include a first intelligent driving switch signal and a first verification code signal. The second parking control information may include a second intelligent driving switch signal and a second verification code signal.
[0069] In a specific implementation of this method, firstly, the parking control module can determine first parking control information that meets preset verification conditions based on the first verification code signal and the first intelligent driving switch signal, and can determine second parking control information that meets preset verification conditions based on the second verification code signal and the second intelligent driving switch signal.
[0070] In this implementation, the first and second checksum signals can be CRC checksum signals. Preset verification conditions may include a correct CRC checksum verification result and the intelligent driving switch signal indicating that the intelligent driving function is enabled.
[0071] In one specific implementation scenario, if the CRC checksum signal in response to the first checksum signal is correct and the first intelligent driving switch signal indicates that the intelligent driving function is enabled, then the first parking control information is determined to meet the preset verification conditions.
[0072] Another specific implementation process is that, in response to the CRC check code signal of the second check code signal being correct and the second intelligent driving switch signal indicating that the intelligent driving function is enabled, it is determined that the second parking control information meets the preset verification conditions.
[0073] In this implementation, the first parking control information may further include a first handbrake signal. The second parking control information may further include a second handbrake signal.
[0074] In another specific implementation, the parking control module can further determine whether the first handbrake signal of the first parking control information and the second handbrake signal of the second parking control information, which meet the preset verification conditions, are within a preset signal value range. If they are not within the preset signal value range, it can be determined that the first and second handbrake signals are invalid; if they are within the preset signal value range, it can be determined that the first and second handbrake signals are valid.
[0075] For example, the preset signal value range can be the normal signal value range of the handbrake signal. For instance, the normal signal value range can be 50 to 100. If the signal value of the first handbrake signal or the signal value of the second handbrake signal is 105, then the signal is invalid.
[0076] In another specific implementation, the parking control module can compare the first handbrake signal of the first parking control information and the second handbrake signal of the second parking control information that meet the preset verification conditions to obtain the comparison result, and use the comparison result as the detection result.
[0077] Here, the result of the detection process may include the first parking control information and the second parking control information being consistent, or the first parking control information and the second parking control information being inconsistent.
[0078] In a specific implementation of this method, firstly, in response to a discrepancy between the first parking control information and the second parking control information, it can be determined whether the first parking control information and the second parking control information meet preset verification conditions and whether the handbrake signal is valid. Secondly, in response to the first parking control information meeting the preset verification conditions and the handbrake signal being valid, parking control processing is performed on the vehicle based on the first parking control information; or, in response to the second parking control information meeting the preset verification conditions and the handbrake signal being valid, parking control processing is performed on the vehicle based on the second parking control information. Thirdly, in response to the first parking control information not meeting the preset verification conditions and the handbrake signal being invalid, and the second parking control information not meeting the preset verification conditions and the handbrake signal being invalid, parking control processing of the vehicle can be suspended, and alarm information can be output.
[0079] In this implementation, both the first parking control information and the second parking control information include a handbrake signal. The consistency between the first parking control information and the second parking control information can include identical handbrake signals, for example, both indicating that the handbrake is engaged. Inconsistency between the first parking control information and the second parking control information can include inconsistent handbrake signals.
[0080] In another specific implementation of this method, in response to the detection process showing a consistent handbrake signal, parking control can be performed on the vehicle based on that handbrake signal. Conversely, in response to the detection process showing an inconsistent handbrake signal, parking control can be omitted, and fault information corresponding to the detection process result can be fed back.
[0081] In another specific implementation of this method, if neither the first parking control information nor the second parking control information meets the preset verification conditions and both handbrake signals are invalid, then parking control processing can be omitted, and the fault information corresponding to the detection and processing results can be fed back.
[0082] Understandably, it is also possible to first determine whether the first handbrake signal and the second handbrake signal are valid based on a preset signal value range, and then verify and process the first parking control information and the second parking control information. Here, there is no specific restriction on the order in which the different signals in the first parking control information and the second parking control information are processed.
[0083] In this way, by verifying and comparing the first and second parking control information, more accurate and effective detection and processing results can be obtained, further ensuring the reliability of the intelligent parking function.
[0084] In this implementation, the detection and processing results may further include the first parking control information or the second parking control information not meeting preset conditions, or the handbrake signal of the first parking control information or the second parking control information being invalid. A detection and processing result indicating that the first parking control information does not meet preset conditions, or that the handbrake signal is invalid, indicates that the first parking control information is invalid. Similarly, a detection and processing result indicating that the second parking control information does not meet preset conditions, or that the handbrake signal is invalid, indicates that the second parking control information is invalid.
[0085] In another specific implementation of this method, if the result of the detection process is that the first parking control information is valid and the second parking control information is invalid, parking control processing is performed on the vehicle based on the first parking control information.
[0086] In another specific implementation of this method, if the result of the detection process is that the second parking control information is valid and the first parking control information is invalid, parking control processing can be performed on the vehicle based on the second parking control information.
[0087] This ensures that if a single transmission link fails or there is a problem with the parking control information, the parking control information from another link can be used for parking control processing, further guaranteeing the reliability of the intelligent driving parking function.
[0088] It should be noted that the specific implementation process provided in this embodiment can be combined with various specific implementation processes provided in the aforementioned implementation methods to achieve the redundant parking control method of this embodiment. Detailed descriptions can be found in the relevant content of the aforementioned implementation methods, and will not be repeated here.
[0089] Optionally, in one possible implementation of this embodiment, after step 104, the parking control module further obtains the result of the parking control processing, and the parking control module feeds back the result of the parking control processing to the intelligent driving control module through the first signal processing module and / or the second signal processing module.
[0090] In this implementation, the result of the control processing may include control execution information. This control execution information may include information such as successful handbrake engagement, successful handbrake release, and handbrake signal status value.
[0091] In addition, if the control process fails, the result may also include handbrake status information and corresponding fault type information.
[0092] In one specific implementation of this approach, the parking control module can process the feedback of control execution information via a single link. Alternatively, the parking control module can process the feedback of control execution information via a dual-link system.
[0093] In one specific implementation scenario, the parking control module can perform feedback processing of control execution information through a single link consisting of a third bus, a first signal processing module, and a first bus, or a single link consisting of a fourth bus, a second signal processing module, and a second bus.
[0094] Another specific implementation method is that the parking control module can perform feedback processing of control execution information through a single link consisting of a third bus, a first signal processing module, and a first bus, and a dual link consisting of a fourth bus, a second signal processing module, and a second bus.
[0095] In this way, by feeding back the control processing results to the intelligent driving control module, the intelligent driving control module can respond accordingly, which can further improve the reliability of the intelligent driving parking function.
[0096] It should be noted that the specific implementation process provided in this embodiment can be combined with various specific implementation processes provided in the aforementioned implementation methods to achieve the redundant parking control method of this embodiment. Detailed descriptions can be found in the relevant content of the aforementioned implementation methods, and will not be repeated here.
[0097] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art should understand that this application is not limited to the described order of actions, as some steps may be performed in other orders or simultaneously according to this application. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions and modules involved are not necessarily essential to this application.
[0098] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.
[0099] Figure 2 This is a schematic diagram of the architecture of a redundant parking system provided in another embodiment of this application, as shown below. Figure 2 As shown. In this embodiment, the redundant parking system can be used to execute the redundant parking control method in the aforementioned embodiments. The redundant parking system may specifically include an intelligent driving control module, a first signal processing module, a second signal processing module, and a parking control module.
[0100] In this embodiment, as Figure 2 As shown, the intelligent driving control module can be used to send first control information and second control information in parallel to a first signal processing module and a second signal processing module. The first signal processing module can be used to perform pre-detection processing on the received first control information and second control information to obtain first parking control information, and then send the first parking control information to the parking control module. The second signal processing module can be used to perform pre-detection processing on the received first control information and second control information to obtain second parking control information, and then send the second parking control information to the parking control module. The parking control module can be used to perform detection processing on the received first parking control information and second parking control information using a preset detection strategy, so that if the detection processing result is consistent with the first parking control information and the second parking control information, the module can control the vehicle to park based on either the first parking control information or the second parking control information.
[0101] Optionally, in one possible implementation of this embodiment, the redundant parking system of the vehicle further includes a first bus and a second bus. Specifically, the intelligent driving control module can be used to send first control information to the first signal processing module and the second signal processing module respectively through the first bus. At the same time, the intelligent driving control module can be used to send second control information to the first signal processing module and the second signal processing module respectively through the second bus.
[0102] In this implementation, the intelligent driving control module can be connected to the first signal processing module and the second signal processing module via the first bus. Simultaneously, the intelligent driving control module can also be connected to the first signal processing module and the second signal processing module via the second bus.
[0103] Here, the first control information and the second control information are sent in parallel.
[0104] Preferably, the control information transmitted via the first bus can be first control information. Both the first signal processing module and the second signal processing module can receive the first control information. The control information transmitted via the second bus can be second control information. Both the first signal processing module and the second signal processing module can receive the second control information.
[0105] Optionally, in one possible implementation of this embodiment, the redundant parking system of the vehicle may further include a third bus and a fourth bus. The first signal processing module can be used to send the first parking control information to the parking control module via the third bus. The second signal processing module can be used to send the second parking control information to the parking control module via the fourth bus.
[0106] In this implementation, both the first control information and the second control information may include intelligent driving switch signals, verification code signals, handbrake signals, etc.
[0107] In a specific implementation of this method, firstly, the first signal processing module can determine first control information that meets preset verification conditions based on the checksum signal and intelligent driving switch signal of the first control information, and can determine second control information that meets preset verification conditions based on the checksum signal and intelligent driving switch signal of the second control information. Secondly, the first signal processing module can compare the handbrake signal of the first control information that meets preset verification conditions with the handbrake signal of the second control information that meets preset verification conditions to obtain first control information and second control information with consistent handbrake signals. Thirdly, the first signal processing module can encapsulate the first control information or the second control information to obtain first parking control information sent to the parking control module.
[0108] In another specific implementation of this approach, firstly, the second signal processing module can determine first control information that meets preset verification conditions based on the checksum signal and intelligent driving switch signal of the first control information, and can determine second control information that meets preset verification conditions based on the checksum signal and intelligent driving switch signal of the second control information. Secondly, the second signal processing module can compare the handbrake signal of the first control information that meets preset verification conditions with the handbrake signal of the second control information that meets preset verification conditions to obtain first and second control information with consistent handbrake signals. Thirdly, the second signal processing module can encapsulate the first control information or the second control information to obtain second parking control information sent to the parking control module.
[0109] Optionally, in one possible implementation of this embodiment, specifically, the parking control module can be used to determine the first parking control information and the second parking control information that satisfy the preset verification conditions based on preset verification conditions, the first parking control information, and the second parking control information. Then, the parking control module can be used to compare the first parking control information and the second parking control information that satisfy the preset verification conditions to obtain the result of the comparison process, and use the result of the comparison process as the result of the detection process.
[0110] Optionally, in one possible implementation of this embodiment, the parking control module can be used to obtain the result of the parking control processing, and the parking control module can be used to feed back the result of the parking control processing to the intelligent driving control module through a first signal processing module and / or a second signal processing module.
[0111] In this implementation, the result of the control processing may include control execution information. This control execution information may include information such as successful handbrake engagement, successful handbrake release, and handbrake signal status value.
[0112] In addition, if the control process fails, the result may also include handbrake status information and corresponding fault type information.
[0113] In this embodiment, for example, the intelligent driving control module can be an intelligent driving control unit, namely an Automated Driving Control Unit (ADCU); the first signal processing module can be an Electronic Control Unit (ECU), namely a signal processing controller ECU1; the second signal processing module can be an Electronic Control Unit (ECU), namely a signal processing controller ECU2; and the parking control module can be an Electronic Park Brake (EPB), namely a parking brake actuator.
[0114] Figure 3 This is a schematic diagram of the architecture of a redundant parking system in an application scenario provided by another embodiment of this application, such as... Figure 3 As shown. The redundant parking system may include ADCU intelligent driving control unit, ECU1 signal processing unit 1, ECU2 signal processing unit 2, EPB electronic parking brake system, and CAN bus. The CAN bus may include CAN1 and CAN2, CAN3 and CAN4.
[0115] Here, CAN1 and CAN2 are the intelligent driving CAN buses, used to connect ADCU, ECU1, and ECU2. The functions of CAN1 and CAN2 are to send control information and receive controlled status feedback from EPB. CAN3 is the control CAN bus, connecting ECU1 and EPB, and its function is to send valid control information after processing and judgment and to receive controlled status feedback from EPB. CAN4 is the control CAN bus, connecting ECU2 and EPB, and its function is to send valid control commands after processing and judgment and to receive controlled status feedback from EPB.
[0116] Preferably, such as Figure 3As shown, when the ADCU sends control information, it simultaneously sends the same control information with signal switch protection to CAN1 and CAN2. ECU1 and ECU2 simultaneously receive the control information from CAN1 and CAN2 sent by the ADCU. To prevent controller malfunction, after receiving the control information from CAN1 and CAN2, ECU1 needs to process the information by verifying the checksum signal, judging the difference in the handbrake signal value, verifying the intelligent driving signal switch protection, and determining the validity of the handbrake signal before sending the valid parking control information to CAN3. Similarly, to prevent controller malfunction, after receiving the control information from CAN1 and CAN2, ECU2 needs to process the information by verifying the checksum signal, judging the difference in the handbrake signal value, verifying the intelligent driving signal switch protection, and determining the validity of the handbrake signal before sending the valid parking control information to CAN4. EPB can receive parking control information through CAN3 and CAN4. If the received parking control information from CAN3 and CAN4 is the same, EPB can support single-wire control. After the EPB is controlled, it simultaneously sends the system's controlled status to CAN3 and CAN4. ECU1 receives the controlled status feedback from the EPB and sends it to CAN1 and CAN2 respectively. ECU2 receives the controlled status feedback from the EPB and sends it to CAN1 and CAN2 respectively. The ADCU can simultaneously receive the controlled status feedback from the EPB sent by ECU1 and ECU2 via CAN1 and CAN2.
[0117] Preferably, when one of the CAN buses, CAN1 or CAN2, fails, control information can be sent and controlled feedback can be received through the non-faulty bus. When one of the signal processing units, ECU1 or ECU2, fails, control information can be sent and controlled feedback can be received through the non-faulty signal processing unit. When one of the CAN buses, CAN3 or CAN4, fails, control information can be sent and controlled feedback can be received through the non-faulty bus.
[0118] In this implementation, the intelligent driving signal switch protection can determine whether the vehicle is in intelligent driving mode based on the intelligent driving switch signal. When in intelligent driving mode, the redundant parking control method in this application can be executed.
[0119] In this implementation, ECU1 or ECU2 can also receive brake pedal information. If the brake pedal is pressed while in intelligent driving mode, the driver can directly exit intelligent driving mode. Furthermore, the driver can determine whether to exit or activate intelligent driving mode based on the driver's operation of the vehicle's intelligent driving mode hardware switch button.
[0120] In this implementation, the controlled feedback can include the results of the control processing and EPB system status information. For example, EPB system status information can include whether the EPB system is in self-test, whether the self-test is complete and the function can be enabled, whether the function is enabled but the start-up conditions are not met, whether all channels are fault-free, and whether the parking brake has been activated. The results of the control processing can also include fault type information. For example, fault type information can include whether the function is restricted and ineffective, whether an error exists, whether both the main and auxiliary control channels of CAN1 and CAN2 are unavailable, whether the main control channel of CAN1 is available and both auxiliary control channels of CAN2 are unavailable, and whether a fault in CAN1 or CAN2 results in degradation.
[0121] In this embodiment, it is understood that intelligent driving parking control can also be performed through two or more multi-links. The specific implementation method is similar to the above implementation method, and will not be described again here.
[0122] The solution in this embodiment can ensure normal system operation even after a single-threaded network or single signal processing module failure through the redundant control scheme of the parking system, greatly improving the safety and reliability of the parking function of intelligent driving vehicles.
[0123] Furthermore, by adopting the solution in this embodiment, the remaining links can ensure the normal operation of the system in the event of a single link failure through the control and execution status feedback of multiple links, thus ensuring the parking safety of intelligent driving vehicles.
[0124] The technical solution of this application involves the collection, storage, use, processing, transmission, provision, and disclosure of user personal information, such as user image and attribute data, which comply with relevant laws and regulations and do not violate public order and good morals.
[0125] In embodiments of this application, an electronic device, a readable storage medium, and a computer program product are also provided.
[0126] According to embodiments of this application, an autonomous vehicle including the provided electronic equipment is further provided. This autonomous vehicle may include Level 2 or higher autonomous vehicles with human control. For example, the autonomous vehicle may include commercial vehicles, passenger cars, large vehicles, etc.
[0127] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.
[0128] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this is not limited herein.
[0129] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.
Claims
1. A method for redundant parking control, characterized in that, A redundant parking system for vehicles in intelligent driving mode, the redundant parking system comprising an intelligent driving control module, a first signal processing module, a second signal processing module, and a parking control module, the method comprising: The intelligent driving control module sends the first control information and the second control information to the first signal processing module and the second signal processing module in parallel. The first signal processing module performs pre-detection processing on the received first control information and second control information to obtain first parking control information, and sends the first parking control information to the parking control module; The second signal processing module performs pre-detection processing on the received first control information and second control information to obtain second parking control information, and sends the second parking control information to the parking control module; The parking control module uses a preset detection strategy to detect and process the received first parking control information and second parking control information. If the detection and processing result shows that the first parking control information and the second parking control information are consistent, the module performs parking control processing on the vehicle based on the first parking control information or the second parking control information. The first parking control information includes a first intelligent driving switch signal, a first verification code signal, and a first handbrake signal. The second parking control information includes a second intelligent driving switch signal, a second verification code signal, and a second handbrake signal. When the parking control module determines that the detection processing result is inconsistent between the first parking control information and the second parking control information, it determines whether the CRC checksum verification result of the first checksum signal is correct, whether the first intelligent driving switch signal indicates that the intelligent driving function is enabled, and whether the first handbrake signal is valid; and it also determines whether the CRC checksum verification result of the second checksum signal is correct, whether the second intelligent driving switch signal indicates that the intelligent driving function is enabled, and whether the second handbrake signal is valid. In response to the first checksum signal being correct, the first intelligent driving switch signal indicating that the intelligent driving function is enabled, and the first handbrake signal being valid, based on the first... If the vehicle is parked using a handbrake signal, or if the CRC checksum of the second checksum signal is correct, the second smart driving switch signal indicates the smart driving function is enabled, and the second handbrake signal is valid, then the vehicle is parked using the second handbrake signal. If the CRC checksum of the first checksum signal is incorrect, the first smart driving switch signal indicates the smart driving function is disabled, and the first handbrake signal is invalid, and the CRC checksum of the second checksum signal is also incorrect, the second smart driving switch signal indicates the smart driving function is disabled, and the second handbrake signal is invalid, then no parking control is performed on the vehicle, and an alarm message is output.
2. The method according to claim 1, characterized in that, The vehicle's redundant parking system also includes a first bus and a second bus. The intelligent driving control module sends the first control information and the second control information in parallel to the first signal processing module and the second signal processing module, including: The intelligent driving control module sends the first control information to the first signal processing module and the second signal processing module respectively through the first bus; The intelligent driving control module sends the second control information to the first signal processing module and the second signal processing module respectively through the second bus, wherein the first control information and the second control information are sent in parallel.
3. The method according to claim 1, characterized in that, The redundant parking system of the vehicle further includes a third bus and a fourth bus, and the step of sending the first parking control information to the parking control module includes: The first signal processing module sends the first parking control information to the parking control module via the third bus; Sending the second parking control information to the parking control module includes: The second signal processing module sends the second parking control information to the parking control module via the fourth bus.
4. The method according to claim 1, characterized in that, The parking control module uses a preset detection strategy to detect and process the received first parking control information and second parking control information, including: The parking control module determines the first parking control information and the second parking control information that satisfy the preset verification conditions based on preset verification conditions, the first parking control information, and the second parking control information. The parking control module compares the first parking control information and the second parking control information that meet the preset verification conditions to obtain the comparison result. The result of the comparison process is used as the result of the detection process.
5. The method according to claim 4, characterized in that, The parking control module determines, based on preset verification conditions, the first parking control information, and the second parking control information, the first parking control information and the second parking control information that satisfy the preset verification conditions, including: The parking control module determines first parking control information that meets preset verification conditions based on the first verification code signal and the first intelligent driving switch signal. The parking control module determines the second parking control information that meets the preset verification conditions based on the second verification code signal and the second intelligent driving switch signal.
6. The method according to claim 1, characterized in that, After performing parking control on the vehicle, the method further includes: The parking control module acquires the result of the parking control processing; The parking control module feeds back the result of the parking control processing to the intelligent driving control module through the first signal processing module and / or the second signal processing module.
7. A redundant parking system, characterized in that, A redundant parking system for vehicles in intelligent driving mode, the redundant parking system comprising an intelligent driving control module, a first signal processing module, a second signal processing module, and a parking control module; The intelligent driving control module is used to send the first control information and the second control information to the first signal processing module and the second signal processing module in parallel. The first signal processing module is used to perform pre-detection processing on the received first control information and second control information to obtain first parking control information, and send the first parking control information to the parking control module. The second signal processing module is used to perform pre-detection processing on the received first control information and second control information to obtain second parking control information, and send the second parking control information to the parking control module. The parking control module is used to detect and process the received first parking control information and second parking control information using a preset detection strategy, so that if the detection and processing result is consistent with the first parking control information and the second parking control information, parking control processing is performed on the vehicle based on the first parking control information or the second parking control information; the first parking control information includes a first intelligent driving switch signal, a first verification code signal and a first handbrake signal, and the second parking control information includes a second intelligent driving switch signal, a second verification code signal and a second handbrake signal; When the parking control module determines that the detection processing result is inconsistent between the first parking control information and the second parking control information, it determines whether the CRC checksum verification result of the first checksum signal is correct, whether the first intelligent driving switch signal indicates that the intelligent driving function is enabled, and whether the first handbrake signal is valid; and it also determines whether the CRC checksum verification result of the second checksum signal is correct, whether the second intelligent driving switch signal indicates that the intelligent driving function is enabled, and whether the second handbrake signal is valid. In response to the first checksum signal being correct, the first intelligent driving switch signal indicating that the intelligent driving function is enabled, and the first handbrake signal being valid, based on the first... If the vehicle is parked using a handbrake signal, or if the CRC checksum of the second checksum signal is correct, the second smart driving switch signal indicates the smart driving function is enabled, and the second handbrake signal is valid, then the vehicle is parked using the second handbrake signal. If the CRC checksum of the first checksum signal is incorrect, the first smart driving switch signal indicates the smart driving function is disabled, and the first handbrake signal is invalid, and the CRC checksum of the second checksum signal is also incorrect, the second smart driving switch signal indicates the smart driving function is disabled, and the second handbrake signal is invalid, then no parking control is performed on the vehicle, and an alarm message is output.
8. A non-transitory computer-readable storage medium storing computer instructions, wherein, The computer instructions are used to cause the computer to perform the method according to any one of claims 1-6.
9. A computer program product comprising a computer program that, when executed by a processor, implements the method according to any one of claims 1-6.
10. An autonomous vehicle comprising the system as described in claim 7.