Vehicle control method, system and program product

Abstract

The invention relates to the technical field of vehicle control, in particular to a vehicle control method and system and a program product. When the method is applied to an auxiliary controller, the method comprises the steps that first control information transmitted by a main controller is acquired, and the first control information is control information obtained by the main controller based on a first automatic driving algorithm; second control information is obtained based on a second automatic driving algorithm, the first automatic driving algorithm and the second automatic driving algorithm are algorithms with different data processing logics, and the first control information and the second control information are mutually redundant automatic driving control information; the vehicle adopts the first control information or the second control information to execute an automatic driving action; and judging whether to execute an automatic driving action corresponding to the second control information based on the first control information and the second control information. According to the method, redundancy and standby of an algorithm level can be realized, and the safety of the vehicle in the running process is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a vehicle control method, system and program product. Background Art

[0002] With the rapid development of autonomous driving, artificial intelligence, 5G communications, and the Internet of Things, the demand for autonomous vehicles is growing in areas such as automotive, logistics, and even engineering operations. More and more sectors are looking to reduce human resources and improve operational efficiency through autonomous driving. As the vehicle for autonomous driving, vehicles must also meet the operational needs of various sectors. Autonomous driving requires the use of multiple sensors and controllers, such as lidar, cameras, positioning systems, and intelligent driving controllers, to enable autonomous driving functions such as environmental recognition and path planning. Currently, to ensure the safety of autonomous driving, redundant solutions using dual controllers, dual actuators, dual power supplies, and dual signal transmission systems are employed. However, errors in the autonomous driving control algorithms can still significantly impact driving safety. Summary of the Invention

[0003] Based on the above-mentioned defects and shortcomings of the existing technology, the present application proposes a vehicle control method, system and program product, which can achieve redundancy and backup at the algorithm level and improve the safety during vehicle operation.

[0004] According to a first aspect of the present application, a vehicle control method is provided, which is applied to an auxiliary controller, including: obtaining first control information transmitted by a main controller, wherein the first control information is control information obtained by the main controller based on a first autonomous driving algorithm; based on a second autonomous driving algorithm, obtaining second control information, wherein the first autonomous driving algorithm and the second autonomous driving algorithm are algorithms with different data processing logics, the first control information and the second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to perform an autonomous driving action; based on the first control information and the second control information, determining whether to execute the autonomous driving action corresponding to the second control information.

[0005] According to the vehicle control method provided in the first aspect of the present application, the judgment of whether to execute the automatic driving action corresponding to the second control information based on the first control information and the second control information includes: obtaining the information error between the first control information and the second control information, and synchronizing the information error to the main controller; obtaining the main control working status flag information transmitted by the main controller.

[0006] According to the vehicle control method provided in the first aspect of the present application, the judgment of whether to execute the automatic driving action corresponding to the second control information is based on the information error and the main control working status flag information, including: if the information error is greater than the error threshold, and the main control working status flag information indicates that the working status of the main controller is abnormal, then executing the automatic driving action corresponding to the second control information, wherein the main controller is used to prohibit the execution of the automatic driving action corresponding to the first control information if the information error is greater than the error threshold, and the main control working status flag information indicates that the working status of the main controller is abnormal.

[0007] According to the vehicle control method provided in the first aspect of the present application, after executing the automatic driving action corresponding to the second control information, it also includes: re-acquiring the information error between the first control information and the second control information, and re-acquiring the main control working status flag information most recently transmitted by the main controller; if the re-acquired information error is less than or equal to the error threshold, and / or the re-acquired main control working status flag information indicates that the working status of the main controller has returned to normal, then prohibiting the execution of the automatic driving action corresponding to the second control information, wherein the main controller is used to prohibit the execution of the automatic driving action corresponding to the first control information, if the re-acquired information error is less than or equal to the error threshold, and / or the re-acquired main control working status flag information indicates that the working status of the main controller is normal, then re-executing the automatic driving action corresponding to the first control information.

[0008] According to the vehicle control method provided in the first aspect of the present application, the first autonomous driving algorithm is a longitudinal control algorithm based on acceleration, and the first control information is the expected acceleration value; the second autonomous driving algorithm is a longitudinal control algorithm based on torque, and the second control information is the expected torque value.

[0009] According to a second aspect of the present application, a vehicle control method is provided, which is applied to a main controller, including: obtaining first control information based on a first autonomous driving algorithm, and transmitting the first control information to an auxiliary controller; wherein the auxiliary controller is used to obtain the first control information, obtain second control information based on a second autonomous driving algorithm, and determine whether to execute an autonomous driving action corresponding to the second control information based on the first control information and the second control information; the first autonomous driving algorithm and the second autonomous driving algorithm are algorithms with different data processing logic, the first control information and the second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to execute an autonomous driving action.

[0010] According to the vehicle control method provided in the second aspect of the present application, the method also includes: generating main control working status flag information, and synchronizing the main control working status flag information to the auxiliary controller; obtaining an information error between the first control information and the second control information transmitted by the auxiliary controller, wherein the auxiliary controller is used to obtain the information error, and synchronize the information error to the main controller, and to determine whether to execute the automatic driving action corresponding to the second control information based on the information error and the main control working status flag information; and determine whether to execute the automatic driving action corresponding to the first control information based on the information error and the main control working status flag information.

[0011] According to a third aspect of the present application, a vehicle control system is provided, comprising a main controller and an auxiliary controller; the main controller is configured to obtain first control information based on a first autonomous driving algorithm and transmit the first control information to the auxiliary controller; the auxiliary controller is configured to obtain the first control information, obtain second control information based on a second autonomous driving algorithm, and determine whether to execute an autonomous driving action corresponding to the second control information based on the first control information and the second control information, wherein the first autonomous driving algorithm and the second autonomous driving algorithm are algorithms with different data processing logics, the first control information and the second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to execute an autonomous driving action.

[0012] The vehicle control system provided according to the third aspect of the present application also includes a main braking system, an auxiliary braking system, a gateway and a longitudinal drive system; the first autonomous driving algorithm is an acceleration-based longitudinal control algorithm, and the first control information is an expected acceleration value; the second autonomous driving algorithm is a torque-based longitudinal control algorithm, and the second control information is an expected torque value; the main braking system includes hardware components adapted to the acceleration-based longitudinal control algorithm, and the main controller exchanges acceleration information with the main braking system, and the acceleration information includes the expected acceleration value; the auxiliary braking system includes hardware components adapted to the torque-based longitudinal control algorithm, and the auxiliary controller exchanges torque information with the auxiliary braking system, and the torque information includes the expected torque value; the main braking system and the auxiliary braking system perform data exchange, the main braking system is connected to the longitudinal drive system through the gateway, and the longitudinal drive system includes a hardware structure for performing longitudinal driving actions.

[0013] According to the fourth aspect of the present application, a computer program product is provided, comprising computer program instructions; when the computer program instructions are executed by a processor, the processor causes the processor to execute the vehicle control method as described in any one of the first aspects; or the processor executes the vehicle control method as described in any one of the second aspects.

[0014] In this application, the auxiliary controller obtains first control information transmitted by the main controller, wherein the first control information is control information obtained by the main controller based on a first autonomous driving algorithm; the auxiliary controller obtains second control information based on a second autonomous driving algorithm, wherein the first and second autonomous driving algorithms are algorithms with different data processing logics, and the first and second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to perform autonomous driving actions; the auxiliary controller determines whether to execute the autonomous driving action corresponding to the second control information based on the first and second control information. In the above solution, the first autonomous driving algorithm used by the main controller and the second autonomous driving algorithm used by the auxiliary controller form redundancy at the algorithm level. The auxiliary controller can reasonably determine whether to execute the autonomous driving action corresponding to the second control information based on the first and second control information. Even if the first autonomous driving algorithm in the main controller fails, the second autonomous driving algorithm in the auxiliary controller acts as a redundant algorithm to ensure that the vehicle can still drive normally, thereby improving the safety of the vehicle during autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0016] Figure 1 A flowchart of a vehicle control method when an auxiliary controller is the execution subject provided in an embodiment of the present application;

[0017] Figure 2 A schematic diagram of the partial structure of an unmanned logistics vehicle provided in an embodiment of the present application;

[0018] Figure 3 A flow chart of a vehicle control method when a main controller is the execution subject provided in an embodiment of the present application;

[0019] Figure 4 A schematic diagram of the structure of a vehicle control system provided in an embodiment of the present application;

[0020] Figure 5 A block diagram of a vehicle auxiliary control device provided in an embodiment of the present application;

[0021] Figure 6 A block diagram of a vehicle master control device provided in an embodiment of the present application;

[0022] Figure 7 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0024] Exemplary Methods

[0025] In response to the higher safety requirements of unmanned autonomous driving, this application provides a vehicle control method that achieves algorithm-level redundancy and improves vehicle safety through two-way data exchange between a main controller and an auxiliary controller. The main controller and the auxiliary controller are two different data processing devices. Optionally, the main controller and the auxiliary controller are two different processors on the vehicle. The main controller and the auxiliary controller can exchange data through any reasonable communication method, such as wired communication or wireless communication.

[0026] First, the vehicle control method is introduced with the auxiliary controller as the execution body.

[0027] In one embodiment, if Figure 1 As shown, when the auxiliary controller is the execution subject, the process steps of the vehicle control method include:

[0028] Step 101: Obtain first control information transmitted by a main controller, wherein the first control information is control information obtained by the main controller based on a first automatic driving algorithm.

[0029] In this embodiment, during the unmanned control process, the vehicle implements autonomous driving actions through the control information output by the autonomous driving algorithm. The control information output by the autonomous driving algorithm can be any parameter used to control the vehicle's driving, such as the expected speed, expected acceleration, expected torque, etc.

[0030] In this embodiment, a first autonomous driving algorithm is configured and run in the main controller. After the main controller obtains first control information based on the first autonomous driving algorithm, the first control information is synchronized to the auxiliary controller in real time, and the auxiliary controller receives the first control information transmitted by the main controller in real time.

[0031] Step 102: Obtain second control information based on the second autonomous driving algorithm, wherein the first autonomous driving algorithm and the second autonomous driving algorithm are algorithms with different data processing logic, the first control information and the second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to perform autonomous driving actions.

[0032] In this embodiment, a second autonomous driving algorithm is configured and executed in the auxiliary controller, which generates second control information based on the second autonomous driving algorithm. The first and second autonomous driving algorithms have different data processing logics, and the first and second control information are mutually redundant. That is, the first control information generated by the first autonomous driving algorithm can independently complete unmanned autonomous driving control of the vehicle, and the second control information generated by the second autonomous driving algorithm can also independently complete unmanned autonomous driving control of the vehicle. However, to ensure the logical correctness of the vehicle's autonomous driving process, the vehicle only uses one of the first and second control information to execute the corresponding autonomous driving action, thereby ensuring vehicle driving safety. Based on the different data processing logics of the first and second autonomous driving algorithms, true algorithm-level redundancy is achieved. For example, the first autonomous driving algorithm can be based on model predictive control, while the second autonomous driving algorithm can be a data-driven adaptive control algorithm. If the main controller encounters an error while running the first autonomous driving algorithm (e.g., due to a hardware failure in the main controller or an error caused by algorithmic logic confusion), rendering the first control information generated by the first autonomous driving algorithm unreliable, the main controller can switch to using the second control information generated by the second autonomous driving algorithm to control the vehicle, thereby improving vehicle driving safety.

[0033] In this embodiment, although the first and second autonomous driving algorithms have different data processing logics, the first control information obtained based on the first autonomous driving algorithm and the second control information obtained by the second autonomous driving algorithm are required to achieve the same vehicle control objectives. This allows the first and second autonomous driving algorithms to achieve true mutual backup, thereby reducing the impact of algorithm switching on the moving vehicle. For example, if the first autonomous driving algorithm is a longitudinal control algorithm that implements functions such as speed tracking and distance maintenance, the second autonomous driving algorithm is also a longitudinal control algorithm; if the first autonomous driving algorithm is a lateral control algorithm that controls vehicle steering behavior, the second autonomous driving algorithm is also a lateral control algorithm; if the first autonomous driving algorithm is an overall coordinated control algorithm that coordinates both longitudinal and lateral motions, the second autonomous driving algorithm is also an overall coordinated control algorithm. Furthermore, the first control information obtained based on the first autonomous driving algorithm and the second control information obtained by the second autonomous driving algorithm can have the same parameters or different parameters. If the first and second control information have the same parameters, for example, if the first control information is a first planned path obtained based on a model predictive control algorithm and the second control information is a second planned path obtained by an adaptive control algorithm, the same set of actuators can be used to execute the autonomous driving actions corresponding to the first or second planned paths. If the first control information and the second control information are different parameters, for example, the first control information is the expected acceleration obtained based on the first autonomous driving algorithm, and the second control information can be the expected torque value obtained based on the second autonomous driving algorithm, then the first autonomous driving algorithm and the second autonomous driving algorithm are respectively configured with a matching first actuator and a second actuator, the first actuator executes the first control information, and the second actuator executes the second control information, but the first actuator and the second actuator can achieve the same control purpose; optionally, the first actuator and the second actuator are only related mechanisms for adapting the first control information and the second control information configuration, for example, the first actuator includes a first interface, the second actuator includes a second interface, and the terminal of the first actuator and the terminal of the second actuator structure can be the same set of driving equipment, for example, the first actuator and the second actuator can both drive the same engine on the vehicle.

[0034] Step 103: Based on the first control information and the second control information, determine whether to execute the automatic driving action corresponding to the second control information.

[0035] In this embodiment, the auxiliary controller determines whether to execute the automatic driving action corresponding to the second control information based on the first control information and the second control information. Specifically, if it is determined that the first control information is unreliable through analysis of the first control information and the second control information, the first control information will no longer be executed, but the automatic driving action corresponding to the second control information will be executed; if it is determined that the first control information is normal and reliable through analysis of the first control information and the second control information, the vehicle will travel according to the instructions of the first control information, and will not execute the automatic driving action corresponding to the second control information.

[0036] In this embodiment, the first autonomous driving algorithm and the second autonomous driving algorithm form redundancy and backup at the algorithm level, and realize flexible switching between the first autonomous driving algorithm and the second autonomous driving algorithm, that is, when the first automatic algorithm outputs reliable first control information, the autonomous driving of the vehicle is controlled based on the first control information; if an error occurs when the main controller runs the first autonomous driving algorithm, it switches to the second autonomous driving algorithm in the auxiliary controller to ensure that the vehicle continues to drive normally, thereby improving vehicle safety.

[0037] In one embodiment, based on the first control information and the second control information, it is determined whether to execute the automatic driving action corresponding to the second control information, including: obtaining the information error between the first control information and the second control information, and synchronizing the information error to the main controller; obtaining the main control working status flag information transmitted by the main controller.

[0038] In this embodiment, after obtaining the first and second control information, the auxiliary controller calculates the information error between the first and second control information and, in conjunction with the main control operating status flag information from the main controller, determines whether to execute the autonomous driving action corresponding to the second control information. Using both the information error and the main control operating status flag information as judgment criteria can avoid misjudgments caused by information error calculation errors or errors in the main control operating status flag information, prevent unnecessary control switching between the main and auxiliary controllers, and improve vehicle control stability. The first and second control information are redundant autonomous driving control information. When the main controller is operating the first autonomous driving algorithm and the auxiliary controller is operating the second autonomous driving algorithm, the information error between the first and second control information is within an acceptable range.

[0039] In this embodiment, the main controller is configured to determine whether to execute the autonomous driving action corresponding to the first control information based on the information error and the main control operating status flag information; and to determine whether to execute the autonomous driving action corresponding to the second control information based on the information error and the main control operating status flag information. After the auxiliary controller calculates the information error, it synchronizes the information error with the main controller. The main controller also determines whether to execute the autonomous driving action corresponding to the first control information based on the information error and the main control operating status flag information. If the main controller determines that the autonomous driving action corresponding to the first control information is prohibited based on the information error and the main control operating status flag information, the auxiliary controller will inevitably determine to execute the autonomous driving action corresponding to the second control information based on the information error and the main control operating status flag information. This allows the auxiliary controller to continue to operate normally even when the main controller fails to operate normally, thereby achieving control switching between the main and auxiliary controllers.

[0040] In this embodiment, the use priority of the main controller is higher than that of the auxiliary controller. That is to say, when both the main controller and the auxiliary controller can work normally, the main controller mainly controls the vehicle to implement automatic driving based on the first control information obtained by the first automatic driving algorithm. In order to reduce the calculation pressure of the main controller, the calculation process of the information error is implemented in the auxiliary controller. After the auxiliary controller calculates the information error, it directly transmits the information error to the main controller to ensure that control switching can be performed between the main controller and the auxiliary controller as needed.

[0041] In one embodiment, the auxiliary controller obtains second control information based on a second autonomous driving algorithm and then synchronizes the second control information with the main controller. The auxiliary controller calculates an information error based on the first control information and the second control information, and obtains main control operating status flag information transmitted by the main controller. Based on the information error and the main control operating status flag information, the auxiliary controller determines whether to execute the autonomous driving action corresponding to the second control information. The main controller synchronizes the main control operating status flag information with the auxiliary controller and similarly calculates an information error based on the first control information and the second control information. Based on the information error and the main control operating status flag information, the main controller determines whether to execute the autonomous driving action corresponding to the first control information.

[0042] In this embodiment, the auxiliary controller synchronizes the second control information with the main controller in real time. The main controller directly calculates the information error, avoiding situations where the information error cannot be calculated when the auxiliary controller encounters an error, thereby ensuring vehicle control stability. Furthermore, the auxiliary controller can also transmit locally generated auxiliary control operating status flag information to the main controller in real time, thereby enabling the main controller to monitor the auxiliary controller in real time. When both the information error and the auxiliary control operating status flag information indicate an auxiliary controller error, a timely alarm is issued to correct the auxiliary controller fault and enhance vehicle safety.

[0043] In one embodiment, based on the information error and the main control working status flag information, it is determined whether to execute the automatic driving action corresponding to the second control information, including: if the information error is greater than the error threshold, and the main control working status flag information indicates that the working status of the main controller is abnormal, then the automatic driving action corresponding to the second control information is executed, wherein the main controller is used to prohibit the execution of the automatic driving action corresponding to the first control information if the information error is greater than the error threshold, and the main control working status flag information indicates that the working status of the main controller is abnormal.

[0044] In this embodiment, if the auxiliary controller determines that the information error is greater than an error threshold and the main control operating status flag information indicates that the main controller's operating status is abnormal, indicating that the main controller's operating status is abnormal and the first control information output by the main controller is significantly different from the second control information generated by the auxiliary controller, and that the first control information output by the main controller is no longer credible and cannot be used for the vehicle's autonomous driving process, the main controller prohibits execution of the autonomous driving action corresponding to the first control information and switches to execution of the autonomous driving action corresponding to the second control information output by the auxiliary controller. This ensures that even if the first control information is unreliable, the vehicle can still travel normally based on the second control information, thereby improving vehicle stability and safety during driving. Optionally, if the information error is greater than the error threshold and the main control operating status flag information indicates that the main controller's operating status is abnormal, the main controller and / or auxiliary controller may also respectively issue an alarm message, thereby prompting the user to quickly resolve the error that occurred during the main controller's execution of the first autonomous driving algorithm.

[0045] In one embodiment, based on the information error and the main control working status flag information, it is determined whether to execute the automatic driving action corresponding to the second control information, including: if the information error is less than or equal to the error threshold, and / or the main control working status flag information indicates that the working status of the main controller is normal, then the automatic driving action corresponding to the second control information is prohibited, wherein the main controller is used to execute the automatic driving action corresponding to the first control information if the information error is less than or equal to the error threshold, and / or the main control working status flag information indicates that the working status of the main controller is normal.

[0046] In this embodiment, when the main controller and the auxiliary controller are running in parallel and the main controller has a higher operating priority, if the information error is less than or equal to the error threshold, and the main control working status flag information indicates that the working status of the main controller is normal, indicating that the main controller is running the first automatic driving algorithm normally, and the first control information obtained by the main controller based on the first automatic driving algorithm is credible, then the automatic driving action corresponding to the first control information output by the main controller can be executed. At this time, the automatic driving action corresponding to the second control information output by the auxiliary controller is prohibited to avoid the control confusion problem caused by the simultaneous execution of the first control information and the second control information. Based on the first control information obtained by the main controller running the first automatic driving algorithm, only the automatic driving action corresponding to the first control information is executed to ensure normal and safe driving of the vehicle.

[0047] In this embodiment, if the information error is less than or equal to the error threshold, and the main control working status flag information indicates that the working status of the main controller is abnormal, it indicates that the main control working status flag information generated by the local monitoring working status of the main controller may be inaccurate, but the first control information obtained by the main controller based on the first automatic driving algorithm is credible, then the automatic driving action corresponding to the first control information output by the main controller continues to be executed. At this time, the automatic driving action corresponding to the second control information output by the auxiliary controller is prohibited; at the same time, the main controller can generate a prompt message to prompt the user to promptly eliminate the problem existing locally in the main controller.

[0048] In this embodiment, if the information error is greater than the error threshold, and the main control working status flag information indicates that the working status of the main controller is normal, it means that the main controller is working normally, but the information error between the first control information obtained by the main controller based on the first automatic driving algorithm and the second control information obtained by the auxiliary controller based on the second automatic driving algorithm is abnormal. There may be abnormalities in the operation of the auxiliary controller, and there may also be abnormalities in the first automatic driving algorithm. At this time, the automatic driving action corresponding to the first control information output by the main controller continues to be executed temporarily. At this time, the automatic driving action corresponding to the second control information output by the auxiliary controller is prohibited from being executed; at the same time, the main controller and / or the auxiliary controller can generate prompt information to prompt the user to promptly eliminate problems in the operation of the auxiliary controller, or adjust possible problems in the first automatic driving algorithm.

[0049] In one embodiment, after executing the automatic driving action corresponding to the second control information, it also includes: re-acquiring the information error between the first control information and the second control information, and re-acquiring the main control working status flag information most recently transmitted by the main controller; if the re-acquired information error is less than or equal to the error threshold, and / or the re-acquired main control working status flag information indicates that the working status of the main controller has returned to normal, then prohibiting the execution of the automatic driving action corresponding to the second control information, wherein the main controller is used to prohibit the execution of the automatic driving action corresponding to the first control information, if the re-acquired information error is less than or equal to the error threshold, and / or the re-acquired main control working status flag information indicates that the working status of the main controller is normal, then re-execute the automatic driving action corresponding to the first control information.

[0050] In this embodiment, after the main controller prohibits the execution of the autonomous driving action corresponding to the first control information and the auxiliary controller executes the autonomous driving action corresponding to the second control information, completing the process of switching the vehicle control from the main controller to the auxiliary controller, and after the vehicle has been automatically or manually troubleshooted, the main controller may reacquire the first control information and transmit the latest first control information to the auxiliary controller. Simultaneously, after the fault is cleared, the operating status flag of the main controller will be restored to the normal operating status flag. The main controller will transmit the latest main control operating status flag information indicating the restoration of normal operating status to the auxiliary controller. The auxiliary controller may reacquire the latest second control information based on the second autonomous driving algorithm and transmit the reacquired second control information to the main controller. The auxiliary controller recalculates the information error based on the reacquired first control information and the latest second control information, determines the magnitude relationship between the reacquired information error and the error threshold, and re-determines the operating status of the main controller based on the reacquired main control operating status flag information. If the error in the reacquired information is less than or equal to the error threshold, and / or the reacquired main control working status flag information indicates that the main controller's working status has returned to normal, indicating that the main controller is now ready for use, the main controller re-executes the first control information, and the auxiliary controller prohibits the execution of the second control information, completing the switch from auxiliary controller-based vehicle control to main controller-based vehicle control. This automatic switch after troubleshooting is particularly suitable for scenarios where the main controller has a higher control priority and more computing resources, ensuring the rationality of the vehicle control logic and improving vehicle driving safety.

[0051] In one embodiment, taking the longitudinal control of a vehicle as an example, the first autonomous driving algorithm is an acceleration-based longitudinal control algorithm, and the first control information is the expected acceleration value; the second autonomous driving algorithm is a torque-based longitudinal control algorithm, and the second control information is the expected torque value.

[0052] In this embodiment, the vehicle longitudinal control system is a key technology to ensure the stability of the vehicle's speed during driving. It is mainly achieved through braking force control and implemented through the chassis system. With the continuous development of unmanned and autonomous driving of vehicles, higher requirements are placed on the redundancy and safety of driving functions. Among them, the longitudinal control system is a key control module of the vehicle. If it does not meet the corresponding redundancy requirements, it will inevitably cause great safety hazards to the vehicle's driving process. In order to improve the safety of vehicle operation, for longitudinal control, an acceleration-based longitudinal control algorithm is configured in the main controller. The first control information obtained by the acceleration-based longitudinal control algorithm is the expected acceleration value; a torque-based longitudinal control algorithm is configured in the main controller. The second control information obtained by the torque-based longitudinal control algorithm is the expected torque value. The auxiliary controller calculates the information error based on the expected acceleration value and the expected torque value. Alternatively, the expected acceleration value can be converted into a corresponding torque value, and then the difference between the corresponding torque value and the expected torque value can be calculated as the information error. In this case, the error threshold can be a pre-calibrated error torque threshold. Alternatively, the expected torque value can be converted into a corresponding acceleration value, and the difference between the expected acceleration value and the corresponding acceleration value can be calculated as the information error. In this case, the error threshold can be a pre-calibrated error acceleration threshold. Alternatively, the difference between the expected acceleration value and the expected torque value can be directly calculated as the information error. It is worth noting that in this case, when the error threshold is pre-calibrated, the threshold between the acceleration value and the torque value is also directly calibrated. It should be noted that the error threshold can be expressed in any form, such as a table, a key-value pair, or a calculation formula, as long as it can characterize the correspondence between the information error and the error threshold.

[0053] In this embodiment, the acceleration-based longitudinal control algorithm and the torque-based longitudinal control algorithm are redundant at the algorithm level. The auxiliary controller monitors the expected acceleration value output by the acceleration-based longitudinal control algorithm in real time. If an error occurs while the main controller is running the acceleration-based longitudinal control algorithm, the control logic provided in this application can immediately switch to controlling the vehicle using the torque-based longitudinal control algorithm in the auxiliary controller, achieving seamless switching between algorithms and ensuring driving safety.

[0054] In a specific embodiment, taking the vehicle as an unmanned logistics vehicle as an example, Figure 2As shown, the unmanned logistics vehicle includes a main controller, an auxiliary controller, a main braking system, an auxiliary braking system, a gateway, a drive system, and a positioning system. The gateway is connected to the main controller, main braking system, drive system, and positioning system via the intelligent driving controller local area network (CAN), chassis CAN, drive CAN, and positioning CAN, respectively, to achieve data transmission. The main controller and auxiliary controller are connected via a private CAN, and the main braking system and auxiliary braking system are connected via a private CAN to achieve data transmission. Among them, the first autonomous driving algorithm configured in the main controller is an acceleration-based longitudinal control algorithm (referred to as the acceleration longitudinal control algorithm). The main braking system includes hardware components adapted for the acceleration longitudinal control algorithm, such as ports adapted for the acceleration longitudinal control algorithm. The main controller, in combination with the main braking system, uses the acceleration longitudinal control algorithm for longitudinal control of the unmanned logistics vehicle. The second autonomous driving algorithm configured in the auxiliary controller is a torque-based longitudinal control algorithm (referred to as the torque longitudinal control algorithm). The auxiliary braking system includes hardware components adapted for the torque longitudinal control algorithm, such as ports adapted for the torque longitudinal control algorithm. The auxiliary controller, in combination with the auxiliary braking system, uses the torque longitudinal control algorithm for longitudinal control of the unmanned logistics vehicle.

[0055] In this embodiment, for an unmanned logistics vehicle, the intelligent driving controller, comprising a main controller and auxiliary controller, serves as the vehicle's brain. To ensure the vehicle's safe operation and formulate corresponding safety strategies, the intelligent driving controller synchronously receives various vehicle-side operational signals and executes intelligent driving minimum-risk strategies based on these real-time operational signals. Specifically, the main and auxiliary controllers synchronously receive signals from the vehicle's onboard sensors, such as lidar, cameras, and global navigation satellite system (GNSS) / inertial measurement unit (IMU), and / or obtain road traffic conditions from the cloud or real-time monitoring. They may also obtain other signals or information required for autonomous driving based on actual conditions and needs. The main controller processes various vehicle-side sensor signals, road traffic conditions, and other signals or information based on an acceleration longitudinal control algorithm and outputs a desired acceleration value. Simultaneously, the auxiliary controller processes various vehicle-side sensor signals, road traffic conditions, and other signals or information based on a torque longitudinal control algorithm and outputs a desired torque value. The main controller synchronizes the desired acceleration value with the auxiliary controller in real time. The auxiliary controller then calculates an information error based on the desired acceleration and torque values ​​and synchronizes this information error with the main controller. The primary controller monitors its local operating status, generates a primary operating status flag, and synchronizes this information with the secondary controller. Based on the information error and the primary operating status flag, the primary controller determines whether to execute an autonomous driving action based on the desired acceleration value. Based on the information error and the primary operating status flag, the secondary controller determines whether to execute an autonomous driving action based on the desired torque value.

[0056] In this embodiment, the vehicle enters the self-test function after power-on. After the self-test passes, if the main controller runs the acceleration longitudinal control algorithm normally, the information error between the expected acceleration value and the expected torque value is less than or equal to the error threshold, and the control working status flag information indicates that the working status of the main controller is normal, then the vehicle driving is controlled based on the expected acceleration value output by the main controller, and the automatic driving action corresponding to the expected torque value is not executed.

[0057] Specifically, during the continuous monitoring process, if the information error between the expected acceleration value and the expected torque value exceeds an error threshold, the main control operating status flag information is then determined. If the main control operating status flag information indicates that the main controller is operating normally, the autonomous driving action based on the expected acceleration value is still executed, and the autonomous driving action corresponding to the expected torque value is not executed. The main controller and the auxiliary controller continue to monitor the information error and the main control operating status flag information. Optionally, the main controller and / or the auxiliary controller may issue a prompt message indicating a large error.

[0058] If the information error between the expected acceleration value and the expected torque value is less than or equal to the error threshold, and the master control operating status flag information subsequently determines that the master controller's operating status is abnormal, the autonomous driving action based on the expected acceleration value is still executed, and the autonomous driving action corresponding to the expected torque value is not executed. The master controller and the auxiliary controller continue to monitor the information error and the master control operating status flag information. Optionally, the master controller and / or the auxiliary controller may issue a prompt indicating the master control operating abnormality.

[0059] If an abnormality occurs during the operation of the acceleration longitudinal control algorithm by the main controller, the main controller determines that the information error is greater than the error threshold, and then determines that the main control working state flag information indicates that the working state is abnormal, then the automatic driving action corresponding to the expected acceleration value is prohibited; at this time, the auxiliary controller will synchronously determine that the information error is greater than the error threshold, and that the main control working state flag information indicates that the working state is abnormal, then the automatic driving action corresponding to the expected torque value is executed, thereby realizing that the main controller controls the vehicle driving based on the acceleration longitudinal control algorithm and seamlessly switches to the auxiliary controller controlling the vehicle driving based on the torque longitudinal control algorithm. Optionally, the torque longitudinal control algorithm quickly switches to vehicle control within a certain period of time (for example, 100ms) to ensure the driving safety and comfort of the unmanned logistics vehicle. Optionally, the main controller and / or the auxiliary controller can issue a prompt message of the main control error.

[0060] Next, the vehicle control method is introduced with the main controller as the execution body.

[0061] In one embodiment, if Figure 3 As shown, when the main controller is the execution subject, the process steps of the vehicle control method include:

[0062] Step 301: Based on a first automatic driving algorithm, obtain first control information and transmit the first control information to an auxiliary controller.

[0063] Among them, the auxiliary controller is used to obtain the first control information, obtain the second control information based on the second automatic driving algorithm, and determine whether to execute the automatic driving action corresponding to the second control information based on the first control information and the second control information.

[0064] Among them, the first autonomous driving algorithm and the second autonomous driving algorithm are algorithms with different data processing logic, the first control information and the second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to perform autonomous driving actions.

[0065] In one embodiment, the main controller is also used to generate main control working status flag information and synchronize the main control working status flag information to the auxiliary controller; obtain the information error between the first control information and the second control information transmitted by the auxiliary controller, and based on the information error and the main control working status flag information, determine whether to execute the automatic driving action corresponding to the first control information.

[0066] Among them, the auxiliary controller is used to obtain information error, synchronize the information error to the main controller, and determine whether to execute the automatic driving action corresponding to the second control information based on the information error and the main control working status flag information.

[0067] In one embodiment, the main controller synchronizes the main control operating status flag information to the auxiliary controller and similarly calculates an information error based on the first control information and the second control information. Based on the information error and the main control operating status flag information, the main controller determines whether to execute the autonomous driving action corresponding to the first control information. Based on the second autonomous driving algorithm, the auxiliary controller obtains the second control information and synchronizes the second control information to the main controller. The auxiliary controller calculates an information error based on the first control information and the second control information and obtains the main control operating status flag information transmitted by the main controller. Based on the information error and the main control operating status flag information, the auxiliary controller determines whether to execute the autonomous driving action corresponding to the second control information.

[0068] Optionally, the main controller can also receive the auxiliary control working status flag information transmitted by the auxiliary controller, so that the main controller can form real-time monitoring of the auxiliary controller. When the information error and the auxiliary control working status flag information both indicate that an error has occurred in the auxiliary controller, the main controller will issue an alarm in time to eliminate the fault of the auxiliary controller and improve the safety of the vehicle.

[0069] In one embodiment, based on the information error and the main control operating state flag information, determining whether to execute the autonomous driving action corresponding to the first control information includes: if the information error is greater than an error threshold and the main control operating state flag information indicates that the main controller's operating state is abnormal, then prohibiting execution of the autonomous driving action corresponding to the first control information. Simultaneously, the auxiliary controller is configured to execute the autonomous driving action corresponding to the second control information if the information error is greater than the error threshold and the main control operating state flag information indicates that the main controller's operating state is abnormal.

[0070] In one embodiment, after prohibiting execution of the autonomous driving action corresponding to the first control information, the method further includes: reacquiring an information error between the first control information and the second control information, reacquiring the latest master control operating status flag information of the main controller, and transmitting the latest master control operating status flag information to the auxiliary controller; if the reacquired information error is less than or equal to an error threshold, and / or the reacquired master control operating status flag information indicates that the operating status of the main controller is normal, then re-executing the autonomous driving action corresponding to the first control information. Furthermore, after the auxiliary controller executes the autonomous driving action corresponding to the second control information, if the reacquired information error is less than or equal to the error threshold, and / or the reacquired master control operating status flag information indicates that the operating status of the main controller has returned to normal, then prohibiting execution of the autonomous driving action corresponding to the second control information.

[0071] Based on the information error and the main control operating state flag information, determining whether to execute the autonomous driving action corresponding to the first control information includes: if the information error is less than or equal to the error threshold, and the main control operating state flag information indicates that the main controller is operating normally, then executing the autonomous driving action corresponding to the first control information. Simultaneously, the auxiliary controller is configured to prohibit executing the autonomous driving action corresponding to the second control information if the information error is less than or equal to the error threshold, and / or the main control operating state flag information indicates that the main controller is operating normally.

[0072] In one embodiment, taking the longitudinal control of a vehicle as an example, the first autonomous driving algorithm is an acceleration-based longitudinal control algorithm, and the first control information is the expected acceleration value; the second autonomous driving algorithm is a torque-based longitudinal control algorithm, and the second control information is the expected torque value.

[0073] The process of implementing the vehicle control method with the main controller as the execution subject provided in the above embodiments and the process of implementing the vehicle control method with the auxiliary controller as the execution subject provided in this application belong to the same application concept, and the specific implementation details of implementing the vehicle control method with the auxiliary controller as the execution subject provided in any of the above embodiments of this application can be implemented to achieve the same beneficial effects. For implementation details not fully described in the process of implementing the vehicle control method with the main controller as the execution subject, please refer to the implementation details of implementing the vehicle control method with the auxiliary controller as the execution subject provided in this application, and will not be repeated here.

[0074] In this application, the auxiliary controller obtains first control information transmitted by the main controller, wherein the first control information is control information obtained by the main controller based on a first autonomous driving algorithm; the auxiliary controller obtains second control information based on a second autonomous driving algorithm, wherein the first and second autonomous driving algorithms are algorithms with different data processing logics, and the first and second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to perform autonomous driving actions; the auxiliary controller determines whether to execute the autonomous driving action corresponding to the second control information based on the first and second control information. In the above solution, the first autonomous driving algorithm used by the main controller and the second autonomous driving algorithm used by the auxiliary controller form redundancy at the algorithm level. The auxiliary controller can reasonably determine whether to execute the autonomous driving action corresponding to the second control information based on the first and second control information. Even if the first autonomous driving algorithm in the main controller fails, the second autonomous driving algorithm in the auxiliary controller acts as a redundant algorithm to ensure that the vehicle can still drive normally, thereby improving the safety of the vehicle during autonomous driving.

[0075] Exemplary Systems

[0076] Accordingly, the embodiment of the present application also provides a vehicle control system, such as Figure 4 As shown, the vehicle control system includes a main controller and an auxiliary controller;

[0077] a main controller, configured to obtain first control information based on a first autonomous driving algorithm, and transmit the first control information to the auxiliary controller;

[0078] The auxiliary controller is used to obtain first control information, obtain second control information based on the second automatic driving algorithm, and determine whether to perform the automatic driving action corresponding to the second control information based on the first control information and the second control information, wherein the first automatic driving algorithm and the second automatic driving algorithm are algorithms with different data processing logic, the first control information and the second control information are mutually redundant automatic driving control information, and the vehicle uses the first control information or the second control information to perform the automatic driving action.

[0079] In one embodiment, the vehicle control system also includes a main braking system, an auxiliary braking system, a gateway and a longitudinal drive system; the first autonomous driving algorithm is an acceleration-based longitudinal control algorithm, and the first control information is an expected acceleration value; the second autonomous driving algorithm is a torque-based longitudinal control algorithm, and the second control information is an expected torque value; the main braking system includes hardware components adapted to the acceleration-based longitudinal control algorithm, and the main controller exchanges acceleration information with the main braking system, and the acceleration information includes the expected acceleration value; the auxiliary braking system includes hardware components adapted to the torque-based longitudinal control algorithm, and the auxiliary controller exchanges torque information with the auxiliary braking system, and the torque information includes the expected torque value; the main braking system and the auxiliary braking system exchange data, the main braking system is connected to the longitudinal drive system through the gateway, and the longitudinal drive system includes a hardware structure for performing longitudinal driving actions.

[0080] In this embodiment, the main controller and the gateway communicate via the driving control CAN, while the main controller and the auxiliary controller communicate via a pre-configured private CAN. The main controller and the main braking system can exchange acceleration information, such as expected acceleration values ​​and actual vehicle acceleration values; the auxiliary controller and the auxiliary braking system can exchange torque information, such as expected torque values ​​and actual vehicle torque values; the main braking system and the gateway communicate data via the chassis CAN, and the main braking system and the auxiliary braking system communicate via a pre-configured private CAN. Based on this communication network, the main controller or the auxiliary controller can independently control the longitudinal driving maneuvers of the vehicle. Furthermore, the longitudinal driving maneuvers corresponding to the first or second control information can be implemented by the same longitudinal drive system, saving hardware resources. Optionally, the longitudinal drive system includes a drive system and a positioning system, and may also include other hardware components depending on the actual vehicle conditions and needs. The drive system communicates with the gateway via the driving CAN, and the positioning system communicates with the gateway via the positioning CAN, thereby ensuring the correct execution of longitudinal driving maneuvers.

[0081] In one embodiment, the main controller is configured to generate main control working state flag information and synchronize the main control working state flag information to the auxiliary controller, and to obtain an information error between first control information and second control information transmitted by the auxiliary controller, and determine whether to execute an autonomous driving action corresponding to the first control information based on the information error and the main control working state flag information;

[0082] The auxiliary controller is used to obtain information error and synchronize the information error to the main controller, and is used to determine whether to execute the automatic driving action corresponding to the second control information based on the information error and the main control working status flag information.

[0083] In one embodiment, the main controller synchronizes the main control operating status flag information to the auxiliary controller and similarly calculates an information error based on the first control information and the second control information. Based on the information error and the main control operating status flag information, the main controller determines whether to execute the autonomous driving action corresponding to the first control information. Based on the second autonomous driving algorithm, the auxiliary controller obtains the second control information and synchronizes the second control information to the main controller. The auxiliary controller calculates an information error based on the first control information and the second control information and obtains the main control operating status flag information transmitted by the main controller. Based on the information error and the main control operating status flag information, the auxiliary controller determines whether to execute the autonomous driving action corresponding to the second control information.

[0084] Optionally, the main controller can also receive the auxiliary control working status flag information transmitted by the auxiliary controller, so that the main controller can form real-time monitoring of the auxiliary controller. When the information error and the auxiliary control working status flag information both indicate that an error has occurred in the auxiliary controller, the main controller will issue an alarm in time to eliminate the fault of the auxiliary controller and improve the safety of the vehicle.

[0085] In one embodiment, the primary controller is configured to prohibit execution of the autonomous driving action corresponding to the first control information if the information error is greater than an error threshold and the primary control operating status flag information indicates that the primary controller's operating status is abnormal. Simultaneously, the secondary controller is configured to execute the autonomous driving action corresponding to the second control information if the information error is greater than the error threshold and the primary control operating status flag information indicates that the primary controller's operating status is abnormal.

[0086] In one embodiment, the primary controller is configured to execute the autonomous driving action corresponding to the first control information if the information error is less than or equal to the error threshold and the primary control operating status flag information indicates that the primary controller is operating normally. Simultaneously, the secondary controller is configured to prohibit execution of the autonomous driving action corresponding to the second control information if the information error is less than or equal to the error threshold and / or the primary control operating status flag information indicates that the primary controller is operating normally.

[0087] In one embodiment, taking the longitudinal control of a vehicle as an example, the first autonomous driving algorithm is an acceleration-based longitudinal control algorithm, and the first control information is the expected acceleration value; the second autonomous driving algorithm is a torque-based longitudinal control algorithm, and the second control information is the expected torque value.

[0088] The vehicle control system provided in this embodiment is based on the same concept as the vehicle control method provided in the above embodiments of this application. It can execute the vehicle control method provided in any of the above embodiments of this application and has the corresponding functional modules and beneficial effects. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle control method provided in the above embodiments of this application, and will not be repeated here.

[0089] Exemplary devices

[0090] Accordingly, the embodiment of the present application also provides a vehicle auxiliary control device, such as Figure 5 As shown, the device may include:

[0091] A first acquisition module 501 is configured to acquire first control information transmitted by a main controller, wherein the first control information is control information obtained by the main controller based on a first autonomous driving algorithm;

[0092] a second acquisition module 502 configured to acquire second control information based on a second autonomous driving algorithm, wherein the first autonomous driving algorithm and the second autonomous driving algorithm are algorithms having different data processing logics, the first control information and the second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to perform the autonomous driving action;

[0093] The judgment module 503 is used to judge whether to execute the automatic driving action corresponding to the second control information based on the first control information and the second control information.

[0094] Accordingly, the embodiment of the present application also provides a vehicle master control device, such as Figure 6 As shown, the device may include:

[0095] A third acquisition module 601 is configured to acquire second control information based on the first autonomous driving algorithm and transmit the second control information to the auxiliary controller;

[0096] Among them, the auxiliary controller is used to obtain first control information, obtain second control information based on the second automatic driving algorithm, and determine whether to execute the automatic driving action corresponding to the second control information based on the first control information and the second control information; the first automatic driving algorithm and the second automatic driving algorithm are algorithms with different data processing logic, and the first control information and the second control information are mutually redundant automatic driving control information. The vehicle uses the first control information or the second control information to execute the automatic driving action.

[0097] The vehicle auxiliary control device and vehicle main control device provided in this embodiment are based on the same application concept as the vehicle control method provided in the above embodiments of this application. They can execute the vehicle control method provided in any of the above embodiments of this application and have the corresponding functional modules and beneficial effects. For technical details not fully described in this embodiment, please refer to the specific processing content of the vehicle control method provided in the above embodiments of this application and will not be repeated here.

[0098] Exemplary electronic devices

[0099] The present application also provides an electronic device, such as Figure 7As shown, the electronic device includes: a memory 700 and a processor 701.

[0100] The memory 700 is connected to the processor 701 and is used to store programs.

[0101] The processor 701 is configured to implement the vehicle control method in the above embodiment by running the program stored in the memory 700 .

[0102] Specifically, the electronic device may further include: a communication interface 702 , an input device 703 , an output device 704 and a bus 705 .

[0103] The processor 701, the memory 700, the communication interface 702, the input device 703 and the output device 704 are interconnected via a bus.

[0104] Bus 705 may include a pathway for transferring information between various components of the computer system.

[0105] Processor 701 can be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, or the like, or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present invention. It can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic device, or discrete hardware components.

[0106] The processor 701 may include a main processor, and may also include a baseband chip, a modem, etc.

[0107] The memory 700 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include program code, which includes computer operating instructions. More specifically, the memory 700 may include read-only memory (ROM), other types of static storage devices that can store static information and instructions, random access memory (RAM), other types of dynamic storage devices that can store information and instructions, disk storage, flash, etc.

[0108] The input device 703 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0109] Output device 704 may include devices that allow information to be output to a user, such as a display screen, printer, speakers, etc.

[0110] The communication interface 702 may include any transceiver or similar device for communicating with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0111] The processor 701 executes the program stored in the memory 700 and calls other devices, which can be used to implement the various steps of the vehicle control method provided in the above embodiments of the present application with the auxiliary controller as the execution body, or can be used to implement the various steps of the vehicle control method provided in the above embodiments of the present application with the main controller as the execution body.

[0112] Exemplary computer program products and storage media

[0113] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the vehicle control method described in the embodiment of the present application with the auxiliary controller as the execution body, or the processor to execute the steps of the vehicle control method described in the embodiment of the present application with the main controller as the execution body.

[0114] The computer program product may be written in any combination of one or more programming languages ​​to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages ​​such as Java, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0115] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the vehicle control method described in the embodiment of the present application with the auxiliary controller as the execution body, or the computer program is executed by a processor to execute the steps of the vehicle control method described in the embodiment of the present application with the main controller as the execution body.

[0116] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0117] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0118] The steps in the methods of each embodiment of the present application can be adjusted in sequence, merged, and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0119] The modules and sub-modules in the devices and terminals provided in the various embodiments of the present application can be merged, divided, and deleted according to actual needs.

[0120] In the several embodiments provided in this application, it should be understood that the disclosed terminals, devices, and methods can be implemented in other ways. For example, the terminal embodiments described above are merely illustrative. For example, the division of modules or submodules is merely a logical function division. In actual implementation, there may be other division methods, such as multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or module, which can be electrical, mechanical or other forms.

[0121] The modules or submodules described as separate components may or may not be physically separate, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place or distributed across multiple network modules or submodules. Some or all of the modules or submodules may be selected to achieve the purpose of this embodiment according to actual needs.

[0122] In addition, each functional module or submodule in each embodiment of the present application may be integrated into a processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into a single module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or software functional modules or submodules.

[0123] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0124] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0125] Finally, 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 device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0126] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A vehicle control method, characterized in that: Applicable to auxiliary controllers, including: Acquire first control information transmitted by a main controller, wherein the first control information is control information obtained by the main controller based on a first automatic driving algorithm; obtaining second control information based on a second autonomous driving algorithm, wherein the first autonomous driving algorithm and the second autonomous driving algorithm are algorithms having different data processing logics, the first control information and the second control information are mutually redundant autonomous driving control information, and the vehicle performs an autonomous driving action using the first control information or the second control information; Based on the first control information and the second control information, determine whether to execute the automatic driving action corresponding to the second control information.

2. The vehicle control method according to claim 1, characterized in that: The determining, based on the first control information and the second control information, whether to execute the automatic driving action corresponding to the second control information includes: acquiring an information error between the first control information and the second control information, and synchronizing the information error to the main controller; Obtaining main control working status flag information transmitted by the main controller; Based on the information error and the main control working status flag information, determine whether to execute the automatic driving action corresponding to the second control information.

3. The vehicle control method according to claim 2, characterized in that: The determining, based on the information error and the master control working state flag information, whether to execute the automatic driving action corresponding to the second control information includes: If the information error is greater than the error threshold and the main control working status flag information indicates that the working status of the main controller is abnormal, the automatic driving action corresponding to the second control information is executed, wherein the main controller is used to prohibit the execution of the automatic driving action corresponding to the first control information if the information error is greater than the error threshold and the main control working status flag information indicates that the working status of the main controller is abnormal.

4. The vehicle control method according to claim 3, characterized in that: After executing the automatic driving action corresponding to the second control information, the method further includes: Re-acquiring an information error between the first control information and the second control information, and re-acquiring the main control working state flag information most recently transmitted by the main controller; If the error of the re-acquired information is less than or equal to the error threshold, and / or the re-acquired main control working status flag information indicates that the working status of the main controller has returned to normal, then the automatic driving action corresponding to the second control information is prohibited from being executed. wherein, after the main controller is used to prohibit the execution of the automatic driving action corresponding to the first control information, if the error of the re-acquired information is less than or equal to the error threshold, and / or the re-acquired main control working status flag information indicates that the working status of the main controller is normal, then the automatic driving action corresponding to the first control information is re-executed.

5. The vehicle control method according to any one of claims 1 to 4, characterized in that: The first autonomous driving algorithm is an acceleration-based longitudinal control algorithm, and the first control information is a desired acceleration value; The second automatic driving algorithm is a torque-based longitudinal control algorithm, and the second control information is a desired torque value.

6. A vehicle control method, characterized in that: Applicable to main controller, including: Based on a first autonomous driving algorithm, first control information is obtained, and the first control information is transmitted to an auxiliary controller; wherein, the auxiliary controller is used to obtain the first control information, obtain second control information based on a second autonomous driving algorithm, and determine whether to execute the autonomous driving action corresponding to the second control information based on the first control information and the second control information; the first autonomous driving algorithm and the second autonomous driving algorithm are algorithms with different data processing logic, the first control information and the second control information are mutually redundant autonomous driving control information, and the vehicle uses the first control information or the second control information to execute the autonomous driving action.

7. The vehicle control method according to claim 6, characterized in that: The method further comprises: Generate main control working state flag information, and synchronize the main control working state flag information to the auxiliary controller; obtaining an information error between the first control information and the second control information transmitted by the auxiliary controller, wherein the auxiliary controller is configured to obtain the information error, synchronize the information error to the main controller, and determine whether to execute an automatic driving action corresponding to the second control information based on the information error and the main control working state flag information; Based on the information error and the main control working status flag information, determine whether to execute the automatic driving action corresponding to the first control information.

8. A vehicle control system, characterized in that: Including main controller and auxiliary controller; The main controller is configured to obtain first control information based on a first autonomous driving algorithm and transmit the first control information to the auxiliary controller; The auxiliary controller is used to obtain the first control information, obtain the second control information based on the second automatic driving algorithm, and determine whether to perform the automatic driving action corresponding to the second control information based on the first control information and the second control information, wherein the first automatic driving algorithm and the second automatic driving algorithm are algorithms with different data processing logic, the first control information and the second control information are mutually redundant automatic driving control information, and the vehicle uses the first control information or the second control information to perform the automatic driving action.

9. The vehicle control system according to claim 8, characterized in that: The vehicle further includes a primary braking system, an auxiliary braking system, a gateway, and a longitudinal drive system; the first autonomous driving algorithm is an acceleration-based longitudinal control algorithm, and the first control information is a desired acceleration value; the second autonomous driving algorithm is a torque-based longitudinal control algorithm, and the second control information is a desired torque value; The main braking system includes hardware components adapted to the acceleration-based longitudinal control algorithm, and the main controller exchanges acceleration information with the main braking system, wherein the acceleration information includes the expected acceleration value; The brake assist system includes hardware components adapted to the torque-based longitudinal control algorithm, the auxiliary controller exchanges torque information with the brake assist system, the torque information including the desired torque value; The main braking system and the auxiliary braking system exchange data. The main braking system is connected to the longitudinal drive system through the gateway. The longitudinal drive system includes a hardware structure for performing longitudinal driving actions.

10. A computer program product, characterized in that includes computer program instructions; When the computer program instructions are executed by a processor, the processor executes the vehicle control method according to any one of claims 1 to 5; or the processor executes the vehicle control method according to any one of claims 6 to 7.

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