Autonomous Vehicle Control Arbitration for Planning and Safety
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Solution Overview
Problem
The current control system architecture for intelligent network vehicles is too simple and has overly rigid redundancy, failing to meet the safety requirements for independent driving, leading to increased driving risks.
Innovation Solution
A control system for intelligent network vehicles that includes a planning and control module, a safety control module, a function assessment module, a risk assessment module, and a logic arbitration module, which determines vehicle execution information by arbitrating between planning and safety control information based on the working status of assessment modules, enhancing the accuracy of control instructions and reducing driving risks.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a traditional control system architecture is used, then the system structure is simple, but the safety control capability is insufficient and driving risk increases
Solution Approach 1:
The control system is segmented into multiple independent modules including planning and control module, safety control module, function assessment module, risk assessment module, and logic arbitration module. Each module has specific safety functions and can operate independently, improving overall safety capability while maintaining manageable system complexity through modular design.
Solution Approach 2:
The logic arbitration module serves as an intermediary that receives control information from both planning and safety control modules, assesses risks through dedicated assessment modules, and arbitrates the final control commands. This intermediary structure enables comprehensive safety evaluation without requiring complete redesign of the entire control architecture.
2Measurement precision
If redundant control is made more rigid, then control precision improves, but adaptability to different driving conditions deteriorates
Solution Approach 1:
The control system dynamically adjusts the weighting and priority of planning control information versus safety control information based on real-time risk assessment results and driving conditions. The logic arbitration module can flexibly switch between different control strategies, maintaining high control precision while adapting to varying driving scenarios through dynamic parameter adjustment rather than rigid fixed-weight arbitration.
Data Source
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AI summary
A system, method, vehicle mounted device and storage medium for controlling intelligent network vehicle, related to the field of autonomous driving is provided. The system for controlling the intelligent network vehicle comprises: a sensor group, is configured to obtain sensor information; a sensing and positioning module, is configured to obtain sensing information and positioning information based on the sensor information; a planning and control module, is configured to determine vehicle planning control information based on the sensing information and the positioning information; a security control module, is configured to determine safety control information based on the sensing information and the positioning information; a function assessment module is configured to determine a vehicle state assessment result; a risk assessment module is configured to determine a risk assessment result; a logical arbitration module, is configured to determine vehicle execution information by arbitrating the vehicle planning control information and the safety control information; and an execution module is configured to control the vehicle driving based on the vehicle execution information.