The invention belongs to the technical field of vehicle control, and discloses a vehicle automatic driving redundancy system and a control method. The environment information collected by the main sensor is transmitted to the main controller and the redundant sensor, the main sensor generates the vehicle control information according to the environment information, the redundant sensor obtains the backup environment information according to the environment information, the vehicle control information generated by the main controller is synchronized to the redundant controller, and the vehicle control information is controlled by the redundant controller. When the main controller transmits the vehicle control information to the actuator through the main control channel, the working state of the main controller is detected to obtain state information, and when the state information is abnormal, the redundant controller is controlled to transmit the backup vehicle control information to the actuator through the backup control channel; and meanwhile, the main controller quits control, so that the corresponding redundant unit of the vehicle can take over and process when any equipment in the automatic driving system fails, and the dynamic driving task can be actively taken over.

    本发明属于车辆控制技术领域,公开了一种车辆自动驾驶冗余系统及控制方法。本发明通过将主传感器采集的环境信息分别传输到主控制器和冗余传感器,主传感器根据环境信息生成车辆控制信息,冗余传感器根据环境信息得到备份环境信息,将主控制器生成的车辆控制信息同步到冗余控制器,得到备份车辆控制信息,在主控制器将车辆控制信息通过主控制通道传输至执行器时,对主控制器的工作状态进行检测,得到状态信息,在状态信息异常时,控制冗余控制器将备份车辆控制信息通过备份控制通道传输至执行器,同时使主控制器退出控制,能够使车辆在自动驾驶系统中任一设备故障时,其对应的冗余单元能够接管处理,从而实现主动接管动态驾驶任务。


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    Title :

    Vehicle automatic driving redundancy system and control method


    Additional title:

    车辆自动驾驶冗余系统及控制方法


    Contributors:
    FU BIN (author) / YU LONG (author) / LIU JIFENG (author) / SHEN CHEN (author) / ZHOU HUOXING (author)

    Publication date :

    2024-03-19


    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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