WO2026020281A1 - Appareil de commande, système de commande et dispositif de conduite intelligent - Google Patents

Appareil de commande, système de commande et dispositif de conduite intelligent

Info

Publication number
WO2026020281A1
WO2026020281A1 PCT/CN2024/106823 CN2024106823W WO2026020281A1 WO 2026020281 A1 WO2026020281 A1 WO 2026020281A1 CN 2024106823 W CN2024106823 W CN 2024106823W WO 2026020281 A1 WO2026020281 A1 WO 2026020281A1
Authority
WO
WIPO (PCT)
Prior art keywords
computing unit
unit group
control
interface
pose sensor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
PCT/CN2024/106823
Other languages
English (en)
Chinese (zh)
Inventor
贾晓林
尹建强
裴欢
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenzhen Yinwang Intelligent Technology Co Ltd
Original Assignee
Shenzhen Yinwang Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenzhen Yinwang Intelligent Technology Co Ltd filed Critical Shenzhen Yinwang Intelligent Technology Co Ltd
Priority to PCT/CN2024/106823 priority Critical patent/WO2026020281A1/fr
Publication of WO2026020281A1 publication Critical patent/WO2026020281A1/fr
Pending legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • G05D1/81—Handing over between on-board automatic and on-board manual control

Definitions

  • This application relates to the field of intelligent vehicles, and more specifically, to a control device, a control system, and an intelligent driving device.
  • a vehicle's intelligent driving system comprises three key components: perception, planning, and control.
  • perception, planning, and control The collaboration of these three components enables a complete system of intelligent decision-making and execution, thereby achieving automated vehicle control. Failure or malfunction in any of these components will affect the vehicle's driving safety.
  • the intelligent driving functions of vehicles are gradually increasing.
  • accurate and reliable vehicle pose (i.e., position and attitude) information has become indispensable.
  • the vehicle's pose information relies on the perception results of the inertial measurement unit (IMU). Once the IMU fails, or the communication link between the IMU and the vehicle's controller fails, the controller will not be able to obtain the vehicle's pose information, thus failing to realize certain intelligent driving functions, such as being unable to accurately plan the vehicle's driving path, and may even lead to loss of vehicle control.
  • IMU inertial measurement unit
  • This application provides a control device, a control system, and an intelligent driving device that helps reduce the probability of missing vehicle position information, thereby improving vehicle reliability and safety.
  • a control device which is applied to an intelligent driving device.
  • the device includes a first computing unit group and a second computing unit group; wherein a first type of interface of the first computing unit group and the second computing unit group is used to receive a first signal from a first pose sensor; a second type of interface of the first computing unit group is used to receive a second signal from a second pose sensor, and/or a third type of interface of the second computing unit group is used to receive the second signal; the first pose sensor and the second pose sensor are used to sense the motion state information of the intelligent driving device; the first computing unit group and/or the second computing unit group generate control information based on the first signal or the second signal, and the control information is used to control the intelligent driving device.
  • the first type of interface and the second type of interface are different types of interfaces.
  • the first type of interface is a controller area network-flexible data (CAN-FD) interface
  • the second type of interface is any one of an Ethernet interface, an uncoordinated random access and transmission (URAT) interface, or a serial peripheral interface (SPI).
  • CAN-FD controller area network-flexible data
  • URAT uncoordinated random access and transmission
  • SPI serial peripheral interface
  • both the first and second computing unit groups can acquire signals from the first pose sensor, and at least one of the first and second computing unit groups can acquire signals from the second pose sensor.
  • the control device can still obtain the motion state information of the intelligent driving device through the remaining pose sensor, thereby controlling the intelligent driving device and preventing it from going out of control.
  • the remaining computing unit group can still generate control information based on the received pose sensor signals. Since the first pose sensor can communicate with both the first and second computing unit groups, if one computing unit group fails, the other computing unit group can acquire sensor signals without switching sensor sources, avoiding the risk of system instability caused by sensor switching.
  • the two pose sensors communicate with the computing unit groups in the control device through two different types of interfaces, which helps reduce the probability of both pose sensors failing due to a common cause, further reducing the risk of the intelligent driving device going out of control.
  • the first attitude sensor communicates with the first computing unit group and the second computing unit group respectively through the first type interface of the third computing unit group or the first control unit, wherein the third computing unit group and the first control unit are not included in the control device.
  • the first pose sensor is located outside the control device.
  • the third computing unit group or the first control unit, and the first attitude transmitter... All sensors are included in the combined positioning module.
  • the control device includes a first attitude sensor and a second control unit.
  • the first attitude sensor communicates with the first computing unit group and the second computing unit group respectively through a first type interface of the second control unit.
  • the first attitude sensor and the second control unit communicate via an SPI or UART interface.
  • the second control unit transmits the signal from the first attitude sensor to the first computing unit group and the second computing unit group respectively via a network forwarding unit.
  • the second control unit communicates with the network forwarding unit, and the network forwarding unit communicates with the first and second computing unit groups via a first type of interface.
  • the first type of interface is an Ethernet interface.
  • the first posture sensor communicates with the first computing unit group and the second computing unit group through the control unit, which can reduce the risk of communication link failure of the first posture sensor. Moreover, if one computing unit group fails, it will not affect the other computing unit group from receiving the signal from the first posture sensor.
  • the control device includes a second pose sensor and a second control unit.
  • the second pose sensor communicates with at least one of the first computing unit group and the second computing unit group through a second type interface of the second control unit.
  • the second pose sensor communicates with the second control unit via an SPI or UART interface.
  • the second control unit transmits the signal from the second pose sensor to the first computing unit group and the second computing unit group respectively via a network forwarding unit.
  • the second control unit communicates with the network forwarding unit, and the network forwarding unit communicates with the first and second computing unit groups via a second type of interface.
  • the second type of interface is an Ethernet interface.
  • the first pose sensor is located outside the control device, and the first type of interface can be a CAN-FD interface.
  • the second pose sensor is installed inside the control device and communicates with at least one of the first computing unit group and the second computing unit group through the control unit inside the control device. Since the control unit has high reliability, the risk of communication link failure of the second pose sensor can be reduced.
  • the second control unit communicates with the first computing unit via a fourth type interface, and the second control unit communicates with the second computing unit group via a fifth type interface; the second control unit receives control information via the fourth type interface, or the second control unit receives control information via the fifth type interface; when the second control unit is not faulty, the device sends control information via the second control unit.
  • control device includes a second pose sensor.
  • the first pose sensor is also located in the control device, and the first pose sensor communicates with the first computing unit group and the second computing unit group respectively through the first interface of the second control unit; the second pose sensor communicates directly with the first computing unit group through the second type of interface.
  • the first computing unit group transmits the second signal to the second computing unit group through a third type interface.
  • the first computing unit group and/or the second computing unit group when neither the first pose sensor nor the second pose sensor malfunctions, the first computing unit group and/or the second computing unit group generate control information based on the first signal.
  • the signal from the first posture sensor is used first to generate control information without considering the signal from the other posture sensor, which helps to reduce processing complexity. Furthermore, since the first posture sensor can communicate with both the first and second computing unit groups, both computing unit groups can generate control information. When one computing unit group fails, the other computing unit group can control the intelligent driving device without switching sensor sources, which helps to improve the reliability and safety of the intelligent driving device.
  • a control system which includes the means in any possible implementation of the first aspect, as well as a first pose sensor and a second pose sensor.
  • a control method is provided, which is applied to a control device including a first computing unit group and a second computing unit group; wherein a first type of interface between the first computing unit group and the second computing unit group is used to receive a first signal from a first attitude sensor.
  • the method includes: a second type of interface of the first computing unit group for receiving a second signal from the second pose sensor, and/or a third type of interface of the second computing unit group for receiving the second signal; the first pose sensor and the second pose sensor are used to sense the motion state information of the intelligent driving device.
  • a first control message is sent.
  • the first control message is used to control the intelligent driving device and is generated based on a first signal.
  • a second control message is sent.
  • the second control message is used to control the intelligent driving device and is generated based on a second signal.
  • the method further includes: when at least one of the first computing unit group and the second computing unit group is not faulty, sending the first control information or the second control information through the first computing unit group or the second computing unit group.
  • control device further includes a second control unit, which communicates with the first computing unit via a fourth type interface and with the second computing unit group via a fifth type interface; the second control unit receives control information via the fourth type interface, or the second control unit receives control information via the fifth type interface; the method further includes: when the second control unit is not faulty and at least one of the first computing unit group and the second computing unit group is not faulty, sending first control information or second control information through the second control unit.
  • sending first control information or second control information through a first computing unit group or a second computing unit group includes: sending first control information or second control information through a first computing unit group or a second computing unit group when a second control unit fails.
  • the first computing unit group fails, the first control information or the second control information is generated by the second computing unit group; or, when the second computing unit group fails, the first control information or the second control information is generated by the first computing unit group.
  • the method is executed by a control device in any possible implementation of the first aspect, or the method is executed by a control system in any possible implementation of the second aspect.
  • a control device comprising: a processor for executing a computer program stored in the memory, such that the device performs the method in any possible implementation of the fourth aspect.
  • control device also includes a memory.
  • a controller comprising means as described in any of the possible implementations of the first or fourth aspect.
  • the controller may be a domain controller or an onboard central computer.
  • an intelligent driving device which includes means as in any possible implementation of the first or fourth aspect, or the intelligent driving device includes a system as in any possible implementation of the second aspect, or the intelligent driving device includes a controller as in any possible implementation of the fifth aspect.
  • the intelligent driving device is a vehicle.
  • a computer program product comprising: computer program code, which, when executed on a computer or processor, causes the computer or processor to perform the method in any possible implementation of the fourth aspect.
  • the above computer program code can be stored in whole or in part on a storage medium, which can be packaged together with the processor or packaged separately from the processor.
  • a computer-readable medium stores instructions which, when executed by a processor, cause the processor to implement the method in any possible implementation of the fourth aspect.
  • a chip system including circuitry for performing the method in any possible implementation of the fourth aspect described above.
  • FIG. 1 is a functional schematic block diagram of the vehicle provided in an embodiment of this application.
  • FIG. 2 is a schematic block diagram of the control device provided in an embodiment of this application.
  • FIG. 3 is another schematic block diagram of the control device provided in the embodiments of this application.
  • FIG. 4 is another schematic block diagram of the control device provided in the embodiments of this application.
  • FIG. 5 is another schematic block diagram of the control device provided in the embodiments of this application.
  • FIG. 6 is another schematic block diagram of the control device provided in the embodiments of this application.
  • FIG. 7 is another schematic block diagram of the control device provided in the embodiments of this application.
  • FIG. 1 is a functional block diagram of a vehicle provided in an embodiment of this application.
  • the vehicle 100 may include a perception system 120 and a computing platform 150.
  • the perception system 120 may include several sensors for sensing information about the environment surrounding the vehicle 100.
  • the perception system 120 may include a positioning system, which may be a Global Positioning System (GPS), a BeiDou system, or other positioning systems.
  • the perception system 120 may also include one or more of the following: an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera device.
  • IMU inertial measurement unit
  • lidar a lidar
  • millimeter-wave radar a millimeter-wave radar
  • ultrasonic radar ultrasonic radar
  • Computing platform 150 may include processors 151 to 15n.
  • a processor is a circuit with signal processing capabilities.
  • the processor can be a circuit with instruction read and execute capabilities, such as a central processing unit (CPU), microprocessor, graphics processing unit (GPU) (which can be understood as a type of microprocessor), or digital signal processor (DSP).
  • the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable.
  • the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as a field-programmable gate array (FPGA).
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • FPGA field-programmable gate array
  • the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units.
  • the processor can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), tensor processing unit (TPU), deep learning processing unit (DPU), etc.
  • the computing platform 150 may also include memory for storing instructions, and some or all of the processors 151 to 15n can call the instructions in memory to implement the corresponding functions.
  • the computing platform 150 may include at least one of the following: an advanced driving domain controller (ADC), also known as a mobile data center (MDC); a vehicle domain controller (VDC); and a cockpit domain controller (CDC).
  • ADC advanced driving domain controller
  • MDC mobile data center
  • VDC vehicle domain controller
  • CDC cockpit domain controller
  • ADC or MDC is used to realize the perception, decision-making and control functions related to intelligent driving.
  • ADC or MDC may also be called other names, such as special equipment system (SAS), intelligent driving server ICAS2, ADAS super core, etc.
  • SAS special equipment system
  • ICAS2 intelligent driving server
  • ADAS super core etc.
  • VDC is used to realize vehicle control functions.
  • VDC can be regarded as the integration of power domain, chassis domain and body domain.
  • VDC may also be called other names, such as body domain controller (BDC), vehicle control server ICAS1, body super core (BSC), etc.; CDC is used to realize cockpit intelligent functions such as human-machine interaction.
  • CDC may also be called other names, such as media graphics unit (MGU), intelligent cockpit server ICAS3, cockpit super core (CSC), etc.
  • MGU media graphics unit
  • ICAS stands for in-car application-server (ICAS).
  • the computing platform 150 may also be a central computing platform, for example, it may include a vehicle central computer (VCC).
  • VCC vehicle central computer
  • Intelligent driving system may include advanced driving assistance system (ADAS) and autonomous driving system (ADS).
  • ADAS advanced driving assistance system
  • ADS autonomous driving system
  • Intelligent driving system utilizes various sensors on the vehicle (including but not limited to: lidar, millimeter-wave radar, camera device, ultrasonic sensor, global positioning system, inertial measurement unit) to acquire information from the vehicle's surroundings, and analyzes and processes the acquired information to achieve functions such as obstacle perception, target recognition, vehicle positioning, path planning, driver monitoring/alert, etc., thereby improving the safety, automation and comfort of vehicle driving.
  • L0-L5 At different levels of autonomous driving (L0-L5), based on artificial intelligence algorithms and information acquired by multiple sensors, intelligent driving systems can achieve different levels of automated driving assistance.
  • the aforementioned levels of autonomous driving (L0-L5) are based on the classification standards of the Society of Automotive Engineers (SAE).
  • SAE Society of Automotive Engineers
  • L0 is no automation
  • L1 is driver assistance
  • L2 is partial automation
  • L3 is conditional automation
  • L4 high automation
  • L5 Full automation.
  • Levels L4 and L5 allow the driver to completely transform into a passenger.
  • ADAS functions include, but are not limited to: adaptive cruise control, automatic emergency braking, automatic parking, blind spot monitoring, forward cross-traffic alert/braking, rear cross-traffic alert/braking, forward collision warning, lane departure warning, lane keeping assist, rear collision warning, traffic sign recognition, traffic jam assist, and highway assist.
  • L0-L5 levels of autonomous driving
  • vehicle pose information is indispensable for realizing various intelligent driving functions.
  • vehicle pose information generally relies on the perception results of an IMU.
  • the IMU malfunctions, or when the communication link between the IMU and the vehicle's controller (such as MDC) fails, the controller will be unable to obtain the vehicle's pose information, which may lead to the failure of certain intelligent driving functions or even loss of vehicle control.
  • embodiments of this application provide a control device that can reduce the probability of missing pose information of intelligent driving devices (such as vehicles), thereby improving the reliability and safety of intelligent driving devices.
  • Figure 2 shows a schematic block diagram of a control device provided in an embodiment of this application.
  • the device includes a first computing unit group and a second computing unit group.
  • a first type of interface of the first and second computing unit groups is used to receive a first signal from a first pose sensor;
  • a second type of interface of the first computing unit group is used to receive a second signal from a second pose sensor, and/or a third type of interface of the second computing unit group is used to receive the second signal;
  • the first and second pose sensors are used to sense the motion state information of the intelligent driving device;
  • the first and/or second computing unit groups generate control information based on the first or second signal, and the control information is used to control the intelligent driving device.
  • the first computing unit group and/or the second computing unit group when neither the first pose sensor nor the second pose sensor malfunctions, the first computing unit group and/or the second computing unit group generates control information based on the first signal. In the event of a malfunction in the first pose sensor, the first computing unit group and/or the second computing unit group generates control information based on the second signal.
  • control information is sent through either the first computing unit group or the second computing unit group; or, when one of the first computing unit group or the second computing unit group fails, control information is sent through the computing unit group that has not failed, and the control information sent by the computing unit group is generated by itself based on the first signal or the second signal.
  • the device further includes a second control unit, which communicates with the first computing unit via a Type IV interface and with the second computing unit group via a Type V interface.
  • the second control unit receives control information via either the Type IV interface or the Type V interface.
  • the device sends control information through it.
  • control information is sent through either the first computing unit group or the second computing unit group.
  • the first computing unit group can also receive information indicating the operating status of the second control unit through a Type 4 interface. Then, the first computing unit group determines whether the second control unit has malfunctioned based on this information. In another example, the second computing unit group can also receive information indicating the operating status of the control unit through a Type 5 interface to monitor whether the second control unit has malfunctioned. Furthermore, the second computing unit group can send its monitoring results of the second control unit to the first computing unit group. Further, the first computing unit group determines whether the second control unit has malfunctioned based on the monitoring results from the second computing unit group and its own reception of information indicating the operating status of the second control unit.
  • the aforementioned information indicating the operating status of the control unit can be a periodically transmitted heartbeat message. Then, when the monitoring result indicates that the second control unit has malfunctioned, and the first computing unit group's own heartbeat message reception indicates that the second control unit has malfunctioned (e.g., the first computing unit group has not received a heartbeat message from the second control unit in n heartbeat message transmission cycles, where n is greater than 1), the first computing unit group determines that the second control unit has malfunctioned.
  • the fourth type of interface and the fifth type of interface can be the same interface, or they can be different interfaces.
  • the second control unit can also receive information indicating the working status of the first computing unit group and the second computing unit group through the fourth type interface and the fifth type interface, respectively, so that the second control unit can determine whether the first computing unit group and/or the second computing unit group has failed.
  • the computing unit group (such as the first computing unit group and the second computing unit group) involved in this application may include at least one system-on-a-chip (SoC), and the control unit involved in this application may be a microcontroller unit (MCU).
  • SoC system-on-a-chip
  • MCU microcontroller unit
  • the control device may be any one of MDC and VCC in the foregoing embodiments, or the control device may be a single board disposed in MDC or VCC.
  • the control device may also be other devices with domain controller functions such as MDC; or the control device may also be other devices with central computing platform functions such as VCC.
  • the control device may be VDC or CDC, or it may be a device with or integrated VDC and/or CDC functions.
  • Motion state information may include at least one of position, attitude angle, velocity, and acceleration.
  • the first pose sensor and the second pose sensor may be IMU, or the first pose sensor and the second pose sensor may also be other sensors with the function of sensing the motion state information of intelligent driving devices (such as vehicles).
  • the above describes the communication relationship between the computing unit group (or control unit) and the pose sensor in the control device provided in the embodiments of this application.
  • the following details the possible setup methods and locations of the pose sensor.
  • the first pose sensor is located outside the control device.
  • the second pose sensor communicates directly with the first computing unit group.
  • the first pose sensor communicates with the first and second computing unit groups respectively through a first-type interface of the third computing unit group or the first control unit.
  • the third computing unit group and the first control unit are not included in the control device.
  • the control device includes the second pose sensor.
  • the first pose sensor communicates with the first control unit or the third computing unit group via a communication link between URAT interfaces (hereinafter referred to as URAT link) or a communication link between SPI interfaces (hereinafter referred to as SPI link).
  • the first control unit or the third computing unit group communicates with the first and second computing unit groups via a communication link between CAN-FD interfaces (hereinafter referred to as CAN-FD link).
  • the second pose sensor connects to the first computing unit group via an SPI link or a UART link.
  • the second pose sensor sends signals to the first computing unit group via the SPI or UART interface; that is, the first-type interface is an SPI or UART interface.
  • the first computing unit group can send the signal from the second pose sensor to the network forwarding unit via an Ethernet interface, and the network forwarding unit sends the signal from the second pose sensor to the second computing unit group via an Ethernet interface.
  • the CAN-FD interface can be regarded as an example of the first type of interface
  • the SPI or UART interface can be regarded as some examples of the second type of interface
  • the Ethernet interface can be regarded as an example of the third type of interface.
  • the first computing unit group and/or the second computing unit group determine the control information using the signal from the first posture sensor.
  • the first posture sensor malfunctions, or when the communication link between the first posture sensor and the computing unit group malfunctions (e.g., a communication link malfunction between the posture sensor and the first control unit or the third computing unit group, or a communication link malfunction between the first control unit or the third computing unit group and the control device)
  • the first computing unit group and/or the second computing unit group determine the control information using the signal from the second posture sensor.
  • the chip connected to the first posture sensor (the chip in the first control unit or the third computing unit group) and the chip connected to the second posture sensor (the chip in the second control unit) are not the same chip, and their signal transmission paths are also different, there is no possibility of a common cause failure between the first posture sensor and the second posture sensor. This helps improve the reliability of the control system, including the posture sensor, thereby improving the safety of the intelligent driving device.
  • pose sensor malfunctions can include: power supply failure, clock failure, communication failure, or processing module failure.
  • Power supply failure refers to a failure in the power supply module or power line that prevents power from being supplied to the pose sensor.
  • Communication failure refers to a software or hardware failure that prevents the pose sensor from communicating with the outside world.
  • Clock failure refers to an inaccurate or malfunctioning clock, resulting in a failure to achieve clock synchronization.
  • Processing module failure refers to a software or hardware failure that prevents the sensor from processing data. It's important to note that pose sensor communication failures differ slightly from communication link failures between the pose sensor and the control device.
  • a pose sensor communication failure is caused by the pose sensor itself, preventing communication with the outside world.
  • Communication link failures include both malfunctions of the pose sensor itself preventing communication with the control device, and malfunctions of other components in the communication link (such as the first control unit or the third computing unit group) preventing communication between the pose sensor and the control device.
  • the first computing unit group can generate control information a based on signals from the first or second posture sensor.
  • Control information a is used to control at least one of the steering mechanism, power assist mechanism, and braking mechanism of the intelligent driving device.
  • the second computing unit group can generate control information b based on signals from the first or second posture sensor.
  • Control information b is used to control at least one of the steering mechanism, power assist mechanism, and braking mechanism of the intelligent driving device.
  • control device shown in Figure 3 also includes a second control unit.
  • the device sends control information through the second control unit.
  • control information is sent through either the first computing unit group or the second computing unit group.
  • the control device includes a second control unit.
  • the second pose sensor communicates with at least one of the first and second computing unit groups through a second type interface of the second control unit.
  • the second pose sensor is connected to the second control unit via an SPI link or a UART link.
  • the second control unit sends the signal from the second pose sensor to the first and/or second computing unit groups through a network forwarding unit.
  • the network forwarding unit sends the signal from the second pose sensor to both the first and second computing unit groups via an Ethernet interface.
  • the network forwarding unit can be a local area network switch (LSW), or it can be any other unit with Ethernet forwarding capabilities.
  • LSW local area network switch
  • connection relationship between the first pose sensor and the control device can be referred to the description in the corresponding part of Figure 3, and will not be repeated here. It is understood that this...
  • the CAN-FD interface can be regarded as an example of the first type of interface
  • the Ethernet interface can be regarded as an example of the second and third types of interfaces.
  • this positioning module can be a combined positioning module (or combined navigation module), meaning that the positioning module also includes a positioning system, which is connected to the first control unit/third computing unit group via an SPI link or a UART link.
  • the positioning system can include a global navigation satellite system (GNSS), such as GPS or BeiDou.
  • GNSS global navigation satellite system
  • the positioning module can provide centimeter-level positioning information based on the sensing results of the positioning system (such as GNSS) and the IMU, or it can combine high-precision maps and data from multiple sensors.
  • the positioning module can also be another electronic control unit (ECU) that can provide IMU sensor data.
  • ECU electronice control unit
  • control device includes a first pose sensor and a second control unit.
  • the first pose sensor communicates with the first computing unit group and the second computing unit group through a first type of interface of the second control unit.
  • control device also includes a second pose sensor.
  • the control device includes a first pose sensor and a second pose sensor.
  • the connection relationship of the first pose sensor within the control device and the signal transmission path of the first pose sensor in Figure 5 can be referenced to the description of the second pose sensor in Figure 4.
  • the first pose sensor in Figure 5 communicates with the first computing unit group and the second computing unit group through the second control unit and the network forwarding unit, respectively. That is, both the first and second computing unit groups in Figure 5 can obtain the signal from the first pose sensor.
  • the connection relationship of the second pose sensor within the control device and the signal transmission path of the second pose sensor in Figure 5 can be referenced to the description of the second pose sensor in Figure 3, and will not be repeated here.
  • control device also includes a positioning system 1, which connects to the second control unit via an SPI link or a UART link to provide the control device with the positioning information of the intelligent driving device.
  • control device communicates with the positioning system 2 via a CAN-FD link or an Ethernet link, and the positioning system 2 provides the control device with the positioning information of the intelligent driving device.
  • positioning system 1 or positioning system 2 can be GNSS.
  • the Ethernet interface can be regarded as an example of the first type of interface
  • the SPI or UART interface can be regarded as some examples of the second type of interface
  • the Ethernet interface can be regarded as an example of the third type of interface.
  • the second control unit has the ability to monitor the operating status of the first computing unit group and the second computing unit group, for example, to monitor whether the first computing unit group and the second computing unit group have malfunctioned.
  • the control device sends vehicle control information through the second control unit. More specifically, when the first computing unit group, the second computing unit group, and the control module have all functioned correctly, the second control unit sends control information a from the first computing unit group or control information b from the second computing unit group. When it is determined that the first computing unit group or the second computing unit group has malfunctioned, the second control unit sends control information from the computing unit group that has not malfunctioned.
  • the second control unit also has the ability to monitor its own operating status.
  • the control device sends vehicle control information through the first computing unit group or the second computing unit group.
  • the first computing unit group and the second computing unit group have the ability to monitor the working status of the second control unit.
  • the first computing unit group sends control information a or control information b, or the second computing unit group sends control information a or control information b.
  • the first computing unit group determines that the control unit has failed, and then controls the first computing unit group to send control information a.
  • the malfunction or abnormal operating state of the control unit (or computing unit group) involved in the embodiments of this application may include: a malfunction in the software loaded in the control unit (or computing unit group) and/or a malfunction in the hardware loaded in the control unit (or computing unit group). More specific malfunction types may include: power supply failure, clock failure, communication failure, or processing module failure of the control unit (or computing unit group), etc.
  • power supply failure refers to the inability to supply power to the control unit (or computing unit group) due to a fault in the power supply module or power supply line
  • communication failure refers to the inability of the control unit (or computing unit group) to communicate with the outside world due to a software or hardware failure
  • clock failure refers to the inaccuracy or malfunction of the clock of the control unit (or computing unit group), resulting in the inability to achieve clock synchronization, etc.
  • processing module failure refers to the inability of the processing module to perform data processing due to a software or hardware failure.
  • the control device may include two control units, each of which can communicate with two computing unit groups to obtain control information from the computing unit groups.
  • the configuration of the first pose sensor can refer to the configuration shown in Figure 3 or Figure 4
  • the configuration of the second pose sensor can refer to the configuration shown in Figure 3 or Figure 4
  • the configuration of the first pose sensor and the second pose sensor can refer to the configuration shown in Figure 5, respectively.
  • the architecture of the control device in this embodiment can be as shown in Figure 6.
  • the control device may include a second control unit and a third control unit, which can be connected to the network forwarding unit via an Ethernet link.
  • control device when the second control unit is functioning correctly, the control device can send control information through the second control unit; when the second control unit malfunctions, the control device can send control information generated based on the signal from the second pose sensor through the third control unit. Since the control unit offers higher functional safety, adding a control unit helps improve the reliability of the control device, thereby enhancing the safety of the intelligent driving device.
  • control device The architecture of the control device and the communication relationships between its components, as described above with reference to Figures 2 to 6, are illustrated in the embodiments of this application.
  • embodiments of this application also provide a control method, which may include: sending first control information when the first attitude sensor is not faulty, the first control information being used to control the intelligent driving device, the first control information being generated based on a first signal; or, sending second control information when the first attitude sensor is faulty, the second control information being used to control the intelligent driving device, the second control information being generated based on a second signal.
  • the first control information and the second control information can be some examples of the aforementioned control information.
  • the method further includes: when at least one of the first computing unit group and the second computing unit group is not faulty, sending first control information or second control information through the first computing unit group or the second computing unit group.
  • the method when the control device includes a second control unit, the method further includes: when the second control unit is not faulty and at least one of the first computing unit group and the second computing unit group is not faulty, sending first control information or second control information through the second control unit.
  • FIG 7 is another schematic block diagram of the control device provided in an embodiment of this application.
  • the control device 2100 shown in Figure 7 may include a processor 2110, a transceiver 2120, and a memory 2130.
  • the processor 2110, transceiver 2120, and memory 2130 are connected via internal connection paths.
  • the memory 2130 is used to store instructions, and the processor 2110 is used to execute the instructions stored in the memory 2130 to implement the control method in the above embodiments.
  • the memory 2130 may be coupled to the processor 2110 via an interface or integrated with the processor 2110.
  • transceiver 2120 may include, but is not limited to, transceiver devices such as input/output interfaces, to realize communication between device 2100 and other devices or communication networks.
  • the memory 2130 can be volatile memory and/or non-volatile memory.
  • the non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory.
  • the volatile memory can be random access memory (RAM).
  • RAM can be used as an external cache.
  • RAM includes a variety of forms, such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • SDRAM synchronous dynamic random access memory
  • DDR SDRAM double data rate synchronous dynamic random access memory
  • ESDRAM enhanced synchronous dynamic random access memory
  • SLDRAM synchronous linked dynamic random access memory
  • DR RAM direct rambus RAM
  • Transceiver 2120 uses transceiver devices, such as but not limited to transceivers, to enable communication between device 2100 and other devices or communication networks, in order to receive/send data/information for implementing the methods in the above embodiments.
  • controller which includes the control devices described in the above embodiments.
  • the controller may be a domain controller or an in-vehicle central computer.
  • This application also provides an intelligent driving device, which includes the control device in the above embodiments, or the intelligent driving device may also include the controller in the foregoing embodiments.
  • the intelligent driving devices involved in the embodiments of this application may include road vehicles, water vehicles, air vehicles, industrial equipment, agricultural equipment, or entertainment equipment, etc.
  • intelligent driving devices may be vehicles, which are vehicles in a broad sense, including transportation vehicles (such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.), industrial vehicles (such as forklifts, trailers, tractors, etc.), engineering vehicles (such as excavators, bulldozers, cranes, etc.), agricultural equipment (such as lawnmowers, harvesters, etc.), amusement equipment, toy vehicles, etc.
  • transportation vehicles such as commercial vehicles, passenger cars, motorcycles, flying cars, trains, etc.
  • industrial vehicles such as forklifts, trailers, tractors, etc.
  • engineering vehicles such as excavators, bulldozers, cranes, etc.
  • agricultural equipment such as lawnmowers, harvesters, etc.
  • amusement equipment toy vehicles, etc.
  • the embodiments of this application do not specifically limit the type of vehicle.
  • the intelligent driving device includes the vehicle 100 shown in Figure 1.
  • This application also provides a computer program product, which includes computer program code, when the computer program...
  • code when the computer program...
  • the code When the code is run on a computer, it causes the computer to implement the methods described in the above embodiments of this application.
  • This application also provides a computer-readable storage medium storing computer instructions that, when executed on a computer, cause the computer to implement the methods described in the above embodiments of this application.
  • This application also provides a chip, including circuitry, for performing the methods described in the above embodiments of this application.
  • At least one of a, b, or c can represent: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, and c can be single or multiple.
  • prefixes such as “first” and “second” in this application embodiment is solely for distinguishing different descriptive objects and does not limit the position, order, priority, quantity, or content of the described objects.
  • the use of ordinal numbers and other prefixes to distinguish descriptive objects in this application embodiment does not constitute a limitation on the described objects. The description of the described objects is found in the claims or the context of the embodiments, and the use of such prefixes should not constitute unnecessary restrictions.
  • the disclosed systems, apparatuses, and methods can be implemented in other ways.
  • the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods.
  • multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.
  • the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
  • the units described as separate components may or may not be physically separate.
  • the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
  • the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

L'invention concerne un appareil de commande, un système de commande et un dispositif de conduite intelligent. L'appareil comprend un premier groupe d'unités de calcul et un second groupe d'unités de calcul. Des interfaces de premier type du premier groupe d'unités de calcul et du second groupe d'unités de calcul sont utilisées pour recevoir un premier signal provenant d'un premier capteur de pose ; une interface de deuxième type du premier groupe d'unités de calcul est utilisée pour recevoir un second signal provenant d'un second capteur de pose, et/ou une interface de troisième type du second groupe d'unités de calcul est utilisée pour recevoir le second signal ; le premier capteur de pose et le second capteur de pose étant utilisés pour détecter des informations d'état de mouvement du dispositif de conduite intelligent ; et le premier groupe d'unités de calcul et/ou le second groupe d'unités de calcul générant des informations de commande sur la base du premier signal ou du second signal, les informations de commande étant utilisées pour commander le dispositif de conduite intelligent. La présente solution peut être appliquée dans le domaine des véhicules intelligents tels que des véhicules à énergie nouvelle et des véhicules électriques, permettant la réduction de la probabilité que d'informations de pose de véhicule soient manquantes, améliorant ainsi la fiabilité et la sécurité des véhicules.
PCT/CN2024/106823 2024-07-22 2024-07-22 Appareil de commande, système de commande et dispositif de conduite intelligent Pending WO2026020281A1 (fr)

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US20180290642A1 (en) * 2017-04-07 2018-10-11 Volkswagen Ag Device for controlling a safety-relevant process, method for testing the functionality of the device, and motor vehicle with the device
CN111204320A (zh) * 2018-11-22 2020-05-29 罗伯特·博世有限公司 用于车辆系统的冗余传感器装置的操作方法以及相应装置
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