Intelligent driving redundancy takeover control system and method

Abstract

The invention relates to the technical field of automatic driving control, in particular to an intelligent driving redundancy takeover control system and method.The intelligent driving redundancy takeover control system comprises an obtaining unit at least used for obtaining driver takeover information; the configuration unit is at least used for configuring the main controller, the auxiliary controller, the main actuator, the auxiliary actuator and the non-redundant actuator; and the main controller control unit is at least used for controlling the control right by the main controller when the intelligent driving system is activated, and feedback signals passing through the non-redundant actuator and the main actuator are used as input. The problem of false triggering or missed triggering caused by a static threshold value and the problem of potential safety hazards caused by takeover failure risks caused by system single-point faults can be solved.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving control technology, specifically to an intelligent driving redundant takeover control system and method. Background Technology

[0002] With the rapid development of automotive intelligent technology, the reliability of human-machine handover of vehicle control has become a key issue in ensuring driving safety. Current international standards for the functional safety of road vehicle electronic and electrical systems clearly require that autonomous driving systems must have a robust takeover mechanism. However, traditional takeover mechanisms or systems often rely on a single triggering method (such as steering wheel torque detection), which is prone to response failure under sensor malfunctions or complex road conditions.

[0003] The current mainstream solutions have three major technical bottlenecks: First, the triggering logic is statically fixed and does not take into account the dynamic impact of driver attention, which can easily lead to safety accidents due to accidental triggering or missed detection; Second, the control architecture lacks redundant design, and a single point of failure in the main control unit will directly lead to the paralysis of the takeover function; Third, the multi-channel takeover lacks a collaborative arbitration mechanism, which can easily lead to control command conflicts. Summary of the Invention

[0004] In view of the shortcomings of the prior art described above, the purpose of this invention is to provide an intelligent driving redundant takeover control system and method that can solve the problems of false triggering or missed triggering caused by static thresholds and the safety hazards caused by the risk of takeover failure due to single point of failure in the system.

[0005] The first aspect of this invention provides an intelligent driving redundancy takeover control system, comprising: The acquisition unit is used at least to acquire driver takeover information; The configuration unit is used to configure at least the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator; The main controller control unit is used, at least when the intelligent driving system is activated, for the main controller to take control, using feedback signals from non-redundant actuators and the main actuator as inputs.

[0006] As an optional implementation, the intelligent driving redundant takeover control system further includes a master control transfer unit, which is at least used to determine whether the driver has completed the takeover based on the driver takeover information in the master controller, thereby realizing the transfer of control, and simultaneously synchronizing the transfer result to the auxiliary controller.

[0007] As an optional implementation, the master control transfer unit includes a master takeover logic judgment module; The main takeover logic judgment module determines whether the takeover has been completed based on the driver takeover information.

[0008] As an optional implementation, the intelligent driving redundant takeover control system also includes an auxiliary controller control unit, which is used at least to take control when the main controller or main actuator fails, using feedback signals from the non-redundant actuator and the auxiliary actuator as input.

[0009] As an optional implementation, the intelligent driving redundant takeover control system further includes an auxiliary control transfer unit, which is at least used to determine whether the driver has completed the takeover based on the driver takeover information in the auxiliary controller, thereby realizing the transfer of control, and simultaneously synchronizing the transfer result to the main controller.

[0010] As an optional implementation, the auxiliary control transfer unit includes an auxiliary takeover logic judgment module, which determines whether takeover has been completed based on the driver takeover information.

[0011] A second aspect of the present invention provides an intelligent driving redundancy takeover control system based on multimodal interaction, comprising: The acquisition unit is at least used to acquire driver takeover information based on the multi-dimensional heterogeneous driver takeover channel. The configuration unit is used to configure at least the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator; The main controller control unit is used, at least when the intelligent driving system is activated, for the main controller to take control, using feedback signals from non-redundant actuators and the main actuator as inputs.

[0012] As an optional implementation, the multidimensional heterogeneous driver takeover channel is a six-dimensional heterogeneous driver takeover channel, which includes at least six heterogeneous takeover methods. The six heterogeneous takeover methods include pressing the intelligent driving function switch, turning the steering wheel, braking intervention, acceleration intervention, preset gear intervention, and takeover when attention is focused and hands are on the steering wheel during the takeover request.

[0013] A third aspect of the present invention provides an intelligent driving redundancy takeover control method, comprising: Obtain driver takeover information; Configure the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator; When the intelligent driving system is activated, the main controller takes control. It uses the feedback signals from the non-redundant actuators and the main actuator as inputs, and determines whether the driver has completed the takeover based on the driver takeover information within the main controller, thereby realizing the transfer of control. At the same time, the transfer result is synchronized to the auxiliary controller.

[0014] As an optional implementation, when the main controller or main actuator fails, the auxiliary controller takes control. It uses feedback signals from non-redundant actuators and auxiliary actuators as inputs, and determines whether the driver has completed the takeover based on the driver takeover information within the auxiliary controller, thereby realizing the transfer of control. At the same time, the transfer result is synchronized to the main controller.

[0015] A fourth aspect of the present invention provides an intelligent driving redundancy takeover control method based on multimodal interaction, comprising: System self-test and activation: The main controller monitors its own fault status in real time and reports it to the auxiliary controller. At the same time, the auxiliary controller monitors the status of the main controller in real time. If the main controller is found to be faulty, the auxiliary controller will take over. Auxiliary controller takeover: The auxiliary controller receives signals from redundant actuators and determines whether the driver has taken over through its internal logic module; Main controller takeover: The main controller receives the main actuator signal and determines whether the driver has taken over through the internal logic module; Control transfer and synchronization: When the main controller gains control, it uses the designed takeover logic to determine whether the driver has completed the takeover, thereby realizing the transfer of control and synchronizing the result to the auxiliary controller. When the auxiliary controller gains control, it uses the designed takeover logic to determine whether the driver has completed the takeover, thereby realizing the transfer of control and synchronizing the result to the main controller.

[0016] A fifth aspect of the present invention provides an electronic device, comprising: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform steps as described in the third or fourth aspect of the present invention.

[0017] A sixth aspect of the present invention provides a readable storage medium storing a computer program that is executed by a processor as described in the third or fourth aspect of the present invention.

[0018] Compared with the prior art, the present invention has at least the following beneficial effects: 1. Improve the reliability of multi-dimensional takeover: This invention, through a six-dimensional heterogeneous driver takeover channel design (physical switch, dynamic steering wheel, pedal coordination, etc.), retains ≥5 available takeover methods even in the event of a single sensor / controller failure, ensuring that the driver has at least 5 effective takeover options at any given time; 2. Fundamentally reducing the risk of system failure: This invention adopts a dual-controller redundancy architecture (ASIL-D level MCU dual deployment), in which the auxiliary controller can seamlessly switch when the main controller fails, and the system-level failure recovery time is faster and the impact is reduced than traditional solutions; 3. Enhanced signal failure protection: The present invention adopts a heterogeneous signal source design to make the key signal acquisition links of the main controller and the auxiliary controller completely independent (such as the steering wheel torque is sent to the main and auxiliary controllers respectively through two CAN channels by dual actuators). The impact range of single point failure of the signal system is reduced, and the risk of cascading failure caused by the same source signal is avoided. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a block diagram of an intelligent driving redundancy takeover control system according to a specific embodiment of the present invention.

[0021] Figure 2 This is a block diagram of another intelligent driving redundancy takeover control system according to a specific embodiment of the present invention.

[0022] Figure 3 This is a flowchart of a redundancy takeover control method for intelligent driving according to a specific embodiment of the present invention.

[0023] Figure 4 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention. Detailed Implementation

[0024] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Furthermore, it should be understood that the specific embodiments described herein are only for illustration and explanation of this application and are not intended to limit this application.

[0025] It should be noted that the order of description of the following embodiments is not intended to limit the preferred order of the embodiments of this application. Furthermore, the descriptions of each embodiment in the following embodiments have their own emphasis; for parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0026] Level 3 autonomous driving is an autonomous driving mode that performs some functional decisions under limited conditions. When the applicable conditions are not met, the driver needs to take over the vehicle.

[0027] With the rapid development of Level 3 and above autonomous driving technologies, the reliability of human-machine handover of vehicle control has become a core issue restricting commercialization. The current international standard ISO 26262 clearly requires autonomous driving systems to have a robust takeover mechanism, but existing technologies still have significant shortcomings. Traditional takeover systems often rely on a single triggering method (such as steering wheel torque detection), which is prone to response failures under sensor malfunctions or complex road conditions.

[0028] This invention is applicable not only to Level 3 autonomous driving technology, but also to other autonomous driving technologies. However, other lower-level intelligent driving systems do not have a strong requirement for system redundancy. Level 4 and above systems theoretically do not require driver intervention. Those skilled in the art can implement this invention according to actual technical requirements, and it still falls within the scope of protection of this invention.

[0029] like Figure 1 and Figure 2 As shown, the first aspect of the present invention provides an intelligent driving redundancy takeover control system, comprising the following steps.

[0030] The acquisition unit is used at least to acquire driver takeover information.

[0031] Specifically, the driver takeover information includes information on driver operations such as steering wheel torque, accelerator pedal opening, brake pedal opening, and disengagement switch lever movement.

[0032] The configuration unit is used to configure at least the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator.

[0033] Specifically, the intelligent driving redundancy takeover system also includes a signal transmission network containing channels composed of CAN1, CAN2, and CAN3. The main controller is an ASIL-D level MCU, and the auxiliary controller is an ASIL-D level MCU. Both synchronize status data via the CAN1 bus and are powered by independent power modules. The main controller synchronizes status data with the main actuator, non-redundant actuator, and auxiliary actuator via CAN2. The auxiliary controller synchronizes status data with the main actuator, non-redundant actuator, and auxiliary actuator via CAN3. The non-redundant actuator is... Figure 1 The non-redundant actuator in the process.

[0034] This invention configures two controllers, a primary and a secondary controller, and simultaneously deploys takeover logic judgment modules in the MCUs (ASIL-D) of both controllers, providing redundancy and avoiding the problem of being unable to take over in case of failure.

[0035] The main controller control unit is used, at least when the intelligent driving system is activated, for the main controller to take control and to obtain feedback signals from the non-redundant actuators and the main actuator as inputs via CAN2.

[0036] Specifically, this refers to the intelligent driving system being activated, or the intelligent driving system being activated and operating without faults.

[0037] The master control transfer unit is used, at least when the master controller has control, to determine whether the driver has completed the takeover based on the driver takeover information within the master controller, thereby realizing the transfer of control, and simultaneously synchronizing the transfer result to the auxiliary controller via CAN1.

[0038] In one embodiment of the present invention, the master control transfer unit includes a master takeover logic judgment module. The master takeover logic judgment module determines whether the takeover has been completed based on the driver takeover information. The master takeover logic judgment module contains takeover logic, which can determine whether the driver has completed the takeover, thereby realizing the transfer of control.

[0039] The auxiliary controller control unit is used, at least, to take control when the main controller or main actuator fails, by using feedback signals from non-redundant actuators and auxiliary actuators as inputs.

[0040] The auxiliary control transfer unit is used, at least when the auxiliary controller has acquired control, to determine whether the driver has completed the takeover based on the driver takeover information within the auxiliary controller, thereby realizing the transfer of control, and simultaneously synchronizing the transfer result to the main controller via CAN1.

[0041] In one embodiment of the present invention, the auxiliary control transfer unit includes an auxiliary takeover logic judgment module. The auxiliary takeover logic judgment module determines whether the takeover has been completed based on the driver takeover information. The auxiliary takeover logic judgment module contains takeover logic, which can determine whether the driver has completed the takeover, thereby realizing the transfer of control.

[0042] Here, the present invention adopts a dual-controller redundancy architecture, in which the auxiliary controller can seamlessly switch when the main controller fails, and the system-level failure recovery time is faster and the impact is reduced than that of traditional solutions.

[0043] In one embodiment of the present invention, the acquisition unit acquires driver takeover information based on a multidimensional heterogeneous driver takeover channel. The multidimensional heterogeneous driver takeover channel includes at least pressing the L3 function switch, turning the steering wheel, braking intervention, acceleration intervention, EPB / P gear intervention, and concentrating on the steering wheel while making a takeover request.

[0044] Here, the present invention adopts a heterogeneous design of the main controller signal source and the auxiliary controller signal source, with redundant components to send the main and auxiliary actuator signals to the main and auxiliary controllers respectively, which satisfies the heterogeneous design of the signal source and avoids the problem of multiple failures caused by a single fault. The constructed multi-dimensional heterogeneous takeover channel, dual-controller hot redundancy architecture and intelligent takeover arbitration system can realize adaptive takeover control of "human-vehicle-environment" state, providing key technical support for the commercial application of high-level autonomous driving.

[0045] A second aspect of the present invention provides an intelligent driving redundancy takeover control system based on multimodal interaction, comprising: The acquisition unit is at least used to acquire driver takeover information based on the multi-dimensional heterogeneous driver takeover channel. The configuration unit is used to configure at least the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator; The main controller control unit is used, at least when the intelligent driving system is activated, for the main controller to take control, using feedback signals from non-redundant actuators and the main actuator as inputs.

[0046] In one embodiment of the present invention, the multidimensional heterogeneous driver takeover channel is specifically a six-dimensional heterogeneous driver takeover channel, which includes at least six heterogeneous takeover methods. The six heterogeneous takeover methods include pressing the intelligent driving function switch, turning the steering wheel, braking intervention, acceleration intervention, preset gear intervention, and takeover when attention is focused and hands are on the steering wheel during the takeover request.

[0047] The following is a detailed description of the six-dimensional heterogeneous driver takeover channel.

[0048] The core approach of the multi-dimensional heterogeneous driver takeover channel is to construct a redundant and highly sensitive driver authority transfer system through six multi-modal, functionally heterogeneous, and scenario-complementary takeover methods. This system can comprehensively cover the takeover needs of different operating conditions and different driver habits in autonomous driving scenarios, especially at Level 3, and ensure that driver authority is transferred smoothly, safely, and reliably from the autonomous driving system to the driver.

[0049] Here, the present invention uses a multimodal six-dimensional heterogeneous takeover method that is independent yet complementary, covering various scenarios such as proactive takeover, emergency response takeover, and responsive takeover. Through this redundant design of multi-dimensional operation paths, it enhances the focus on the driver and improves the flexibility and reliability of driver takeover, ensuring the safety and smoothness of the transfer of driving authority between the autonomous driving system and the driver.

[0050] The six heterogeneous takeover methods provided by this invention involve steering wheel torque sensors, braking systems, and drive systems. Compared with traditional intelligent driving systems, this invention uses redundant components to transmit the same physical quantity (such as steering wheel torque) through two different parts. The main controller and auxiliary controller adopt an asymmetric redundancy architecture design to avoid a single fault leading to cascading failures and thus causing multi-point failures.

[0051] Here, the present invention uses a heterogeneous signal source design to make the key signal acquisition links of the main and auxiliary controllers completely independent. For example, the steering wheel torque is sent to the main and auxiliary controllers respectively through two CAN channels by dual actuators. This can reduce the impact range of single-point failure of the signal system and avoid the risk of cascading failure caused by signals from the same source.

[0052] Furthermore, this invention, through its six-dimensional heterogeneous driver takeover channel design, such as physical switches, dynamic steering wheels, and pedal coordination, retains at least five available takeover methods even in the event of a single sensor / controller failure. Actual testing shows that the availability of the takeover function is an improvement over traditional systems, ensuring that the driver has at least five effective takeover options at any given time.

[0053] A third aspect of the present invention provides an intelligent driving redundancy takeover control method, comprising: Obtain driver takeover information; Configure the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator; When the intelligent driving system is activated, the main controller takes control. It uses the feedback signals from the non-redundant actuators and the main actuator as inputs, and determines whether the driver has completed the takeover based on the driver takeover information within the main controller, thereby realizing the transfer of control. At the same time, the transfer result is synchronized to the auxiliary controller.

[0054] In one embodiment of the present invention, the intelligent driving redundant takeover control method further includes: when the main controller or the main actuator fails, the auxiliary controller takes control, using the feedback signals from the non-redundant actuator and the auxiliary actuator as inputs, and determining whether the driver has completed the takeover based on the driver takeover information within the auxiliary controller, thereby realizing the transfer of control, and simultaneously synchronizing the transfer result to the main controller.

[0055] like Figure 3 As shown, a fourth aspect of the present invention provides an intelligent driving redundancy takeover control method based on multimodal interaction, comprising: S01: System self-test and activation: The main controller monitors its own fault status in real time and reports it to the auxiliary controller. At the same time, the auxiliary controller monitors the status of the main controller in real time. If the main controller is found to be faulty, S02 is triggered. The system is an intelligent driving system. S02: Auxiliary controller takeover: The auxiliary controller obtains redundant actuator signals (including steering wheel torque, braking, drive system status, etc.) through CAN3, and determines whether the driver has taken over through the internal logic module; S03: Main controller takeover: The main controller obtains the main actuator signal through CAN2 and determines whether the driver has taken over through the internal logic module; S04: Control Transfer and Synchronization: When the main controller gains control, it uses the designed takeover logic to determine whether the driver has completed the takeover, thereby realizing the transfer of control. At the same time, the transfer result is synchronized to the auxiliary controller via CAN1. When the auxiliary controller gains control, it uses the designed takeover logic to determine whether the driver has completed the takeover, thereby realizing the transfer of control. At the same time, the transfer result is synchronized to the main controller via CAN1.

[0056] Specifically, the main controller is an ASIL-D level MCU, and the auxiliary controller is an ASIL-D level MCU. Both synchronize status data via the CAN1 bus and are powered by independent power modules. The main controller synchronizes status data with the main actuator, the non-redundant actuator, and the auxiliary actuator via CAN2. The auxiliary controller synchronizes status data with the main actuator, the non-redundant actuator, and the auxiliary actuator via CAN3. The non-redundant actuator is... Figure 1 The non-redundant actuator in the process.

[0057] Here, by configuring two controllers, one primary and one secondary, and simultaneously deploying takeover logic judgment modules in the MCUs (ASIL-D) of both controllers, redundancy is achieved, avoiding the problem of being unable to take over in case of failure.

[0058] This invention employs a heterogeneous design of the main controller signal source and the auxiliary controller signal source, with redundant components that send the main and auxiliary actuator signals to the main and auxiliary controllers respectively. This satisfies the heterogeneous design of the signal source and avoids the problem of multiple failures caused by a single fault. The constructed multi-dimensional heterogeneous takeover channel, dual-controller hot redundancy architecture, and intelligent takeover arbitration system can achieve adaptive takeover control of the "human-vehicle-environment" state, providing key technical support for the commercial application of high-level autonomous driving.

[0059] like Figure 4 As shown, a fifth aspect of the present invention provides an electronic device, comprising: at least one processor; and at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform the steps of the method as described in any of the above embodiments.

[0060] The sixth aspect of the present invention discloses a readable storage medium storing a computer program, which is executed by a processor as described in any of the above embodiments.

[0061] Computer-readable storage media can include: any entity or device capable of carrying computer programs, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (RON), random access memory (RAN), and software distribution media, etc. Computer programs include computer program code. Computer program code can be in the form of source code, object code, executable files, or certain intermediate forms, etc. Computer-readable storage media can include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (RON), random access memory (RAN), and software distribution media, etc.

[0062] Any process or method description in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of the invention includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as will be understood by those skilled in the art to which embodiments of the invention pertain.

[0063] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus or device (such as a computer-based system, a system including a processing module or other system that can fetch and execute instructions from, an instruction execution system, apparatus or device).

[0064] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent driving redundancy takeover control system, characterized in that, include: The acquisition unit is used at least to acquire driver takeover information; The configuration unit is used to configure at least the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator; The main controller control unit is used, at least when the intelligent driving system is activated, for the main controller to take control, using feedback signals from non-redundant actuators and the main actuator as inputs.

2. The intelligent driving redundancy takeover control system according to claim 1, characterized in that, It also includes a master control transfer unit, which is used at least in the master controller to determine whether the driver has completed the takeover based on the driver takeover information, thereby realizing the transfer of control, and at the same time synchronizing the transfer result to the auxiliary controller.

3. The intelligent driving redundancy takeover control system according to claim 2, characterized in that, The master control transfer unit includes a master takeover logic judgment module; The main takeover logic judgment module determines whether the takeover has been completed based on the driver takeover information.

4. The intelligent driving redundancy takeover control system according to claim 1, characterized in that, It also includes an auxiliary controller control unit, which is used at least to take control when the main controller or main actuator fails, using feedback signals from non-redundant actuators and auxiliary actuators as inputs.

5. The intelligent driving redundancy takeover control system according to claim 1, characterized in that, It also includes an auxiliary control transfer unit, which is used at least in the auxiliary controller to determine whether the driver has completed the takeover based on the driver takeover information, thereby realizing the transfer of control, and at the same time synchronizing the transfer result to the main controller.

6. The intelligent driving redundancy takeover control system according to claim 5, characterized in that, The auxiliary control transfer unit includes an auxiliary takeover logic judgment module, which determines whether takeover has been completed based on the driver takeover information.

7. A redundancy takeover control system for intelligent driving based on multimodal interaction, characterized in that, include: The acquisition unit is at least used to acquire driver takeover information based on the multi-dimensional heterogeneous driver takeover channel. The configuration unit is used to configure at least the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator; The main controller control unit is used, at least when the intelligent driving system is activated, for the main controller to take control, using feedback signals from non-redundant actuators and the main actuator as inputs.

8. The intelligent driving redundancy takeover control system based on multimodal interaction according to claim 7, characterized in that, The multidimensional heterogeneous driver takeover channel is a six-dimensional heterogeneous driver takeover channel, which includes at least six heterogeneous takeover methods. The six heterogeneous takeover methods include pressing the intelligent driving function switch, turning the steering wheel, braking intervention, acceleration intervention, preset gear intervention, and takeover when attention is focused and hands are on the steering wheel.

9. A method for redundant takeover control in intelligent driving, characterized in that, include: Obtain driver takeover information; Configure the main controller, auxiliary controller, main actuator, auxiliary actuator, and non-redundant actuator; When the intelligent driving system is activated, the main controller takes control. It uses the feedback signals from the non-redundant actuators and the main actuator as inputs, and determines whether the driver has completed the takeover based on the driver takeover information within the main controller, thereby realizing the transfer of control. At the same time, the transfer result is synchronized to the auxiliary controller.

10. The intelligent driving redundancy takeover control method according to claim 9, characterized in that, When the main controller or main actuator fails, the auxiliary controller takes over control. It uses feedback signals from non-redundant actuators and auxiliary actuators as inputs, and determines whether the driver has completed the takeover based on the driver takeover information within the auxiliary controller, thereby realizing the transfer of control. At the same time, the transfer result is synchronized to the main controller.

11. A redundancy takeover control method for intelligent driving based on multimodal interaction, characterized in that, include: System self-test and activation: The main controller monitors its own fault status in real time and reports it to the auxiliary controller. At the same time, the auxiliary controller monitors the status of the main controller in real time. If the main controller is found to be faulty, the auxiliary controller will take over. Auxiliary controller takeover: The auxiliary controller receives signals from redundant actuators and determines whether the driver has taken over through its internal logic module; Main controller takeover: The main controller receives the main actuator signal and determines whether the driver has taken over through the internal logic module; Control transfer and synchronization: When the main controller takes control, it determines whether the driver has completed the takeover through the designed takeover logic, thereby realizing the transfer of control and synchronizing the result to the auxiliary controller. When the auxiliary controller takes control, it uses the designed takeover logic to determine whether the driver has completed the takeover, thereby realizing the transfer of control and synchronizing the result to the main controller.

12. An electronic device, characterized in that, include: At least one processor; And at least one memory communicatively connected to the processor, wherein: the memory stores program instructions executable by the processor, and the processor invokes the program instructions to perform the steps of the method as described in any one of claims 9-11.

13. A readable storage medium storing a computer program, characterized in that, The computer program is executed by a processor using the steps of the method as described in any one of claims 9-11.

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