The invention discloses a redundant automatic driving system and a control method thereof, the system comprises a domain controller and a main control unit, the domain controller comprises a processorand an Ethernet switch, and the domain controller is used for carrying out data exchange with a vehicle body CAN network and carrying out pre-processing on perception sensor data; the number of the main control units is not less than two, each main control unit is provided with an external interface and an internal interconnection interface, the main control units are connected with the domain controller and the vehicle body CAN network through the external interfaces, the main control units are connected through the internal interconnection interfaces, and the main control units are used foranalyzing data of the sensors and the vehicle body CAN network and carrying out vehicle body redundancy control. The multiple main control units are arranged, when any main control unit fails, the other main control units can still work normally, and sufficient capacity is provided for a vehicle for exception handling.
本发明公开了一种冗余的自动驾驶系统及其控制方法,该系统包括域控制器和主控单元,所述域控制器包括处理器和以太网交换机,用于与车身CAN网络进行数据交换,以及感知传感器数据进行前置处理;所述主控单元不少于两个,均设置外部接口和内部互联接口,通过外部接口实现主控单元与域控制器以及车身CAN网络的连接,通过内部互联接口实现主控单元之间的连接,用于分析传感器和车身CAN网络的数据,进行车身冗余控制。本发明设置多个主控单元,当任意一个主控单元失效时,其余主控单元仍然可以正常工作,给予了车辆充分的能力进行异常处理。
Redundant automatic driving system and control method thereof
一种冗余的自动驾驶系统及其控制方法
2020-07-03
Patent
Electronic Resource
Chinese
IPC: | H04L TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION , Übertragung digitaler Information, z.B. Telegrafieverkehr / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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