CN114348024B - Vehicle and automatic driving system thereof - Google Patents
Vehicle and automatic driving system thereof Download PDFInfo
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- CN114348024B CN114348024B CN202210114121.3A CN202210114121A CN114348024B CN 114348024 B CN114348024 B CN 114348024B CN 202210114121 A CN202210114121 A CN 202210114121A CN 114348024 B CN114348024 B CN 114348024B
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- 101000799143 Homo sapiens Alkyldihydroxyacetonephosphate synthase, peroxisomal Proteins 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000000848 angular dependent Auger electron spectroscopy Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/0481—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures
- B62D5/0487—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such monitoring the steering system, e.g. failures detecting motor faults
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Safety Devices In Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention discloses a vehicle and an automatic driving system thereof, which is characterized by comprising the following components: an autopilot control system and a power steering system; the automatic driving control system comprises a first automatic driving control module and a second automatic driving control module, and the first automatic driving control module is in communication connection with the second automatic driving control module; the power-assisted steering system comprises a first steering execution module and a second steering execution module, and the first steering execution module is in communication connection with the second steering execution module; the first automatic driving control module is respectively in communication connection with the first steering execution module and the second steering execution module; the second automatic driving control module is respectively in communication connection with the first steering execution module and the second steering execution module; the power-assisted steering system is used for outputting torque according to steering control signals output by the first automatic driving control module or the second automatic driving control module, so that the safety and reliability of automatic driving can be improved.
Description
Technical Field
The embodiment of the invention relates to the field of automatic steering control, in particular to a vehicle and an automatic driving system thereof.
Background
In the current field of automatically driven automobiles, steering systems are an important safety feature in supporting safe driving of the automobile as a lateral actuator during the running of the vehicle. The steering system of the common automobile is mechanically connected with a steering wheel, a steering column, a steering machine and the like, and simultaneously, hydraulic or motor is used for assisting manpower to steer; while an autopilot vehicle is being driven automatically, the steering is not required to be controlled by a driver to steer, but is directly controlled by an autopilot controller through sensing by a sensor or the like.
The autopilot controller, the network signals between the steering controller and the actuators, the steering actuators constitute an autopilot steering control system, which will fail if any part of the link is in question, and which will lead to significant safety problems if a failure situation occurs during autopilot control.
Disclosure of Invention
The invention provides a vehicle and an automatic driving system thereof, so as to realize a more reliable automatic driving system.
In a first aspect, an embodiment of the present invention provides an autopilot system, including: an autopilot control system and a power steering system;
The automatic driving control system comprises a first automatic driving control module and a second automatic driving control module, and the first automatic driving control module is in communication connection with the second automatic driving control module;
the power-assisted steering system comprises a first steering execution module and a second steering execution module, and the first steering execution module is in communication connection with the second steering execution module;
The first automatic driving control module is respectively in communication connection with the first steering execution module and the second steering execution module; the second automatic driving control module is respectively in communication connection with the first steering execution module and the second steering execution module; the power-assisted steering system is used for outputting torque according to steering control signals output by the first automatic driving control module or the second automatic driving control module.
Optionally, the steering control signals include a first steering control signal and a second steering control signal;
the first automatic driving control module is used for sending the first steering control signal to the power steering system;
The second automatic driving control module is further used for sending the second steering control signal to the power steering system when the first automatic driving control module is determined to be faulty;
The power-assisted steering system is specifically used for outputting torque according to a first steering control signal when the received steering control signal only comprises the first steering control signal; or outputting torque according to the second steering control signal when the second steering control signal is received.
Optionally, when the first steering execution module has no fault, the first steering execution module is further configured to output a first torque output signal to the second steering execution module according to the steering control signal;
The first steering execution module is used for outputting a moment according to the steering control signal, and the second steering execution module is used for outputting a moment according to the first moment;
When the first steering execution module fails, the second steering execution module is further used for outputting a second moment output signal to the first steering execution module according to the steering control signal, the first steering execution module is used for outputting moment according to the second moment output signal, and the second steering execution module is used for outputting moment according to the steering control signal.
Optionally, the autopilot system further includes a communication system, the communication system including a first CAN network module and a second CAN network module; the first steering execution module and the second steering execution module both comprise a first communication end and a second communication end;
The automatic driving control system is respectively in communication connection with the first communication ends of the first steering execution module and the second steering execution module through the first CAN network module;
and the automatic driving control system is respectively in communication connection with the first steering execution module and the second communication end of the second steering execution module through the second CAN network module.
Optionally, the power steering system is further configured to determine whether the autopilot control system, the first CAN network module, and/or the second CAN network module fail according to the steering control signal received by the first CAN network module and/or the second CAN network module.
Optionally, the power steering system is further configured to output a torque according to a steering control signal received by the second CAN network module when the first CAN network module is determined to be faulty.
Optionally, the power steering system further comprises a third steering execution module;
The third steering execution module is respectively in communication connection with the second steering execution module and the second automatic driving control module;
The second steering execution module is further configured to send a wake-up control signal to the third steering execution module when determining that the first CAN network module and the second CAN network module are faulty, so that the third steering execution module is switched to an active state according to the wake-up signal;
The second automatic driving control module is further used for sending a second steering control signal to the third steering execution module when the first CAN network and the second CAN network are determined to be faulty;
the third steering execution module is used for outputting torque according to the second steering control signal.
Optionally, the third steering execution module is connected with the second automatic driving control module through ethernet communication.
Optionally, the automatic driving system further comprises an alarm system;
the alarm system is in communication connection with the automatic driving control system;
The third steering execution module is further used for outputting a fault alarm signal to the second automatic driving control module through the Ethernet after being switched to an active state according to the wake-up signal;
the second automatic driving control module is further used for sending an alarm control signal to the alarm system according to the fault alarm signal, so that the alarm system alarms according to the alarm control signal.
In a second aspect, an embodiment of the present invention further provides a vehicle, which is characterized by including the above-mentioned autopilot system.
According to the automatic driving system provided by the embodiment of the invention, the automatic driving control system and the power-assisted steering system are arranged to drive the vehicle in an automatic driving mode, and the first automatic driving control module and the second automatic driving control module are arranged in the automatic driving control system, so that when the first automatic driving control module fails, the automatic driving control can be continuously finished through the second automatic driving control module which is backed up, in addition, the first steering execution module and the second steering execution module are arranged in the power-assisted steering system, so that when the first steering execution module fails, the power-assisted steering can be finished through the second steering execution module, the problem that when the automatic driving control system only comprises one automatic driving control module and/or the power-assisted steering system only comprises one steering execution module, the whole automatic driving system fails due to the fact that one module fails is solved, and the safety and the reliability of automatic driving are improved.
Drawings
Fig. 1 is a schematic structural diagram of an autopilot system according to an embodiment of the present invention;
FIG. 2 is a schematic view of another autopilot system according to one embodiment of the present invention;
fig. 3 is a schematic structural diagram of yet another autopilot system according to an embodiment of the present invention.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
Fig. 1 is a schematic structural diagram of an autopilot system according to an embodiment of the present invention, as shown in fig. 1: the automatic driving system includes: an automatic drive control system 10 and a power steering system 20; the autopilot control system 10 comprises an autopilot control module 11 and a second autopilot control module 12, the first autopilot control module 11 being communicatively connected to the second autopilot control module 12; the power steering system 20 comprises a first steering execution module 21 and a second steering execution module 22, wherein the first steering execution module 21 is in communication connection with the second steering execution module 22; the first automatic driving control module 11 is respectively in communication connection with a first steering execution module 21 and a second steering execution module 22; the second autopilot control module 12 is communicatively connected to a first steering actuator module 21 and a second steering actuator module 22, respectively; the power steering system 20 is configured to output a torque according to a steering control signal output from the first automatic driving control module 11 or the second automatic driving control module 12.
Specifically, the first autopilot control module 11 and the second autopilot control module 12 are provided in the autopilot control system 10 such that one of the two autopilot control modules serves as a main control module and the other as a backup control module; for example, the first autopilot control module 11 is used as a main control module, and in the running process of the vehicle, a first check signal is sent to the second autopilot control module 12 in real time through an internal communication mode of the autopilot control system 10, and the second autopilot control module 12 serving as a backup control module detects whether the first autopilot control module 11 fails according to the first check signal, and when the first autopilot control module 11 is determined to fail, the control of autopilot is continued instead of the first autopilot control module 11, so as to ensure smooth autopilot in the running process of the vehicle. The first autopilot control module 11 and the second autopilot control module 12 may communicate via ethernet, CANFD network, IMC, or the like.
In addition, a first steering execution module 21 and a second steering execution module 22 are provided in the power steering system 20 such that one of the two steering execution modules serves as a main execution module and the other serves as a backup execution module; for example, the first steering execution module 21 is used as a main execution module, a second check signal is sent to the second steering execution module 22 in real time through an internal communication mode of the power steering system 20 during the running of the vehicle, the second steering execution module 22 serving as a backup execution module detects whether the first steering execution module 21 is faulty according to the second check signal, and the power steering task is completed by taking the first steering execution module 21 as the main execution module instead when the first steering execution module 21 is determined to be faulty.
Meanwhile, the first automatic driving control module 11 is respectively in communication connection with the first steering execution module 21 and the second steering execution module 22 to send steering control signals to the first steering execution module 21 and the second steering execution module 22, so that the power steering system 20 can output torque according to the steering control signals to perform power steering; the second autopilot control module 12 is communicatively connected to the first steering actuator module 21 and the second steering actuator module 22, respectively, to send steering control signals to the first steering actuator module 21 and the second steering actuator module 22 when the first steering actuator module 21 fails, so that the power steering system 20 can output torque according to the steering control signals to continue power steering. The first steering execution module 21 and the second steering execution module 22 may communicate through ethernet, CANFD network, IMC, or the like.
For example, the first autopilot control module 11 and the second autopilot control module 12 may have the same structure, for example, may be preferably an ADAS control system, which is an advanced driving assistance system, and may sense the surrounding environment and collect data at any time during the driving of the vehicle by using sensors installed on the vehicle, perform identification, detection and tracking of static and dynamic objects, and perform calculation and analysis of the system in combination with navigator map data; the first steering execution module 21 and the second steering execution module 22 may have the same structure, for example, they may be preferably Electric Power Steering (EPS) systems, where the EPS systems at least include a torque angle sensor, an electronic control unit, and an electric motor, and the electronic control unit can control the electric motor to generate a torque with a corresponding magnitude and direction according to a steering control signal sent by the autopilot control system.
According to the automatic driving system provided by the embodiment of the invention, the automatic driving control system and the power-assisted steering system are arranged to drive the vehicle in an automatic driving mode, and the first automatic driving control module and the second automatic driving control module are arranged in the automatic driving control system, so that when the first automatic driving control module fails, the automatic driving control can be continuously finished through the second automatic driving control module which is backed up, in addition, the first steering execution module and the second steering execution module are arranged in the power-assisted steering system, so that when the first steering execution module fails, the power-assisted steering can be finished through the second steering execution module, the problem that when the automatic driving control system only comprises one automatic driving control module and/or the power-assisted steering system only comprises one steering execution module, the whole automatic driving system fails due to the fact that one module fails is solved, and the safety and the reliability of automatic driving are improved.
Optionally, referring to fig. 1, the steering control signals include a first steering control signal and a second steering control signal; the first autopilot control module 11 is configured to send a first steering control signal to the power steering system 20; the second autopilot control module 12 is further configured to send a second steering control signal to the power steering system 20 upon determining that the first autopilot control module 11 is malfunctioning; the power steering system 20 is specifically configured to output a torque according to the first steering control signal when the received steering control signal includes only the first steering control signal; or outputting torque according to the second steering control signal when the second steering control signal is received.
Specifically, when the first autopilot control module 11 has no fault, only the first autopilot control module 11 sends a first steering control signal to the power steering system 20, and the second autopilot control module 12 is in a standby state and is only used for fault detection of the first autopilot control module 11, when the second autopilot control module 12 determines that the first autopilot control module 11 has a fault according to the first check signal, the second autopilot control module starts to send a second steering control signal to the power steering system 20, and when the steering control signals received by the power steering system 20 include both the first steering control signal and the second steering control signal, the second steering control signal is used as an effective signal, that is, torque is output according to the second steering control signal.
Optionally, with continued reference to fig. 1, when the first steering execution module 21 has no fault, the first steering execution module 21 is further configured to output a first torque output signal to the second steering execution module 22 according to the steering control signal; the first steering execution module 21 is used for outputting a moment according to a steering control signal, and the second steering execution module 22 is used for outputting a moment according to a first moment output signal; the second steering execution module 22 is further configured to output a second torque output signal to the first steering execution module 21 according to the steering control signal when the first steering execution module 21 fails, the first steering execution module 21 is configured to output a torque according to the second torque output signal, and the second steering execution module 22 is configured to output a torque according to the steering control signal.
Specifically, the first steering execution module 21 and the second steering execution module 22 can jointly output torque to complete power-assisted turning; for example, when the first steering execution module 21 has no fault, the first steering execution module 21 serves as a main execution module, and outputs a torque according to a steering control signal on the one hand, and outputs a first torque output signal to the second steering execution module 22 according to the steering control signal on the other hand, so as to control the second steering execution module 22 to also output a torque, for example, the first steering execution module 21 may output 50% of the torque according to the steering control signal, and control the second steering execution module 22 to output 50% of the torque, and 100% of the torque output can be completed through the combined action of the two execution modules. According to the above embodiment, the first steering execution module 21 also transmits the second check signal to the second steering execution module 22 during normal operation, and when the second steering execution module 22 determines that the first steering execution module 21 has a fault according to the second check signal, the second steering execution module 22 starts to act as a main execution module, and on the one hand, outputs a torque according to the received steering control signal, and on the other hand, outputs a second torque output signal to the first steering execution module 21 according to the fault condition of the first steering execution module 21, so that when the first steering execution module 21 is capable of outputting a torque, the torque can also be output according to the second torque output signal. For example, if only the sensor in the first steering execution module 21 fails and the other parts have no failure, the second steering execution module 22 may be used as a main execution module to control the first steering execution module 21 to output torque, and if the electronic control unit and/or the motor in the first steering execution module 21 fails, only the second steering execution module 22 outputs torque according to the steering control signal; the first steering execution module 21 is controlled not to output torque.
Optionally, fig. 2 is a schematic structural diagram of another autopilot system provided in an embodiment of the present invention, as shown in fig. 2, where the autopilot system further includes a communication system 30, and the communication system 30 includes a first CAN network module 31 and a second CAN network module 32; the first steering execution module 21 and the second steering execution module 22 each include a first communication terminal S1 and a second communication terminal S2; the automatic driving control system 10 is respectively in communication connection with the first communication ends S1 of the first steering execution module 21 and the second steering execution module 22 through the first CAN network module 31; the autopilot control system 10 is connected to the second communication terminals S2 of the first steering actuator module 21 and the second steering actuator module 22 via a second CAN network module 32.
Specifically, the communication system 30 between the autopilot control system 10 and the power steering system 20 may also be configured as a backup, for example, by providing a first CAN network module 31 and a second CAN network module 32, and when the first CAN network module 31 has no fault, the power steering system 20 outputs a torque according to a steering control signal received through the first CAN network module 31, and when the first CAN network module 31 has a fault, the power steering system 20 outputs a torque according to a steering control signal received through the second CAN network module 32.
Optionally, with continued reference to fig. 2, the power steering system 20 is further configured to determine whether the autopilot control system 10, the first CAN network module 31, and/or the second CAN network module 32 are malfunctioning according to the steering control signals received by the first CAN network module 31 and/or the second CAN network module 32.
Specifically, according to the foregoing embodiment, when the first autopilot control module 11 has no fault, the first autopilot control module 11 sends a first steering control signal to the power steering system 20, and at this time, the first CAN network module 31 and the second CAN network module 32 may simultaneously transmit the first steering control signal from the first autopilot control module 11 to the first steering execution module 21 and the second steering execution module 22, and since the first steering execution module 21 and the first CAN network module 31 and the second CAN network module 32 have respective communication protocols, and the second steering execution module 22 and the first CAN network module 31 and the second CAN network module 32 have respective communication protocols, the first steering execution module 21 and the second steering execution module 22 may determine a fault condition by determining whether the received first steering control signal satisfies the communication protocols. Taking the first steering executing module 21 as an example, the first steering executing module 21 CAN determine whether the front end link (i.e. the communication link formed by the first CAN network module 31 and the first autopilot control module 11) of the first steering executing module is faulty according to the first steering control signal received by the first communication end S1, and CAN determine whether the front end link (i.e. the communication link formed by the second CAN network module 32 and the first autopilot control module 11) of the first steering executing module is faulty according to the first steering control signal received by the second communication end S2.
Optionally, with continued reference to fig. 2, the power steering system 20 is further configured to output a torque based on the steering control signal received by the second CAN network module 32 upon determining that the first CAN network module 31 is malfunctioning.
Specifically, when the first steering execution module 21 and/or the second steering execution module 22 determines that the front-end link thereof is faulty according to the first steering control signal received by the first communication terminal S1, and determines that the front-end link thereof is not faulty according to the first steering control signal received by the second communication terminal S2, it is determined that the first CAN network module 31 is faulty, and the first autopilot control module 11 and the second CAN network module 32 are normal, and the first steering control signal received by the second CAN network module 32 is used as an effective signal; if the first steering execution module 21 and/or the second steering execution module 22 determines that the front end link thereof (i.e. the communication link formed by the first CAN network module 31 and the first autopilot control module 11) is faulty according to the first steering control signal received by the first communication terminal S1, and determines that the front end link thereof (i.e. the communication link formed by the second CAN network module 32 and the first autopilot control module 11) is faulty according to the first steering control signal received by the second communication terminal S2, since the first CAN network module 31 and the second CAN network module 32 are both faulty and are a small probability event, the power steering system 20 determines that the first autopilot control module 11 is faulty at this time, and no moment is output according to the first steering control signal until after the second steering control signal is received, it is determined whether the moment CAN be output according to the second steering control signal. On the basis of the above, when the first steering execution module 21 and/or the second steering execution module determines that the front-end link (i.e. the first CAN network module 31 and the second autopilot control module 12) is fault-free according to the second steering control signal received by the first communication terminal S1, the first steering execution module outputs a torque according to the second steering control signal received by the first communication terminal S1; when it is determined that the front link of the first communication terminal S1 fails and the front link of the second communication terminal S2 fails, determining that the first CAN network module 21 fails and the second autopilot control module 12 and the second CAN network module 32 fail, and taking the second steering control signal received by the second communication terminal S2 as an effective signal; if it is determined that the front-end links of the first communication end S1 and the second communication end S2 are both faulty, it is empirically determined that the first autopilot control module 11 and the second autopilot control module 12 are both faulty, which is a less probable event, and therefore it may be determined that both the first CAN network module 31 and the second CAN network module 32 are faulty at this time, and the first steering execution module 21 and the second steering execution module 22 in the power steering system 20 stop outputting torque.
Optionally, fig. 3 is a schematic structural diagram of yet another autopilot system provided in an embodiment of the present invention, and as shown in fig. 3, the power steering system 20 further includes a third steering execution module 23; the third steering execution module 23 is respectively in communication connection with the second steering execution module 22 and the second autopilot control module 12; the second steering execution module 22 is further configured to send a wake-up control signal to the third steering execution module 23 when determining that the first CAN network module 31 and the second CAN network module 32 are faulty, so that the third steering execution module 23 switches to an active state according to the wake-up signal; the second autopilot control module 12 is further configured to send a second steering control signal to the third steering execution module 23 upon determining the first CAN network 31 and the second CAN network failure 32; the third steering execution module 23 is configured to output a torque according to the second steering control signal.
Specifically, when the power steering system 20 determines that both the first CAN network module 31 and the second CAN network module 32 fail, a wake-up signal is sent to the third steering execution module 23, and the third steering execution module 23 switches from the standby state to the active state after receiving the wake-up signal. Since the first steering execution module 21 and the second steering execution module 22 in the power steering system 20 also feedback the third check signal including the execution result to the autopilot control system 10 after receiving the steering control signal and outputting the torque according to the steering control signal (typically, the main execution module feeds back the third check signal to the main autopilot control module), the first autopilot control module 11 and the second autopilot module 12 may determine the failure condition of the back-end link according to the third check signal, so if the back-end link is determined to fail according to the third check signal fed back by the first CAN network module 31 and the second CAN network module 32, the second steering control signal is directly sent to the third steering execution module 23 through the second autopilot control module 12, so that the power steering system 20 may continue outputting the torque according to the second steering control signal. The third steering execution module 23 is, for example, preferably connected to the second autopilot control module 12 via ethernet communication.
The automatic driving system provided by the embodiment of the invention performs backup setting on the automatic driving control module, the steering execution module and the CAN network module, CAN maximally ensure that the situation that the whole automatic driving system cannot be normally used due to the failure of one of the modules is avoided, improves the user experience, and improves the reliability and the safety of the automatic driving system.
Optionally, with continued reference to fig. 3, the autopilot system further includes an alarm system 40; the alarm system 40 is communicatively connected to the autopilot control system 10; the third steering execution module 23 is further configured to output a fault alarm signal to the second autopilot control module 12 via ethernet after switching to an active state according to the wake-up signal; the second autopilot control module 12 is further configured to send an alarm control signal to the alarm system 40 according to the fault alarm signal, such that the alarm system 40 alarms according to the alarm control signal.
Specifically, the third steering execution module 23 is an emergency standby execution module, and CAN output torque according to the second steering control signal in a short time, when the power steering system 20 starts the third steering execution module 23, it indicates that the fault is serious at this time, that is, a multipoint fault (for example, the first CAN network module 31 and the second CAN network module 32 are both faulty) occurs, and then an alarm should be given to the fault condition at this time, so as to remind drivers and passengers to prepare themselves to drive the vehicle, and avoid driving accidents. Among other things, autopilot control system 10 and alarm system 40 may communicate via Ethernet, canfd network, IMC, or the like.
For example, the fault levels may be further classified according to the fault conditions of the respective systems, so as to control the alarm system 40 to perform different levels of alarms, so that drivers and passengers take corresponding measures according to the different levels of alarms. For example, the first level of faults is most serious, the driver and the passenger are required to be reminded to prepare to drive the vehicle, the second level of faults is lighter, the driver and the passenger can be reminded to take measures according to conditions, the third level of faults is most minor, the driver and the passenger can be reminded of faults, but the faults are not too stressed, and the vehicle can be timely refurbished. For example, if one of the first CAN network module 31 and the second CAN network module 32 fails, since communication CAN be continued through the other normal CAN network module without affecting the use of the autopilot system, the autopilot control module in the autopilot control system 10 that is sending an effective steering control signal CAN control the alarm system 40 to perform a third level of failure alarm, and similarly, if one of the first autopilot control module 11 and the second autopilot control module fails, the autopilot control module that is not failed controls the alarm system 40 to perform a third level of failure alarm; if the motor, the electronic control unit and/or the power supply of one of the steering execution modules in the power steering system 20 fails, only one steering execution module outputting torque remains at the moment, so that the automatic driving control system 10 can control the alarm system 40 to output a second level of alarm; if, for example, both the first CAN network module 31 and the second CAN network module 32 fail, the second autopilot control module 12 controls the alarm system to output a first level of alarm.
Based on the same inventive concept, the embodiments of the present invention further provide a vehicle including the autopilot system provided by any one of the embodiments of the present invention, so that the vehicle provided by the embodiments of the present invention includes the technical features of the autopilot system provided by any one of the embodiments of the present invention, and can achieve the beneficial effects of the autopilot system provided by the embodiments of the present invention, the same point can be referred to the above description of the autopilot system provided by the embodiments of the present invention, and will not be repeated here.
Note that the above is only a preferred embodiment of the present invention and the technical principle applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.
Claims (9)
1. An autopilot system comprising: an autopilot control system and a power steering system;
The automatic driving control system comprises a first automatic driving control module and a second automatic driving control module, and the first automatic driving control module is in communication connection with the second automatic driving control module;
the power-assisted steering system comprises a first steering execution module and a second steering execution module, and the first steering execution module is in communication connection with the second steering execution module;
The first automatic driving control module is respectively in communication connection with the first steering execution module and the second steering execution module; the second automatic driving control module is respectively in communication connection with the first steering execution module and the second steering execution module; the power-assisted steering system is used for outputting torque according to steering control signals output by the first automatic driving control module or the second automatic driving control module;
When the first steering execution module has no fault, the first steering execution module is further used for outputting a first moment output signal to the second steering execution module according to the steering control signal;
The first steering execution module is used for outputting a moment according to the steering control signal, and the second steering execution module is used for outputting a moment according to the first moment;
When the first steering execution module fails, the second steering execution module is further used for outputting a second moment output signal to the first steering execution module according to the steering control signal, the first steering execution module is used for outputting moment according to the second moment output signal, and the second steering execution module is used for outputting moment according to the steering control signal.
2. The autopilot system of claim 1 wherein the steering control signals include a first steering control signal and a second steering control signal;
the first automatic driving control module is used for sending the first steering control signal to the power steering system;
The second automatic driving control module is further used for sending the second steering control signal to the power steering system when the first automatic driving control module is determined to be faulty;
The power-assisted steering system is specifically used for outputting torque according to a first steering control signal when the received steering control signal only comprises the first steering control signal; or outputting torque according to the second steering control signal when the second steering control signal is received.
3. The autopilot system of claim 1 further comprising a communication system including a first CAN network module and a second CAN network module; the first steering execution module and the second steering execution module both comprise a first communication end and a second communication end;
The automatic driving control system is respectively in communication connection with the first communication ends of the first steering execution module and the second steering execution module through the first CAN network module;
and the automatic driving control system is respectively in communication connection with the first steering execution module and the second communication end of the second steering execution module through the second CAN network module.
4. The autopilot system of claim 3 wherein the power steering system is further configured to determine whether the autopilot control system, the first CAN network module, and/or the second CAN network module are malfunctioning based on the steering control signals received by the first CAN network module and/or the second CAN network module.
5. The autopilot system of claim 4 wherein the power steering system is further configured to output a torque in response to a steering control signal received by the second CAN network module upon determining that the first CAN network module is malfunctioning.
6. The autopilot system of claim 3 wherein the power steering system further includes a third steering actuation module;
The third steering execution module is respectively in communication connection with the second steering execution module and the second automatic driving control module;
The second steering execution module is further configured to send a wake-up control signal to the third steering execution module when determining that the first CAN network module and the second CAN network module are faulty, so that the third steering execution module is switched to an active state according to the wake-up signal;
The second automatic driving control module is further used for sending a second steering control signal to the third steering execution module when the first CAN network and the second CAN network are determined to be faulty;
the third steering execution module is used for outputting torque according to the second steering control signal.
7. The autopilot system of claim 6 wherein the third steering execution module is communicatively coupled to the second autopilot control module via ethernet.
8. The autopilot system of claim 7 further comprising an alarm system;
the alarm system is in communication connection with the automatic driving control system;
The third steering execution module is further used for outputting a fault alarm signal to the second automatic driving control module through the Ethernet after being switched to an active state according to the wake-up signal;
the second automatic driving control module is further used for sending an alarm control signal to the alarm system according to the fault alarm signal, so that the alarm system alarms according to the alarm control signal.
9. A vehicle comprising an autopilot system according to one of claims 1-8.
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| CN104503265A (en) * | 2014-10-31 | 2015-04-08 | 奇瑞汽车股份有限公司 | Synchronous driving system based on vehicle internet and control method thereof |
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| CN110712677B (en) * | 2019-11-29 | 2024-02-27 | 吉林大学 | Redundant electric power steering system of automatic driving vehicle and control method thereof |
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| CN112660235A (en) * | 2020-12-28 | 2021-04-16 | 嬴彻科技(浙江)有限公司 | Redundant power steering system, control method thereof and vehicle |
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