The invention relates to the technical field of vehicle automatic driving, and discloses a minimum safety redundancy system, a control method and a vehicle, the system comprises a main controller and an auxiliary controller, the auxiliary controller is connected with the main controller, and the auxiliary controller is provided with a control module and a laser odometer module; the main controller is used for acquiring the positioning data and the path planning data and performing complete automatic driving according to the positioning data and the path planning data; and the auxiliary controller is used for updating the current position of the vehicle according to the positioning data of the main controller and the laser data of the laser odometer module which are received at the latest moment when the main controller is judged to be invalid, and controlling the vehicle to be parked on the driving path planned by the main controller according to the path planning data and the current position. Complete automatic driving can be achieved, safe parking can be achieved with the minimum automatic driving capacity when the main controller fails, the auxiliary controller is low in computing power and low in power consumption, and the cost is reduced while safety is guaranteed.

    本发明涉及车辆自动驾驶技术领域,公开了一种最小安全冗余系统、控制方法及车辆,系统包括:主控制器和辅控制器,其中,辅控制器与主控制器相连,且辅控制器部署有控制模块和激光里程计模块;主控制器,用于获取定位数据和路径规划数据,并根据定位数据和路径规划数据进行完备自动驾驶;辅控制器,用于在判断出主控制器失效时,根据最近时刻接收的主控制器的定位数据和激光里程计模块的激光数据对车辆的当前位置进行更新,并根据路径规划数据和当前位置控制车辆停在主控制器所规划的行驶路径上。本发明既能够实现完备自动驾驶,也能够在主控制器失效时以最小自动驾驶能力实现安全停车,辅控制器的算力低、功耗低,在保证安全的同时降低成本。


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    Title :

    Minimum safety redundancy system, control method and vehicle


    Additional title:

    一种最小安全冗余系统、控制方法及车辆


    Contributors:
    YANG HUIYONG (author) / ZHAO MICHENG (author) / ZHAO PINGAN (author)

    Publication date :

    2024-03-05


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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