阅读说明：本技术 一种l3级车辆自动驾驶的控制系统 (Control system for automatic driving of L3-grade vehicle ) 是由 杨斯琦 吕颖 高延熹 于 2019-09-24 设计创作，主要内容包括：本发明实施例公开了一种L3级车辆自动驾驶的控制系统,该系统包括：由功能运行模块组成的车辆正常驾驶组件,所述功能运行模块包括功能激活单元、驾驶员接管单元、自动停车单元以及驾驶员超控单元。本发明实施例提供的技术方案,在车辆正常驾驶组件下的功能运行模块中预先配置车辆在自动驾驶过程中不同驾驶模式对应的功能单元,此时通过设定不同功能单元的执行条件,从而判断车辆在自动驾驶过程中的驾驶状态,实现一套清晰定义L3级车辆自动驾驶功能的总体方案,保证不同驾驶模式下的自动跳转,提高车辆自动驾驶的准确性。(The embodiment of the invention discloses a control system for automatic driving of an L3-grade vehicle, which comprises: the vehicle normal driving assembly comprises a function operation module, wherein the function operation module comprises a function activation unit, a driver taking-over unit, an automatic parking unit and a driver override unit. According to the technical scheme provided by the embodiment of the invention, the functional units corresponding to different driving modes of the vehicle in the automatic driving process are pre-configured in the functional operation module under the normal driving assembly of the vehicle, and the driving state of the vehicle in the automatic driving process is judged by setting the execution conditions of the different functional units, so that a set of overall scheme for clearly defining the L3-grade automatic driving function of the vehicle is realized, the automatic skip under different driving modes is ensured, and the accuracy of the automatic driving of the vehicle is improved.)

1. A control system for automatic driving of a class L3 vehicle, comprising: the vehicle normal driving assembly comprises a function operation module, wherein the function operation module comprises a function activation unit, a driver take-over unit, an automatic parking unit and a driver override unit; wherein the content of the first and second substances,

if the automatic driving function of the vehicle is detected to be started and the preset automatic driving condition is met, the function activating unit executes the automatic driving function of the vehicle after activation confirmation, and simultaneously monitors the driving state of the vehicle in real time in the automatic driving process; the driver takeover unit reminds a driver to take over driving control of the vehicle if the driving state does not meet the automatic driving condition; if the driving state meets a preset emergency stop condition, the automatic stop unit executes a brake stop operation; if the function activating unit monitors that the driver initiates a take-over request of a transverse or longitudinal driving function, the driver override unit executes an automatic driving function of the vehicle except the transverse or longitudinal driving function and executes the transverse or longitudinal driving function according to a driving control command after the driver takes over.

2. The control system of claim 1, wherein the automatic parking unit performs a brake-off operation if a takeover reminder duration for the driver takeover unit exceeds a preset takeover threshold.

3. The control system according to claim 1, wherein if it is detected that the driving state satisfies the autonomous driving condition within a preset take-over threshold of the driver take-over unit, the driver take-over unit stops prompting a driver to take over driving control of the vehicle, and the function activating unit continues to perform the autonomous driving function of the vehicle.

4. The control system of claim 1, wherein if a driver's exit from control of the lateral or longitudinal driving function is detected within a preset override threshold of the driver override unit and the driving state satisfies the autopilot condition, continuing execution of an autopilot function of the vehicle by the function activation unit.

5. The control system according to claim 1, wherein the function operation module further comprises an automatic driving standby unit for judging whether a current driving state of the vehicle satisfies a preset automatic driving condition when it is detected that an automatic driving function of the vehicle is turned on.

6. The control system according to claim 5, wherein the function operation module further includes an automatic driving disabling unit configured to set an automatic driving function of the vehicle to a disabled state when the automatic driving standby unit detects that there is an automatic driving fault, and the automatic driving standby unit switches the automatic driving function of the vehicle from the disabled state to an enabled state after a preset fault duration elapses after the automatic driving fault disappears.

7. The control system according to claim 5, wherein the function operation module further comprises an automatic driving exit unit for controlling a transition of the vehicle from an automatic driving state to a driver's full takeover driving state, and after the driver's full takeover driving control of the vehicle, the automatic driving standby unit continuously judges whether or not the current driving state of the vehicle satisfies a preset automatic driving condition.

8. The control system according to claim 1, wherein the function operation module further includes a vehicle stop unit for performing a stop pressure maintaining operation of the vehicle after the automatic parking unit controls the vehicle to stop.

9. The control system of claim 1, wherein the vehicle normal driving assembly further comprises a function shutdown module configured to shut down an autopilot function of the vehicle in response to a driver request to shut down the autopilot function.

10. The control system according to any one of claims 1 to 9, further comprising: the system comprises a vehicle-mounted electronic control unit ECU awakening component, an initialization component, a program execution ending component, a chip communication dormancy component, a vehicle-mounted ECU dormancy component and a vehicle-mounted ECU restarting component; wherein the content of the first and second substances,

if a wake-up signal is received, the vehicle-mounted ECU wake-up component wakes up the vehicle-mounted ECU in the vehicle, and the initialization component executes corresponding initialization self-checking operation after the vehicle-mounted ECU is woken up; if the initialization fault is not detected, the vehicle normal driving component executes corresponding vehicle driving operation until the driving state of the vehicle meets a preset dormancy condition, and the program execution ending component stores the driving data of the vehicle; when the chip communication dormancy component finishes data storage or reaches a preset storage time, the chip communication dormancy component controls the vehicle-mounted ECU to disconnect communication and sends a dormancy signal of the vehicle-mounted ECU; the vehicle-mounted ECU dormancy component controls the vehicle-mounted ECU to be in a dormant state; and when the vehicle-mounted ECU restarting component detects an initialization fault or monitors the wake-up signal again, the vehicle-mounted ECU is restarted.

Technical Field

The embodiment of the invention relates to the field of vehicle driving data processing, in particular to an L3-level vehicle automatic driving control system.

Background

With the popularization of automatic automobile driving, the existing automobile driving technology can be divided into six levels of L0-L5 according to the definition of the American society of automotive Engineers; wherein, the L1-L2 level refers to an intelligent driving assistance system, and a driver is responsible for all driving tasks under the level; level L3 is a semi-automatic driving stage, which marks the entry into the automatic driving category, and the vehicle can realize automatic driving of most road conditions, take over a majority of driving functions of the vehicle, and monitor the driving environment in some cases, and the driver still needs to keep attention at the level L3, so as to take over the vehicle in time in case of emergency.

The L3-level automatic driving system can judge whether the current vehicle is located on an expressway or an urban expressway through a navigation map and positioning information in the vehicle, judge whether a driver is awake through camera monitoring, and identify and analyze the traffic condition of the vehicle driving direction through a camera and a radar sensor, so that the acceleration and deceleration of the vehicle are automatically controlled in the longitudinal direction, and the normal driving path of the vehicle is automatically controlled in the transverse direction; the L3 level automatic driving system presets internal and external conditions and applicable environments required by automatic driving, such as vehicle speed, traffic conditions, road types, weather, environment and the like, after the automatic driving system is started, the vehicle can be automatically driven on a highway or a structured road which is authenticated and covered by a high-precision map at a full speed of 0 km/h-130 km/h, and both hands of a driver can leave a steering wheel under a specified scene, so that the driver can be automatically driven by the vehicle completely, or the lateral and longitudinal control rights of the vehicle can be overridden at any time, and the automatic driving function is quitted.

However, for the problems of transient change of road traffic environment, sudden change of motion of traffic vehicles, taking over of vehicle control right by a driver and the like, a set of scheme for clearly defining the overall functional design of the L3-level automatic driving system is not developed at present, and due to the limitation of internal and external conditions and applicable environment specified by the L3-level automatic driving system, the condition that the specified conditions are not met often occurs in the running process of a vehicle on a structured road, so that the state control of automatic driving of the vehicle is influenced, and certain potential safety hazards exist.

Disclosure of Invention

The embodiment of the invention provides a control system for automatic driving of an L3-grade vehicle, which realizes a set of overall scheme for clearly defining the automatic driving function of the L3-grade vehicle, ensures the skipping of different driving modes of the vehicle in the automatic driving process and improves the safety of automatic driving of the vehicle.

In a first aspect, an embodiment of the present invention provides a control system for automatic driving of a vehicle of level L3, including: the vehicle normal driving assembly comprises a function operation module, wherein the function operation module comprises a function activation unit, a driver take-over unit, an automatic parking unit and a driver override unit; if the automatic driving function of the vehicle is detected to be started and the preset automatic driving condition is met, the function activating unit executes the automatic driving function of the vehicle after activation confirmation, and simultaneously monitors the driving state of the vehicle in real time in the automatic driving process; the driver takeover unit reminds a driver to take over driving control of the vehicle if the driving state does not meet the automatic driving condition; if the driving state meets a preset emergency stop condition, the automatic stop unit executes a brake stop operation; if the function activating unit monitors that the driver initiates a take-over request of a transverse or longitudinal driving function, the driver override unit executes an automatic driving function of the vehicle except the transverse or longitudinal driving function and executes the transverse or longitudinal driving function according to a driving control command after the driver takes over.

Further, if the taking-over reminding time length of the driver taking-over unit exceeds a preset taking-over threshold value, the automatic parking unit executes brake stopping operation.

Further, if it is detected that the driving state meets the automatic driving condition within a preset takeover threshold of the driver takeover unit, the driver takeover unit stops reminding the driver to take over driving control of the vehicle, and the function activation unit continues to execute an automatic driving function of the vehicle.

Further, if it is detected that the driver exits the control of the lateral or longitudinal driving function within a preset override threshold of the driver override unit and the driving state satisfies the automatic driving condition, the automatic driving function of the vehicle is continuously performed by the function activation unit.

Further, the function operating module further comprises an automatic driving standby unit, which is used for judging whether the current driving state of the vehicle meets a preset automatic driving condition when detecting that the automatic driving function of the vehicle is started.

Furthermore, the function operation module further comprises an automatic driving failure unit, which is used for setting the automatic driving function of the vehicle to be in a failure state when the automatic driving standby unit detects that the automatic driving fault exists, and after the automatic driving fault disappears and the fault duration is preset, the automatic driving standby unit converts the automatic driving function of the vehicle from the failure state to an effective state.

Further, the function operating module further comprises an automatic driving quitting unit for controlling the vehicle to switch from the automatic driving state to the driving state which is completely taken over by the driver, and after the driving control of the vehicle is completely taken over by the driver, the automatic driving standby unit continuously judges whether the current driving state of the vehicle meets the preset automatic driving condition.

Further, the function operation module further comprises a vehicle stopping unit for executing a pressure maintaining stopping operation of the vehicle after the automatic parking unit controls the vehicle to stop.

Further, the vehicle normal driving assembly further comprises a function closing module, which is used for closing the automatic driving function of the vehicle according to a closing request of the driver to the automatic driving function.

Further, the control system for automatic driving of the L3 class vehicle further includes: the system comprises a vehicle-mounted electronic control unit ECU awakening component, an initialization component, a program execution ending component, a chip communication dormancy component, a vehicle-mounted ECU dormancy component and a vehicle-mounted ECU restarting component; wherein the content of the first and second substances,

if a wake-up signal is received, the vehicle-mounted ECU wake-up component wakes up the vehicle-mounted ECU in the vehicle, and the initialization component executes corresponding initialization self-checking operation after the vehicle-mounted ECU is woken up; if the initialization fault is not detected, the vehicle normal driving component executes corresponding vehicle driving operation until the driving state of the vehicle meets a preset dormancy condition, and the program execution ending component stores the driving data of the vehicle; when the chip communication dormancy component finishes data storage or reaches a preset storage time, the chip communication dormancy component controls the vehicle-mounted ECU to disconnect communication and sends a dormancy signal of the vehicle-mounted ECU; the vehicle-mounted ECU dormancy component controls the vehicle-mounted ECU to be in a dormant state; and when the vehicle-mounted ECU restarting component detects an initialization fault or monitors the wake-up signal again, the vehicle-mounted ECU is restarted.

According to the control system for the automatic driving of the L3-level vehicle, the functional units corresponding to different driving modes of the vehicle in the automatic driving process are pre-configured in the functional operation module under the normal driving assembly of the vehicle, and the driving state of the vehicle in the automatic driving process is judged by setting the execution conditions of the different functional units, so that a set of overall scheme for clearly defining the automatic driving function of the L3-level vehicle is realized, automatic skipping under different driving modes is ensured, and the accuracy of automatic driving of the vehicle is improved.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments made with reference to the following drawings:

fig. 1 is a schematic architecture diagram of a control system for automatic driving of an L3-class vehicle according to an embodiment of the present invention;

fig. 2 is a schematic diagram of a control system for automatic driving of an L3-class vehicle according to a second embodiment of the present invention;

fig. 3 is a schematic diagram of a control system for automatic driving of an L3-class vehicle according to a third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments in the present invention may be combined with each other without conflict.