CN112248948A - Formation driving control method and system based on automatic driving - Google Patents
Formation driving control method and system based on automatic driving Download PDFInfo
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- CN112248948A CN112248948A CN202011045468.4A CN202011045468A CN112248948A CN 112248948 A CN112248948 A CN 112248948A CN 202011045468 A CN202011045468 A CN 202011045468A CN 112248948 A CN112248948 A CN 112248948A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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Abstract
The invention discloses a formation driving control method and a formation driving control system based on automatic driving, wherein the method comprises the following steps: the chassis safety module acquires the current position, speed and steering information of the vehicle in real time through a CAN bus and performs abnormity detection on data fed back by the chassis; when monitoring that the data fed back by the chassis is abnormal, the chassis safety module keeps the current steering and executes deceleration; the PNC safety module judges whether the current vehicle is in a formation state, and if so, the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle are sent to the formation safety module; the formation safety module judges whether the current vehicle is subjected to de-formation; if so, the formation safety module removes the current vehicle from formation so as to execute automatic driving through the functional safety module of the current vehicle. The invention can solve the problem that the existing formation driving technology based on automatic driving lacks an effective safety control method.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to a formation driving control method and system based on automatic driving.
Background
With the rapid development of the automobile industry and the continuous improvement of living conditions of people, automobiles become one of indispensable transportation tools for people to go out. The automatic driving automobile is one kind of intelligent automobile and has intelligent driver with computer system as main part to realize automatic unmanned driving.
In the field of commercial vehicles, there is a great interest in formation driving technology based on automatic driving, and by forming a plurality of vehicles into a pair, the vehicles in the formation can be driven closely together while keeping the same speed and inter-vehicle distance, thereby effectively utilizing the limited vehicle driving space on a road (especially an expressway). However, in the prior art, an effective safety control method is lacked, and if an abnormal condition occurs in one vehicle (especially a vehicle running ahead) in the formation, safety accidents may be sent to the vehicles in the whole formation.
Disclosure of Invention
In view of the above problems, an object of the present invention is to provide a formation driving control method based on automatic driving, so as to solve the problem that the existing formation driving technology based on automatic driving lacks an effective safety control method.
An automated driving-based formation driving control method comprising:
the chassis safety module acquires the position, speed and steering information of the current vehicle in real time through a CAN bus, performs combined threshold value limitation according to the speed and steering information of the current vehicle, and performs abnormity detection on data fed back by the chassis;
when monitoring that the data fed back by the chassis is abnormal, the chassis safety module maintains the current steering, executes deceleration and simultaneously sends the abnormal information of the chassis to safety modules of other vehicles through V2X broadcast;
the PNC safety module judges whether the current vehicle is in a formation state, and if the current vehicle is in the formation state, the PNC safety module sends the speed, the steering information, the transverse deceleration limit value, the longitudinal deceleration limit value and the steering limit value information of the current vehicle to the formation safety module;
the formation safety module judges whether the current vehicle is subjected to de-formation or not according to the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle;
and if so, removing the formation of the current vehicle by the formation safety module so as to execute automatic driving through the functional safety module of the current vehicle.
According to the formation driving control method based on automatic driving provided by the invention, when the chassis safety module monitors that the data fed back by the chassis is abnormal, the current steering is firstly maintained, the deceleration is executed, meanwhile, chassis abnormal information is sent to safety modules of other vehicles through V2X broadcasting, if the current vehicle is in a formation state, the PNC safety module sends the information of the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and a steering limit value of the current vehicle to the formation safety module, the formation safety module judges whether the current vehicle is subjected to de-formation, if the driving risk of the current vehicle is large, the formation safety module removes the formation of the current vehicle, and then, automatic driving is executed through a functional safety module of the current vehicle, so that the influence of the current vehicle on other vehicles in the formation is avoided, and the driving safety of the formation is improved.
In addition, according to the formation driving control method based on automatic driving of the present invention, the following additional technical features may be provided:
further, the method further comprises:
and the PNC safety module judges whether the current vehicle is in a formation state, and if the current vehicle is in a non-formation state, the PNC safety module sends the speed, the steering information, the transverse deceleration limit value, the longitudinal deceleration limit value and the steering limit value information of the current vehicle to the functional safety module of the current vehicle so as to execute automatic driving through the functional safety module of the current vehicle.
Further, the method further comprises:
the formation safety module collects vehicle chassis data, driving control instructions, path planning information and path planning and safety state information of the current vehicle, and obtains front vehicle brake detection information through V2V communication to judge whether the front vehicle brakes in advance;
and if the formation safety module judges that the front vehicle is braked in advance, controlling the functional safety module of the current vehicle to execute corresponding braking.
Further, the vehicle chassis data includes speed, steering information and a joint threshold of the current vehicle, and the driving control command includes a steering angle, an acceleration and deceleration, a braking percentage and an accelerator percentage.
Further, the method further comprises:
when monitoring that the data fed back by the chassis is abnormal, the chassis safety module sends the abnormal data to the functional safety module;
the functional safety module judges whether the current vehicle is in a formation state;
and if the current vehicle is in a formation state, the functional safety module disables the emergency brake and collision detection functions of the current vehicle.
Another objective of the present invention is to provide a formation driving control system based on automatic driving to solve the problem that the existing formation driving technology based on automatic driving lacks an effective safety control method.
A formation driving control system based on automatic driving comprises a chassis safety module, a PNC safety module and a formation safety module:
the chassis safety module is used for acquiring the position, the speed and the steering information of the current vehicle in real time through a CAN bus, carrying out combined threshold value limitation according to the speed and the steering information of the current vehicle and carrying out abnormity detection on data fed back by the chassis;
the chassis safety module is used for keeping the current steering and executing deceleration when monitoring that the data fed back by the chassis is abnormal, and simultaneously sending the abnormal information of the chassis to the safety modules of other vehicles through V2X broadcasting;
the PNC safety module is used for judging whether the current vehicle is in a formation state, and if the current vehicle is in the formation state, sending the speed, steering information, transverse deceleration limit value, longitudinal deceleration limit value and steering limit value information of the current vehicle to the formation safety module;
the formation safety module is used for judging whether the current vehicle is subjected to de-formation according to the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle;
and if so, the formation safety module is used for removing the formation of the current vehicle so as to execute automatic driving through the functional safety module of the current vehicle.
According to the formation driving control system based on automatic driving provided by the invention, when the chassis safety module monitors that the data fed back by the chassis is abnormal, the current steering is firstly maintained, the deceleration is executed, meanwhile, chassis abnormal information is sent to safety modules of other vehicles through V2X broadcasting, if the current vehicle is in a formation state, the PNC safety module sends the information of the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and a steering limit value of the current vehicle to the formation safety module, the formation safety module judges whether the current vehicle is subjected to de-formation, if the driving risk of the current vehicle is large, the formation safety module removes the formation of the current vehicle, and then, automatic driving is executed through a functional safety module of the current vehicle, so that the influence of the current vehicle on other vehicles in the formation is avoided, and the driving safety of the formation is improved.
In addition, according to the present invention, the formation driving control system based on automatic driving may further have the following additional technical features:
further, the PNC safety module is configured to determine whether the current vehicle is in a formation state, and send the speed, steering information, a lateral deceleration limit, a longitudinal deceleration limit, and steering limit information of the current vehicle to the functional safety module of the current vehicle if the current vehicle is in a non-formation state, so as to perform automatic driving by the functional safety module of the current vehicle.
Further, the formation safety module is used for summarizing vehicle chassis data, driving control instructions, path planning information, path planning and safety state information of the current vehicle, and acquiring front vehicle brake detection information through V2V communication to judge whether the front vehicle brakes in advance;
and the formation safety module is used for controlling the functional safety module of the current vehicle to execute corresponding braking when the front vehicle is judged to be braked in advance.
Further, the vehicle chassis data includes speed, steering information and a joint threshold of the current vehicle, and the driving control command includes a steering angle, an acceleration and deceleration, a braking percentage and an accelerator percentage.
Further, the chassis safety module is used for sending abnormal data to the functional safety module when monitoring that the data fed back by the chassis is abnormal;
the functional safety module is used for judging whether the current vehicle is in a formation state;
and if the current vehicle is in a formation state, the functional safety module is used for forbidding the emergency brake and collision detection functions of the current vehicle.
Drawings
The above and/or additional aspects and advantages of embodiments of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a flowchart of an automated driving-based formation driving control method according to a first embodiment of the present invention;
fig. 2 is a block diagram of a configuration of an automated driving-based formation driving control system according to a second embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a formation driving control method based on automatic driving according to a first embodiment of the present invention includes steps S101 to S105.
S101, the chassis safety module acquires the position, speed and steering information of the current vehicle in real time through a CAN bus, performs combined threshold value limitation according to the speed and steering information of the current vehicle, and performs abnormity detection on data fed back by the chassis.
S102, when monitoring that the data fed back by the chassis is abnormal, the chassis safety module keeps the current steering, executes deceleration and simultaneously sends the abnormal information of the chassis to safety modules of other vehicles through V2X broadcasting.
The chassis safety module CAN read information such as the position, the speed, the steering and the like of a current vehicle in real time through a CAN bus, the chassis safety module calculates a speed and steering combined threshold limiting value according to the current position, the speed and the steering of the vehicle at the same time, meanwhile, abnormal detection of continuous 10-frame loss is carried out on data fed back by a chassis, if abnormal detection is detected, abnormal reminding is output, the current steering value is reserved, a deceleration value in a safety range is calculated, deceleration is executed, and meanwhile, the chassis abnormal reminding information is sent to a PNC (plan and control) safety module in a text data format through obu communication at the vehicle end.
S103, the PNC safety module judges whether the current vehicle is in a formation state, and if the current vehicle is in the formation state, the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle are sent to the formation safety module.
If the PNC safety module judges whether the current vehicle is in a formation state, and if the current vehicle is in a non-formation state, the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle are sent to the functional safety module of the current vehicle, so that automatic driving is executed through the functional safety module of the current vehicle.
And S104, the formation safety module judges whether the current vehicle is subjected to de-formation according to the speed, the steering information, the transverse deceleration limit value, the longitudinal deceleration limit value and the steering limit value information of the current vehicle.
And S105, if so, removing the formation of the current vehicle by the formation safety module so as to execute automatic driving through the functional safety module of the current vehicle.
The formation safety module compares the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle with respective preset values to judge whether the current vehicle can influence other vehicles in the formation, if the current vehicle can influence other vehicles in the formation, the formation safety module removes the current vehicle from the formation, automatic driving is executed through the functional safety module of the current vehicle, and the current vehicle can automatically drive out of the formation. On the contrary, if the current vehicle does not affect other vehicles in the formation, the current vehicle can keep running in the formation.
As a specific example, the method further comprises:
the formation safety module collects vehicle chassis data, driving control instructions, path planning information path planning and safety state information of the current vehicle, and obtains front vehicle brake detection information through V2V communication to judge whether a front vehicle brakes in advance, wherein the vehicle chassis data comprise the speed, steering information and a joint threshold of the current vehicle, and the driving control instructions comprise a steering angle, an acceleration and deceleration, a braking percentage and an accelerator percentage;
and if the formation safety module judges that the front vehicle is braked in advance, controlling the functional safety module of the current vehicle to execute corresponding braking.
In addition, the V2X safety module can be used for carrying out wireless communication with the drive test equipment RSU and the vehicle end equipment OBU to obtain a formation or de-formation command sent by a road end and a communication state between vehicles, if abnormal exists, the V2X safety module carries out alarm reminding and broadcasts out, and the safety is further improved.
As a specific example, the method further comprises:
when monitoring that the data fed back by the chassis is abnormal, the chassis safety module sends the abnormal data to the functional safety module;
the functional safety module judges whether the current vehicle is in a formation state;
and if the current vehicle is in a formation state, the functional safety module disables the emergency brake and collision detection functions of the current vehicle.
Wherein, after receiving the abnormal information and the alarm information, the functional safety module firstly judges whether the vehicle is in the formation state, such as feedback in the formation state, at this time, an emergency brake canceling instruction and a collision detection canceling instruction are issued, the functional safety module is arranged in all the safety modules and the automatic driving system, the priority is the highest, the execution sequence of the program can be changed at any time, at the moment, the functions of automatic driving and sudden braking and collision detection are immediately disabled, meanwhile, the formation strategy calculates the position, the horizontal and vertical deceleration and the steering value of the vehicle, sends the values to an automatic driving control actuator, updates the early warning state value at the same time, and then the actuator is controlled to calculate corresponding brake and accelerator values, steering is carried out on the values to safely stop the vehicle chassis module, the emergency brake function is invalid, and the collision detection function is invalid so as to ensure that the vehicle cannot turn over due to emergency brake when the vehicle is abnormal at a high speed.
According to the formation driving control method based on automatic driving provided by the embodiment, when the chassis safety module monitors that the data fed back by the chassis is abnormal, the current steering is firstly maintained, the deceleration is executed, meanwhile, chassis abnormal information is sent to safety modules of other vehicles through V2X broadcasting, if the current vehicle is in a formation state, the PNC safety module sends the information of the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and a steering limit value of the current vehicle to the formation safety module, the formation safety module judges whether the current vehicle is subjected to de-formation, if the driving risk of the current vehicle is large, the formation safety module removes the formation of the current vehicle, and then, automatic driving is executed through a functional safety module of the current vehicle, so that the influence of the current vehicle on other vehicles in the formation is avoided, and the driving safety of the formation is improved. In addition, a plurality of module safety mechanisms are fused together, so that the whole automatic driving system is safer and has stronger performance.
Referring to fig. 2, based on the same inventive concept, a formation driving control system based on automatic driving according to a second embodiment of the present invention includes a chassis safety module, a PNC safety module, a formation safety module, and a functional safety module:
the chassis safety module is used for acquiring the position, the speed and the steering information of the current vehicle in real time through a CAN bus, carrying out combined threshold value limitation according to the speed and the steering information of the current vehicle and carrying out abnormity detection on data fed back by the chassis;
the chassis safety module is used for keeping the current steering and executing deceleration when monitoring that the data fed back by the chassis is abnormal, and simultaneously sending the abnormal information of the chassis to the safety modules of other vehicles through V2X broadcasting;
the PNC safety module is used for judging whether the current vehicle is in a formation state, and if the current vehicle is in the formation state, sending the speed, steering information, transverse deceleration limit value, longitudinal deceleration limit value and steering limit value information of the current vehicle to the formation safety module;
the formation safety module is used for judging whether the current vehicle is subjected to de-formation according to the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle;
and if so, the formation safety module is used for removing the formation of the current vehicle so as to execute automatic driving through the functional safety module of the current vehicle.
In this embodiment, the PNC security module is configured to determine whether the current vehicle is in a formation state, and send the speed, steering information, a lateral deceleration limit, a longitudinal deceleration limit, and steering limit information of the current vehicle to the functional security module of the current vehicle if the current vehicle is in a non-formation state, so as to perform automatic driving by the functional security module of the current vehicle.
In this embodiment, the formation safety module is configured to collect vehicle chassis data, driving control instructions, path planning information, and safety status information of the current vehicle, and obtain braking detection information of a preceding vehicle through V2V communication, so as to determine whether the preceding vehicle brakes in advance;
and the formation safety module is used for controlling the functional safety module of the current vehicle to execute corresponding braking when the front vehicle is judged to be braked in advance.
In this embodiment, the vehicle chassis data includes the speed, steering information, and a joint threshold of the current vehicle, and the driving control command includes a steering angle, an acceleration/deceleration, a braking percentage, and an accelerator percentage.
In this embodiment, the chassis security module is configured to send abnormal data to the functional security module when it is monitored that the data fed back by the chassis is abnormal;
the functional safety module is used for judging whether the current vehicle is in a formation state;
and if the current vehicle is in a formation state, the functional safety module is used for forbidding the emergency brake and collision detection functions of the current vehicle.
According to the formation driving control system based on automatic driving provided by the embodiment, when the chassis safety module monitors that the data fed back by the chassis is abnormal, the current steering is firstly maintained, the deceleration is executed, meanwhile, chassis abnormal information is sent to safety modules of other vehicles through V2X broadcasting, if the current vehicle is in a formation state, the PNC safety module sends the information of the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and a steering limit value of the current vehicle to the formation safety module, the formation safety module judges whether the current vehicle is subjected to de-formation, if the driving risk of the current vehicle is large, the formation safety module removes the formation of the current vehicle, and then, automatic driving is executed through a functional safety module of the current vehicle, so that the influence of the current vehicle on other vehicles in the formation is avoided, and the driving safety of the formation is improved.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit of a logic gate circuit specifically used for realizing a logic function for a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An automated driving-based formation travel control method, characterized by comprising:
the chassis safety module acquires the position, speed and steering information of the current vehicle in real time through a CAN bus, performs combined threshold value limitation according to the speed and steering information of the current vehicle, and performs abnormity detection on data fed back by the chassis;
when monitoring that the data fed back by the chassis is abnormal, the chassis safety module maintains the current steering, executes deceleration and simultaneously sends the abnormal information of the chassis to safety modules of other vehicles through V2X broadcast;
the PNC safety module judges whether the current vehicle is in a formation state, and if the current vehicle is in the formation state, the PNC safety module sends the speed, the steering information, the transverse deceleration limit value, the longitudinal deceleration limit value and the steering limit value information of the current vehicle to the formation safety module;
the formation safety module judges whether the current vehicle is subjected to de-formation or not according to the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle;
and if so, removing the formation of the current vehicle by the formation safety module so as to execute automatic driving through the functional safety module of the current vehicle.
2. The automated driving-based formation driving control method according to claim 1, characterized by further comprising:
and the PNC safety module judges whether the current vehicle is in a formation state, and if the current vehicle is in a non-formation state, the PNC safety module sends the speed, the steering information, the transverse deceleration limit value, the longitudinal deceleration limit value and the steering limit value information of the current vehicle to the functional safety module of the current vehicle so as to execute automatic driving through the functional safety module of the current vehicle.
3. The automated driving-based formation driving control method according to claim 1, characterized by further comprising:
the formation safety module collects vehicle chassis data, driving control instructions, path planning information and path planning and safety state information of the current vehicle, and obtains front vehicle brake detection information through V2V communication to judge whether the front vehicle brakes in advance;
and if the formation safety module judges that the front vehicle is braked in advance, controlling the functional safety module of the current vehicle to execute corresponding braking.
4. The automated driving-based formation driving control method according to claim 3, wherein the vehicle chassis data includes speed of the current vehicle, steering information, joint threshold, and the driving control commands include steering angle, acceleration and deceleration, braking percentage, and throttle percentage.
5. The automated driving-based formation driving control method according to claim 1, characterized by further comprising:
when monitoring that the data fed back by the chassis is abnormal, the chassis safety module sends the abnormal data to the functional safety module;
the functional safety module judges whether the current vehicle is in a formation state;
and if the current vehicle is in a formation state, the functional safety module disables the emergency brake and collision detection functions of the current vehicle.
6. A formation driving control system based on automatic driving is characterized by comprising a chassis safety module, a PNC safety module and a formation safety module:
the chassis safety module is used for acquiring the position, the speed and the steering information of the current vehicle in real time through a CAN bus, carrying out combined threshold value limitation according to the speed and the steering information of the current vehicle and carrying out abnormity detection on data fed back by the chassis;
the chassis safety module is used for keeping the current steering and executing deceleration when monitoring that the data fed back by the chassis is abnormal, and simultaneously sending the abnormal information of the chassis to the safety modules of other vehicles through V2X broadcasting;
the PNC safety module is used for judging whether the current vehicle is in a formation state, and if the current vehicle is in the formation state, sending the speed, steering information, transverse deceleration limit value, longitudinal deceleration limit value and steering limit value information of the current vehicle to the formation safety module;
the formation safety module is used for judging whether the current vehicle is subjected to de-formation according to the speed, steering information, a transverse deceleration limit value, a longitudinal deceleration limit value and steering limit value information of the current vehicle;
and if so, the formation safety module is used for removing the formation of the current vehicle so as to execute automatic driving through the functional safety module of the current vehicle.
7. The automated driving-based formation driving control system according to claim 6, characterized in that:
the PNC safety module is used for judging whether the current vehicle is in a formation state or not, and if the current vehicle is in a non-formation state, sending the speed, steering information, transverse deceleration limit value, longitudinal deceleration limit value and steering limit value information of the current vehicle to the functional safety module of the current vehicle so as to execute automatic driving through the functional safety module of the current vehicle.
8. The automated driving-based formation driving control system according to claim 6, characterized in that:
the formation safety module is used for summarizing vehicle chassis data, driving control instructions, path planning information path planning and safety state information of the current vehicle, and acquiring front vehicle brake detection information through V2V communication to judge whether the front vehicle brakes in advance;
and the formation safety module is used for controlling the functional safety module of the current vehicle to execute corresponding braking when the front vehicle is judged to be braked in advance.
9. The autopilot-based formation travel control system of claim 8 wherein the vehicle chassis data includes speed, steering information, joint thresholds for the current vehicle and the drive control commands include steering angle, acceleration and deceleration, braking percentage, throttle percentage.
10. The automated driving-based formation driving control system according to claim 6, characterized in that:
the chassis safety module is used for sending abnormal data to the functional safety module when monitoring that the data fed back by the chassis is abnormal;
the functional safety module is used for judging whether the current vehicle is in a formation state;
and if the current vehicle is in a formation state, the functional safety module is used for forbidding the emergency brake and collision detection functions of the current vehicle.
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| CN117022383A (en) * | 2023-08-21 | 2023-11-10 | 无锡时代智能交通研究院有限公司 | Dynamic virtual de-compiling method for failure of rail transit communication |
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