The invention provides a safety redundancy control method and system for an autonomous vehicle, and the method comprises the steps: detecting a fault state of each fault device of the vehicle, and generating a fault code value of each fault device; integrating the fault code values of the fault devices to obtain an integrated fault code value, and obtaining a corresponding safety control strategy based on the integrated fault code value; generating transverse and longitudinal control signals of the vehicle according to the vehicle surrounding environment information and the safety control strategy; and driving the vehicle to run based on the transverse and longitudinal control signals so as to perform safety redundancy control on the vehicle. The problem that when an actuator or a sensor of an existing automatic driving vehicle fails, safety control over the vehicle cannot be timely and effectively achieved is solved, and therefore the safety driving level of the vehicle is improved.
本发明提供一种自动驾驶车辆的安全冗余控制方法及控制系统,检测车辆的各个故障设备的故障状态,并生成各个故障设备的故障码值;对各个故障设备的故障码值进行整合,得到整合后的故障码值,基于整合后的故障码值,获取对应的安全控制策略;根据车辆周边环境信息和安全控制策略,生成车辆的横纵向控制信号;基于横纵向控制信号,驱动车辆行驶,以对车辆进行安全冗余控制。本发明解决了现有自动驾驶车辆在执行器或传感器失效时,无法及时和有效实现车辆的安全控制的问题,从而提升车辆的安全驾驶等级。
Safety redundancy control method and control system for autonomous vehicle
一种自动驾驶车辆的安全冗余控制方法及控制系统
2022-11-01
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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