The invention relates to an unmanned vehicle sensing system safety redundancy system and a control method, the unmanned vehicle sensing system safety redundancy system comprises a sensing system, an automatic driving controller and a sensing detection unit; the sensing system comprises a sensor and a sensor controller; the automatic driving controller comprises a sensing fusion module, a prediction module, a decision and planning control module and a control module. The sensing system collects surrounding scene information and sends the surrounding scene information to the sensing detection unit and the automatic driving controller. The information processing module judges whether the sensing system has a first-level fault or not, the automatic driving controller controls the vehicle to slow down and limit relatively dangerous functions, and the planning and planning module controls a vehicle track. According to the invention, the automatic driving controller is directly controlled to control the related ECU to stop the vehicle; The fault processing time delayed due to the complex internal logic algorithm of the automatic driving controller is saved, and the safety is improved.

    本发明涉及一种无人驾驶车辆感知系统安全冗余系统及控制方法,包括感知系统、自动驾驶控制器、感知检测单元,其中感知系统包括传感器和传感器控制器,所述自动驾驶控制器包含感知融合模块、预测模块、决策和规划控制模块和控制模块,感知系统采集周围场景信息发送至感知检测单元与自动驾驶控制器;信息处理模块判断感知系统是否存在一级故障,自动驾驶控制器控制车辆减速并对较危险的功能做出限制,规划与策划模块控制车辆轨迹,本发明直接通过控制自动驾驶控制器控制相关ECU使车辆停车,节省了由于自动驾驶控制器内部逻辑算法复杂而耽误的故障处理时间,增大了安全性。


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    Title :

    Unmanned vehicle sensing system safety redundancy system and control method


    Additional title:

    一种无人驾驶车辆感知系统安全冗余系统及控制方法


    Contributors:
    ZHANG JIN (author) / XU XI (author) / WANG FENG (author)

    Publication date :

    2022-01-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    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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