Redundant power supply system applied to automatic driving vehicle and vehicle

Abstract

The utility model provides a redundant power supply system applied to an automatic driving vehicle and the vehicle. The redundant power supply system comprises a micro-control unit; the first input end of the first level holding unit is electrically connected with the first output end of the micro-control unit, and the first input end of the second level holding unit is electrically connected with the second output end of the micro-control unit; the fault detection unit is electrically connected with the micro-control unit, a first output end of the fault detection unit is electrically connected with a second input end of the first level holding unit, and a second output end of the fault detection unit is electrically connected with a second input end of the second level holding unit; the switch unit is electrically connected with the level holding unit and the load; the main power supply circuit is electrically connected with the first level holding unit, the fault detection unit and the switch unit; the auxiliary power supply circuit is electrically connected with the second level holding unit, the fault detection unit and the switch unit. The problem that in the prior art, when a micro-control unit breaks down, a load controlled by the micro-control unit enters an uncertain state, and driving safety is affected is solved.

Description

Technical Field

[0001] This application relates to the field of automotive electronics technology, and more specifically, to a redundant power supply system and vehicle used in autonomous vehicles. Background Technology

[0002] The existing technical solution has only one power supply. Although this method is simple in architecture and easy to implement, the functional safety level of this solution is low. If the power supply path of the domain controller fails, such as the battery is depleted or the power supply line is disconnected, the entire autonomous driving system will be unable to work due to the loss of power supply. This is an unacceptable serious failure for fully driverless autonomous vehicles.

[0003] Furthermore, in existing technologies, a domain controller typically has only one MCU (Microcontroller Unit). This is not only due to cost considerations (generally, the MCU is the most expensive chip in the entire domain controller), but also because for a domain controller with only one power supply, one MCU per power supply is the easiest to implement. However, this also brings a problem: if the MCU fails, all loads controlled by the MCU will be affected. For example, when the MCU software experiences a logic error or other fault, the MCU will enter an undefined state. At this time, the MCU's output state is unknown, and the loads controlled by the MCU will also enter an uncertain state. This is also an unacceptable and serious fault for autonomous vehicles. Utility Model Content

[0004] The main objective of this application is to provide a redundant power supply system for use in autonomous vehicles, in order to solve the problem in the prior art that when the MCU software malfunctions, such as a logic error, the load controlled by the MCU will also enter an uncertain state, affecting driving safety.

[0005] To achieve the above objectives, according to one aspect of this application, a redundant power supply system for use in an autonomous vehicle is provided, comprising: a microcontroller unit having a first output terminal and a second output terminal, the first output terminal being used to output a control signal indicating whether a first system load is operating, and the second output terminal being used to output a control signal indicating whether a second system load is operating, wherein the first system load and the second system load are redundant; a level holding unit including a first level holding unit and a second level holding unit, wherein a first input terminal of the first level holding unit is electrically connected to a first output terminal of the microcontroller unit, and a first input terminal of the second level holding unit is electrically connected to a second output terminal of the microcontroller unit; and a fault detection unit electrically connected to the microcontroller unit for monitoring the status of the microcontroller unit. The first output terminal of the unit is electrically connected to the second input terminal of the first level holding unit, and the second output terminal of the fault detection unit is electrically connected to the second input terminal of the second level holding unit; the input terminal of the switching unit is electrically connected to the output terminal of the level holding unit, and the output terminal of the switching unit is used to connect to the load; the main power supply circuit is electrically connected to the first level holding unit, the fault detection unit, and the switching unit respectively, and the main power supply circuit uses the original vehicle power supply to power the first level holding unit, the fault detection unit, and the switching unit; the auxiliary power supply circuit is electrically connected to the second level holding unit, the fault detection unit, and the switching unit respectively, and uses an additional power supply to power the second level holding unit, the fault detection unit, and the switching unit.

[0006] Optionally, the level holding unit includes: a D flip-flop, the data input terminal of which is connected to the output terminal of the microcontroller unit, the clock input terminal of which is connected to the output terminal of the fault detection unit, and the output terminal of which is connected to the input terminal of the switching unit.

[0007] Optionally, the level holding unit includes: a JK flip-flop, the J input of which is connected to the output of the microcontroller unit, the K input of which is connected to the output of the fault detection unit, and the output of which is connected to the input of the switching unit.

[0008] Optionally, the fault detection unit includes a watchdog timer, a voltage detection chip, a power management IC, and a temperature detection chip.

[0009] Optionally, the microcontroller unit includes multiple processing cores, with the tasks of the first system load and the second system load running on different processing cores.

[0010] Optionally, the level holding unit is a gate circuit module or a transistor module.

[0011] Optionally, the transistor module includes a plurality of electrically connected transistors.

[0012] Optionally, the fault detection unit includes an input module, a detection module, and an output module. The input module is used to input the operating signal of the microcontroller unit, the detection module is used to detect the operating signal, and the output module is used to output the fault signal of the microcontroller unit.

[0013] To achieve the above objectives, according to one aspect of this application, a vehicle is provided, comprising: a redundant power supply system for any of the aforementioned autonomous driving vehicles, a first system load, a second system load, a source power supply, and an additional power supply.

[0014] Optionally, both the first system load and the second system load include the vehicle cooling system load, the vehicle monitoring system load, the vehicle interior and exterior interaction system load, and the vehicle sensor system load.

[0015] The technical solution of this application aims to overcome the low functional safety level caused by a single power supply and a single microcontroller unit in existing technologies. By introducing redundant batteries and rationally distributing the load of the autonomous driving system to the main and auxiliary power supply systems, even if one of the power supplies or its controlled microcontroller unit fails, the system can still maintain the operation of critical functions, ensuring safe driving of the autonomous vehicle in the event of an emergency. Furthermore, by setting a level-holding unit between the microcontroller unit and the switching unit, this application ensures that the state of the switching unit remains unchanged even if the microcontroller unit restarts due to a fault, avoiding the impact of microcontroller unit failure on the load and further improving the stability and safety of the system. Therefore, this application not only improves the reliability of autonomous vehicles but also effectively reduces system costs, possessing significant practical application value and broad market prospects. It also addresses the problem in existing technologies where, when MCU software malfunctions with logical errors or other faults, the load controlled by the MCU also enters an uncertain state, affecting driving safety. Attached Figure Description

[0016] The accompanying drawings, which form part of this application, are used to provide a further understanding of this application. The illustrative embodiments and descriptions of this application are used to explain this application and do not constitute an undue limitation of this application. In the drawings:

[0017] Figure 1 A schematic diagram of a redundant power supply system for use in an autonomous vehicle, provided in an embodiment of the present invention, is shown.

[0018] Figure 2A schematic diagram of the circuit connection structure of the first level holding unit provided in an embodiment of the present invention is shown.

[0019] The above figures include the following reference numerals:

[0020] 10. Microcontroller unit; 20. Level holding unit; 21. First level holding unit; 22. Second level holding unit; 30. Fault detection unit; 40. Switching unit; 50. First system load; 60. Second system load; 70. Main power supply circuit; 80. Auxiliary power supply circuit; 90. Original vehicle power supply; 100. Added power supply. Detailed Implementation

[0021] It should be noted that, where there is no conflict, the embodiments and features in the embodiments of this utility model can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.

[0023] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of the utility model described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0024] As described in the background section, existing technologies rely on the GPIO output state of the MCU to determine the load's operating state, which poses a safety hazard in the event of an MCU failure. To address this safety hazard caused by the MCU's GPIO output state determining the load's operating state, embodiments of this invention provide a load state maintenance circuit and a vehicle.

[0025] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention.

[0026] Figure 1 This is a schematic diagram of a redundant power supply system applied to an autonomous vehicle according to an embodiment of the present invention, as shown below. Figure 1 As shown, this embodiment provides a redundant power supply system for use in autonomous vehicles, including:

[0027] The microcontroller unit 10 has a first output terminal and a second output terminal. The first output terminal is used to output a control signal for whether the first system load 50 is working, and the second output terminal is used to output a control signal for whether the second system load 60 is working. The first system load 50 and the second system load 60 are redundant.

[0028] Specifically, the load of the autonomous driving system is rationally divided and distributed across the primary and secondary systems, resulting in the first system load and the second system load. For example, if a vehicle has four radars located on the left and right sides, two can be designated as the first system load, powered by the original vehicle power supply, while the other two are designated as the second system load, powered by an aftermarket power supply. Under normal circumstances, all four radars operate simultaneously, allowing the autonomous vehicle to run at high performance. If any power supply fails, such as a power cord malfunction, the remaining power supply and the radar it controls can still function normally, allowing the vehicle to continue safe operation using the remaining radar. Another example: when an autonomous vehicle malfunctions, it will alert other vehicles by activating hazard lights, rear window warning lights, and issuing voice announcements. The hazard lights and voice announcements can be designated as the first system load, and the warning lights as the second system load. In this scenario, if the vehicle experiences a software or other load failure, all warning devices will remain operational. In extreme cases, even if any power supply fails, at least one warning device will still function.

[0029] The level holding unit 20 includes a first level holding unit 21 and a second level holding unit 22. The first input terminal of the first level holding unit 21 is electrically connected to the first output terminal of the microcontroller unit 10, and the first input terminal of the second level holding unit 22 is electrically connected to the second output terminal of the microcontroller unit 10.

[0030] like Figure 2 As shown, by setting a first level holding unit 21 between the microcontroller unit 10 and the switching unit 40, even if the microcontroller unit 10 restarts due to a fault, the state of the switching unit 40 can be ensured to remain unchanged, thus avoiding the impact of the microcontroller unit fault on the first system load 50 and further improving the stability and security of the system.

[0031] The fault detection unit 30 is electrically connected to the microcontroller unit 10 and is used to monitor the status of the microcontroller unit 10. The first output terminal of the fault detection unit 30 is electrically connected to the second input terminal of the first level holding unit 21, and the second output terminal of the fault detection unit 30 is electrically connected to the second input terminal of the second level holding unit 22.

[0032] The introduction of fault detection units, such as watchdog timers, voltage detection chips, power management ICs, and temperature detection chips, can comprehensively monitor the operating status of the microcontroller unit. Once an abnormality is detected, the system immediately switches to the backup system load through the level holding unit to ensure the uninterrupted operation of critical systems.

[0033] The input terminal of the switching unit 40 is electrically connected to the output terminal of the level holding unit 20, and the output terminal of the switching unit 40 is used to be electrically connected to the load.

[0034] Specifically, a level-holding unit is added between the enable signal output by the microcontroller unit (MCU) and the enable signal of the switching unit. This level-holding unit ensures that when the MCU malfunctions (including hardware failures such as power supply failures or software failures such as logic errors), the state of the load switch controlled by the MCU will not change due to the change in the MCU state, but will maintain the state output by the MCU before the failure. A specific implementation scheme can use a trigger, taking the enable signal output by the MCU as the input signal, and the fault detection unit outputting a fault flag signal (e.g., error signal, watchdog signal, reset signal, etc.) as the trigger signal. The trigger output signal serves as the electronic switch enable signal. When the fault flag signal is 0, the electronic switch enable signal is equal to the enable signal output by the MCU; when the fault flag signal is 1, the electronic switch enable signal is equal to the enable signal output by the MCU before the failure.

[0035] The main power supply circuit 70 is electrically connected to the first level holding unit 21, the fault detection unit 30 and the switching unit 40 respectively. The main power supply circuit 70 uses the original vehicle power supply 90 to supply power to the first level holding unit 21, the fault detection unit 30 and the switching unit 40.

[0036] The auxiliary power supply circuit 80 is electrically connected to the second level holding unit 22, the fault detection unit 30 and the switching unit 40 respectively, and the auxiliary power supply circuit 80 is used to supply power to the second level holding unit 22, the fault detection unit 30 and the switching unit 40.

[0037] This application adds an auxiliary power supply, using two power supplies. Functionally similar loads are rationally distributed across the main and auxiliary power supply circuits powered by the two power supplies, with redundancy between the loads in the main and auxiliary systems. This ensures that if one or more devices in the main or auxiliary system fail, the redundant portion of the other system with similar functions can continue to operate, supporting the continued normal operation of the entire autonomous driving system. The setup of the main and auxiliary power supply circuits, through the dual protection of the original vehicle power supply and the added power supply, solves the problem of system failure that could result from a single power supply failure.

[0038] This invention introduces redundant batteries and rationally distributes the load of the autonomous driving system to the main and auxiliary power supply systems. Even if one power supply or its controlled microcontroller unit fails, the system can still maintain the operation of critical functions, ensuring safe driving of the autonomous vehicle in unexpected situations. Furthermore, by setting a level-holding unit between the microcontroller unit and the switching unit, this application ensures that even if the microcontroller unit restarts due to a fault, the state of the switching unit remains unchanged, preventing the load from being affected by the microcontroller unit's failure and further improving the system's stability and safety. Therefore, this application not only improves the reliability of autonomous vehicles but also effectively reduces system costs, possessing significant practical application value and broad market prospects. It also addresses the problem in existing technologies where, when MCU software malfunctions with logical errors or other faults, the load controlled by the MCU also enters an uncertain state, affecting driving safety.

[0039] By coordinating the microcontroller unit, level holding unit, fault detection unit, switching unit, and main and auxiliary power supply circuits, high reliability and safety are achieved in the power supply system for autonomous vehicles. The microcontroller unit, as the core, can control the operating status of the first and second system loads in real time, while the level holding unit ensures stable output of control signals, maintaining the continuity of control commands even during power fluctuations or changes in the microcontroller unit's state. Through the combination of these technical features, this application not only improves the stability of the power supply system but also enhances its intelligent response capability, playing a crucial role in ensuring the safe operation of autonomous vehicles.

[0040] In some instances, the aforementioned level-holding unit includes: a D flip-flop, the data input of which is connected to the output of the microcontroller unit, the clock input of which is connected to the output of the fault detection unit, and the output of which is connected to the input of the switching unit.

[0041] Specifically, a D flip-flop is used as the level-holding unit. Its data input receives control signals from the microcontroller unit, while its clock input is triggered by a signal from the fault detection unit. This ensures that when the fault detection unit detects an anomaly in the microcontroller unit, it can promptly lock the current control state, preventing control signal confusion during switching and thus guaranteeing stable system operation. This application of D flip-flops is not limited to autonomous vehicles but can also be widely used in various electronic systems requiring high reliability and fast response, such as industrial automation and medical equipment, to improve overall system performance and safety.

[0042] In some instances, the aforementioned level-holding unit includes: a JK flip-flop, the J input of which is connected to the output of the microcontroller unit, the K input of which is connected to the output of the fault detection unit, and the output of which is connected to the input of the switching unit.

[0043] Specifically, the JK flip-flop, as another implementation of a level-holding unit, receives control signals from the microcontroller and fault signals from the fault detection unit at its J and K inputs, respectively. Through the flexible control characteristics of the JK flip-flop, precise control of the system load can be achieved based on different combinations of input signals. This design not only improves the system's response speed but also enhances its fault handling capabilities, ensuring stable system operation under any circumstances. Applications of the JK flip-flop include, but are not limited to, power supply systems for autonomous vehicles. It can also play a crucial role in scenarios requiring redundant control and fault switching, such as aerospace avionics and data center servers, to improve system reliability and security.

[0044] In some instances, the aforementioned fault detection unit includes a watchdog timer, a voltage detection chip, a power management IC, and a temperature detection chip.

[0045] Specifically, the fault detection unit consists of a watchdog timer, a voltage detection chip, a power management IC, and a temperature detection chip. These components comprehensively monitor the operating status of the microcontroller unit, including but not limited to running time, voltage level, power management status, and operating temperature. Through these detections, the fault detection unit can promptly identify any anomalies that may occur in the microcontroller unit, such as software malfunctions, voltage fluctuations, power failures, or overheating, and thus react quickly by switching to the backup power supply system to ensure the normal operation of critical systems. This comprehensive fault detection mechanism not only improves the system's fault response speed but also enhances its self-protection capabilities, which is crucial for the safe operation of autonomous vehicles.

[0046] In some instances, the microcontroller unit includes multiple processing cores, with the tasks of the first system load and the second system load running on different processing cores.

[0047] Specifically, this application employs a microcontroller unit (MCU) with a multi-core architecture. The tasks controlling the first and second system loads run on different processing cores, enabling simultaneous processing of multiple tasks. This reduces costs and decouples the software of the first and second system loads, ensuring that a software error in one load does not affect the other, thus guaranteeing their independence and redundancy. Furthermore, the separate processing cores for the first and second system loads not only prevent interference between tasks but also ensure that if one core fails, the others can continue operating, maintaining normal system operation.

[0048] In some instances, the aforementioned level-holding unit is a gate circuit module or a transistor module.

[0049] The level holding unit can also be constructed using an SR latch (Set-Reset latch) to create a simple level holding module. An SR latch consists of two cross-connected NAND or NOR gates, with two inputs: Set and Reset, and two outputs: Q (status output) and Q' (inverted status output). When no set or reset signal is received, the SR latch maintains its current state; this is its level holding function.

[0050] In some instances, the transistor module described above includes multiple electrically connected transistors.

[0051] For example, a bistable circuit composed of NPN and PNP transistors can be designed as a level-holding unit to maintain the state through a positive feedback mechanism. When the MCU is working normally, the load is controlled by the transistors; once the MCU fails, the positive feedback mechanism locks the transistors in the current state, thereby maintaining the working state of the load.

[0052] In some examples, the aforementioned fault detection unit includes an input module, a detection module, and an output module. The input module is used to input the operating signals of the microcontroller unit, the detection module is used to detect the operating signals, and the output module is used to output the fault signals of the microcontroller unit. The detection module can be a watchdog timer, a voltage detection chip, a temperature detection chip, and a power management IC. The watchdog timer can be selected from Microchip MCP134, TI LM3925, or NXP PCW3101; the voltage detection chip can be selected from TI TPS62160 or Maxim MAX812; the temperature detection chip can be selected from TI TMP117 or ADI ADT7410; and the power management IC can be selected from NXP MC33926.

[0053] This utility model also provides a vehicle, including: a redundant power supply system, a first system load, a second system load, an original vehicle power supply, and an additional power supply for any of the above-mentioned autonomous driving vehicles.

[0054] In some instances, the aforementioned first system load and the aforementioned second system load both include the vehicle cooling system load, the vehicle monitoring system load, the vehicle interior and exterior interaction system load, and the vehicle sensor system load.

[0055] Specifically, the redundant design of the first and second system loads ensures that the operation of critical systems such as the vehicle's cooling system, vehicle monitoring system, in-vehicle and out-of-vehicle interaction system, and vehicle sensor system will not be interrupted due to the failure of a single component. This design not only improves system redundancy but also enhances the system's fault recovery capability, ensuring that autonomous vehicles can maintain stable operation and protect passenger safety when facing complex environments and emergencies. The redundant design of system loads is not only applicable to the systems listed above but can also include, but is not limited to, the vehicle's powertrain system, braking system, and navigation system, to comprehensively improve vehicle safety and reliability.

[0056] As can be seen from the above description, the embodiments of this application achieve the following technical effects:

[0057] The redundant power supply system of this utility model applied to autonomous vehicles includes: a microcontroller unit having a first output terminal and a second output terminal, the first output terminal being used to output a control signal indicating whether a first system load is working, and the second output terminal being used to output a control signal indicating whether a second system load is working, wherein the first system load and the second system load are redundant; a level holding unit including a first level holding unit and a second level holding unit, wherein a first input terminal of the first level holding unit is electrically connected to a first output terminal of the microcontroller unit, and a first input terminal of the second level holding unit is electrically connected to a second output terminal of the microcontroller unit; and a fault detection unit electrically connected to the microcontroller unit for monitoring the status of the microcontroller unit. The first output terminal of the first level holding unit is electrically connected to the second input terminal of the second level holding unit, and the second output terminal of the fault detection unit is electrically connected to the second input terminal of the second level holding unit. A switching unit has its input terminal electrically connected to the output terminal of the level holding unit, and its output terminal is used for electrical connection to the load. A main power supply circuit is electrically connected to the first level holding unit, the fault detection unit, and the switching unit, respectively, and uses the original vehicle power supply to power these units. An auxiliary power supply circuit is electrically connected to the second level holding unit, the fault detection unit, and the switching unit, respectively, and uses an additional power supply to power these units. By introducing redundant batteries and rationally distributing the load of the autonomous driving system to the main and auxiliary power supply systems, even if one of the power supplies or its controlled microcontroller unit fails, the system can still maintain the operation of critical functions, ensuring safe driving of the autonomous vehicle in the event of an emergency. Furthermore, by setting a level holding unit between the microcontroller unit and the switching unit, this application ensures that even if the microcontroller unit restarts due to a fault, the state of the switching unit remains unchanged, avoiding the load being affected by the microcontroller unit's failure, further improving the system's stability and safety. Therefore, this application not only improves the reliability of autonomous vehicles but also effectively reduces system costs, possessing significant practical application value and broad market prospects. It also addresses the problem in existing technologies where, when MCU software malfunctions with logical errors or other faults, the load controlled by the MCU also enters an uncertain state, affecting driving safety.

[0058] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A redundant power supply system for use in autonomous vehicles, characterized in that, include: The microcontroller has a first output terminal and a second output terminal. The first output terminal is used to output a control signal for whether a first system load is working, and the second output terminal is used to output a control signal for whether a second system load is working. The first system load and the second system load are redundant. The level holding unit includes a first level holding unit and a second level holding unit. The first input terminal of the first level holding unit is electrically connected to the first output terminal of the microcontroller unit, and the first input terminal of the second level holding unit is electrically connected to the second output terminal of the microcontroller unit. A fault detection unit is electrically connected to the microcontroller unit and is used to monitor the status of the microcontroller unit. The first output terminal of the fault detection unit is electrically connected to the second input terminal of the first level holding unit, and the second output terminal of the fault detection unit is electrically connected to the second input terminal of the second level holding unit. A switching unit, wherein the input terminal of the switching unit is electrically connected to the output terminal of the level holding unit, and the output terminal of the switching unit is used for electrical connection with the load; The main power supply circuit is electrically connected to the first level holding unit, the fault detection unit and the switching unit respectively. The main power supply circuit uses the original vehicle power supply to power the first level holding unit, the fault detection unit and the switching unit. An auxiliary power supply circuit is electrically connected to the second level holding unit, the fault detection unit, and the switching unit, respectively, and an additional power supply is used to power the second level holding unit, the fault detection unit, and the switching unit.

2. The redundant power supply system for autonomous vehicles according to claim 1, characterized in that, The level holding unit includes: The D flip-flop has its data input connected to the output of the microcontroller unit, its clock input connected to the output of the fault detection unit, and its output connected to the input of the switching unit.

3. The redundant power supply system for autonomous vehicles according to claim 1, characterized in that, The level holding unit includes: The JK trigger has its J input connected to the output of the microcontroller unit, its K input connected to the output of the fault detection unit, and its output connected to the input of the switching unit.

4. The redundant power supply system for autonomous vehicles according to claim 1, characterized in that, The fault detection unit includes a watchdog timer, a voltage detection chip, a power management IC, and a temperature detection chip.

5. The redundant power supply system for use in autonomous vehicles according to claim 1, characterized in that, The microcontroller unit includes multiple processing cores, and the tasks of the first system load and the second system load run on different processing cores.

6. The redundant power supply system for use in autonomous vehicles according to claim 1, characterized in that, The level holding unit is a gate circuit module or a transistor module.

7. The redundant power supply system for use in autonomous vehicles according to claim 6, characterized in that, The transistor module includes multiple electrically connected transistors.

8. The redundant power supply system for use in autonomous vehicles according to claim 1, characterized in that, The fault detection unit includes an input module, a detection module, and an output module. The input module is used to input the operating signal of the microcontroller unit, the detection module is used to detect the operating signal, and the output module is used to output the fault signal of the microcontroller unit.

9. A vehicle, characterized in that, include: The redundant power supply system, first system load, second system load, original vehicle power supply and additional power supply on the autonomous vehicle according to any one of claims 1 to 8.

10. The vehicle according to claim 9, characterized in that, Both the first system load and the second system load include the vehicle cooling system load, the vehicle monitoring system load, the vehicle interior and exterior interaction system load, and the vehicle sensor system load.

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