The invention provides an unmanned redundant steering control system which is characterized by comprising an intelligent driving system ADU, an electronic power steering system EPS, a CAN bus, a fault diagnosis module and a vehicle state monitoring module. The CAN bus comprises a Chass (Controller Area Network)-CAN (Controller Area Network) and a Private-CAN (Controller Area Network); the ADU comprises a main control unit ADU1 and a redundancy control unit ADU2, and when it is diagnosed that the ADU1 breaks down, the control right is switched to the ADU2; the EPS comprises two independent steering control units EPS1 and EPS2, and when the EPS monitors that the ADU1 has communication faults on the two CAN buses, the EPS is switched to respond to a command of the ADU2; the fault diagnosis module can rapidly and accurately detect the fault condition of the EPS, and when one steering control unit breaks down, the fault diagnosis module sends out a fault signal in time; and after the vehicle state monitoring module receives the fault signal, the vehicle control right is completely transferred to another steering control unit which works normally.
本发明提供了一种无人驾驶冗余转向控制系统,其特征在于,所述系统包括智能驾驶系统ADU、电子助力转向系统EPS、CAN总线、故障诊断模块和车辆状态监测模块;所述CAN总线包括Chass is‑CAN和Private‑CAN;所述ADU包括主控制单元ADU1和冗余控制单元ADU2,当诊断到ADU1发生故障时,将控制权切换到ADU2;所述EPS包括两个独立的转向控制单元EPS1和EPS2,当EPS监测到ADU1在两条CAN总线上均发生通讯故障时,切换到响应ADU2的命令;所述故障诊断模块可以快速准确地检测EPS的故障情况,当其中一个转向控制单元发生故障时,所述故障诊断模块及时发出故障信号;所述车辆状态监测模块接收到故障信号后,将车辆控制权完全转移给另一个正常工作的转向控制单元。
Unmanned redundant steering control system
一种无人驾驶冗余转向控制系统
2024-11-08
Patent
Electronic Resource
Chinese
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