WO2023077967A1 - 一种自动驾驶控制系统及车辆 - Google Patents

一种自动驾驶控制系统及车辆 Download PDF

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Publication number
WO2023077967A1
WO2023077967A1 PCT/CN2022/118693 CN2022118693W WO2023077967A1 WO 2023077967 A1 WO2023077967 A1 WO 2023077967A1 CN 2022118693 W CN2022118693 W CN 2022118693W WO 2023077967 A1 WO2023077967 A1 WO 2023077967A1
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Prior art keywords
main
backup
component
module
control device
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English (en)
French (fr)
Inventor
潘坚伟
李博
李茜茜
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Wuhan Lotus Cars Co Ltd
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Wuhan Lotus Cars Co Ltd
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Priority to EP22888995.2A priority Critical patent/EP4428632A4/en
Publication of WO2023077967A1 publication Critical patent/WO2023077967A1/zh
Anticipated expiration legal-status Critical
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B9/00—Safety arrangements
    • G05B9/02—Safety arrangements electric
    • G05B9/03—Safety arrangements electric with multiple-channel loop, i.e. redundant control systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/023—Avoiding failures by using redundant parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/80—Arrangements for reacting to or preventing system or operator failure
    • G05D1/87—Arrangements for reacting to or preventing system or operator failure using redundant control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B60W2710/207—Steering angle of wheels
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/22—Specific applications of the controlled vehicles for transportation of humans
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/10—Outdoor regulated spaces
    • G05D2107/13—Spaces reserved for vehicle traffic, e.g. roads, regulated airspace or regulated waters
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles

Definitions

  • the invention relates to the technical field of automatic driving, in particular to an automatic driving control system and a vehicle.
  • Automobiles are developing in the four fields of automation, networking, electrification, and sharing. Among them, autonomous driving technology is the top priority in the development of the current automotive industry. It not only has a huge impact on the development of the industry, but also leads a major change in the future travel mode. .
  • the controller and the actuator In order to realize such a high-reliability system, it is necessary for the controller and the actuator to reach the functional safety reliability of the ASILD level. In order to realize such a high-reliability system, it is necessary for the controller and the actuator to reach the functional safety reliability of the ASIL D level, and the existing redundant control system for automatic driving includes the main controller, backup controller, steering redundancy Control system, braking redundant control system, main controller and backup controller information exchange, when the main controller fails, the backup controller sends backup control instructions to the steering redundant control system and braking redundant control system to realize driving De-escalation and safe parking.
  • the main controller and the backup controller are only connected to the same forward sensor. On the one hand, the sensing signal cannot be redundant; Reliability requirements for level autonomous driving.
  • this paper provides an automatic driving control system, the system includes: a first sensor component, a second sensor component, a main control device, a backup control device and an execution device;
  • Both the first sensor assembly and the second sensor assembly are used to collect environmental information around the vehicle, and transmit the collected environmental information to the connected main control device and backup control device;
  • Both the main control device and the backup control device are connected to the execution device, the main control device is connected to the backup control device, the main control device and the backup control device detect each other's working status, and the main control device is used to generate corresponding Control instructions, and transmit the control instructions to the executive device, and the control instructions are used to control the vehicle;
  • the standby control device is used to generate corresponding control instructions according to the received environmental information and transmit them to the execution device when the working state of the main control device represents a failure.
  • the main control device includes a main sensing component and a main decision-making component
  • the backup control device includes a backup sensing component and a backup decision-making component
  • the main perception component is used to establish the environment model according to the environment information
  • the standby sensing component is used to establish an environmental model based on environmental information when the working state of the main sensing component represents a fault
  • the main decision-making component is used to generate corresponding control instructions according to the environment model and transmit them to the connected execution device;
  • the standby decision-making component is used to generate corresponding control instructions according to the environment model and transmit them to the connected execution device when the working state of the main decision-making component represents a fault.
  • main sensing component is connected to the standby sensing component, and the main sensing component and the standby sensing component detect each other's working status
  • the main decision-making component and the standby decision-making component are connected, and the main decision-making component and the standby decision-making component detect each other's working status.
  • the main decision-making component includes: a main prediction module, a main planning module and a main control module
  • the backup decision-making component includes: a backup prediction module, a backup planning module and a backup control module
  • the main prediction module is used to predict the trajectory of obstacles in the environment information according to the environment model
  • the backup prediction module is used to predict the trajectory of obstacles in the environment information according to the environment model when the main prediction module fails;
  • the main planning module is used to plan the traveling speed and traveling angle of the current vehicle based on the trajectory of the obstacle, and transmit the traveling speed and traveling angle to the main control module and/or the backup control module;
  • the backup planning module is used to plan the travel speed and travel angle of the current vehicle based on the trajectory of the obstacle when the main planning module fails, and transmit the travel speed and travel angle to the main control module and/or the backup control module;
  • the main control module is used to generate control commands according to the travel speed and travel angle and transmit them to the connected execution device;
  • the backup control module is used to generate control instructions according to the travel speed and travel angle and transmit them to the connected execution device when the main control module fails.
  • main prediction module is connected to the backup prediction module, and the main prediction module and the backup prediction module detect each other's working status
  • the main planning module and the standby planning module are connected, and the main planning module and the standby planning module detect each other's working status
  • the main control module is connected to the standby control module, and the main control module and the standby control module detect each other's working status.
  • the main control device includes a first health monitoring component
  • the standby control device includes a second health monitoring component
  • the first health monitoring component is respectively connected with the backup sensing component and the backup decision-making component, and the first health monitoring component is used to detect the working status of the backup sensing component and the backup decision-making component;
  • the second health monitoring component is respectively connected with the main sensing component and the main decision-making component, and the second health monitoring component is used to detect the working status of the main sensing component and the main decision-making component.
  • the first health monitoring component is also connected to the backup prediction module, the backup planning module and the backup control module; the first health monitoring component is also used to detect the working status of the backup prediction module, the backup planning module and the backup control module;
  • the second health monitoring component is also connected with the main prediction module, the main planning module and the main control module; the second health monitoring component is also used to detect the working status of the main prediction module, the main planning module and the main control module.
  • the main control device includes a first health monitoring component
  • the standby control device includes a second health monitoring component
  • Both the first health monitoring component and the second health monitoring component are connected with the main sensing component, the main decision-making component, the backup sensing component and the backup decision-making component, and the first health monitoring component and the second health monitoring The working status of the decision component, backup perception component and backup decision component.
  • first health monitoring component and the second health monitoring component are also connected with the main prediction module, the main planning module, the main control module, the backup prediction module, the backup planning module and the backup control module; the first health monitoring component and the second health The monitoring component is also used to detect the working status of the main prediction module, the main planning module, the main control module, the backup prediction module, the backup planning module and the backup control module.
  • this document provides a vehicle, the vehicle is provided with an automatic driving system, and the automatic driving system includes the above-mentioned automatic driving control system.
  • an automatic driving control system and a vehicle Adopting the above technical solution, an automatic driving control system and a vehicle herein, the system includes: a first sensor component, a second sensor component, a main control device, a backup control device and an execution device;
  • Both the first sensor assembly and the second sensor assembly are used to collect environmental information around the vehicle, and transmit the collected environmental information to the connected main control device and backup control device, and both the first sensor assembly and the second sensor assembly are used to collect The environmental information around the vehicle, and the collected environmental information is transmitted to the connected control device, thus ensuring the backup of the environmental information collected by the first sensor component and the second sensor component while ensuring the accuracy of the environmental information obtained.
  • the main control device It can also generate corresponding control commands based on the environmental information collected by the above two sensor components, improve the accuracy of control command generation, avoid inaccurate control caused by errors in the environmental information collected by a single sensor component, and achieve ASIL D level of autonomous driving. Functional safety and reliability;
  • the remaining main control devices can still generate control commands with the backup components of the backup control device, which avoids that when a certain component in the main control device fails, all the main control devices All the components in the system need to be switched to the backup control device, thereby ensuring the timeliness and accuracy of the backup, and further ensuring the functional safety reliability of the autonomous driving ASIL D level.
  • FIG. 1 shows a schematic structural diagram of an automatic driving control system provided in an embodiment of this paper
  • Figure 2 shows a schematic structural view of a main control device and a backup control device provided in the embodiments herein;
  • FIG. 3 shows a schematic structural view of another main control device and a backup control device provided in the embodiments herein;
  • Fig. 4 shows a schematic structural diagram of another main control device and a backup control device provided in the embodiments herein.
  • Fig. 1 shows a schematic structural diagram of an automatic driving control system provided in this embodiment, the system includes: a first sensor assembly , the second sensor assembly, the main control device, the backup control device and the execution device;
  • Both the first sensor assembly and the second sensor assembly are used to collect environmental information around the vehicle, and transmit the collected environmental information to the connected main control device and backup control device;
  • Both the main control device and the backup control device are connected to the execution device, the main control device is connected to the backup control device, the main control device and the backup control device detect each other's working status, and the main control device is used to generate corresponding Control instructions, and transmit the control instructions to the executive device, and the control instructions are used to control the vehicle;
  • the standby control device is used to generate corresponding control instructions according to the received environmental information and transmit them to the execution device when the working state of the main control device represents a failure.
  • the first sensor component and the second sensor component can be lidar or image sensors, which are used to collect environmental information around the vehicle, and the environmental information is used to represent the type of obstacle and the distance between the vehicle and the corresponding obstacle, wherein
  • the types of obstacles can be moving obstacles as well as fixed obstacles.
  • the environmental information collected by the first sensor component can be transmitted to the main control device and the standby control device through wired transmission, and the environmental information collected by the second sensor component can also be transmitted to the main control device and the standby control device through wired transmission.
  • the main control device and the backup control device can generate corresponding control instructions according to the received environmental information and the current state information of the vehicle.
  • the execution device may control operations such as deceleration, braking and/or steering of the vehicle according to the received control instruction.
  • the actuator may include a main steering assembly, a backup steering assembly, a main braking assembly, and a backup braking assembly.
  • the main steering assembly and the main braking assembly are used to complete steering avoidance and/or braking.
  • steering avoidance and/or braking are accomplished using the backup steering assembly and the primary brake assembly.
  • primary brake assembly failure steering avoidance and/or braking are accomplished using the primary steering assembly and the backup braking assembly.
  • the main control device and the standby control device are often provided with multiple components to generate control instructions according to environmental information and current vehicle state information.
  • the main control device includes a main sensing component and a main decision-making component
  • the backup control device includes a backup sensing component and a backup decision-making component
  • the main perception component is used to establish the environment model according to the environment information
  • the standby sensing component is used to establish an environmental model based on environmental information when the working state of the main sensing component represents a fault
  • the main decision-making component is used to generate corresponding control instructions according to the environment model and transmit them to the connected execution device;
  • the standby decision-making component is used to generate corresponding control instructions according to the environment model and transmit them to the connected execution device when the working state of the main decision-making component represents a failure.
  • the main perception component and the backup perception component can determine and establish an environment model according to the environment information (image or radar) collected by the sensor component and the obtained current vehicle state information.
  • the current state information of the vehicle may include the speed, driving angle, etc. of the vehicle.
  • the environment model may include drivable routes around the vehicle, obstacle distances, obstacle categories, and the like.
  • the environment model can be understood as a stitched look-around image.
  • the main decision-making component and the backup decision-making component can generate corresponding control instructions according to the environment model and transmit them to the connected execution device, wherein the control instructions represent the vehicle's travel route and the corresponding travel angle to generate corresponding control instructions.
  • the control command corresponds to each coordinate point on the travel route, that is, different travel positions can correspond to the same or different control commands, and the control commands can be used to avoid collisions, that is, the control commands can be a set of commands , each instruction in the instruction set can correspond to a trajectory point and the driving speed corresponding to the trajectory point.
  • the main sensing component is connected to the standby sensing component, and the main sensing component and the standby sensing component detect each other's working status
  • the main decision-making component and the standby decision-making component are connected, and the main decision-making component and the standby decision-making component detect each other's working status.
  • the automatic driving control system provided in the embodiments of this specification can use the main decision-making component and the backup decision-making component to detect each other's working status, and the working status can be normal or faulty. That is, when the main decision-making component fails, the backup decision-making component can know in time, and replace the main decision-making component to complete the steps of generating corresponding control instructions according to the environment model and transmitting them to the connected execution device.
  • Figure 2 shows a schematic structural diagram of a main control device and a backup control device provided in the embodiments of this paper, please refer to Figure 2, the main decision-making components include: main prediction module, a main planning module and a main control module, and the backup decision-making component includes: a backup prediction module, a backup planning module and a backup control module;
  • the main prediction module is used to predict the trajectory of obstacles in the environment information according to the environment model
  • the backup prediction module is used to predict the trajectory of obstacles in the environment information according to the environment model when the main prediction module fails;
  • the main planning module is used to plan the traveling speed and traveling angle of the current vehicle based on the trajectory of the obstacle, and transmit the traveling speed and traveling angle to the main control module and/or the backup control module;
  • the backup planning module is used to plan the travel speed and travel angle of the current vehicle based on the trajectory of the obstacle when the main planning module fails, and transmit the travel speed and travel angle to the main control module and/or the backup control module;
  • the main control module is used to generate control commands according to the travel speed and travel angle and transmit them to the connected execution device;
  • the backup control module is used to generate control instructions according to the travel speed and travel angle and transmit them to the connected execution device when the main control module fails.
  • the main prediction module can be connected with the backup prediction module
  • the backup prediction module can be used to detect the working status of the main prediction module
  • the main planning module can be connected with the backup planning module
  • the connection of the backup planning module can be used to detect the work of the main planning module state.
  • the main control module can be connected with the standby control module, and the standby control module can be used to detect the working state of the main control module. That is, the control system can detect components in the corresponding primary control device through components in the backup control device.
  • the working status of each component detected by the control system may include module label information and/or fault information, so that when a component in the main control device fails, it can be switched in time to ensure the timeliness of fault discovery, and at the same time improve the efficiency of backup components.
  • the module label information can be used to determine the faulty component
  • the fault situation information is used to characterize the fault cause of the component.
  • the state information that can be obtained by the control can include the main sensing component fault (module flag information), communication line disconnection (fault condition information).
  • control system can also be used to obtain the working status of all components in the system.
  • the working status can include fault and normal status.
  • the environment model can be established according to the environment information around the vehicle collected by the first sensor component and/or the second sensor component, and the environment model is transmitted to the main decision-making component, and the main decision-making component generates corresponding control instructions according to the distance of obstacles.
  • the standby prediction module can predict the trajectory of the obstacle in the environment information according to the environment model, and send the obstacle The trajectory of the object is transmitted to the non-faulty main planning module.
  • the backup planning module can plan the current vehicle's travel speed and travel angle based on the obstacle's trajectory, and transmit the travel speed and travel angle to the normal main control module and/or the normal standby control module.
  • the backup control module can generate a control command according to the travel speed and travel angle and transmit it to the connected execution device.
  • the backup component corresponding to the faulty component can be used to complete the generation of the control command without directly switching to the backup control device to ensure the timeliness of data processing .
  • the main forecasting module can be connected with the standby forecasting module, and the main forecasting module and the standby forecasting module can detect each other’s working status; the main planning module and the standby planning module are connected, and the main planning The module and the backup planning module detect each other's working state; the main control module and the backup control module are connected, and the main control module and the backup control module detect each other's working status.
  • FIG. 3 shows a schematic structural diagram of another main control device and a backup control device provided in the embodiments herein.
  • the main control device includes a first health monitoring component
  • the backup the control device includes a second health monitoring component
  • the first health monitoring component is respectively connected with the backup sensing component and the backup decision-making component, and the first health monitoring component is used to detect the working status of the backup sensing component and the backup decision-making component;
  • the second health monitoring component is respectively connected with the main sensing component and the main decision-making component, and the second health monitoring component is used to detect the working status of the main sensing component and the main decision-making component.
  • control system can also detect the working status of each component in the system through the first health monitoring component and the second health monitoring component.
  • the standby sensing component and the standby decision-making component can send working status signals to the first health monitoring component in real time, and the main sensing component and main decision-making component can also send working status signals to the second health monitoring component in real time.
  • the working status signal may carry module identification information and/or fault condition information.
  • both the first health monitoring component and the second health monitoring component can be connected with the main sensing component, the main decision-making component, the backup sensing component and the backup decision-making component, the first health monitoring component and the second health monitoring
  • the components are all used to detect the working status of the main perception component, the main decision component, the backup perception component and the backup decision component.
  • the embodiment of this specification uses the first health monitoring component and the second health monitoring component to monitor the working status of each component in real time, to ensure the timeliness and accuracy of the monitoring of the working status of each component, and to avoid unnecessary safety accidents caused by component failure.
  • FIG. 4 shows a schematic structural diagram of another main control device and a backup control device provided in this embodiment.
  • the first health monitoring component and the second health monitoring component It is also connected with the main prediction module, the main planning module, the main control module, the backup prediction module, the backup planning module and the backup control module; the first health monitoring component and the second health monitoring component are also used to detect the main prediction module, the main planning module, The working states of the main control module, backup prediction module, backup planning module and backup control module.
  • the standby sensing component, the standby decision-making component, the main sensing component and the main decision-making component can send working status signals to the first health monitoring component and the second health monitoring component in real time.
  • the working status signal may carry module identification information and/or fault condition information.
  • the first health monitoring component and the second health monitoring component are used to detect the working status of other components to ensure the accuracy of the detection, and at the same time avoid the failure of a single detection component, resulting in dangerous accidents.
  • the backup control device when the main control device is normal, the backup control device will also send the generated distance between the current vehicle and the obstacle to the main sensing component of the main control device, and the main control device will use the first sensor component and the backup
  • the distance between the current vehicle and the obstacle sent by the standby sensing component of the control device is fused with multi-party perception to form a redundant distance between the current vehicle and the obstacle, thereby ensuring high reliability of perception.
  • the backup control device When the control system or the backup control device detects that a certain component in the main control device fails, the backup control device replaces the failed component in the main control device with the component corresponding to the faulty component (that is, a partial replacement), such as in the main control device If the main sensing component fails, the standby sensing component in the backup control device will replace the main sensing module in the main control device to perform perception fusion, and send the information (environment model) after perception fusion to the main decision-making component, and the main decision-making component
  • follow-up path planning and decision-making control are performed according to the above-mentioned perception fusion information received, so as to ensure the normal operation of the automatic driving system and driving safety.
  • control system or the backup control device when the control system or the backup control device detects that any component or module in the main control device fails, it can switch to the backup control device, and the backup control device completely replaces the main control device to perform perception fusion, path planning and decision-making Control, etc., so as to ensure the normal operation of the automatic driving system and driving safety.
  • control system can control the vehicle to stop in a safe state, or the control system can also issue a takeover prompt to the driver, if the driver is not detected If you take over the vehicle, you can control the vehicle to stop in a safe state.
  • parking in a safe state can be parking in the original lane in a safe situation, or changing lanes in a safe situation and then parking in a safe area on the side of the road.
  • the automatic driving control system uses the main control device and the backup control device to detect each other's working status and receive the environmental information sent by the sensor components connected to the other party, thereby ensuring that the first sensor component and the second sensor component collect The environmental information of the system is backed up while ensuring the accuracy of the environmental information obtained.
  • the main control device can also generate corresponding control instructions based on the environmental information collected by the above two sensor components, improve the accuracy of control instruction generation, and avoid single sensor components. Inaccurate control caused by environmental information errors, etc., has achieved ASIL D level functional safety and reliability of autonomous driving;
  • the remaining main control devices can still generate control commands with the backup components of the backup control device, which avoids that when a certain component in the main control device fails, all the main control devices All the components in the system need to be switched to the backup control device, thereby ensuring the timeliness and accuracy of the backup, and further ensuring the functional safety reliability of the autonomous driving ASIL D level.
  • the main control device or the backup control device fails, the system still has high reliability, guarantees the normal operation of the automatic driving mode, and does not require function degradation to meet high-level requirements. High reliability requirements for autonomous driving.
  • the embodiment of this specification provides a vehicle, the vehicle is equipped with an automatic driving system, the automatic driving system includes the above-mentioned automatic driving control system, and the system includes: a first sensor component, a second sensor component, a main control device, a backup control devices and actuators;
  • Both the first sensor assembly and the second sensor assembly are used to collect environmental information around the vehicle, and transmit the collected environmental information to the connected main control device and backup control device;
  • Both the main control device and the backup control device are connected to the execution device, the main control device is connected to the backup control device, the main control device and the backup control device detect each other's working status, and the main control device is used to generate corresponding Control instructions, and transmit the control instructions to the executive device, and the control instructions are used to control the vehicle;
  • the standby control device is used to generate corresponding control instructions according to the received environmental information and transmit them to the execution device when the working state of the main control device represents a failure.
  • each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments.
  • For the same and similar parts in each embodiment refer to each other, that is, Can.
  • the testing method provided by the embodiment of the present invention has the same realization principle and technical effect as the aforementioned system embodiment.
  • sequence numbers of the above-mentioned processes do not mean the order of execution, and the execution order of the processes should be determined by their functions and internal logic, and should not be used in the implementation of the embodiments herein. process constitutes any qualification.
  • the disclosed systems, devices and methods may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components can be combined or integrated. to another system, or some features may be ignored, or not implemented.
  • the mutual coupling or direct coupling or communication connection shown or discussed may be indirect coupling or communication connection through some interfaces, devices or units, and may also be electrical, mechanical or other forms of connection.
  • a unit described as a separate component may or may not be physically separated, and a component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Part or all of the units can be selected according to actual needs to achieve the purpose of the solutions in the embodiments herein.
  • each functional unit in each of the embodiments herein may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
  • the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution in this article is essentially or part of the contribution to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) execute all or part of the steps of the methods in the various embodiments herein.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .

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Abstract

一种自动驾驶控制系统及车辆，系统包括：第一传感器组件、第二传感器组件、主控制装置、备用控制装置和执行装置；第一传感器组件和第二传感器组件均用于采集车辆周围的环境信息，并将采集的环境信息传输至连接的主控制装置和备用控制装置；主控制装置和备用控制装置均与执行装置连接，主控制装置与备用控制装置连接，主控制装置和备用控制装置相互检测对方的工作状态，主控制装置用于根据接收到的环境信息生成对应的控制指令；备用控制装置用于在主控制装置的工作状态表征故障时，将根据接收到的环境信息生成对应的控制指令传输至执行装置。该系统及车辆保证了获取环境信息的准确性，提高控制指令生成的准确性。

Description

一种自动驾驶控制系统及车辆 技术领域
本发明涉及自动驾驶技术领域，特别涉及一种自动驾驶控制系统及车辆。
背景技术
汽车正在面向自动化、网联化、电动化、共享化四个领域发展，其中自动驾驶技术是当前汽车产业发展的重中之重，不仅对行业发展产生巨大影响，而且引领未来出行模式的重大变革。
未来为了进一步实现L3、L4级别的高度自动驾驶系统，需要全面提升系统的可靠性，对感知、决策、执行系统以及软件、硬件设备都提出了更高的要求。其中，控制器及执行机构的备份冗余是实现高度自动驾驶所不可或缺的。
L3、L4级别的高度自动驾驶需要以更高的的可靠性来执行驾驶任务，才能够将驾驶员从驾驶任务中解放出来，提供给驾驶员Eyes-Off、Minds-Off的驾乘体验。而为了实现这样的高可靠性系统，需要控制器、执行机构均达到ASILD级别的功能安全可靠性。为了实现这样的高可靠性系统，需要控制器、执行机构均达到ASIL D级别的功能安全可靠性，而现有的自动驾驶的冗余控制系统，包括主控制器、备份控制器、转向冗余控制系统、制动冗余控制系统，主控制器和备份控制器信息交互，在主控制器故障时，备份控制器向转向冗余控制系统和制动冗余控制系统发送备份控制指令，实现驾驶降级和安全停车。但是，现有技术中主控制器和备份控制器仅连接相同的前向传感器，一方面，感知信号不能实现冗余，另一方面备份控制器不能与主控制实现充分冗余，因此不能满足高级别自动驾驶的可靠度要求。
发明内容
为了解决上述技术问题，本文的具体技术方案如下：
一方面，本文提供一种自动驾驶控制系统，系统包括：第一传感器组件、第二传感器组件、主控制装置、备用控制装置和执行装置；
第一传感器组件和第二传感器组件均用于采集车辆周围的环境信息，并将采集的环境信息传输至连接的主控制装置和备用控制装置；
主控制装置和备用控制装置均与执行装置连接，主控制装置与备用控制装置连接，主控制装置和备用控制装置相互检测对方的工作状态，主控制装置用于根据接收到的环境信息生成对应的控制指令，并将控制指令传输给执行装置，控制指令用于控制车辆；
备用控制装置用于在主控制装置的工作状态表征故障时，将根据接收到的环境信息生成对应的控制指令传输至执行装置。
进一步地，主控制装置包括主感知组件、主决策组件，备用控制装置包括备用感知组件、备用决策组件；
主感知组件用于根据环境信息建立环境模型；
备用感知组件用于在主感知组件的工作状态表征故障时，根据环境信息建立环境模型；
主决策组件用于根据环境模型生成对应的控制指令并传输至所连接的执行装置；
备用决策组件用于在主决策组件的工作状态表征故障时，根据环境模型生成对应的控制指令并传输至连接的执行装置。
进一步地，主感知组件与备用感知组件连接，主感知组件和备用感知组件相互检测对方的工作状态；
主决策组件和备用决策组件连接，主决策组件和备用决策组件相互检测对方的工作状态。
进一步地，主决策组件包括：主预测模块、主规划模块和主控制模块，备用决策组件包括：备用预测模块、备用规划模块和备用控制模块；
主预测模块用于根据环境模型预测环境信息中障碍物的运动轨迹；
备用预测模块用于在主预测模块故障时，根据环境模型预测环境信息中障碍物的运动轨迹；
主规划模块用于基于障碍物的运动轨迹规划当前车辆的行进速度和行进角度，并 将行进速度和行进角度传输至主控制模块和/或备用控制模块；
备用规划模块用于在主规划模块故障时，基于障碍物的运动轨迹规划当前车辆的行进速度和行进角度，并将行进速度和行进角度传输至主控制模块和/或备用控制模块；
主控制模块用于根据行进速度和行进角度生成控制指令并传输至连接的执行装置；
备用控制模块用于在主控制模块故障时，将根据行进速度和行进角度生成控制指令并传输至连接的执行装置。
进一步地，主预测模块与备用预测模块连接，主预测模块与备用预测模块相互检测对方的工作状态；
主规划模块和备用规划模块连接，主规划模块和备用规划模块相互检测对方的工作状态；
主控制模块和备用控制模块连接，主控制模块和备用控制模块相互检测对方的工作状态。
进一步地，主控制装置包括第一健康监测组件，备用控制装置包括第二健康监测组件；
第一健康监测组件分别与备用感知组件和备用决策组件连接，第一健康监测组件用于检测备用感知组件和备用决策组件的工作状态；
第二健康监测组件分别与主感知组件和主决策组件连接，第二健康监测组件用于检测主感知组件和主决策组件的工作状态。
进一步地，第一健康监测组件还与备用预测模块、备用规划模块和备用控制模块连接；第一健康监测组件还用于检测备用预测模块、备用规划模块和备用控制模块的工作状态；
第二健康监测组件还与主预测模块、主规划模块和主控制模块连接；第二健康监测组件还用于检测主预测模块、主规划模块和主控制模块的工作状态。
进一步地，主控制装置包括第一健康监测组件，备用控制装置包括第二健康监测组件；
第一健康监测组件和第二健康监测组件均与主感知组件、主决策组件、备用感知组件和备用决策组件连接，第一健康监测组件和第二健康监测组件均用于检测主感知 组件、主决策组件、备用感知组件和备用决策组件的工作状态。
进一步地，第一健康监测组件和第二健康监测组件还与主预测模块、主规划模块、主控制模块、备用预测模块、备用规划模块和备用控制模块连接；第一健康监测组件和第二健康监测组件还用于检测主预测模块、主规划模块、主控制模块、备用预测模块、备用规划模块和备用控制模块的工作状态。
另一方面，本文提供一种车辆，车辆设置有自动驾驶系统，自动驾驶系统包括如上述的自动驾驶控制系统。
采用上述技术方案，本文的一种自动驾驶控制系统及车辆，系统包括：第一传感器组件、第二传感器组件、主控制装置、备用控制装置和执行装置；
第一传感器组件和第二传感器组件均用于采集车辆周围的环境信息，并将采集的环境信息传输至连接的主控制装置和备用控制装置，第一传感器组件和第二传感器组件均用于采集车辆周围的环境信息，并将采集的环境信息传输至连接的控制装置，从而保证了第一传感器组件、第二传感器组件采集的环境信息得到备份的同时保证获取环境信息的准确性，主控制装置还能够根据上述两个传感器组件采集的环境信息生成对应的控制指令，提高控制指令生成的准确性，避免单一传感器组件采集的环境信息错误等造成不准确的控制，实现了自动驾驶ASIL D级别的功能安全可靠性；
并且，当主控制装置中的某个组件发生异常时，其余主控制装置仍可与备份控制装置的的备用组件生成控制指令，避免了当主控制装置中的某个组件发生故障时，所有主控制装置中的全部组件均需切换到备份控制装置的情况，从而保证了备份的及时性和精确性，进一步保证了自动驾驶ASIL D级别的功能安全可靠性。
为让本文的上述和其他目的、特征和优点能更明显易懂，下文特举较佳实施例，并配合所附图式，做详细说明如下。
附图说明
为了更清楚地说明本文实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本文的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1示出了本文实施例中提供的一种自动驾驶控制系统的结构示意图；
图2示出了本文实施例中提供的一种主控制装置、备用控制装置的结构示意图；
图3示出了本文实施例中提供的另一种主控制装置、备用控制装置的结构示意图；
图4示出了本文实施例中提供的又一种主控制装置、备用控制装置的结构示意图。
具体实施方式
下面将结合本文实施例中的附图，对本文实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本文一部分实施例，而不是全部的实施例。基于本文中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本文保护的范围。
需要说明的是，本文的说明书和权利要求书及上述附图中的术语“第一”、“第二”等是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本文的实施例能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列步骤或单元的过程、方法、装置、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
为了解决上述问题，本文实施例提供了一种自动驾驶控制系统，请参阅图1，图1示出了本文实施例中提供的一种自动驾驶控制系统的结构示意图，系统包括：第一传感器组件、第二传感器组件、主控制装置、备用控制装置和执行装置；
第一传感器组件和第二传感器组件均用于采集车辆周围的环境信息，并将采集的环境信息传输至连接的主控制装置和备用控制装置；
主控制装置和备用控制装置均与执行装置连接，主控制装置与备用控制装置连接，主控制装置和备用控制装置相互检测对方的工作状态，主控制装置用于根据接收到的环境信息生成对应的控制指令，并将控制指令传输给执行装置，控制指令用于控制车辆；
备用控制装置用于在主控制装置的工作状态表征故障时，将根据接收到的环境信息生成对应的控制指令传输至执行装置。
具体的，第一传感器组件、第二传感器组件可以是激光雷达也可以是图像传感器，用于采集车辆周围的环境信息，环境信息用于表征障碍物的类别以及车辆与对应障碍物的距离，其中障碍物的类别可以是移动的障碍物以及固定障碍物。
第一传感器组件采集的环境信息可以通过有线传输的方式传输至主控制装置和备用控制装置，第二传感器组件采集的环境信息也可以通过有线传输的方式传输至主控制装置和备用控制装置。主控制装置以及备用控制装置可以根据接收的环境信息以及当前车辆的状态信息生成对应的控制指令。
具体的，执行装置可以根据接收到的控制指令控制车辆的减速、制动和/或转向等操作。
具体的，执行装置可以包括主转向组件、备用转向组件、主制动组件以及备用制动组件，当控制系统全部正常时，使用主转向组件和主制动组件完成转向避让和/或制动，在主转向组件故障时，使用备用转向组件和主制动组件完成转向避让和/或制动。在主制动组件故障时，使用主转向组件和备用制动组件完成转向避让和/或制动。
在实际应用中，主控制装置、备用控制装置往往设置有多个组件以根据环境信息以及当前车辆的状态信息生成控制指令。
在上述实施例基础上，本说明书一个实施例中，主控制装置包括主感知组件、主决策组件，备用控制装置包括备用感知组件、备用决策组件；
主感知组件用于根据环境信息建立环境模型；
备用感知组件用于在主感知组件的工作状态表征故障时，根据环境信息建立环境模型；
主决策组件用于根据环境模型生成对应的控制指令并传输至所连接的执行装置；
备用决策组件用于在主决策组件的工作状态表征故障时，根据环境模型生成对应的控制指令并传输至连接的执行装置。
具体的，主感知组件和备用感知组件可以根据传感器组件采集的环境信息(图像或雷达)以及获取的当前车辆的状态信息确定建立环境模型。其中，当前车辆的状态信息可以包括车辆的速度、行驶角度等。环境模型中可以包括车辆周围的可行驶路线、障碍物距离、障碍物类别等。环境模型可以理解为是一种拼接的环视图像。
具体的，主决策组件和备用决策组件可以根据环境模型生成对应的控制指令并传 输至所连接的执行装置，其中，控制指令表征车辆的行进路线以及对应的行进角度生成对应的控制指令，可以理解的是，控制指令是与行进路线上每个坐标点相对应的，即不同的行进位置可以对应相同或不同的控制指令，控制指令可以用于避免发生碰撞，即，控制指令可以是一个指令集合，指令集合中的每一个指令可以对应一个轨迹点以及轨迹点对应的行驶速度。
在一个可选的实施例中，主感知组件与备用感知组件连接，主感知组件和备用感知组件相互检测对方的工作状态；
主决策组件和备用决策组件连接，主决策组件和备用决策组件相互检测对方的工作状态。
具体的，本说明书实施例提供的自动驾驶控制系统可以使用主决策组件和备用决策组件相互检测对方的工作状态，工作状态可以是正常或故障。即在主决策组件发生故障时，备用决策组件能够及时知晓，以代替主决策组件完成根据环境模型生成对应的控制指令并传输至连接的执行装置的步骤。
在上述实施例基础上，本说明书一个实施例中，图2示出了本文实施例中提供的一种主控制装置、备用控制装置的结构示意图，请参阅图2，主决策组件包括：主预测模块、主规划模块和主控制模块，备用决策组件包括：备用预测模块、备用规划模块和备用控制模块；
主预测模块用于根据环境模型预测环境信息中障碍物的运动轨迹；
备用预测模块用于在主预测模块故障时，根据环境模型预测环境信息中障碍物的运动轨迹；
主规划模块用于基于障碍物的运动轨迹规划当前车辆的行进速度和行进角度，并将行进速度和行进角度传输至主控制模块和/或备用控制模块；
备用规划模块用于在主规划模块故障时，基于障碍物的运动轨迹规划当前车辆的行进速度和行进角度，并将行进速度和行进角度传输至主控制模块和/或备用控制模块；
主控制模块用于根据行进速度和行进角度生成控制指令并传输至连接的执行装置；
备用控制模块用于在主控制模块故障时，将根据行进速度和行进角度生成控制指令并传输至连接的执行装置。
具体的，主预测模块可以与备用预测模块连接，备用预测模块可以用于检测主预测模块的工作状态，主规划模块可以与备用规划模块连接，备用规划模块连接可以用于检测主规划模块的工作状态。主控制模块可以与备用控制模块连接，备用控制模块可以用于检测主控制模块的工作状态。即，控制系统可以通过备用控制装置中的组件检测对应的主控制装置中的组件。控制系统检测的各个组件的工作状态中可以包括携带有模块标记信息和/或故障情况信息，以便于在主控制装置中的组件发生故障时及时切换，保证故障发现的及时性，同时提高备用组件切换的速率。可以理解的是，模块标记信息可以是用于确定故障的组件，故障情况信息用于表征组件的故障引发原因，如主感知组件故障时，控制可以获取的状态信息可以包括主感知组件故障(模块标记信息)、通信线路断开(故障情况信息)。
在实际应用中，控制系统可以也用于获取系统中全部组件的工作状态，工作状态可以包括故障和正常状态，在检测到主控制装置中主感知组件故障以及主决策组件正常时，备用感知组件可以根据第一传感器组件和/或第二传感器组件采集车辆周围的环境信息建立环境模型，并将环境模型传输至主决策组件，主决策组件根据障碍物的距离生成对应的控制指令。
在一个具体的实施例中，在检测到主控制装置中主感知组件正常以及主决策组件中主预测模块故障时，备用预测模块可以根据环境模型预测环境信息中障碍物的运动轨迹，并将障碍物的运动轨迹传输至未故障的主规划模块。
在一个具体的实施例中，在检测到主规划模块故障时，备用规划模块可以基于障碍物的运动轨迹规划当前车辆的行进速度和行进角度，并将行进速度和行进角度传输至正常主控制模块和/或正常备用控制模块。
在一个具体的实施例中，在检测到主控制模块故障时，备用控制模块可以将根据行进速度和行进角度生成控制指令并传输至连接的执行装置。
可以看出，本说明书实施例提供的控制系统，在主控制装置中组件故障时，可以使用故障组件对应的备用组件完成控制指令的生成，无需直接切换至备用控制装置，保证数据处理的及时性。
为了及时的知晓主决策组件中各个模块的工作情况，可以将主预测模块与备用预测模块连接，主预测模块与备用预测模块相互检测对方的工作状态；主规划模块和备用规划模块连接，主规划模块和备用规划模块相互检测对方的工作状态；主控制模块 和备用控制模块连接，主控制模块和备用控制模块相互检测对方的工作状态。
在一个可选的实施例中，图3示出了本文实施例中提供的另一种主控制装置、备用控制装置的结构示意图，请参阅图3，主控制装置包括第一健康监测组件，备用控制装置包括第二健康监测组件；
第一健康监测组件分别与备用感知组件和备用决策组件连接，第一健康监测组件用于检测备用感知组件和备用决策组件的工作状态；
第二健康监测组件分别与主感知组件和主决策组件连接，第二健康监测组件用于检测主感知组件和主决策组件的工作状态。
具体的，控制系统还可以通过第一健康监测组件以及第二健康监测组件检测系统中各个组件的工作状态。
在实际应用中，备用感知组件和备用决策组件可以实时向第一健康监测组件发送工作状态信号，主感知组件和主决策组件也可以实时向第二健康监测组件发送工作状态信号。工作状态信号可以携带有模块标记信息和/或故障情况信息。
在一个可选的实施例中，第一健康监测组件和第二健康监测组件均可以与主感知组件、主决策组件、备用感知组件和备用决策组件连接，第一健康监测组件和第二健康监测组件均用于检测主感知组件、主决策组件、备用感知组件和备用决策组件的工作状态。
本说明书实施例通过第一健康监测组件以及第二健康监测组件实时监测各个组件的工作状态，保证各个组件工作状态监测的及时性和准确性，避免组件发生故障时，引发不必要的安全事故。
在一个可选的实施例中，图4示出了本文实施例中提供的又一种主控制装置、备用控制装置的结构示意图，请参阅图4，第一健康监测组件和第二健康监测组件还与主预测模块、主规划模块、主控制模块、备用预测模块、备用规划模块和备用控制模块连接；第一健康监测组件和第二健康监测组件还用于检测主预测模块、主规划模块、主控制模块、备用预测模块、备用规划模块和备用控制模块的工作状态。
在实际应用中，备用感知组件、备用决策组件、主感知组件和主决策组件可以实时向第一健康监测组件以及第二健康监测组件发送工作状态信号。工作状态信号可以携带有模块标记信息和/或故障情况信息。采用第一健康监测组件以及第二健康监测 组件两个组件检测其他各个组件的工作状态，保证检测的准确性，同时避免单一检测组件故障，造成危险事故的发生。
示例地，在主控制装置正常的情况下，备用控制装置也会将其生成的当前车辆与障碍物的距离发送给主控制装置的主感知组件，主控制装置会根据第一传感器组件以及来备用控制装置的备用感知组件发送的当前车辆与障碍物的距离进行多方感知融合形成了有冗余的当前车辆与障碍物的距离，从而可以保证感知的高可靠度。
当控制系统或备用控制装置检测到主控制装置中的某一组件出现故障后，备用控制装置将故障组件对应的组件替换主控制装置中出现故障的组件(即部分替换)，如主控制装置中的主感知组件出现故障，则备用控制装置中的备用感知组件将代替主控制装置中的主感知模块执行感知融合，并将经过感知融合的信息(环境模型)发送给主决策组件，主决策组件根据接收到的上述感知融合信息进行后续的路径规划及决策控制等，从而保证自动驾驶系统的正常工作以及行车安全。
或者，还可在控制系统或备用控制装置监测到主控制装置中的任一组件或模块出现故障时，切换至备用控制装置，备用控制装置完全替换主控制装置，执行感知融合、路径规划和决策控制等，从而保证自动驾驶系统的正常工作以及行车安全。
为了保证更高的安全性，在监测到主控制装置或备用控制装置故障时，控制系统可以控制车辆在安全状态下停车，或者控制系统还可以向驾驶员发出接管提示，若未监测到驾驶员接管车辆，则可以控制车辆在安全状态下停车。
需要说明的是，在安全状态下停车，可以是在原车道安全情况下停车，也可以是在保证安全的情况下变道然后靠路边安全区域停车。
本说明书实施例提供的自动驾驶控制系统，通过主控制装置和备用控制装置相互检测对方的工作状态以及接收对方连接的传感器组件发送的环境信息，从而保证了第一传感器组件、第二传感器组件采集的环境信息得到备份的同时保证获取环境信息的准确性，主控制装置还能够根据上述两个传感器组件采集的环境信息生成对应的控制指令，提高控制指令生成的准确性，避免单一传感器组件采集的环境信息错误等造成不准确的控制，实现了自动驾驶ASIL D级别的功能安全可靠性；
并且，当主控制装置中的某个组件发生异常时，其余主控制装置仍可与备份控制装置的的备用组件生成控制指令，避免了当主控制装置中的某个组件发生故障时，所有主控制装置中的全部组件均需切换到备份控制装置的情况，从而保证了备份的及时 性和精确性，进一步保证了自动驾驶ASIL D级别的功能安全可靠性。本文通过主控制装置与备用控制系统更充分的冗余，能够保证主控制装置或备用控制装置出现故障时，系统依旧具有高可靠性，保证自动驾驶模式的正常工作，无需功能降级，满足高级别自动驾驶的高可靠度需求。
另一方面，本说明书实施例提供一种车辆，车辆设置有自动驾驶系统，自动驾驶系统包括上述的自动驾驶控制系统，系统包括：第一传感器组件、第二传感器组件、主控制装置、备用控制装置和执行装置；
第一传感器组件和第二传感器组件均用于采集车辆周围的环境信息，并将采集的环境信息传输至连接的主控制装置和备用控制装置；
主控制装置和备用控制装置均与执行装置连接，主控制装置与备用控制装置连接，主控制装置和备用控制装置相互检测对方的工作状态，主控制装置用于根据接收到的环境信息生成对应的控制指令，并将控制指令传输给执行装置，控制指令用于控制车辆；
备用控制装置用于在主控制装置的工作状态表征故障时，将根据接收到的环境信息生成对应的控制指令传输至执行装置。
需要说明的是，本说明书中的各个实施例均采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似的部分互相参见即可。本发明实施例所提供测试方法，其实现原理及产生的技术效果和前述系统实施例相同，为简要描述，方法实施例部分未提及之处，可参考前述系统实施例中相应内容。
应理解，在本文的各种实施例中，上述各过程的序号的大小并不意味着执行顺序的先后，各过程的执行顺序应以其功能和内在逻辑确定，而不应对本文实施例的实施过程构成任何限定。
还应理解，在本文实施例中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系。例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
本领域普通技术人员可以意识到，结合本文中所公开的实施例描述的各示例的单元及算法步骤，能够以电子硬件、计算机软件或者二者的结合来实现，为了清楚地说明硬件和软件的可互换性，在上述说明中已经按照功能一般性地描述了各示例的组成 及步骤。这些功能究竟以硬件还是软件方式来执行，取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能，但是这种实现不应认为超出本文的范围。
所属领域的技术人员可以清楚地了解到，为了描述的方便和简洁，上述描述的系统、装置和单元的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
在本文所提供的几个实施例中，应该理解到，所揭露的系统、装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另外，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口、装置或单元的间接耦合或通信连接，也可以是电的，机械的或其它的形式连接。
作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本文实施例方案的目的。
另外，在本文各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以是两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本文的技术方案本质上或者说对现有技术做出贡献的部分，或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)执行本文各个实施例方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
本文中应用了具体实施例对本文的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本文的方法及其核心思想；同时，对于本领域的一般技术人员， 依据本文的思想，在具体实施方式及应用范围上均会有改变之处，综上，本说明书内容不应理解为对本文的限制。

Claims (10)

  1. 一种自动驾驶控制系统，其特征在于，系统包括：第一传感器组件、第二传感器组件、主控制装置、备用控制装置和执行装置；
    第一传感器组件和第二传感器组件均用于采集车辆周围的环境信息，并将采集的环境信息传输至连接的主控制装置和备用控制装置；
    主控制装置和备用控制装置均与执行装置连接，主控制装置与备用控制装置连接，主控制装置和备用控制装置相互检测对方的工作状态，主控制装置用于根据接收到的环境信息生成对应的控制指令，并将控制指令传输给执行装置，控制指令用于控制车辆；
    备用控制装置用于在主控制装置的工作状态表征故障时，将根据接收到的环境信息生成对应的控制指令传输至执行装置。
  2. 根据权利要求1自动驾驶控制系统，其特征在于，主控制装置包括主感知组件、主决策组件，备用控制装置包括备用感知组件、备用决策组件；
    主感知组件用于根据环境信息建立环境模型；
    备用感知组件用于在主感知组件的工作状态表征故障时，根据环境信息建立环境模型；
    主决策组件用于根据环境模型生成对应的控制指令并传输至所连接的执行装置；
    备用决策组件用于在主决策组件的工作状态表征故障时，根据环境模型生成对应的控制指令并传输至连接的执行装置。
  3. 根据权利要求2自动驾驶控制系统，其特征在于，主感知组件与备用感知组件连接，主感知组件和备用感知组件相互检测对方的工作状态；
    主决策组件和备用决策组件连接，主决策组件和备用决策组件相互检测对方的工作状态。
  4. 根据权利要求2自动驾驶控制系统，其特征在于，主决策组件包括：主预测模块、主规划模块和主控制模块，备用决策组件包括：备用预测模块、备用规划模块和 备用控制模块；
    主预测模块用于根据环境模型预测环境信息中障碍物的运动轨迹；
    备用预测模块用于在主预测模块故障时，根据环境模型预测环境信息中障碍物的运动轨迹；
    备用规划模块用于在主规划模块故障时，基于障碍物的运动轨迹规划当前车辆的行进速度和行进角度，并将行进速度和行进角度传输至主控制模块和/或备用控制模块；
    主规划模块用于基于障碍物的运动轨迹规划当前车辆的行进速度和行进角度，并将行进速度和行进角度传输至主控制模块和/或备用控制模块；
    主控制模块用于根据行进速度和行进角度生成控制指令并传输至连接的执行装置；
    备用控制模块用于在主控制模块故障时，将根据行进速度和行进角度生成控制指令并传输至连接的执行装置。
  5. 根据权利要求4自动驾驶控制系统，其特征在于，主预测模块与备用预测模块连接，主预测模块与备用预测模块相互检测对方的工作状态；
    主规划模块和备用规划模块连接，主规划模块和备用规划模块相互检测对方的工作状态；
    主控制模块和备用控制模块连接，主控制模块和备用控制模块相互检测对方的工作状态。
  6. 根据权利要求4自动驾驶控制系统，其特征在于，主控制装置包括第一健康监测组件，备用控制装置包括第二健康监测组件；
    第一健康监测组件分别与备用感知组件和备用决策组件连接，第一健康监测组件用于检测备用感知组件和备用决策组件的工作状态；
    第二健康监测组件分别与主感知组件和主决策组件连接，第二健康监测组件用于检测主感知组件和主决策组件的工作状态。
  7. 根据权利要求6自动驾驶控制系统，其特征在于，第一健康监测组件还与备用 预测模块、备用规划模块和备用控制模块连接；第一健康监测组件还用于检测备用预测模块、备用规划模块和备用控制模块的工作状态；
    第二健康监测组件还与主预测模块、主规划模块和主控制模块连接；第二健康监测组件还用于检测主预测模块、主规划模块和主控制模块的工作状态。
  8. 根据权利要求4自动驾驶控制系统，其特征在于，主控制装置包括第一健康监测组件，备用控制装置包括第二健康监测组件；
    第一健康监测组件和第二健康监测组件均与主感知组件、主决策组件、备用感知组件和备用决策组件连接，第一健康监测组件和第二健康监测组件均用于检测主感知组件、主决策组件、备用感知组件和备用决策组件的工作状态。
  9. 根据权利要求8自动驾驶控制系统，其特征在于，第一健康监测组件和第二健康监测组件还与主预测模块、主规划模块、主控制模块、备用预测模块、备用规划模块和备用控制模块连接；第一健康监测组件和第二健康监测组件还用于检测主预测模块、主规划模块、主控制模块、备用预测模块、备用规划模块和备用控制模块的工作状态。
  10. 一种车辆，车辆设置有自动驾驶系统，自动驾驶系统包括如权利要求1-9任一项的自动驾驶控制系统。
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