Unmanned bus safety redundant system and control method thereof

Abstract

The invention discloses an unmanned bus safety redundancy system and a control method thereof, the unmanned bus safety redundancy system comprises a dual control system and a data processing system, the dual control system and the data processing system realize bidirectional connection, the dual control system comprises a main control system and a standby control system, and the invention relates to the technical field of unmanned driving. According to the unmanned driving minibus safety redundancy system and the control method thereof, through redundancy design of double control systems, failure of the whole system cannot be caused by any system or execution failure, when the main control system goes wrong, the switching control module can rapidly switch the control right to the standby control system so as to ensure stable operation of the minibus, and the safety of the minibus is ensured. The problem that in the prior art, in the driving process of an unmanned driving minibus driven by a single controller and a single motor actuator, once the controller or the motor actuator breaks down, normal driving of the minibus can be affected is solved, and the safety performance of the minibus is greatly improved.

Description

Technical Field

[0001] The present invention relates to the field of unmanned driving technology, and in particular to a safety redundancy system for an unmanned minibus and a control method thereof. Background Art

[0002] The reference patent name is: A safety protection device for reducing injuries to pedestrians caused by collisions between unmanned minibuses (patent publication number: CN118560468A, patent publication date: 2024.08.30), including: a perception system for collecting surrounding environment information; a retractable bumper; a vehicle chassis domain controller, which includes an information processing module, a decision and dynamics module, a passive safety device and a battery system management module; the information processing module receives the position and kinematic information of pedestrians around the vehicle obtained by the perception system, and sends it to the decision and dynamics module; the decision and dynamics module calculates the TTC between the vehicle and the pedestrian based on the pedestrian position and kinematic information and compares it with the time required for the wire control execution system to complete the collision avoidance action to make a decision, and sends a control instruction to complete the collision avoidance action based on the decision; when collision avoidance is not possible, a control instruction is sent to the passive safety device, which solves the defects of the active safety technology of autonomous driving vehicles and can achieve good passive safety prevention when collision with pedestrians cannot be avoided.

[0003] Based on what is stated in the above-mentioned document: With the continuous progress in the fields of artificial intelligence, sensor technology, computer vision, etc., autonomous driving technology has developed rapidly. As one of the important applications of autonomous driving technology, unmanned vehicles have shown great potential in road driving, logistics transportation, public transportation and other fields. However, to realize the commercial application of unmanned vehicles, the first thing that needs to be solved is the safety issue. Unmanned minibuses in the existing technology generally use a single controller and a single motor actuator to drive the unmanned minibus. Once the controller or the motor actuator fails, it will affect the normal driving of the unmanned minibus, bringing huge hidden dangers to pedestrians and vehicles and affecting daily work. To this end, the present invention provides an unmanned minibus safety redundancy system and a control method thereof. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a safety redundancy system for an unmanned minibus and a control method thereof, which solves the problem that unmanned minibuses in the existing technology that use a single controller and a single motor actuator pose a huge safety hazard once the controller or motor actuator fails.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a safety redundancy system for an unmanned minibus, comprising a dual control system and a data processing system, wherein the dual control system and the data processing system are bidirectionally connected, the dual control system comprises a primary control system and a backup control system, and the primary control system comprises a primary perception module, a primary decision-making and planning module, a primary motor execution module, a primary vehicle bus module, a primary braking module, a primary steering module, a primary power management module, a primary monitoring module, a primary fault warning module, and a primary user interface;

[0006] The main motor execution module includes a main three-phase motor, a main motor drive unit and a main motor control unit. The output end of the main three-phase motor is connected to the input end of the main motor drive unit, and the output end of the main motor drive unit is connected to the input end of the main motor control unit.

[0007] Preferably, the output end of the main perception module is connected to the input end of the main decision-making and planning module, the output end of the main decision-making and planning module is connected to the input end of the main motor execution module, the output end of the main motor execution module is connected to the input end of the main vehicle bus module, the output end of the main vehicle bus module is connected to the input end of the main braking module, the output end of the main braking module is connected to the input end of the main steering module, the output end of the main steering module is connected to the input end of the main power management module, the output end of the main power management module is connected to the input end of the main monitoring module, the output end of the main monitoring module is connected to the input end of the main fault warning module, and the output end of the main fault warning module is connected to the input end of the main user interface.

[0008] Preferably, the backup control system includes a backup perception module, a backup decision-making and planning module, a backup motor execution module, a backup vehicle bus module, a backup braking module, a backup steering module, a backup power management module, a backup monitoring module, a backup fault warning module and a backup user interface.

[0009] Preferably, the output end of the standby perception module is connected to the input end of the standby decision-making and planning module, the output end of the standby decision-making and planning module is connected to the input end of the standby motor execution module, the output end of the standby motor execution module is connected to the input end of the standby vehicle bus module, the output end of the standby vehicle bus module is connected to the input end of the standby braking module, the output end of the standby braking module is connected to the input end of the standby steering module, the output end of the standby steering module is connected to the input end of the standby power management module, the output end of the standby power management module is connected to the input end of the standby monitoring module, the output end of the standby monitoring module is connected to the input end of the standby fault warning module, and the output end of the standby fault warning module is connected to the input end of the standby user interface.

[0010] Preferably, the backup motor execution module includes a backup three-phase motor, a backup motor drive unit and a backup motor control unit, the output end of the backup three-phase motor is connected to the input end of the backup motor drive unit, and the output end of the backup motor drive unit is connected to the input end of the backup motor control unit.

[0011] Preferably, the data processing system includes a data receiving module, an abnormality alarm module, a switching control module, a data preprocessing module, a data comparison module, a fault analysis and diagnosis module, a fault repair module and a data sending module.

[0012] Preferably, the output end of the data receiving module is connected to the input end of the abnormal alarm module, the output end of the abnormal alarm module is connected to the input end of the switching control module, the output end of the abnormal alarm module is connected to the input end of the data preprocessing module, the output end of the data preprocessing module is connected to the input end of the data comparison module, the output end of the data comparison module is connected to the input end of the fault analysis and diagnosis module, the output end of the fault analysis and diagnosis module is connected to the input end of the fault repair module, and the output end of the fault analysis and diagnosis module is connected to the input end of the data sending module.

[0013] The present invention also discloses a control method for a safety redundancy system of an unmanned minibus, which specifically includes the following steps:

[0014] S1. Initialization and self-test: At startup, both control systems perform self-tests simultaneously to ensure that all hardware and software functions can operate normally;

[0015] S2. Normal operation: In normal operation, the main control system is responsible for the form control of the driverless minibus, and the backup control system is in standby mode. The main control system drives the main three-phase motor through the main motor drive unit and the main motor control unit to operate, thereby realizing the normal operation of the driverless minibus. At the same time, the main monitoring module collects the status information of the minibus;

[0016] S3. Fault detection and switching: When a fault occurs in the main control system or the main three-phase motor it controls, the main fault warning module will send a warning message to the main user interface and data processing system. At this time, after the data processing system receives the abnormal information, the abnormal alarm module will directly issue an abnormal alarm, trigger the switching logic, and immediately start the switching control module. At this time, the backup control system immediately takes over control, activates the corresponding backup three-phase motor, and continues to take over the driving control of the minibus.

[0017] S4. Fault diagnosis and repair: When the backup control system takes over the control of the minibus, the data preprocessing module will first preprocess the abnormal data and compare it with the original data, and analyze the specific cause of the fault through the fault analysis and diagnosis module. Finally, the fault cause will be sent to the main user interface and the backup user interface through the data sending module for synchronous display. Synchronously, the fault cause will be immediately repaired through the fault repair module. If the fault can be repaired immediately, the backup control system will try to restore the operation of the main control system and the main three-phase motor. If the fault cannot be repaired immediately, the backup control system will maintain the control state until the minibus completes the work and docks safely.

[0018] Beneficial effects

[0019] The present invention provides a safety redundancy system for an unmanned minibus and a control method thereof. Compared with the prior art, it has the following advantages:

[0020] 1. The redundant safety system and control method of the unmanned minibus, through the redundant design of the dual control systems, ensure that any system or execution failure will not cause the failure of the entire system. When a problem occurs in the main control system, the switching control module can quickly switch control to the backup control system to ensure the smooth operation of the minibus. This avoids the problem in the existing technology of unmanned minibuses driven by a single controller and a single motor actuator that, once the controller or motor actuator fails, will affect the normal operation of the minibus, thereby greatly improving the safety performance of the minibus.

[0021] 2. The unmanned minibus safety redundancy system and its control method improve the efficiency of troubleshooting when unmanned minibuses malfunction in the existing technology. Through intelligent monitoring, the system has the ability to self-monitor and diagnose, ensuring that when any control system or actuator fails, measures can be taken immediately when the problem occurs, and the problem can be analyzed, diagnosed and repaired.

[0022] 3. The driverless minibus safety redundancy system and control method thereof, by providing a dual control system, can use the backup control system to immediately take over when a problem occurs in the main control system, thereby reducing downtime caused by failures and thus reducing maintenance costs. At the same time, it avoids the huge hidden dangers to nearby pedestrians and vehicles caused by the minibus losing control or stopping operation in the event of a sudden failure. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is the overall block diagram of the principle of the present invention;

[0024] Figure 2 is a principle block diagram of the data processing system of the present invention;

[0025] Figure 3This is a principle block diagram of the main control system of the present invention;

[0026] Figure 4 This is a principle block diagram of the main motor execution module of the present invention;

[0027] Figure 5 This is a principle block diagram of the backup control system of the present invention;

[0028] Figure 6 This is a principle block diagram of the backup motor execution module of the present invention.

[0029] In the figure: 1-dual control system, 11-dual control system, 111-main perception module, 112-main decision-making and planning module, 113-main motor execution module, 1131-main three-phase motor, 1132-main motor drive unit, 1133-main motor control unit, 114-main vehicle bus module, 115-main braking module, 116-main steering module, 117-main power management module, 118-main monitoring module, 119-main fault warning module, 120-main user interface, 12-data processing system, 121-backup perception module, 122-backup decision-making and planning module, 123-backup motor execution module, 1231-spare three-phase motor, 1232-spare motor drive unit, 1233-spare motor control unit, 124-spare vehicle bus module, 125-spare braking module, 126-spare steering module, 127-spare power management module, 128-spare monitoring module, 129-spare fault warning module, 130-spare user interface, 2-data processing system, 21-data receiving module, 22-abnormal alarm module, 23-switching control module, 24-data preprocessing module, 25-data comparison module, 26-fault analysis and diagnosis module, 27-fault repair module, 28-data sending module. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] See also Figure 1-6 , the present invention provides a technical solution:

[0032] A redundant safety system for an unmanned minibus includes a dual control system 1 and a data processing system 2. The dual control system 1 and the data processing system 2 are bidirectionally connected. The dual control system 1 includes a main control system 11 and a backup control system 12. The main control system 11 includes a main perception module 111, a main decision-making and planning module 112, a main motor execution module 113, a main vehicle bus module 114, a main braking module 115, a main steering module 116, a main power management module 117, a main monitoring module 118, a main fault warning module 119, and a main user interface 120.

[0033] In an embodiment of the present invention, the main motor execution module 113 includes a main three-phase motor 1131, a main motor drive unit 1132 and a main motor control unit 1133. The output end of the main three-phase motor 1131 is connected to the input end of the main motor drive unit 1132, and the output end of the main motor drive unit 1132 is connected to the input end of the main motor control unit 1133.

[0034] Through the redundant design of the dual control system 1, any system or execution failure will not cause the failure of the entire system. When a problem occurs in the main control system 11, the switching control module 23 can quickly switch control to the backup control system 12 to ensure the smooth operation of the minibus. This avoids the problem in the existing technology that when an unmanned minibus driven by a single controller and a single motor actuator fails during driving, the normal driving of the minibus will be affected, thereby greatly improving the safety performance of the minibus.

[0035] In an embodiment of the present invention, the output end of the main perception module 111 is connected to the input end of the main decision-making and planning module 112, the output end of the main decision-making and planning module 112 is connected to the input end of the main motor execution module 113, the output end of the main motor execution module 113 is connected to the input end of the main vehicle bus module 114, the output end of the main vehicle bus module 114 is connected to the input end of the main braking module 115, the output end of the main braking module 115 is connected to the input end of the main steering module 116, the output end of the main steering module 116 is connected to the input end of the main power management module 117, the output end of the main power management module 117 is connected to the input end of the main monitoring module 118, the output end of the main monitoring module 118 is connected to the input end of the main fault warning module 119, and the output end of the main fault warning module 119 is connected to the input end of the main user interface 120.

[0036] In an embodiment of the present invention, the backup control system 12 includes a backup perception module 121, a backup decision-making and planning module 122, a backup motor execution module 123, a backup vehicle bus module 124, a backup braking module 125, a backup steering module 126, a backup power management module 127, a backup monitoring module 128, a backup fault warning module 129 and a backup user interface 130.

[0037] In an embodiment of the present invention, the output end of the standby perception module 121 is connected to the input end of the standby decision-making and planning module 122, the output end of the standby decision-making and planning module 122 is connected to the input end of the standby motor execution module 123, the output end of the standby motor execution module 123 is connected to the input end of the standby vehicle bus module 124, the output end of the standby vehicle bus module 124 is connected to the input end of the standby braking module 125, the output end of the standby braking module 125 is connected to the input end of the standby steering module 126, the output end of the standby steering module 126 is connected to the input end of the standby power management module 127, the output end of the standby power management module 127 is connected to the input end of the standby monitoring module 128, the output end of the standby monitoring module 128 is connected to the input end of the standby fault warning module 129, and the output end of the standby fault warning module 129 is connected to the input end of the standby user interface 130.

[0038] In an embodiment of the present invention, the backup motor execution module 123 includes a backup three-phase motor 1231, a backup motor drive unit 1232 and a backup motor control unit 1233. The output end of the backup three-phase motor 1231 is connected to the input end of the backup motor drive unit 1232, and the output end of the backup motor drive unit 1232 is connected to the input end of the backup motor control unit 1233.

[0039] In the embodiment of the present invention, the data processing system 2 includes a data receiving module 21, an abnormality alarm module 22, a switching control module 23, a data preprocessing module 24, a data comparison module 25, a fault analysis and diagnosis module 26, a fault repair module 27 and a data sending module 28.

[0040] In an embodiment of the present invention, the output end of the data receiving module 21 is connected to the input end of the abnormal alarm module 22, the output end of the abnormal alarm module 22 is connected to the input end of the switching control module 23, the output end of the abnormal alarm module 22 is connected to the input end of the data preprocessing module 24, the output end of the data preprocessing module 24 is connected to the input end of the data comparison module 25, the output end of the data comparison module 25 is connected to the input end of the fault analysis and diagnosis module 26, the output end of the fault analysis and diagnosis module 26 is connected to the input end of the fault repair module 27, and the output end of the fault analysis and diagnosis module 26 is connected to the input end of the data sending module 28.

[0041] The system improves the efficiency of troubleshooting when unmanned minibuses malfunction in existing technologies. Through intelligent monitoring, the system has the ability to self-monitor and diagnose, ensuring that when any control system or actuator fails, measures can be taken immediately when the problem occurs, and the problem can be analyzed, diagnosed and repaired.

[0042] The main sensing module 111 and the backup sensing module 121 are used to integrate data from various sensors and provide environmental perception for the main and backup control systems;

[0043] The main decision-making planning module 112 and the backup decision-making planning module 122: perform decision-making processes such as path planning and obstacle scale;

[0044] The main vehicle bus module 114 and the backup vehicle bus module 124 enable communication and data exchange between various components;

[0045] The main brake module 115 and the backup brake module 125 ensure that the vehicle can brake safely;

[0046] The main steering module 116 and the backup steering module 126 control the steering of the vehicle;

[0047] Main power management module 117 and backup power management module 127: responsible for power distribution and switching;

[0048] The main monitoring module 118 and the backup monitoring module 128 monitor the status of various vehicle systems;

[0049] The main fault warning module 119 and the backup fault warning module 129 are used to transmit and warn various types of fault information.

[0050] The main user interface 120 and the backup user interface 130 provide information feedback and operation interfaces to the operator.

[0051] The present invention also discloses a control method for a safety redundancy system of an unmanned minibus, which specifically includes the following steps:

[0052] S1. Initialization and self-test: At startup, both control systems perform self-tests simultaneously to ensure that all hardware and software functions can operate normally;

[0053] S2. Normal operation: In normal operation, the main control system 11 is responsible for the form control of the driverless minibus, and the backup control system 12 is in standby mode. The main control system 11 drives the main three-phase motor 1131 through the main motor drive unit 1132 and the main motor control unit 1133 to operate, thereby realizing the normal operation of the driverless minibus. At the same time, the main monitoring module 118 collects the status information of the minibus;

[0054] S3. Fault detection and switching: When a fault occurs in the main control system 11 or the main three-phase motor 1131 controlled by it, the main fault warning module 119 will send a warning message to the main user interface 120 and the data processing system 2. At this time, after receiving the abnormal information, the abnormal alarm module 22 of the data processing system 2 will directly issue an abnormal alarm, trigger the switching logic, and immediately start the switching control module 23. At this time, the backup control system 12 immediately takes over the control, and the backup control system 12 activates the corresponding backup three-phase motor 1231 to continue to take over the driving control of the minibus.

[0055] S4. Fault diagnosis and repair: When the backup control system 12 takes over the control of the minibus, the data preprocessing module 24 will first preprocess the abnormal data and compare it with the original data, and analyze the specific cause of the fault through the fault analysis and diagnosis module 26. Finally, the fault cause is sent to the main user interface 120 and the backup user interface 130 through the data sending module 28 for synchronous display. Synchronously, the fault cause is immediately repaired through the fault repair module 27. If the fault can be repaired immediately, the backup control system 12 will try to restore the operation of the main control system 11 and the main three-phase motor 1131. If the fault cannot be repaired immediately, the backup control system 12 will maintain the control state until the minibus completes the work and docks safely.

[0056] By providing a dual control system 1, the backup control system 12 can take over immediately when a problem occurs in the main control system 11, thereby reducing the downtime caused by the failure, thereby reducing maintenance costs, and at the same time avoiding the huge hidden dangers to surrounding pedestrians and vehicles caused by the minibus losing control or stopping running when a sudden failure occurs.

[0057] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0058] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0059] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A safety redundancy system for an unmanned minibus, comprising a dual control system (1) and a data processing system (2), wherein the dual control system (1) and the data processing system (2) are bidirectionally connected, and characterized in that: The dual control system (1) includes a main control system (11) and a backup control system (12), wherein the main control system (11) includes a main perception module (111), a main decision-making and planning module (112), a main motor execution module (113), a main vehicle bus module (114), a main braking module (115), a main steering module (116), a main power management module (117), a main monitoring module (118), a main fault warning module (119) and a main user interface (120); The main motor execution module (113) comprises a main three-phase motor (1131), a main motor drive unit (1132) and a main motor control unit (1133), wherein the output end of the main three-phase motor (1131) is connected to the input end of the main motor drive unit (1132), and the output end of the main motor drive unit (1132) is connected to the input end of the main motor control unit (1133).

2. The safety redundancy system for an unmanned minibus according to claim 1, characterized in that: The output end of the main perception module (111) is connected to the input end of the main decision-making and planning module (112), the output end of the main decision-making and planning module (112) is connected to the input end of the main motor execution module (113), the output end of the main motor execution module (113) is connected to the input end of the main vehicle bus module (114), the output end of the main vehicle bus module (114) is connected to the input end of the main brake module (115), the output end of the main brake module (115) is connected to the input end of the main steering module (116), the output end of the main steering module (116) is connected to the input end of the main power management module (117), the output end of the main power management module (117) is connected to the input end of the main monitoring module (118), the output end of the main monitoring module (118) is connected to the input end of the main fault warning module (119), and the output end of the main fault warning module (119) is connected to the input end of the main user interface (120).

3. The safety redundancy system for an unmanned minibus according to claim 1, characterized in that: The backup control system (12) includes a backup perception module (121), a backup decision-making and planning module (122), a backup motor execution module (123), a backup vehicle bus module (124), a backup braking module (125), a backup steering module (126), a backup power management module (127), a backup monitoring module (128), a backup fault warning module (129) and a backup user interface (130).

4. The safety redundancy system for an unmanned minibus according to claim 3, characterized in that: The output end of the standby sensing module (121) is connected to the input end of the standby decision-making and planning module (122), the output end of the standby decision-making and planning module (122) is connected to the input end of the standby motor execution module (123), the output end of the standby motor execution module (123) is connected to the input end of the standby vehicle bus module (124), the output end of the standby vehicle bus module (124) is connected to the input end of the standby braking module (125), the output end of the standby braking module (125) is connected to the input end of the standby steering module (126), the output end of the standby steering module (126) is connected to the input end of the standby power management module (127), the output end of the standby power management module (127) is connected to the input end of the standby monitoring module (128), the output end of the standby monitoring module (128) is connected to the input end of the standby fault warning module (129), and the output end of the standby fault warning module (129) is connected to the input end of the standby user interface (130).

5. The safety redundancy system for an unmanned minibus according to claim 3, characterized in that: The standby motor execution module (123) comprises a standby three-phase motor (1231), a standby motor drive unit (1232) and a standby motor control unit (1233); the output end of the standby three-phase motor (1231) is connected to the input end of the standby motor drive unit (1232); and the output end of the standby motor drive unit (1232) is connected to the input end of the standby motor control unit (1233).

6. The safety redundancy system for an unmanned minibus according to claim 1, characterized in that: The data processing system (2) comprises a data receiving module (21), an abnormal alarm module (22), a switching control module (23), a data preprocessing module (24), a data comparison module (25), a fault analysis and diagnosis module (26), a fault repair module (27) and a data sending module (28).

7. The redundant safety system for an unmanned minibus according to claim 6, characterized in that: The output end of the data receiving module (21) is connected to the input end of the abnormal alarm module (22), the output end of the abnormal alarm module (22) is connected to the input end of the switching control module (23), the output end of the abnormal alarm module (22) is connected to the input end of the data preprocessing module (24), the output end of the data preprocessing module (24) is connected to the input end of the data comparison module (25), the output end of the data comparison module (25) is connected to the input end of the fault analysis and diagnosis module (26), the output end of the fault analysis and diagnosis module (26) is connected to the input end of the fault repair module (27), and the output end of the fault analysis and diagnosis module (26) is connected to the input end of the data sending module (28).

8. A control method for a safety redundancy system of an unmanned minibus according to claims 1-7, comprising the following steps: S1. Initialization and self-test: At startup, both control systems perform self-tests simultaneously to ensure that all hardware and software functions can operate normally; S2. Normal operation: In the normal operation state, the main control system (11) is responsible for the form control of the driverless minibus, and the backup control system (12) is in the standby state. The main control system (11) drives the main three-phase motor (1131) to operate through the main motor drive unit (1132) and the main motor control unit (1133), thereby realizing the normal operation of the driverless minibus. At the same time, the status information of the minibus is collected through the main monitoring module (118); S3. Fault detection and switching: When a fault occurs in the main control system (11) or the main three-phase motor (1131) controlled by it, the main fault warning module (119) will send a warning message to the main user interface (120) and the data processing system (2). At this time, after receiving the abnormal information, the abnormal alarm module (22) of the data processing system (2) will directly send an abnormal alarm, trigger the switching logic, and immediately start the switching control module (23). At this time, the backup control system (12) immediately takes over the control right, and the backup control system (12) activates the corresponding backup three-phase motor (1231) to continue to take over the driving control of the minibus. S4. Fault diagnosis and repair: When the backup control system (12) takes over the control of the minibus, the data preprocessing module (24) will first preprocess the abnormal data and compare it with the original data, and analyze the specific cause of the fault through the fault analysis and diagnosis module (26). Finally, the fault cause is sent to the main user interface (120) and the backup user interface (130) through the data sending module (28) for synchronous display. At the same time, the fault cause is immediately repaired through the fault repair module (27). If the fault can be repaired immediately, the backup control system (12) will try to restore the operation of the main control system (11) and the main three-phase motor (1131). If the fault cannot be repaired immediately, the backup control system (12) will maintain the control state until the minibus is safely docked after the work is completed.

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