CN111591303A - Automatic driving vehicle, system and automatic driving safety control method - Google Patents
Automatic driving vehicle, system and automatic driving safety control method Download PDFInfo
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- CN111591303A CN111591303A CN202010396666.9A CN202010396666A CN111591303A CN 111591303 A CN111591303 A CN 111591303A CN 202010396666 A CN202010396666 A CN 202010396666A CN 111591303 A CN111591303 A CN 111591303A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/007—Emergency override
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Abstract
The invention discloses an automatic driving vehicle, an automatic driving system and an automatic driving safety control method. The automatic driving safety control method comprises the steps of monitoring driving information and surrounding environment information of an unmanned vehicle; determining whether an autonomous driving device of the unmanned vehicle is disabled according to the driving information; and after judging that the automatic driving device fails, sending the state information of the automatic driving failure to a server and/or switching the automatic driving vehicle to a risk avoiding mode. According to the automatic driving vehicle, the automatic driving system and the automatic driving safety control method, the reliability of failure monitoring of the automatic driving device of the unmanned vehicle can be improved, and meanwhile, the safety of devices around the failure device can be improved.
Description
Technical Field
The invention relates to the technical field of unmanned driving, in particular to an automatic driving vehicle, an automatic driving system and an automatic driving safety control method.
Background
With the development of modern technologies, smart cars have become the strategic development direction of the development of the car industry, and the automatic driving system therein has become a research and development hotspot and technology frontier in recent years, and has been widely developed.
The automatic driving technology needs various types of sensors and controllers to be matched with each other, and the system is complex. In addition, the automatic driving technology greatly reduces the participation of people in driving. Therefore, safety performance is an important consideration for the automatic driving system.
In the existing automatic driving safety control method, the following problems mainly exist:
1. in the prior technical scheme, the safety of the failure device is mainly ensured, the safety of devices around the failure device cannot be ensured, and secondary accidents are easy to happen.
2. In the existing technical scheme, a safety unit for safety monitoring is usually arranged in an automatic driving module, the safety unit generally shares resources such as a memory, a hard disk and the like with other units, the safety unit is susceptible to the influence of other units, and if a certain unit of the automatic driving module is abnormal, the operation of the safety unit is likely to be influenced, even the safety unit fails.
3. In the prior art, safety monitoring is usually performed on an automatic driving module, and monitoring of automatic driving failure caused by hardware faults cannot be realized.
Accordingly, it is desirable to have a new automated driving safety control method, automated driving system, and safety device that overcome the above-mentioned problems.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide an autonomous vehicle, an autonomous system, and an autonomous safety control method, thereby improving reliability of monitoring failure of an autonomous device and improving safety of devices around the failed device.
According to an aspect of the present invention, there is provided an autonomous vehicle comprising: an autonomous driving device for autonomous driving of the autonomous vehicle; and a safety device for monitoring driving information of the autonomous vehicle, wherein it is determined whether the autonomous device is disabled according to the driving information; and after judging that the automatic driving device fails, the automatic driving vehicle sends state information of automatic driving failure to the outside and/or switches the automatic driving vehicle to a risk avoidance mode.
Preferably, the autonomous vehicle further comprises: a receiving device that receives state information of the autopilot failure of an autopilot vehicle that satisfies a predetermined positional relationship.
According to another aspect of the present invention, there is provided an autonomous driving system comprising an autonomous vehicle as described above; and the server receives the state information and/or sends the state information after receiving the state information.
According to still another aspect of the present invention, there is provided an automatic driving safety control method including: monitoring driving information and surrounding environment information of the unmanned vehicle; determining whether an autonomous driving device of the unmanned vehicle is disabled according to the driving information; and after judging that the automatic driving device fails, sending state information of the automatic driving failure to a server and/or switching the unmanned vehicle to a risk avoidance mode.
Preferably, the automatic driving safety control method further includes: after receiving the status information, the server sends the status information of the automatic driving failure to the unmanned vehicle meeting the predetermined position relationship.
Preferably, the travel information includes: a position of the unmanned vehicle, a lateral longitudinal speed, a distance to surrounding vehicles, a distance to surrounding people.
Preferably, the determining whether the autonomous driving apparatus of the unmanned vehicle is disabled according to the travel information includes at least one of:
determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle deviates from a set route on an electronic map;
determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle crosses a road boundary on an electronic map;
determining that an autonomous device of the unmanned vehicle is disabled if a time at which the location of the unmanned vehicle crosses a road boundary on an electronic map reaches a first predetermined time;
determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle enters a no-go zone on an electronic map;
determining that an autonomous driving apparatus of the unmanned vehicle is disabled if a time at which the position of the unmanned vehicle enters a no-parking area on an electronic map reaches a second predetermined time;
determining that an autopilot of the unmanned vehicle is disabled if the distance to the surrounding vehicle or the distance to the surrounding persons is less than a safe distance;
determining that an autonomous device of the unmanned vehicle is disabled if the lateral longitudinal velocity satisfies a predetermined velocity condition.
Preferably, the safety distance is one of:
fixing a safety distance;
a safe distance calculated according to the following formula:
wherein S issafeIs a safe distance, vegoLateral or longitudinal speed, v, of the unmanned vehicleotherIs the lateral or longitudinal speed of the surrounding vehicle, a is the braking deceleration, SmarginIs a constant margin.
Preferably, the danger avoiding mode comprises a safe danger avoiding mode and an emergency danger avoiding mode, wherein in the safe danger avoiding mode, a danger avoiding path is planned, and the unmanned vehicle is controlled to avoid danger according to the danger avoiding path; and controlling the unmanned vehicle to brake emergently in the emergency danger avoiding mode.
According to still another aspect of the present invention, there is provided an automatic driving safety control method, characterized by comprising the steps of: receiving positions reported by each unmanned vehicle and state information of whether automatic driving is invalid or not; and if the state information of the automatic driving failure is received, sending the state information to the unmanned vehicle of which the reported position and the position of the unmanned vehicle of the automatic driving failure meet the preset position relation.
According to the automatic driving vehicle, the automatic driving system and the automatic driving safety control method, the reliability of automatic driving failure monitoring is improved, and when the automatic driving fails, the safety of the automatic driving vehicle can be ensured, and meanwhile, the safety of surrounding vehicles can be ensured.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent from the following description of the embodiments of the present invention with reference to the accompanying drawings, in which:
FIG. 1 illustrates a flow diagram of a corresponding method of automated driving safety control according to an embodiment of the present invention;
FIG. 2 is a flow diagram illustrating a corresponding method of automatic driving safety control according to an embodiment of the present invention;
FIG. 3 is a flow chart illustrating a corresponding method for controlling the safety of automatic driving according to a third embodiment of the present invention;
FIG. 4 is a flow chart illustrating a corresponding method for controlling the safety of automatic driving according to the fourth embodiment of the present invention;
FIG. 5 is a flow chart illustrating a fifth exemplary embodiment of an automated driving safety control method according to the present invention;
FIG. 6 shows a flow chart of a six-step corresponding automated driving safety control method according to an embodiment of the invention;
FIG. 7 is a flow chart illustrating a seventh corresponding method for controlling the safety of automatic driving according to an embodiment of the present invention;
FIG. 8 illustrates a schematic structural diagram of a corresponding autonomous vehicle in accordance with an embodiment of the invention;
FIG. 9 is a schematic diagram of a corresponding autopilot system according to an embodiment of the present invention;
FIG. 10 is a diagram illustrating an application scenario of a corresponding autopilot system according to an embodiment of the present invention;
FIG. 11 is a schematic diagram illustrating an application scenario of a corresponding autopilot system according to an embodiment of the present invention;
FIG. 12 is a schematic diagram illustrating an application scenario of an automatic driving system according to a third embodiment of the present invention;
fig. 13 is a schematic view showing an application scenario of an automatic driving system according to fourth and seventh embodiments of the present invention;
fig. 14 is a schematic view of an application scenario of an automatic driving system according to fifth and sixth embodiments of the present invention.
Detailed Description
Various embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by the same or similar reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale. Moreover, certain well-known elements may not be shown in the figures.
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. In the following description, numerous specific details of the invention, such as structure, materials, dimensions, processing techniques and techniques of components, are set forth in order to provide a more thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.
It will be understood that when a layer, region or layer is referred to as being "on" or "over" another layer, region or layer in describing the structure of the component, it can be directly on the other layer, region or layer or intervening layers or regions may also be present. Also, if the component is turned over, one layer or region may be "under" or "beneath" another layer or region.
The first embodiment is as follows:
an automatic driving safety control method provided by the embodiment of the invention is shown in the attached figure 1. The automatic driving safety control method provided by the embodiment of the invention is applied to an application scene shown in fig. 10, for example. The automated driving system includes the unmanned vehicle 10 capable of determining whether the automated driving device is disabled based on the travel information and transmitting the state information of the automated driving failure after determining that the automated driving device is disabled.
Specifically, the automatic driving safety control method provided by the present embodiment includes the steps of:
in step S101, the travel information of the unmanned (automated) vehicle is monitored;
a safety device provided on an unmanned (autonomous) vehicle monitors traveling information (and surrounding environment information) of the unmanned vehicle. The monitored travel information includes, for example, the lateral longitudinal speed of the unmanned vehicle.
In step S102, it is determined whether an automatic driving device of an unmanned (automated) vehicle is disabled based on the travel information;
and judging whether an automatic driving device of the unmanned vehicle fails according to the monitored driving information. For example, a determination is made as to whether the autopilot device is disabled based on whether the monitored lateral longitudinal velocity meets a predetermined velocity condition. The automatic driving apparatus is determined to be disabled, for example, when the lateral speed exceeds a predetermined speed threshold.
In step S103, after determining that the automatic driving apparatus is disabled, the state information of the automatic driving failure is transmitted.
After determining that the autonomous driving apparatus is disabled, transmitting status information of the autonomous driving disabled of the unmanned vehicle. Such as sending the status information to the outside world (e.g., as a server) and/or switching the autonomous vehicle to a hedge mode.
Based on this embodiment, can in time send out the state information of the autopilot inefficacy of this unmanned vehicles's autopilot back that became invalid after the autopilot of unmanned vehicles became invalid, can avoid taking place the secondary accident, improved the security of inefficacy device and peripheral device.
Optionally, the monitored driving information comprises at least one of: the location of the unmanned vehicle, the distance of the unmanned vehicle from surrounding vehicles, the distance of the unmanned vehicle from surrounding people. And judging whether the automatic driving device fails or not according to the position relation between the unmanned vehicles and/or the distances between the unmanned vehicles and surrounding people.
Example two:
an automatic driving safety control method provided by the second embodiment of the invention is shown in the attached figure 2. The automatic driving safety control method provided according to the second embodiment of the present invention is applied to an application scenario as shown in fig. 11, for example.
The automatic driving safety control method provided by the embodiment is shown in fig. 2.
Specifically, the automatic driving safety control method provided by the present embodiment basically adopts the same steps as those of the first embodiment described above.
The difference lies in that: the transmitting of the state information of the automatic driving failure includes the steps of:
in step S201, the position, the lateral-longitudinal speed, and the state information of the unmanned vehicle in which the automatic driving is disabled are transmitted to the server;
the unmanned vehicle 31 with the automatic driving disabled transmits the position where it is located, the lateral longitudinal speed, and the state information to the server 20.
In step S202, the unmanned vehicle to be notified is determined according to the position, and the position, the lateral-longitudinal speed, and the state information are notified to the unmanned vehicle to be notified.
The server 20 determines the unmanned vehicle 32 to be notified according to the received position of the unmanned vehicle 31 having the automated driving failure, and notifies the unmanned vehicle 32 to be notified of the position, the lateral-longitudinal speed, and the state information of the unmanned vehicle 31 having the automated driving failure. The unmanned vehicle 32 to be notified is, for example, an unmanned vehicle within a certain range around the unmanned vehicle 31 whose driving is disabled automatically.
Based on the embodiment, the unmanned vehicle with automatic driving failure notifies the position, state information and the like of the unmanned vehicle to the unmanned vehicles in a certain range around through the server, and surrounding vehicles can accurately and rapidly acquire information, so that secondary accidents are avoided.
Based on this embodiment, reduced the required calculation volume of unmanned vehicle, reduced unmanned vehicle's hardware demand, the cost is reduced.
Example three:
the automatic driving safety control method provided by the third embodiment of the invention is shown in the attached figure 3. The automatic driving safety control method provided by the third embodiment of the invention is applied to an application scenario as shown in fig. 12, for example.
The automatic driving safety control method provided by the embodiment is shown in fig. 3.
Specifically, the automatic driving safety control method provided by the present embodiment basically adopts the same steps as those of the first embodiment described above.
The difference lies in that: determining whether the autonomous driving apparatus of the unmanned vehicle is disabled according to the traveling information includes determining that the autonomous driving apparatus of the unmanned vehicle is disabled if the distance from the unmanned vehicle to surrounding vehicles or the distance from surrounding persons is less than a safe distance.
The determination of the safe distance comprises the following steps:
in step S301, the braking deceleration, lateral or longitudinal speed of the unmanned vehicle itself, and lateral or longitudinal speeds of surrounding vehicles are acquired;
the unmanned vehicle 33 acquires the lateral speed of itself and the lateral speeds of the surrounding vehicles 34; and/or
Acquiring the longitudinal speed of the vehicle and the longitudinal speed of the surrounding vehicles 34;
and obtaining the braking deceleration thereof.
In step S302, a safe distance for determining whether or not the automatic driving apparatus is disabled is calculated.
The safety distance is calculated according to the following formula:
wherein S issafeIs a safe distance, vegoIs the lateral or longitudinal speed, v, of the unmanned vehicle 33 itselfotherIs the lateral or longitudinal speed of the surrounding vehicle 34, a is the braking deceleration, SmarginIs a constant margin.
The automatic driving safety control method based on the embodiment can ensure that the unmanned vehicle keeps a safe distance from surrounding vehicles or people, and once collision risks exist, the automatic driving device of the unmanned vehicle is judged to be invalid, so that the collision risks are avoided.
Alternatively, the safety device 12 receives the GPS signal independently and differentiates the position to obtain the lateral and longitudinal velocity. Based on the automatic driving safety control method of the embodiment, whether the automatic driving system fails or not is detected through the GPS position information and the surrounding vehicle information, and the safety of the failed vehicle and the surrounding vehicles is improved.
Optionally, the safety distance is a set fixed safety distance.
Optionally, determining whether the autonomous driving apparatus of the unmanned vehicle is disabled according to the travel information includes at least one of: determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle deviates from a set route on an electronic map; determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle crosses a road boundary on an electronic map; determining that an autonomous device of the unmanned vehicle is disabled if a time for the location of the unmanned vehicle to cross a road boundary on an electronic map reaches a first predetermined time; determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle enters a no-go zone on an electronic map; determining that an autonomous driving apparatus of the unmanned vehicle is disabled if a time at which the position of the unmanned vehicle enters a no-parking area on an electronic map reaches a second predetermined time; determining that an autonomous device of the unmanned vehicle is disabled if the lateral longitudinal velocity satisfies a predetermined velocity condition. The determination of the failure is performed independently by the safety device 12, for example.
Example four:
the automatic driving safety control method provided by the fourth embodiment of the invention is shown in the attached figure 4. The automatic driving safety control method provided according to the fourth embodiment of the present invention is applied to an application scenario as shown in fig. 13, for example.
The automatic driving safety control method provided by the embodiment is shown in fig. 4.
Specifically, the automatic driving safety control method provided by the present embodiment basically adopts the same steps as those of the first embodiment described above.
The difference lies in that: after determining whether the autonomous driving apparatus of the unmanned vehicle is disabled according to the traveling information, the method further includes the steps of:
in step S104, after determining that the automatic driving apparatus is disabled, the mode is switched to the risk avoidance mode.
After determining that the autonomous device is disabled, the unmanned vehicle 35 is switched to a hedge mode.
Preferably, the risk avoiding mode comprises a safe risk avoiding mode and an emergency risk avoiding mode. In the safe risk avoiding mode, a risk avoiding path is planned, and the unmanned vehicle controlling the automatic driving device to fail carries out risk avoidance according to the risk avoiding path (the risk avoiding path is shown by a dotted line in fig. 13, for example). And under the emergency risk avoiding mode, controlling the unmanned vehicle with the failure of the automatic driving device to perform emergency braking. Optionally, according to the type of the failure, determining whether the switched risk avoiding mode is a safe risk avoiding mode or an emergency risk avoiding mode through a table look-up.
According to the automatic driving safety control method based on the embodiment, corresponding danger avoidance can be carried out according to the type of failure, so that a proper danger avoidance mode can be adopted in different failure states, and the safety is improved.
Example five:
fig. 5 shows an automatic driving safety control method according to a fifth embodiment of the present invention. The automatic driving safety control method provided according to the fifth embodiment of the present invention is applied to an application scenario as shown in fig. 14, for example.
The automatic driving safety control method provided by the embodiment is shown in fig. 5.
Specifically, the automatic driving safety control method provided by the present embodiment basically adopts the same steps as those of the first embodiment.
The difference lies in that: after the automatic driving device is judged to be invalid, the method further comprises the following steps:
in step S501, the type of automatic driving failure is determined;
the type of failure of the unmanned vehicle 37 for automatic driving failure is determined. The type of automatic driving failure includes, for example, at least one of: the unmanned vehicle's location deviates from a set route on an electronic map; the unmanned vehicle's location crosses a road boundary on an electronic map; the time that the position of the unmanned vehicle crosses a road boundary on an electronic map reaches a first predetermined time; the location of the unmanned vehicle enters a no-parking area on an electronic map; the time when the position of the unmanned vehicle enters a no-parking area on the electronic map reaches a second preset time; the distance to surrounding vehicles or to surrounding people is less than a safe distance; the transverse and longitudinal speeds meet a predetermined speed condition.
In step S502, the range and the kind of the warning information to be transmitted are determined according to the type of the automatic driving failure;
the range and the kind of the warning information to be transmitted are determined according to the type of the automatic driving failure. As shown in fig. 14, the range to which warning information is to be transmitted is determined according to the type of the automatic driving failure, and different ranges correspond to different kinds of warning information. Different types of autopilot failures correspond to different ranges and categories of warning messages. Optionally, a range less than or equal to the first distance from the unmanned vehicle with the autopilot disabled is a first range; a range in which the distance from the unmanned vehicle that is disabled for automatic driving is greater than the first distance and less than or equal to a second distance is a second range; a range in which the distance from the unmanned vehicle that is disabled in automatic driving is greater than the second distance and less than or equal to the third distance is a third range (for example, as shown in fig. 14, the first range, the second range, and the third range are each an area divided by a dotted line). Optionally, a lane adjacent to the lane in which the driverless unmanned vehicle is located is a first range; a lane separated by one lane from the lane where the unmanned vehicle fails to automatically drive is a second range; the lane separated by two lanes from the lane in which the unmanned vehicle is located with the automated driving disabled is the third range.
In step S503, warning information is transmitted to the vehicles within the determination range.
As shown in fig. 14, transmitting emergency alert information to the vehicles within a first range; transmitting risk warning information to the vehicles within a second range; transmitting a base warning message to the vehicles within a third range.
Based on the automatic driving safety control method of the embodiment, different warning information is sent to vehicles in different ranges according to the type of automatic driving failure. Vehicles in different ranges respond to warning information in different levels, and safety and risk avoiding efficiency are considered.
Example six:
fig. 6 shows an automatic driving safety control method according to a sixth embodiment of the present invention. The automatic driving safety control method provided according to the sixth embodiment of the present invention is applied to an application scenario as shown in fig. 14, for example.
Specifically, the automatic driving safety control method provided by the present embodiment includes the steps of:
in step S601, receiving the position reported by each unmanned vehicle and status information of whether the autonomous driving is disabled;
and the server receives the position reported by each unmanned vehicle and the state information of whether the automatic driving is invalid or not.
In step S602, if the status information of the automated driving failure is received, the status information is transmitted to the unmanned vehicle whose reported position and the position of the unmanned vehicle 37 of the automated driving failure satisfy the predetermined positional relationship.
If the server receives the state information of the automated driving failure, the server transmits the state information to the unmanned vehicle whose reported position and the position of the unmanned vehicle 37 of the automated driving failure satisfy a predetermined positional relationship. Optionally, the unmanned vehicle satisfying the predetermined positional relationship comprises at least one of: an unmanned vehicle whose distance from the unmanned vehicle that is disabled for automatic driving is less than a set threshold; an unmanned vehicle in a lane adjacent to the lane in which the unmanned vehicle is located that is automatically disabled.
Based on the automatic driving safety control method of the embodiment, the server receives the positions reported by the unmanned vehicles, and sends information to the unmanned vehicles meeting the preset position relation with the positions of the unmanned vehicles with automatic driving failures under the condition of automatic driving failures, so that the safety of the unmanned vehicles is ensured, and the data transmission requirements of the unmanned vehicles are reduced.
Optionally, the server sends the status information of the unmanned vehicle of the automatic driving failure to the automatic driving operator after receiving the status information of the automatic driving failure. Based on this embodiment, can in time discover the condition that the autopilot became invalid to in time inform vehicle and autopilot operator around, avoid losing further expansion.
Example seven:
fig. 7 shows a method for controlling the safety of automatic driving according to a seventh embodiment of the present invention. The automatic driving safety control method provided according to the seventh embodiment of the present invention is applied to an application scenario as shown in fig. 13, for example.
The automatic driving safety control method provided by the embodiment is shown in fig. 7.
Specifically, the automatic driving safety control method provided by the present embodiment basically adopts the same steps as those of the first embodiment.
The difference lies in that: after the state information of the automatic driving failure is received, the method further comprises the following steps:
in step S701, planning a risk avoidance path of the unmanned vehicle with the automatic driving failure according to the position reported by each unmanned vehicle and the state information of the automatic driving failure;
the server plans a risk avoidance path (the risk avoidance path is shown by a dotted line in fig. 13) for the unmanned vehicle 35 with the automatic driving failure according to the position reported by each unmanned vehicle and the state information of the automatic driving failure.
In step S702, the risk avoidance path is transmitted to the unmanned vehicle that is automatically disabled and the unmanned vehicle that satisfies the predetermined positional relationship.
After the hedge path is planned, the server sends the hedge path to the driverless unmanned vehicle 35 and unmanned vehicle 36 that satisfies a predetermined positional relationship with the position of the driverless unmanned vehicle.
Based on the automatic driving safety control method of the embodiment, the server plans the risk avoiding path for the unmanned vehicles with automatic driving failures according to the positions reported by the unmanned vehicles and the state information of the automatic driving failures, and sends the risk avoiding path to the unmanned vehicles with the automatic driving failures and vehicles around the unmanned vehicles, so that the risk avoiding efficiency and the risk avoiding safety are considered, and the operation requirements of the unmanned vehicles are reduced.
Optionally, the unmanned vehicle with the automatic driving failure autonomously plans the risk avoiding path and sends the planned risk avoiding path to the server, and the server sends the risk avoiding path to the unmanned vehicle with the position of the unmanned vehicle with the automatic driving failure meeting the preset position relation, so as to avoid secondary accidents and improve the safety.
A corresponding autonomous vehicle according to an embodiment of the invention includes an autonomous device and a safety device. An autopilot device for autopilot of the autonomous vehicle. A safety device for monitoring driving information of the autonomous vehicle, wherein it is determined whether the autonomous device is disabled according to the driving information; and after judging that the automatic driving device fails, the automatic driving vehicle sends state information of automatic driving failure to the outside and/or switches the automatic driving vehicle to a risk avoiding mode. Preferably, the autonomous vehicle further comprises a receiving device. The reception means receives the state information of the autopilot failure of the autopilot vehicle that satisfies the predetermined positional relationship.
As shown in fig. 8, a corresponding autonomous vehicle according to an embodiment of the invention is, for example, an unmanned (autonomous) vehicle 10. The unmanned vehicle 10 includes an autopilot device 11 and a safety device 12. The autopilot unit 11 is used for the autopilot of the unmanned vehicle 10. The safety device 12 is used to monitor the driving information of the unmanned vehicle 10. Alternatively, the safety device 12 determines whether the autonomous driving device 11 of the unmanned vehicle is disabled according to the monitored traveling information, and transmits status information of the autonomous driving failure after determining that the autonomous driving device 11 is disabled. Preferably, the safety device 12 is a redundant system with its own hardware that does not interfere with the autopilot unit 11. Preferably, the safety device 12 is capable of independently receiving GPS signals and differentiating the position to obtain the lateral and longitudinal vehicle speed of the unmanned vehicle 10. Preferably, the safety device 12 is capable of sending a brake signal that controls the chassis of the unmanned vehicle 10 to effect post-failure braking. Preferably, the safety device 12 stores a travel map.
The safety device of the automatic driving vehicle is parallel to the automatic driving device, the safety device and the automatic driving device do not interfere with each other, and the reliability of failure monitoring is improved.
A corresponding autonomous driving system according to an embodiment of the invention comprises an autonomous (unmanned) vehicle as described above and a server. The server receives the status information and/or sends the status information (to the outside world and/or other autonomous vehicles) upon receiving the status information.
As shown in fig. 9, a corresponding autonomous driving system according to an embodiment of the present invention includes, for example, an unmanned (automated) driven vehicle 10 and a server 20. The server 10 includes, for example, a receiving unit 21, a transmitting unit 22, and an arithmetic unit 23. The receiving unit 21 is configured to receive information transmitted by each unmanned vehicle 10. The transmitting unit 22 is used to transmit information to the unmanned vehicle 10. The arithmetic unit 23 is used for performing information processing such as arithmetic.
According to still another aspect of the present invention, there is provided a safety apparatus for monitoring driving information of an unmanned vehicle, determining whether autonomous driving of the unmanned vehicle is disabled according to the driving information, and transmitting status information of the autonomous driving disabled after determining that the autonomous driving is disabled.
The above are only some examples of the present invention, and the present invention is not limited thereto. The automatic driving safety control method, the automatic driving system and the safety device provided by the embodiment of the invention can be applied to unmanned vehicles, unmanned planes, automatic sorting trolleys used indoors or in specific factories, logistics transport vehicles and the like.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. An autonomous vehicle, comprising:
an autonomous driving device for autonomous driving of the autonomous vehicle; and
a safety device for monitoring driving information of the autonomous vehicle,
wherein it is determined whether the automatic driving apparatus is disabled according to the driving information; and
and after judging that the automatic driving device fails, the automatic driving vehicle sends state information of automatic driving failure to the outside and/or switches the automatic driving vehicle to a risk avoiding mode.
2. The autonomous-capable vehicle of claim 1, further comprising:
a receiving device that receives state information of the autopilot failure of an autopilot vehicle that satisfies a predetermined positional relationship.
3. An autonomous driving system comprising an autonomous driving vehicle according to claims 1-2; and
and the server receives the state information and/or sends the state information after receiving the state information.
4. An automatic driving safety control method is characterized by comprising the following steps:
monitoring driving information and surrounding environment information of the unmanned vehicle;
determining whether an autonomous driving device of the unmanned vehicle is disabled according to the driving information; and
and after the automatic driving device is judged to be invalid, sending the state information of the automatic driving invalid to a server and/or switching the unmanned vehicle to a risk avoiding mode.
5. The automatic driving safety control method according to claim 4, characterized by further comprising:
after receiving the status information, the server sends the status information of the automatic driving failure to the unmanned vehicle meeting the predetermined position relationship.
6. The automatic driving safety control method according to claim 4, characterized in that the travel information includes: a position of the unmanned vehicle, a lateral longitudinal speed, a distance to surrounding vehicles, a distance to surrounding people.
7. The autonomous-driving safety control method according to claim 6, wherein the determining whether an autonomous driving apparatus of the unmanned vehicle is disabled according to the travel information includes at least one of:
determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle deviates from a set route on an electronic map;
determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle crosses a road boundary on an electronic map;
determining that an autonomous device of the unmanned vehicle is disabled if a time for the location of the unmanned vehicle to cross a road boundary on an electronic map reaches a first predetermined time;
determining that an autonomous device of the unmanned vehicle is disabled if the location of the unmanned vehicle enters a no-go zone on an electronic map;
determining that an autonomous driving apparatus of the unmanned vehicle is disabled if a time at which the position of the unmanned vehicle enters a no-parking area on an electronic map reaches a second predetermined time;
determining that an autopilot of the unmanned vehicle is disabled if the distance to the surrounding vehicle or the distance to the surrounding persons is less than a safe distance;
determining that an autonomous device of the unmanned vehicle is disabled if the lateral longitudinal velocity satisfies a predetermined velocity condition.
8. The automatic driving safety control method according to claim 7, wherein the safety distance is one of:
fixing a safety distance;
a safe distance calculated according to the following formula:
wherein S issafeIs a safe distance, vegoLateral or longitudinal speed, v, of the unmanned vehicleotherIs the lateral or longitudinal speed of the surrounding vehicle, a is the braking deceleration, SmarginIs a constant margin.
9. The automatic driving safety control method according to claim 1, wherein the danger avoiding mode includes a safety danger avoiding mode and an emergency danger avoiding mode, wherein in the safety danger avoiding mode, a danger avoiding path is planned, and the unmanned vehicle is controlled to avoid danger according to the danger avoiding path;
and controlling the unmanned vehicle to brake emergently in the emergency danger avoiding mode.
10. An automatic driving safety control method is characterized by comprising the following steps:
receiving positions reported by each unmanned vehicle and state information of whether automatic driving is invalid or not;
and if the state information of the automatic driving failure is received, sending the state information to the unmanned vehicle of which the reported position and the position of the unmanned vehicle of the automatic driving failure meet the preset position relation.
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