KR20220062168A - Control system and metohd for adas and autonomous vehicles - Google Patents

Abstract

Provided is a control system for an ADAS and autonomous vehicle. The system comprises: a high-performance calculation controller which receives sensing data from a plurality of sensors installed on a vehicle, integrates the sensing data to generate sensor fusion information, and generates a control command for vehicle movement control based on the sensor fusion information; and at least one safety controller which receives the control command, analyzes the control command, and generates and transmits individual control commands respectively corresponding to function controllers by considering resources and characteristics of the vehicle. The control system controls the vehicle in real time and responses to an individual failure of the safety controller.

Description

CONTROL SYSTEM AND METOHD FOR ADAS AND AUTONOMOUS VEHICLES

The present invention relates to a control system and method for ADAS and autonomous vehicles.

Driver assistance systems (ADAS)-related functions are gradually increasing in vehicles, and ultimately, related functions are being developed in the direction of autonomous driving.

In this regard, in the early days, functions such as collision avoidance and lane keeping were provided using a front camera and a front radar, and each sensor was in charge of calculation and control for each function. This was to play an auxiliary role in supporting the part that the driver directly drives.

However, in recent years, as the required performance increases, the intervention of the driver has gradually decreased and the number of sensors attached to the vehicle has further increased.

1 is a diagram for explaining a high-performance operation controller according to the prior art.

Meanwhile, in order to implement high-performance ADAS and autonomous driving, it is necessary to collect and converge raw data from various sensors to control the vehicle. For this, a high-performance computing device is required, and the higher the high-performance is required, the more complexity increases.

However, safety in the vehicle is the most important item, and you should always be careful because there is a risk of accidents to pedestrians or other vehicles. And as driving control transfers from the driver to the vehicle, the responsibility for this part also increases.

In addition, the complexity of the high-performance arithmetic controller is further increased, and safety-related limitations may exist in connection with various driving controllers of the vehicle.

Laid-open Patent Publication No. 10-2019-0014429 (2019.02.12)

The problem to be solved by the present invention is to collect and integrate sensor data, and based on this, generate a control command to control each function controller through a high-performance operation controller. A control system and method are provided for ADAS and autonomous vehicles that generate and control individual control commands.

However, the problems to be solved by the present invention are not limited to the problems described above, and other problems may exist.

ADAS and a control system for an autonomous vehicle according to the first aspect of the present invention for solving the above-mentioned problems receives sensing data from a plurality of sensors installed in the vehicle, and generates sensor fusion information by integrating the sensing data, , a high-performance arithmetic controller that generates a control command for vehicle movement control based on the sensor fusion information, and receives the control command, analyzes the control command, and considers the resources and characteristics of the vehicle, corresponding to each function controller and at least one safety controller that generates and transmits individual control commands.

In some embodiments of the present invention, the high-performance operation controller may generate a control command including at least one of environmental information around the vehicle, location information of a driving vehicle, and route search information for driving based on the sensor fusion information. can

In some embodiments of the present invention, the safety controller may obtain a response value according to the individual control command and provide feedback to the high-performance operation controller.

In some embodiments of the present invention, the safety controller includes a plurality of safety controllers, each safety controller shares and compares the generated individual control command and the response value with each other, and based on the comparison result, the safety controller provides an error response to the individual control command. operation can be detected.

In some embodiments of the present invention, the safety controller is configured in plurality, and when any one of the plurality of safety controllers fails, a function corresponding to the faulty safety controller can be replaced through another safety controller. .

In some embodiments of the present invention, the safety controller may be configured in a number corresponding to each function group of each function controller, or may be configured in a number corresponding to each function controller.

In some embodiments of the present invention, at least one of the function controllers may be configured such that a plurality of the function controllers are allocated and controlled in duplicate for the same function.

In addition, the control system for ADAS and autonomous vehicle according to the second aspect of the present invention includes a communication module for receiving sensing data from a plurality of sensors installed in the vehicle, and a program for controlling a function controller based on the sensing data stored therein A memory and a plurality of processors for executing a program stored in the memory, wherein the plurality of processors generate sensor fusion information by integrating the sensing data, and a control command for vehicle movement control based on the sensor fusion information a first processor for generating, at least one second processor for receiving the control command, analyzing the control command, and generating and transmitting an individual control command corresponding to each function controller in consideration of vehicle resources and characteristics; include

In addition, a control method for an ADAS and an autonomous vehicle according to a third aspect of the present invention includes the steps of: receiving sensing data from a plurality of sensors installed in the vehicle through a high-performance arithmetic controller; generating sensor fusion information by integrating the sensed data in the high-performance operation controller; generating, in the high-performance operation controller, a control command for vehicle movement control based on the sensor fusion information; receiving the control command from at least one safety controller; generating, in the safety controller, an individual control command corresponding to each function controller in consideration of vehicle resources and characteristics by analyzing the control command; and sending, at the safety controller, the individual control command to each function controller.

A computer program according to another aspect of the present invention for solving the above problems is combined with a computer that is hardware to execute the control method for the ADAS and the autonomous vehicle, and is stored in a computer-readable recording medium.

Other specific details of the invention are included in the detailed description and drawings.

The above-described embodiment of the present invention enables real-time vehicle control and response through a high-performance operation controller and a safety controller, and enables a response in case of individual failure of the safety controller through a redundancy configuration. In addition, the requirements can be satisfied through a design that satisfies functional safety ASIL-D.

In addition, a relatively expensive high-performance arithmetic controller can be implemented without being limited to individual specifications of the vehicle, and a general-purpose configuration can be made possible through the application of various vehicle networks of the safety controller. In addition, higher safety can be expected because interoperability is possible by allocating functional safety-related parts of the high-performance operation controller to the safety controller.

Effects of the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram for explaining a high-performance operation controller according to the prior art.
2 is a diagram illustrating a control system for an ADAS and an autonomous vehicle according to an embodiment of the present invention.
3 is a diagram illustrating an ADAS and autonomous vehicle control system according to another embodiment of the present invention.
4 is a flowchart of a control method for an ADAS and an autonomous vehicle according to an embodiment of the present invention.

Advantages and features of the present invention and methods of achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only the present embodiments allow the disclosure of the present invention to be complete, and those of ordinary skill in the art to which the present invention pertains. It is provided to fully understand the scope of the present invention to those skilled in the art, and the present invention is only defined by the scope of the claims.

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless otherwise specified in the phrase. As used herein, “comprises” and/or “comprising” does not exclude the presence or addition of one or more other components in addition to the stated components. Like reference numerals refer to like elements throughout, and "and/or" includes each and every combination of one or more of the recited elements. Although "first", "second", etc. are used to describe various elements, these elements are not limited by these terms, of course. These terms are only used to distinguish one component from another. Accordingly, it goes without saying that the first component mentioned below may be the second component within the spirit of the present invention.

Unless otherwise defined, all terms (including technical and scientific terms) used herein will have the meaning commonly understood by those of ordinary skill in the art to which this invention belongs. In addition, terms defined in a commonly used dictionary are not to be interpreted ideally or excessively unless specifically defined explicitly.

2 is a diagram illustrating a control system 100 for an ADAS and an autonomous vehicle according to an embodiment of the present invention.

The control system 100 for an ADAS and an autonomous vehicle according to an embodiment of the present invention includes a high-performance operation controller 110 and at least one safety controller 120 .

The high-performance computation controller 110 may be a controller having high-end computational performance for ADAS and autonomous driving computations.

The high-performance operation controller 110 receives sensing data from a plurality of sensors installed in the vehicle, and generates sensor fusion information by integrating the sensing data. The high-performance operation controller 110 should be able to receive various sensors and information collection data, and should be able to perform calculations by receiving as much detailed raw data as possible.

In an embodiment, the sensor connected to the high-performance operation controller 110 may be at least one camera, radar, lidar, ultrasound, V2X, GPS, or the like. For example, in the case of a camera, the high-performance arithmetic controller 110 may directly receive an image and perform image processing and detection functions therein.

Then, the high performance operation controller 110 generates a control command for vehicle movement control based on the sensor fusion information. In an embodiment, the high-performance operation controller 110 may generate a control command including at least one of environmental information around the vehicle, location information of a driving vehicle, and route search information for driving, based on sensor fusion information. .

As such, the control command generated by the high-performance operation controller 110 is a high-level control command, and is a high-level control command that is not dependent on the vehicle, such as vehicle speed, heading angle, whether braking, and the like. transmitted to the controller 120 .

On the other hand, the high-performance operation controller 110 is a communication method, for example, through various networks and input channels such as LVSD (Low Voltage Differential Signaling) input for camera input, Ethernet for large data reception, CAN-FD, etc. Sensing data may be received. In addition, when transmitting a control command to the safety controller 120, data may be transmitted through CAN-FD or vehicle Ethernet.

Such a high-performance arithmetic controller 110 requires a high level of arithmetic performance, and since the product development and production cost is high, it is desirable to standardize the product itself as much as possible and design it so that it can be mounted on various vehicle types.

Next, at least one safety controller 120 is provided in the vehicle, receives a control command from the high-performance operation controller 110, analyzes the control command, and considers the resources and characteristics of the vehicle, corresponding to each function controller. Generate and send individual control commands.

The safety controller 120 is located in the middle between the high-performance operation controller 110 and the vehicle and may be viewed as performing a kind of gateway role that serves as a bridge, but is not necessarily limited to a gateway. That is, when the safety controller 120 receives a control command from the high-performance operation controller 110 , the safety controller 120 generates individual control commands in consideration of vehicle resources and characteristics, and then individually transmits the individual control commands to each function controller.

As an example, the safety controller 120 transmits individual control commands after determining how to control the actual vehicle steering angle according to the heading angle in order to execute the vehicle control command, and actually according to the acceleration and deceleration of the vehicle speed, the engine controller; It transmits individual control commands suitable for the mission controller and the brake controller to control the vehicle.

In addition, the safety controller 120 may provide feedback to the high-performance operation controller 110 by obtaining a response value according to an individual control command. That is, the safety controller 120 may receive a response value corresponding to the detailed grant command from each function controller and feed it back to the high-performance operation controller 110 to enable continuous vehicle control.

In addition, the safety controller 120 may collect sensing data from sensors inside the vehicle, and feed it back to the high-performance operation controller 110 to detect erroneous calculations and erroneous detections through mutual comparison of the sensed data. operation can be made possible.

Such a safety controller 120 is needed to prepare for an increase in the role for functional safety of a vehicle as the complexity of autonomous driving and vehicle increases, and functional safety is considered because it is the function controller that directly participates in vehicle control. Therefore, it is designed to satisfy ASIL-D, and safety can be further improved by redundantly operating the safety controller itself.

In one embodiment, the safety controller 120 may be configured in plurality.

As the safety controller 120 is configured in plurality, each safety controller 120 can share and compare the generated individual control commands and the response values from each function controller with each other, and based on the results of each comparison, the individual control commands It is possible to detect misoperation for . That is, since each safety controller 120 normally performs vehicle control through the same control command, it is possible to prevent malfunction of the vehicle due to erroneous operation by mutually checking the result value between safety controllers.

For example, the first safety controller and the second safety controller may be connected and connected to all of the first to second function controllers, respectively. In this case, the first and second safety controllers respectively transmit the generated first and second individual control commands to the first to second function controllers, and simultaneously transmit the first individual control commands to the second safety controller and the second Individual control commands can be sent to the first safety controller.

Thereafter, the first and second safety controllers may compare the first and second individual control commands, respectively, and when the difference value exceeds a preset threshold, it may be detected that an erroneous operation has occurred.

Together or separately, each response value received from the first to second function controllers is shared and compared, and when the difference value exceeds a preset threshold, it is possible to detect that an erroneous operation has occurred.

At this time, for more accurate detection of erroneous operation, each safety controller 120 may transmit each individual control command and response value to the high-performance arithmetic controller 110, and the high-performance arithmetic controller 110 compares them to detect the erroneous operation. You may.

In another embodiment, when any one of the plurality of safety controllers 120 fails, a function corresponding to the faulty safety controller may be replaced through another safety controller. In this case, the safety controller 120 may be configured with a number corresponding to each function group of each function controller, configured with a number corresponding to each function controller, or a plurality of different function controllers may be connected to each other, but must be The present invention is not limited thereto.

For example, in a state in which the first safety controller is connected to the first function controller and the second safety controller is connected and connected to the second function controller, while performing control through each individual control command, the second safety When a failure occurs in the controller, the first safety controller may also be connected to the second function controller.

As described above, according to an embodiment of the present invention, even if a situation in which one safety controller fails, another safety controller temporarily performs its role, thereby preparing for fail-safe.

In addition, according to an embodiment of the present invention, at least one of the function controllers may be configured such that a plurality of duplicates are allocated for the same function. That is, when the vehicle approaches fully autonomous driving, not only the safety controller 120 but also each function controller of the vehicle may be redundantly configured. A safety redundancy configuration may be possible.

As described above, according to the control system 100 for ADAS and autonomous vehicle according to an embodiment of the present invention, the high cost problem due to the redundant configuration of only the high-performance operation controller 110 is solved by a plurality of safety controllers 120 and a plurality of It can be solved through the configuration of the function controller of the vehicle, and has the advantage of higher safety and optimized design according to the target price of the vehicle.

3 is a diagram illustrating an ADAS and autonomous vehicle control system 200 according to another embodiment of the present invention.

The ADAS and autonomous vehicle control system 200 according to an embodiment of the present invention includes a communication module 210 , a memory 220 , and a plurality of processors 230 .

The communication module 210 receives sensing data from a plurality of sensors installed in the vehicle.

The memory 220 stores a program for controlling the function controller based on the sensed data, and the processor 230 executes the program stored in the memory.

The processor 230 may include a first processor 231 and at least one second processor 232 .

The first processor 231 generates sensor fusion information by integrating the sensing data, generates a control command for vehicle movement control based on the sensor fusion information, and transmits the generated control command to the second processor 232 .

The second processor 232 receives a control command from the first processor 231 , analyzes the control command, considers the resources and characteristics of the vehicle, and generates and transmits an individual control command corresponding to each function controller.

In this case, the first processor 231 may correspond to the high-performance operation controller 110 in FIG. 2 , and the second processor 232 may correspond to the safety controller 120 , but is not limited thereto.

Hereinafter, a control method for an ADAS and an autonomous vehicle according to an embodiment of the present invention will be described with reference to FIG. 4 .

4 is a flowchart of a control method for an ADAS and an autonomous vehicle according to an embodiment of the present invention.

Meanwhile, each step shown in FIG. 4 may be understood to be performed by the systems 100 and 200 in FIG. 2 or 3 , but is not limited thereto.

First, when sensing data is received from a plurality of sensors installed in the vehicle through a high-performance operation controller (S110), sensor fusion information is generated by integrating the sensing data (S120), and then vehicle movement control is performed based on the sensor fusion information. A control command is generated for (S130).

Next, the at least one safety controller receives a control command from the high-performance operation controller (S140), and the safety controller analyzes the control command to generate an individual control command corresponding to each function controller in consideration of vehicle resources and characteristics. After (S150), an individual control command is transmitted to each function controller (S160).

Meanwhile, in the above description, steps S110 to S160 may be further divided into additional steps or combined into fewer steps according to an embodiment of the present invention. In addition, some steps may be omitted if necessary, and the order between steps may be changed. In addition, the contents of FIGS. 2 to 3 may also be applied to the contents of FIG. 4 even if other contents are omitted.

The control method for an ADAS and an autonomous vehicle according to an embodiment of the present invention described above may be implemented as a program (or application) and stored in a medium to be executed in combination with a computer, which is hardware.

The above-mentioned program, in order for the computer to read the program and execute the methods implemented as a program, C, C++, JAVA, Ruby, which the processor (CPU) of the computer can read through the device interface of the computer; It may include code coded in a computer language such as machine language. Such code may include functional code related to a function defining functions necessary for executing the methods, etc., and includes an execution procedure related control code necessary for the processor of the computer to execute the functions according to a predetermined procedure. can do. In addition, the code may further include additional information necessary for the processor of the computer to execute the functions or code related to memory reference for which location (address address) in the internal or external memory of the computer to be referenced. there is. In addition, when the processor of the computer needs to communicate with any other computer or server located remotely in order to execute the above functions, the code uses the communication module of the computer to determine how to communicate with any other computer or server remotely. It may further include a communication-related code for whether to communicate and what information or media to transmit and receive during communication.

The storage medium is not a medium that stores data for a short moment, such as a register, a cache, a memory, etc., but a medium that stores data semi-permanently and can be read by a device. Specifically, examples of the storage medium include, but are not limited to, ROM, RAM, CD-ROM, magnetic tape, floppy disk, and an optical data storage device. That is, the program may be stored in various recording media on various servers accessible by the computer or in various recording media on the computer of the user. In addition, the medium may be distributed in a computer system connected to a network, and a computer-readable code may be stored in a distributed manner.

The above description of the present invention is for illustration, and those of ordinary skill in the art to which the present invention pertains can understand that it can be easily modified into other specific forms without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative in all respects and not restrictive. For example, each component described as a single type may be implemented in a dispersed form, and likewise components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the following claims rather than the above detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention. do.

100, 200 : Control system for ADAS and autonomous vehicle
110: high-performance computational controller
120: safety controller
210: communication module
220: memory
230: processor

Claims (9)

A high-performance operation controller that receives sensing data from a plurality of sensors installed in the vehicle, integrates the sensing data to generate sensor fusion information, and generates a control command for vehicle movement control based on the sensor fusion information;
at least one safety controller that receives the control command, analyzes the control command, and generates and transmits an individual control command corresponding to each function controller in consideration of vehicle resources and characteristics,
Control systems for ADAS and autonomous vehicles.
The method of claim 1,
The high-performance arithmetic controller generates a control command including at least one of environmental information around the vehicle, location information of a driving vehicle, and route search information for driving based on the sensor fusion information,
Control systems for ADAS and autonomous vehicles.
The method of claim 1,
The safety controller provides feedback to the high-performance operation controller by obtaining a response value according to the individual control command,
Control systems for ADAS and autonomous vehicles.
4. The method of claim 3,
The safety controller is configured in plurality, and each safety controller shares and compares the generated individual control command and the response value with each other, and detects an erroneous operation for the individual control command based on the comparison result.
Control systems for ADAS and autonomous vehicles.
The method of claim 1,
The safety controller is configured in plurality, and when any one of the plurality of safety controllers fails, a function corresponding to the faulty safety controller is replaced by another safety controller.
Control systems for ADAS and autonomous vehicles.
The method of claim 1,
The safety controller is configured in a number corresponding to each function group of each function controller, or is configured in a number corresponding to each function controller,
Control systems for ADAS and autonomous vehicles.
The method of claim 1,
At least one of the function controllers is configured to control a plurality of overlapping assignments for the same function,
Control systems for ADAS and autonomous vehicles.
A communication module for receiving sensing data from a plurality of sensors installed in the vehicle;
a memory storing a program for controlling a function controller based on the sensed data; and
A plurality of processors for executing the program stored in the memory,
The plurality of processors generate sensor fusion information by integrating the sensing data, and a first processor that generates a control command for vehicle movement control based on the sensor fusion information, receives the control command, and the control command and at least one second processor for generating and transmitting an individual control command corresponding to each function controller by analyzing and considering the resources and characteristics of the vehicle,
Control systems for ADAS and autonomous vehicles.
A control method for an ADAS and an autonomous vehicle, comprising:
Receiving sensing data from a plurality of sensors installed in the vehicle through a high-performance operation controller;
generating sensor fusion information by integrating the sensed data in the high-performance operation controller;
generating, in the high-performance operation controller, a control command for vehicle movement control based on the sensor fusion information;
receiving the control command from at least one safety controller;
generating, in the safety controller, an individual control command corresponding to each function controller in consideration of vehicle resources and characteristics by analyzing the control command; and
sending, at the safety controller, the individual control command to each function controller;
Control methods for ADAS and autonomous vehicles.

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