The invention relates to the technical field of function safety of automatic driving, in particular to a redundancy control system and method of an automatic driving vehicle and the vehicle. A first VCU (Vehicle Control Unit) is arranged in the first domain controller, and the first VCU is used for identifying a torque demand signal sent by the first domain controller to obtain a demand torque and sending a first control instruction generated by the first VCU to the motor controller; and a second VCU is arranged in the second domain controller, and the second VCU is used for sending a second control instruction generated based on the demand torque to the motor controller when the first VCU is in a preset failure state so as to control the vehicle to execute a preset safe parking action, and redundant control over the automatic driving vehicle is achieved. Therefore, the problems that the cost for reaching the ASIL level of the VCU is high, and when the main VCU breaks down, loses efficacy and is abnormal, the vehicle usually needs to be manually taken over to execute the safe side parking action, so that the intelligence and safety of the vehicle are poor, and the user experience is poor are solved.
本申请涉及自动驾驶的功能安全技术领域,特别涉及一种自动驾驶车辆的冗余控制系统、方法及车辆,包括:电机控制器;第一域控制器内设置有第一整车控制器VCU,第一VCU用于识别第一域控制器内发送的扭矩需求信号得到需求扭矩,并发送其生成的第一控制指令至电机控制器;第二域控制器内设置有第二VCU,第二VCU用于在第一VCU处于预设失效状态时,并发送基于需求扭矩生成的第二控制指令至电机控制器,以控制车辆执行预设安全停车动作,实现自动驾驶车辆的冗余控制。由此,解决了相关技术中达到VCU的ASIL等级的成本较高,且在主VCU出现故障失效异常时,通常需要手动接管车辆执行安全靠边停车动作,导致车辆的智能性以及安全性较差,用户体验不佳等问题。
Redundancy control system and method for autonomous vehicle and vehicle
自动驾驶车辆的冗余控制系统、方法及车辆
2023-03-17
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 / B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen |
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