The invention relates to the technical field of automatic driving, and discloses an automatic driving redundancy control method and device, equipment and a storage medium. The method comprises at least two control units and at least two execution components, the control units control the execution components according to an initial interaction mode, and the method comprises the following steps: when the working state of a main control unit in the control units is abnormal, the control units control the execution components based on a first abnormality type of the main control unit; switching the control mode of the execution component into a first interaction mode; when the working state of at least one item in the execution assembly is abnormal, the execution assembly sends abnormal information to the control unit and executes a corresponding abnormal early warning strategy; and the control unit switches the control mode of the execution component into a second interaction mode based on a second exception type and an exception level corresponding to the exception information. According to the invention, the driving safety is improved when the automatic driving system and the chassis actuator break down.
本发明涉及自动驾驶技术领域,公开了一种自动驾驶冗余控制方法、装置、设备及存储介质。该方法包括至少两个控制单元和至少两个执行组件,控制单元按照初始交互方式对执行组件进行控制,该方法包括:当控制单元中主控制单元的工作状态为异常时,控制单元基于主控制单元的第一异常类型,将对执行组件的控制方式切换为第一交互方式;当执行组件中至少一项的工作状态为异常时,执行组件发送异常信息至控制单元,并执行对应的异常预警策略;控制单元基于异常信息对应的第二异常类型和异常等级,将对执行组件的控制方式切换为第二交互方式。本发明提升了在自动驾驶系统和底盘执行器发生故障时的驾驶安全。
Automatic driving redundancy control method and device, equipment and storage medium
自动驾驶冗余控制方法、装置、设备及存储介质
2023-06-02
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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