Vehicle redundancy control system and vehicle

Abstract

The utility model provides a vehicle redundancy control system and a vehicle, the vehicle redundancy control system comprises a vehicle control system, a main controller and a redundancy controller used for processing vehicle detection or sensing data, and the main controller and the redundancy controller are both connected with the vehicle control system. And the redundant controller is used for replacing the main controller to control the vehicle control system when detecting that the main controller fails.

Description

Technical Field

[0001] The disclosed embodiments relate to the technical field of circuit design, and more specifically, to a vehicle redundant control system and a vehicle. Background Art

[0002] As the technology of intelligent driving products matures, more and more cars are equipped with intelligent driving assistance functions during the production process. In the process of intelligent driving, how to ensure safety during driving has become the core issue of intelligent driving technology.

[0003] The intelligent driving function of a car has high requirements for the vehicle due to its complex system, and requires the design of a complete vehicle redundancy solution. During the intelligent driving process, any failure in the vehicle's braking system, communication, intelligent driving control unit, etc. may cause a safety accident and threaten the personal safety of passengers. Utility Model Content

[0004] An object of the embodiments of the present disclosure is to provide a vehicle redundant control system and a vehicle.

[0005] According to a first aspect of the present disclosure, a vehicle redundant control system is provided, comprising a vehicle control system, a main controller, and a redundant controller for processing vehicle detection or sensing data, wherein both the main controller and the redundant controller are connected to the vehicle control system, and the redundant controller is used to control the vehicle control system in place of the main controller when a failure of the main controller is detected.

[0006] Optionally, the vehicle redundant control system further includes a positioning module, and the positioning module is used to acquire and process vehicle positioning data.

[0007] Optionally, the positioning module includes a first positioning module, and the first positioning module is connected to the main controller.

[0008] The first positioning module is used to obtain first positioning data of the vehicle and transmit the first positioning data to the main controller;

[0009] The main controller is used to process the first positioning data and control the vehicle control system according to the processed first positioning data.

[0010] Optionally, the positioning module further includes a second positioning module, and the second positioning module is connected to the main controller and the redundant controller;

[0011] The main controller is used to transmit the processed first positioning data to the second positioning module;

[0012] The second positioning module is used to obtain the second positioning data of the vehicle, obtain the third positioning data according to the processed first positioning data and the second positioning data, and transmit the third positioning data to the redundant controller. The redundant controller is used to control the vehicle control system according to the third positioning data when the main controller fails.

[0013] Optionally, the vehicle redundant control system further includes a first signal line and a second signal line, wherein the first signal line connects the main controller and the vehicle control system, and the second signal line connects the redundant controller and the vehicle control system.

[0014] Optionally, the vehicle control system includes a first electric power steering control module and a second electric power steering control module, the first electric power steering control module and the second electric power steering control module are connected, the first electric power steering control module is connected to the first signal line, the first electric power steering control module is also connected to the second signal line, the second electric power steering control module is connected to the first signal line, and the second electric power steering control module is also connected to the second signal line.

[0015] Optionally, the second electric power steering control module is used to send first fault information to the main controller and the redundant controller when the first electric power steering control module fails;

[0016] When the first electric power steering control module fails, the execution is switched to the second electric power steering control module;

[0017] The main controller is used to stop controlling the vehicle control system when it is unable to effectively interact with the electric power steering control module; the redundant controller is used to control the vehicle control system instead of the main controller when the main controller is unable to effectively interact with the electric power steering control module.

[0018] Optionally, the first electric power steering control module is used to send second fault information to the main controller when a fault of the second electric power steering control module is detected;

[0019] The main controller is used for continuing to control the first electric power steering control module when receiving the second fault information.

[0020] Optionally, the vehicle control system includes a first braking control module and a second braking control module, the first braking control module is connected to the first signal line, the first braking control module is also connected to the second signal line, the second braking control module is connected to the first signal line, and the second braking control module is also connected to the second signal line.

[0021] Optionally, the first brake control module is used to send third fault information to the main controller when a fault occurs in the first brake control module itself;

[0022] The main controller is used for controlling the second brake control module and stopping controlling the first brake control module when receiving the third fault information.

[0023] Optionally, it is characterized in that the vehicle redundant control system also includes a perception module, and the perception module is used to obtain and process perception information of the vehicle.

[0024] Optionally, the perception module further includes a first perception module and a second perception module, the first perception module is connected to the main controller, and the second perception module is connected to the redundant controller;

[0025] The first sensing module is used to transmit the acquired first sensing information to the main controller, so that the main controller can control the vehicle control system according to the first sensing information;

[0026] The second perception module is used to transmit the acquired second perception information to the redundant controller, so that the redundant controller can control the vehicle control system according to the second perception information.

[0027] Optionally, the first perception module includes at least a camera, and the second perception module includes at least a radar.

[0028] Optionally, the vehicle redundant control system further includes a third sensing module, and the third sensing module is connected to both the main controller and the redundant controller;

[0029] The third perception module is used to transmit the acquired third perception information to the main controller and the redundant controller, so that the main controller and the redundant controller can control the vehicle control system according to the third perception information.

[0030] Optionally, the third perception module includes at least an inertial measurement unit.

[0031] According to a second aspect of the present disclosure, a vehicle is provided, comprising the vehicle redundant control system as described in the first aspect of the present disclosure.

[0032] Through this embodiment, the redundant controller is reused as the redundant controller of the main controller, which can reduce the hardware cost of the vehicle redundant control system while ensuring the redundant function, and can also simplify the control link.

[0033] Other features and advantages of the embodiments of the present disclosure will become apparent from the following detailed description of exemplary embodiments of the present disclosure with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the embodiments of the present disclosure.

[0035] Figure 1 is a block diagram of a vehicle redundant control system according to an embodiment of the present disclosure;

[0036] Figure 2 is a block diagram of a vehicle redundant control system according to an embodiment of the present disclosure;

[0037] Figure 3 is a schematic diagram of a control link according to an embodiment of the present disclosure;

[0038] Figure 4 is a flow chart of a control method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention.

[0040] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0041] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0042] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0043] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0044] <Vehicle Redundant Control System>

[0045] Figure 1 is a block diagram of a vehicle redundant control system according to an embodiment of the present disclosure.

[0046] like Figure 1 As shown, the vehicle redundant control system 1000 may include a vehicle control system 1100, a main controller 1200, and a redundant controller 1300. The main controller 1200 and the redundant controller 1300 are connected, and both the main controller 1200 and the redundant controller 1300 are connected to the vehicle control system 1100.

[0047] The redundant controller 1300 is used to control the vehicle control system instead of the main controller 1200 when a failure of the main controller 1200 is detected.

[0048] When the main controller 1200 is normal, the redundant controller 1300 transmits the processed vehicle detection or sensing data to the main controller 1200, and the main controller 1200 controls the vehicle control system 1100 according to the processed vehicle detection or sensing data.

[0049] When the main controller 1200 fails, the redundant controller 1300 controls the vehicle control system according to the processed vehicle detection or sensing data; and the main controller 1200 stops controlling the vehicle control system.

[0050] Furthermore, when the main controller 1200 fails, the redundant controller 1300 may stop transmitting the processed radar data to the main controller 1200 .

[0051] In this embodiment, the main controller 1200 and the redundant controller 1300 can be connected via a signal line, and transmit heartbeat packets and status signals through the signal line at a set frequency, so that the main controller 1200 and the redundant controller 1300 monitor each other's status based on the heartbeat packets and status signals.

[0052] Through the embodiments of the present disclosure, the redundant controller is reused as the redundant controller of the main controller, which can reduce the hardware cost of the vehicle redundant control system while ensuring the redundant function, and can also simplify the control link.

[0053] In one example, the vehicle control system 1100 may include at least one of a power control system, a body control system, and a chassis control system.

[0054] In one example, the redundant controller 1300 may include any one or more of a radar controller, an image processing controller, a vehicle speed sensing controller, and the like.

[0055] This embodiment reuses the second signal line 1420 connected between the main controller 1200 and the vehicle control system 1100 to connect the redundant controller 1300 and the vehicle control system 1100, which can reduce the hardware cost of the vehicle redundant control system without increasing the construction cost of the main communication signal line and ensuring the redundant function.

[0056] In one embodiment of the present disclosure, the vehicle redundant control system 1000 may include a positioning module, and the positioning module is used to obtain and process the positioning data of the vehicle.

[0057] In one embodiment of the present disclosure, Figure 2 As shown, the positioning module includes a first positioning module 1510 , which is connected to the main controller 1200 . The first positioning module 1510 is used to obtain first positioning data of the vehicle and transmit the first positioning data to the main controller 1200 .

[0058] The main controller 1200 is used to process the first positioning data, and control the vehicle control system 1100 according to the processed first positioning data.

[0059] In one embodiment, the first positioning module 1510 may include a first GPS module and a camera.

[0060] In one embodiment of the present disclosure, Figure 2 As shown, the positioning module also includes a second positioning module 1520 , and the second positioning module 1520 is connected to the main controller 1200 and the redundant controller 1300 .

[0061] The main controller 1200 is used to transmit the processed first positioning data to the second positioning module 1520 .

[0062] The second positioning module 1520 is used to obtain second positioning data of the vehicle, obtain third positioning data of the vehicle according to the processed first positioning data and second positioning data, and transmit the third positioning data to the redundant controller 1300 .

[0063] The redundant controller 1300 is used to control the vehicle control system 1100 according to the third positioning data when the main controller 1200 fails.

[0064] In one embodiment, the second positioning module 1520 may include a second GPS module and a map module.

[0065] In this embodiment, when the main controller 1200 fails, the main controller 1200 can no longer process the first positioning data, nor can it transmit the processed first positioning data to the second positioning module 1520. Since the computing power of the redundant controller 1300 is lower than that of the main controller 1200, the redundant controller 1300 may not be able to process the first positioning data, and therefore, the redundant controller 1300 no longer controls the vehicle control system 1100 according to the first positioning data.

[0066] Furthermore, the second positioning module 1520 obtains the third positioning data of the vehicle according to the processed first positioning data and the second positioning data received last, so that the third positioning data can be more accurate, thereby being able to control the vehicle control system 1100 more accurately.

[0067] In one embodiment of the present disclosure, Figure 2 As shown, the vehicle redundant control system 1000 further includes a first signal line 1410 and a second signal line 1420 connecting the main controller 1200 and the vehicle control system 1100 , and the redundant controller 1300 is connected to the second signal line 1410 .

[0068] In one embodiment, the first signal line and the second signal line may both be CAN buses.

[0069] In one embodiment of the present disclosure, Figure 2 As shown, the vehicle control system 1100 may include a first electric power steering control module 1111 and a second electric power steering control module 1112. The first electric power steering control module 1111 and the second electric power steering control module 1112 are included in the electric power steering control module 1110. The first electric power steering control module 1111 and the second electric power steering control module 1112 are connected. The first electric power steering control module 1111 is also connected to the first signal line 1410 and the second signal line 1420. The second electric power steering control module 1112 is also connected to the first signal line 1410 and the second signal line 1420.

[0070] The vehicle control system 1100 further includes a first brake control module 1121 and a second brake control module 1122 . The first brake control module 1121 is connected to the first signal line 1410 and the second signal line 1420 . The second brake control module 1122 is connected to the first signal line 1410 and the second signal line 1420 .

[0071] In this embodiment, the main controller 1200, the electric power steering control module 1110, and the first brake control module 1121 form a first control link, which can be specifically as follows: Figure 3The main controller 1200 and the electric power steering control module 1110, the second brake control module 1122 constitute a second control link, which may be as follows Figure 3 The redundant controller 1300 and the electric power steering control module 1110, the first brake control module 1121 constitute a third control link, which may be as follows Figure 3 The dotted lines show.

[0072] When the main controller 1200, the first electric power steering control module 1111 and the first braking control module 1121 are all normal, the main controller 1200 controls the vehicle control system 1100. Specifically, the main controller 1200 controls the first electric power steering control module 1111 and the first braking control module 1121 through the first control link.

[0073] When a fault occurs in the first electric power steering control module 1111 , the second electric power steering control module 1112 sends first fault information to the main controller 1200 and the redundant controller 1300 .

[0074] When the first electric power steering control module 1111 fails, execution is switched to the second electric power steering control module 1112 .

[0075] The main controller 1200 is used to stop controlling the vehicle control system when it cannot effectively interact with the electric power steering control module 1100; the redundant controller 1300 is used to control the vehicle control system 1100 instead of the main controller 1200 when the main controller 1200 cannot effectively interact with the electric power steering control module 1100.

[0076] In one example, when the main controller 1200 receives the first fault information, it may stop controlling the vehicle control system 1100. When the redundant controller 1300 receives the first fault information, it controls the vehicle control system 1100 instead of the main controller 1200. Specifically, when the redundant controller 1300 receives the first fault information, it controls the second electric power steering control module 1112 and the first brake control module 1121 through the third control link.

[0077] In the case where the second electric power steering control module 1112 fails, the first electric power steering control module 1111 sends a second fault message to the main controller 1200. Upon receiving the second fault message, the main controller 1200 continues to control the vehicle control system 1100. Specifically, upon receiving the second fault message, the main controller 1200 controls the first electric power steering control module 1111 and the first brake control module 1121 through the first control link, or controls the first electric power steering control module 1111 and the second brake control module 1122 through the second control link.

[0078] Further, the first brake control module 1121 and the second brake control module 1122 can each detect their own status and send their own status to the main controller 1200 and the redundant controller 1300. Specifically, the first brake control module 1121 can send third fault information to the main controller 1200 and the redundant controller 1300 in the event of a fault, and the second brake control module 1122 can send fourth fault information to the main controller 1200 and the redundant controller 1300 in the event of a fault.

[0079] Furthermore, when the main controller 1200 has not received the third fault information and the fourth fault information, it controls the first electric power steering control module 1111 and the first braking control module 1121 through the first control link; when the third fault information is received, it controls the first electric power steering control module 1111 and the second braking control module 1122 through the second control link; when the fourth fault information is received, it controls the first electric power steering control module 1111 and the first braking control module 1121 through the first control link.

[0080] In this embodiment, a redundant control system can be implemented with a redundant solution including at least three control links by changing the actuator / controller strategy, and a corresponding link redundancy implementation plan can be formulated to cope with different fault conditions and driving risk levels of the system to ensure driving safety.

[0081] In one embodiment of the present disclosure, the vehicle redundant control system 1000 further includes a perception module, which is used to acquire and process perception information of the vehicle.

[0082] In one embodiment of the present disclosure, Figure 2As shown, the perception module includes a first perception module 1610, a second perception module 1620, and a third perception module 1630. The first perception module 1610 is connected to the main controller 1200, the second perception module 1620 is connected to the redundant controller 1300, and the third perception module 1630 is connected to both the main controller 1200 and the redundant controller 1300.

[0083] The first perception module 1610 is used to transmit the acquired first perception information to the main controller 1200, so that the main controller 1200 can control the vehicle control system 1100 according to the first perception information.

[0084] The second perception module 1620 is used to transmit the acquired second perception information to the redundant controller 1300, so that the redundant controller 1300 can control the vehicle control system 1100 according to the second perception information.

[0085] The third perception module 1630 is used to transmit the acquired third perception information to the main controller 1200 and the redundant controller 1300, so that the main controller 1200 and the redundant controller 1300 can control the vehicle control system 1100 according to the third perception information.

[0086] In one example, the first perception module 1610 includes at least a camera, the second perception module 1620 includes at least a radar such as an ultrasonic radar or a millimeter wave radar, and the third perception module 1630 includes at least an inertial measurement unit.

[0087] Furthermore, the third sensing module 1630 may be connected to the second signal line 1420 , and connected to both the main controller 1200 and the redundant controller 1300 through the second signal line 1420 .

[0088] In the control link of the vehicle redundant control system, Figure 3 In the case shown, the control method of the control link can be as follows Figure 4As shown, it includes: when the first control link is normal, that is, when the main controller 1200, the first electric power steering control module 1111, and the first brake control module 1121 are all normal, the main controller 1200 controls the first electric power steering control module 1111 and the first brake control module 1121 through the first control link; when the first control link fails, that is, when the first brake control module 1121 fails, the main controller 1200 controls the first electric power steering control module 1111 and the second brake control module 1122 through the second control link; when the main controller 1200 fails, or the first control link and the second control link both fail, that is, when the first electric power steering control module 1111 fails, or when the main controller 1200 fails, or when the first brake control module 1121 and the second brake control module 1122 both fail, the redundant controller 1300 controls the second electric power steering control module 1112 and the first brake control module 1121 through the third control link.

[0089] <Vehicle>

[0090] The present disclosure also provides a vehicle, which may include the vehicle redundant control system described in the aforementioned embodiment.

[0091] The above embodiments mainly focus on describing the differences from other embodiments, but it should be clear to those skilled in the art that the above embodiments can be used alone or in combination with each other as needed.

[0092] Although some specific embodiments of the present disclosure have been described in detail by way of examples, it should be understood by those skilled in the art that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. It should be understood by those skilled in the art that the above embodiments may be modified without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A vehicle redundant control system, characterized in that: It includes a vehicle control system, a main controller, and a redundant controller for processing vehicle detection or sensing data. The main controller and the redundant controller are both connected to the vehicle control system. The redundant controller is used to control the vehicle control system instead of the main controller when a failure of the main controller is detected.

2. The vehicle redundant control system according to claim 1, characterized in that: The vehicle redundant control system further comprises a positioning module, and the positioning module is used for acquiring and processing the positioning data of the vehicle.

3. The vehicle redundant control system according to claim 2, characterized in that: The positioning module includes a first positioning module, and the first positioning module is connected to the main controller. The first positioning module is used to obtain first positioning data of the vehicle and transmit the first positioning data to the main controller; The main controller is used to process the first positioning data and control the vehicle control system according to the processed first positioning data.

4. The vehicle redundant control system according to claim 3, characterized in that: The positioning module also includes a second positioning module, and the second positioning module is connected to the main controller and the redundant controller; The main controller is used to transmit the processed first positioning data to the second positioning module; The second positioning module is used to obtain the second positioning data of the vehicle, obtain the third positioning data according to the processed first positioning data and the second positioning data, and transmit the third positioning data to the redundant controller. The redundant controller is used to control the vehicle control system according to the third positioning data when the main controller fails.

5. The vehicle redundant control system according to claim 1, characterized in that: The vehicle redundant control system further includes a first signal line and a second signal line, wherein the first signal line connects the main controller and the vehicle control system, and the second signal line connects the redundant controller and the vehicle control system.

6. The vehicle redundant control system according to claim 5, characterized in that: The vehicle control system includes a first electric power steering control module and a second electric power steering control module, the first electric power steering control module and the second electric power steering control module are connected, the first electric power steering control module is connected to the first signal line, the first electric power steering control module is also connected to the second signal line, the second electric power steering control module is connected to the first signal line, and the second electric power steering control module is also connected to the second signal line.

7. The vehicle redundant control system according to claim 6, characterized in that: The second electric power steering control module is used for sending first fault information to the main controller and the redundant controller when the first electric power steering control module fails; When the first electric power steering control module fails, the execution is switched to the second electric power steering control module; The main controller is used to stop controlling the vehicle control system when it cannot effectively interact with the electric power steering control module; the redundant controller is used to control the vehicle control system instead of the main controller when the main controller cannot effectively interact with the electric power steering control module.

8. The vehicle redundant control system according to claim 7, characterized in that: The first electric power steering control module is used for sending second fault information to the main controller when a fault of the second electric power steering control module is detected; The main controller is used for continuing to control the first electric power steering control module when receiving the second fault information.

9. The vehicle redundant control system according to claim 5, characterized in that: The vehicle control system includes a first brake control module and a second brake control module, the first brake control module is connected to the first signal line, the first brake control module is also connected to the second signal line, the second brake control module is connected to the first signal line, and the second brake control module is also connected to the second signal line.

10. The vehicle redundant control system according to claim 9, characterized in that: The first brake control module is used to send third fault information to the main controller when a fault occurs to the first brake control module; The main controller is used for controlling the second brake control module and stopping controlling the first brake control module when receiving the third fault information.

11. The vehicle redundant control system according to any one of claims 1 to 10, characterized in that: The vehicle redundant control system further includes a perception module, which is used to acquire and process perception information of the vehicle.

12. The vehicle redundant control system according to claim 11, characterized in that: The sensing module further comprises a first sensing module and a second sensing module, wherein the first sensing module is connected to the main controller, and the second sensing module is connected to the redundant controller; The first sensing module is used to transmit the acquired first sensing information to the main controller, so that the main controller can control the vehicle control system according to the first sensing information; The second perception module is used to transmit the acquired second perception information to the redundant controller, so that the redundant controller can control the vehicle control system according to the second perception information.

13. The vehicle redundant control system according to claim 12, characterized in that: The first perception module includes at least a camera, and the second perception module includes at least a radar.

14. The vehicle redundant control system according to claim 11, characterized in that: The vehicle redundant control system further includes a third sensing module, and the third sensing module is connected to both the main controller and the redundant controller; The third perception module is used to transmit the acquired third perception information to the main controller and the redundant controller, so that the main controller and the redundant controller can control the vehicle control system according to the third perception information.

15. The vehicle redundant control system according to claim 14, characterized in that: The third perception module includes at least an inertial measurement unit.

16. A vehicle, characterized in that: The vehicle comprises a redundant vehicle control system as claimed in any one of claims 1 to 15.

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