Automatic driving system, vehicle control method and device

1. An automatic driving system, comprising: a primary monitoring equipment, a secondary monitoring equipment, at least one equipment to be detected, and a standby equipment corresponding to each equipment to be detected;

the primary monitoring equipment and the secondary monitoring equipment are connected to each equipment to be detected respectively, and the primary monitoring equipment and the secondary monitoring equipment are connected to the standby equipment corresponding to each equipment to be detected respectively;

the primary monitoring equipment is connected to the secondary monitoring equipment, and the primary monitoring equipment is configured to perform an abnormality detection on a first equipment to be detected to obtain a first detection result obtain a second detection result of the first equipment to be detected from the secondary monitoring equipment determine a detection result according to the first detection result and the second detection result, and control a vehicle to switch between the first equipment to be detected and the standby equipment corresponding to the first equipment to be detected according to the detection result.

2. The system according to claim 1 , wherein the at least one equipment to be detected comprises at least one of: a vehicle motion equipment, an environment sensing equipment, a vehicle control equipment, or a power equipment.

3. The system according to claim 2 , wherein the vehicle motion equipment comprises at least one of: a speed sensor, an angle sensor, and an integrated navigation equipment.

4. The system according to claim 2 , wherein the environment sensing equipment comprises at least one of: a lidar sensor, a millimeter wave radar sensor, an ultrasonic sensor, and a camera.

5. The system according to claim 2 , wherein the vehicle control equipment comprises at least one of: a brake equipment, a steering equipment, an engine, and a gearbox.

6. The system according to claim 1 , wherein the detection result comprises at least one of an operating parameter, a connection state, a storage state, and a log sequence of the first equipment to be detected.

7. A vehicle control method, comprising:

performing, by a primary monitoring equipment, an abnormality detection on a first equipment to be detected to obtain a first detection result;

obtaining, by the primary monitoring equipment, a second detection result of the first equipment to be detected from a secondary monitoring equipment; and

determining, by the primary monitoring equipment, a detection result according to the first detection result and the second detection result; and if the detection result indicates that the first equipment to be detected is abnormal, controlling, by the primary monitoring equipment, a vehicle to switch operation to a standby equipment of the first equipment to be detected.

8. The method according to claim 7 , further comprising:

if the detection result indicates that the first equipment to be detected is abnormal, sending, by the primary monitoring equipment, a fault detection instruction to the first equipment to be detected, wherein the fault detection instruction is used to instruct the first equipment to be detected to perform a self-test;

receiving, by the primary monitoring equipment, a self-test result fed back by the first equipment to be detected, and updating the detection result according to the self-test result.

9. The method according to claim 7 , wherein the determining, by the primary monitoring equipment, the detection result according to the first detection result and the second detection result, comprises:

if the first detection result indicates that the first equipment to be detected is abnormal, and the second detection result indicates that the first equipment to be detected is abnormal, determining that the first equipment to be detected is abnormal; and

if the first detection result indicates that the first equipment to be detected is abnormal, and the second detection result indicates that the first equipment to be detected is normal, determining that the first equipment to be detected is normal.

10. The method according to claim 7 , wherein the controlling, by the primary monitoring equipment, the vehicle to switch to the standby equipment of the first equipment to be detected to operate, comprises:

sending, by the primary monitoring equipment, a startup command to the standby equipment of the first equipment to be detected, and controlling the standby equipment to start.

11. The method according to claim 7 , wherein the detection result comprises at least one of an operating parameter, a connection state, a storage state, and a log sequence of the first equipment to be detected.

12. The method according to claim 7 , further comprising:

receiving, by the primary monitoring equipment, a fault cancellation information sent by the first equipment to be detected; and

controlling, by the primary monitoring equipment, the vehicle to switch operation to the first equipment to be detected to operate according to the fault cancellation information.

13. A vehicle control device, a processor, and a non-transitory computer readable medium for storing program codes, which, when executed by the processor, cause the processor to:

perform an abnormality detection on a first equipment to be detected, to obtain a first detection result;

obtain a second detection result of the first equipment to be detected from a secondary monitoring equipment; and

determine a detection result according to the first detection result and the second detection result; and

if the detection result indicates that the first equipment to be detected is abnormal, control a vehicle to switch operation to a standby equipment of the first equipment to be detected to operate.

14. The device according to claim 13 , wherein the program codes further cause the processor to:

send a fault detection instruction to the first equipment to be detected if the detection result indicates that the first equipment to be detected is abnormal, wherein the fault detection instruction is used to instruct the first equipment to be detected to perform a self-test; and

receive a self-test result fed back by the first equipment to be detected, and update the detection result according to the self-test result.

15. The device according to claim 13 , wherein when the program codes cause the processor to determine the detection result according to the first detection result and the second detection result, the program codes cause the processor specifically to:

if the first detection result indicates that the first equipment to be detected is abnormal, and the second detection result indicates that the first equipment to be detected is abnormal, determine that the first equipment to be detected is abnormal; and

if the first detection result indicates that the first equipment to be detected is abnormal, and the second detection result indicates that the first equipment to be detected is normal, determine that the first equipment to be detected is normal.

16. The device according to claim 13 , wherein, when the program codes cause the processor to, if the detection result indicates that the first equipment to be detected is abnormal, control the vehicle to switch to the standby equipment of the first equipment to be detected to operate, the program codes cause the processor specifically to:

send a startup instruction to the standby equipment of the first equipment to be detected, and control the standby equipment to start.

17. The device according to claim 13 , wherein the detection result comprises at least one of an operating parameter, a connection state, a storage state, and a log sequence of the first equipment to be detected.

18. The device according to claim 13 , wherein the program codes further cause the processor to:

receive a fault cancellation information sent by the first equipment to be detected;

when the program codes cause the processor to, if the detection result indicates that the first equipment to be detected is abnormal, control the vehicle to switch to the standby equipment of the first equipment to be detected to operate, the program codes further cause the processor to: control the vehicle to switch to the first equipment to be detected to operate according to the fault cancellation information.

19. A vehicle control device, comprising:

a non-transitory memory;

a processor; and

a computer program;

wherein the computer program is stored in the memory and is configured to be executed by the processor to implement the method according to claim 7 .

20. A non-transitory computer readable storage medium having stored thereon a computer program that, when being executed by a processor, implements the method according to claim 7 .