The invention provides an automatic driving redundancy control system and method, and the system comprises a main control subsystem and a backup control subsystem. The method comprises the steps: entering a minimum risk mechanism when it is monitored that a driver mistakenly acts or any one or more of a main sensing device, a main execution device, a backup controller and a backup execution device are in a fault state; enabling the main controller to perform the path planning and sending a control instruction to the main execution device and/or sends a control instruction to the backup execution device through the backup controller; when it is monitored that the main controller is in a fault state, starting a minimum risk mechanism, enabling the main execution device to stop the response to a control instruction sent by the main controller, enabling the backup controller to receive the real-time driving environment information detected by the main sensing device, carrying out the path planning and sending a control instruction to the backup execution device. Therefore, various minimum risk mechanisms such as safe parking of the lane, safe parking of an emergency lane, speed reduction of the lane, obstacle avoidance speed reduction and the like can be realized.
本发明提供一种自动驾驶冗余控制系统及方法,包括:主控制子系统和备份控制子系统,在监测到驾驶员误作用或主感知设备、主执行设备、备份控制器、备份执行设备中任意一个或多个处于故障状态时进入最小风险化机制,由主控制器进行路径规划、并向主执行设备发送控制指令和/或通过备份控制器向备份执行设备发送控制指令;在监测到主控制器处于故障状态时进入最小风险化机制,主执行设备终止响应主控制器发送的控制指令,备份控制器接收主感知设备探测的实时行车环境信息、进行路径规划、并向备份执行设备发送控制指令。借助于此,可以实现本车道安全停车、应急车道安全停车,本车道减速,避障减速等多种最小风险化机制。
Automatic driving redundancy control system and method
一种自动驾驶冗余控制系统及方法
2021-08-13
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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