CN109263651A - Safe checking method, autonomous driving vehicle and the storage medium of autonomous driving vehicle - Google Patents
Safe checking method, autonomous driving vehicle and the storage medium of autonomous driving vehicle Download PDFInfo
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- CN109263651A CN109263651A CN201811143643.6A CN201811143643A CN109263651A CN 109263651 A CN109263651 A CN 109263651A CN 201811143643 A CN201811143643 A CN 201811143643A CN 109263651 A CN109263651 A CN 109263651A
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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
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
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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
- B60W2050/0062—Adapting control system settings
- B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
- B60W2050/0083—Setting, resetting, calibration
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Abstract
The invention discloses a kind of safe checking method of autonomous driving vehicle, autonomous driving vehicle and storage mediums, applied to controller, the autonomous driving vehicle further includes actuator, the safe checking method of autonomous driving vehicle includes the following steps: that the controller sends verification request to the actuator, carries out safety check to the controller according to verification request so as to control the actuator；The controller receives the safety check result that the actuator is sent.The present invention can enable actuator to carry out safety check to controller, be confirmed by safety check to controller, to promote the safety of automatic Pilot before controller controls actuator execution control instruction.
Description
Technical field
The present invention relates to technical field of vehicle more particularly to a kind of safe checking method of autonomous driving vehicle, automatically drive
Sail automobile and storage medium.
Background technique
With being constantly progressive for sensor technology and electronic computation technology, automotive engineering is also sent out towards intelligentized direction
Exhibition, unmanned technology is one of hot technology therein.
Current major automobile production commercial city relates to automatic Pilot, and it is original that existing automatic Pilot technology relies on vehicle mostly
CAN network, so that the communication between controller and actuator is connected by CAN network, actuator is in the control for having received controller
Start to execute after system instruction, realizes the function of automatic Pilot.But there is no complete when realizing Function for Automatic Pilot for the prior art
Consider the safety problem of interior automatic Pilot operation, actuator does not carry out safety check, third-party controller to controller
It if obtaining CAN network communication matrix, can also be connect by CAN network with actuator, and then the actuator on vehicle is carried out
Control, easily generates hidden danger in automatic Pilot.
Summary of the invention
The main purpose of the present invention is to provide a kind of safe checking method of autonomous driving vehicle, autonomous driving vehicle and
Storage medium, it is intended to solve the problem of that existing automatic Pilot does not carry out safety check and is also easy to produce hidden danger.
To achieve the above object, the present invention provides a kind of safe checking method of autonomous driving vehicle, the automatic Pilot
The safe checking method of automobile is applied to controller, and the autonomous driving vehicle further includes actuator, the autonomous driving vehicle
Safe checking method the following steps are included:
The controller sends verification request to the actuator, is requested so as to control the actuator according to the verification
Safety check is carried out to the controller；
The controller receives the safety check result that the actuator is sent.
Optionally, the control actuator carries out the step of safety check according to the verification request to the controller
Suddenly include:
The controller receives the random code fed back after verification request described in the actuator response；
The controller is according to first check code of Randomised code acquisition；
The controller sends first check code to the actuator, so as to control the actuator according to described the
The second check code that one check code and the actuator calculate carries out safety check to the controller.
Optionally, the controller sends first check code to the actuator, so that the actuator is according to institute
The step of stating the second check code that the first check code and the actuator calculate, safety check is carried out to controller packet
It includes:
The controller sends first check code to the actuator, with the second verification calculated in the actuator
Code determines that the controller verification passes through when consistent with first check code；The actuator calculate the second check code with
When first check code is inconsistent, determine that the control verification does not pass through.
Optionally, the controller includes: according to the step of first check code of Randomised code acquisition
The controller obtains the corresponding security algorithm of the actuator according to the random code；
The controller passes through the first check code of the security algorithm and the Randomised code acquisition；
The second check code that the control actuator is calculated according to first check code and the actuator, it is right
The controller carries out the step of safety check and includes:
The controller controls the actuator and calculates the second check code according to the preset security algorithm of actuator, so that institute
It states actuator and safety check is carried out to the controller according to first check code and second check code；Wherein, described
The corresponding security algorithm of actuator is consistent with the preset security algorithm of the actuator.
Optionally, the step of controller is according to the random code, obtains the actuator corresponding security algorithm packet
It includes:
The controller identifies the actuator according to the random code；
The controller obtains the corresponding security algorithm of the actuator.
Optionally, after the controller receives the step of safety check result that the actuator is sent further include:
The controller sends control instruction so that control instruction described in the actuator response to the actuator.
Optionally, the controller sends control instruction to the actuator so that control described in the actuator response refers to
Include: after the step of enabling
After the controller and actuator communication disconnect, controls the actuator and remove safety check result.
Optionally, the actuator includes level-one actuator and second level actuator；；The controller receives the actuator
After the step of safety check result of transmission further include:
After level-one actuator complete verification passes through, control instruction is sent to any level-one actuator so that the level-one executes
Device responds the control instruction；
After the verification of any secondary actuator passes through, control instruction is sent so that the second level is held to the second level actuator
Row device responds the control instruction.
In addition, to achieve the above object, the present invention also provides a kind of autonomous driving vehicle, the autonomous driving vehicle includes
Controller and the multiple actuators being connect with controller communication；The controller includes memory, processor and is stored in described
On memory and the safety check routines of autonomous driving vehicle that can run on the processor, the autonomous driving vehicle
Safety check routines realize the step of safe checking method of autonomous driving vehicle as described above when being executed by the processor.
In addition, to achieve the above object, it is described computer-readable the present invention also provides a kind of computer readable storage medium
The safety check routines of autonomous driving vehicle are stored on storage medium, the safety check routines of the autonomous driving vehicle are located
The step of reason device realizes the safe checking method of autonomous driving vehicle as described above when executing.
Safe checking method, autonomous driving vehicle and the storage for a kind of autonomous driving vehicle that the embodiment of the present invention proposes are situated between
Matter, by sending control request from the controller of autonomous driving vehicle to actuator, actuator receives basis after control request
Verification request carries out safety check to controller using the security algorithm being arranged inside actuator and holds after the completion of safety check
Row device to controller send safety check as a result, controller receive actuator send safety check result after, according to
Safety check result judges whether this safety check succeeds.By carrying out safety check before actuator executes control instruction,
It enables to actuator that other third-party controllers other than controller by autonomous driving vehicle is avoided to be controlled, enhances
The safety of automatic Pilot.
Detailed description of the invention
Fig. 1 is the apparatus structure schematic diagram that the embodiment of the present invention is related to；
Fig. 2 is the flow diagram of the safe checking method first embodiment of autonomous driving vehicle of the present invention；
Fig. 3 is the refinement flow diagram of the safe checking method second embodiment of autonomous driving vehicle of the present invention；
Fig. 4 is that the refinement process of step S13 in the safe checking method second embodiment of autonomous driving vehicle of the present invention is shown
It is intended to；
Fig. 5 is that the refinement process of step S12 in the safe checking method second embodiment of autonomous driving vehicle of the present invention is shown
It is intended to；
Fig. 6 is that the refinement process of step S121 in the safe checking method second embodiment of autonomous driving vehicle of the present invention is shown
It is intended to；
Fig. 7 is the flow diagram of the safe checking method 3rd embodiment of autonomous driving vehicle of the present invention；
Fig. 8 is the flow diagram of the safe checking method fourth embodiment of autonomous driving vehicle of the present invention.
The embodiments will be further described with reference to the accompanying drawings for the realization, the function and the advantages of the object of the present invention.
Specific embodiment
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
As shown in Figure 1, Fig. 1 is the apparatus structure schematic diagram for the hardware running environment that the embodiment of the present invention is related to.
The terminal of that embodiment of the invention can be automatic Pilot electric car, be also possible to the tradition with Function for Automatic Pilot
Fuel vehicle.
As shown in Figure 1, the terminal may include: processor 1001, such as CPU, communication bus 1002, user interface
1003, network interface 1004, memory 1005.Wherein, communication bus 1002 is for realizing the connection communication between these components.
User interface 1003 may include display screen (Display), input unit such as keyboard (Keyboard), optional user interface
1003 can also include standard wireline interface and wireless interface.Network interface 1004 optionally may include that the wired of standard connects
Mouth, wireless interface (such as WI-FI interface).Memory 1005 can be high speed RAM memory, be also possible to stable memory
(non-volatile memory), such as magnetic disk storage.Memory 1005 optionally can also be independently of aforementioned processor
1001 storage device.
Optionally, terminal can also include the camera being arranged inside autonomous driving vehicle, radar sensor, position sensing
Device and airborne laser range finder etc..Wherein, camera includes front camera and rear camera, front camera road for identification
Condition information and traffic lights, and mobile object is distinguished under the auxiliary of automated driving system.Radar sensor includes preposition
Radar sensor and postposition radar sensor, radar sensor cooperate jointly with camera, for measure automobile with all around
Distance between each object, to guarantee traffic safety.Position sensor assists driving automatically by measuring the transverse shifting of automobile
It sails system to position automobile, to confirm lane position of the automobile in driving.Certainly, hardware device can also configure gyro
The other sensors such as instrument, barometer, hygrometer, thermometer, infrared sensor, details are not described herein.
Processor 1001 includes controller, and processor 1001 can be used for calling the automatic Pilot stored in memory 1005
The safety check routines of automobile, and execute and respectively implement the step in the safe checking method of following autonomous driving vehicle:
The controller sends verification request to the actuator, is requested so as to control the actuator according to the verification
Safety check is carried out to the controller；
The controller receives the safety check result that the actuator is sent.
Further, processor 1001 can call the safety check journey of the autonomous driving vehicle stored in memory 1005
Sequence also executes following operation:
The controller receives the random code fed back after verification request described in the actuator response；
The controller is according to first check code of Randomised code acquisition；
The controller sends first check code to the actuator, so as to control the actuator according to described the
The second check code that one check code and the actuator calculate carries out safety check to the controller.
Further, processor 1001 can call the safety check journey of the autonomous driving vehicle stored in memory 1005
Sequence also executes following operation:
The controller sends first check code to the actuator, with the second verification calculated in the actuator
Code determines that the controller verification passes through when consistent with first check code；The actuator calculate the second check code with
When first check code is inconsistent, determine that the control verification does not pass through.
Further, processor 1001 can call the safety check journey of the autonomous driving vehicle stored in memory 1005
Sequence also executes following operation:
The controller obtains the corresponding security algorithm of the actuator according to the random code；
The controller passes through the first check code of the security algorithm and the Randomised code acquisition；
The controller controls the actuator and calculates the second check code according to the preset security algorithm of actuator, so that institute
It states actuator and safety check is carried out to the controller according to first check code and second check code；Wherein, described
The corresponding security algorithm of actuator is consistent with the preset security algorithm of the actuator.
Further, processor 1001 can call the safety check journey of the autonomous driving vehicle stored in memory 1005
Sequence also executes following operation:
The controller identifies the actuator according to the random code；
The controller obtains the corresponding security algorithm of the actuator.
Further, processor 1001 can call the safety check journey of the autonomous driving vehicle stored in memory 1005
Sequence also executes following operation:
The controller sends control instruction so that control instruction described in the actuator response to the actuator.
Further, processor 1001 can call the safety check journey of the autonomous driving vehicle stored in memory 1005
Sequence also executes following operation:
After the controller and actuator communication disconnect, controls the actuator and remove safety check result.
Further, processor 1001 can call the safety check journey of the autonomous driving vehicle stored in memory 1005
Sequence also executes following operation:
After level-one actuator complete verification passes through, control instruction is sent to any level-one actuator so that the level-one executes
Device responds the control instruction；
After the verification of any secondary actuator passes through, control instruction is sent so that the second level is held to the second level actuator
Row device responds the control instruction.
It will be understood by those skilled in the art that the restriction of the not structure paired terminal of terminal structure shown in Fig. 1, can wrap
It includes than illustrating more or fewer components, perhaps combines certain components or different component layouts.
Referring to figure 2., Fig. 2 is the process signal of the safe checking method first embodiment of autonomous driving vehicle of the present invention
The safe checking method of figure, autonomous driving vehicle is applied to controller, and further includes actuator, wherein autonomous driving vehicle
Safe checking method include the following steps:
Step S10, the controller send verification request to the actuator, so as to control the actuator according to
Verification request carries out safety check to the controller；
Present invention could apply to autonomous driving vehicle, autonomous driving vehicle is also known as pilotless automobile, is a kind of dependence
Artificial intelligence, vision calculating, radar, monitoring device and global positioning system cooperative cooperating, allow automated driving system not appointing
Under the active operation of what user, automatic safe motor vehicles are operated.When automated driving system controls automobile, mainly pass through
Controller in automatic Pilot sends control instruction to each actuator of automobile, so that actuator receives control instruction and basis
Control instruction executes corresponding actions, realizes Function for Automatic Pilot to control automobile.
In the present embodiment, controller to actuator send control instruction with control actuator execute corresponding actions before,
Information security based on automotive interior, controller need first to carry out safety check process.Controller sends verification to actuator and asks
It asks, verification request refers to that controller requests the finger verified to controller to actuator before sending control instruction to actuator
It enables, actuator is after receiving the verification request of controller transmission, according to the security algorithm being arranged in inside actuator to control
Device carries out safety check, to confirm the identity of controller.
Step S20, the controller receive the safety check result that the actuator is sent.
During safety check, actuator carries out safety check to controller, carries out safety check in actuator and obtains
After check results, safety check result is sent to controller by actuator, and controller receives safety check as a result, and according to safety
Check results determine whether safety check succeeds.
In the present embodiment, controller sends verification request to the actuator of desired control, and actuator is receiving control
After the verification request that device is sent, is requested according to verification, controller is pacified using the security algorithm being arranged inside actuator
Whole school tests.After the completion of safety check, actuator sends safety check as a result, controller is receiving actuator hair to controller
After the safety check result sent, judge whether this safety check succeeds according to safety check result.Due to controller and hold
Row device is communicated by the communication modes of automotive interior, and therefore, actuator can not judge to control when receiving control instruction
Whether system instruction is sent by controller, after actuator carries out safety check for controller and safety check passes through, is held
Row device can determine the identity of controller, avoids third party from controlling actuator execution corresponding actions by the communication network of automobile and leads
The automatic Pilot safety problem of cause promotes the stability and safety of automatic Pilot.
It further, is the stream of the safe checking method second embodiment of autonomous driving vehicle of the present invention referring to Fig. 3, Fig. 3
Journey schematic diagram, in the present embodiment, the step S10, the control actuator are requested according to the verification to the control
Device processed carries out the step of safety check and includes:
Step S11, the controller receive the random code fed back after verification request described in the actuator response；
Step S12, the controller is according to first check code of Randomised code acquisition；
Step S13, the controller send first check code to the actuator, so as to control the actuator root
According to the second check code that first check code and the actuator calculate, safety check is carried out to the controller.
In the present embodiment, after controller sends verification request to actuator, actuator response verification request, and to control
Device feeds back a string of random codes, and random code refers to a string of the character strings generated by the randomizer being arranged inside actuator, control
Device processed carries out operation to random code after receiving random code, through the security algorithm being arranged inside controller.Security algorithm refers to
Pass through a policy mechanism, since initial input, the state clearly defined by a series of limited, finally when limited
It is interior to obtain required output and stop at a final state.Controller can obtain according to security algorithm and random code
One check code.After controller gets the first check code, the first check code is sent to the actuator of feedback random code, is executed
Device carries out operation to random code, obtains the second check code, get the first school in actuator according to the security algorithm of inside setting
After testing code and the second check code, safety check is carried out to controller according to a check code and the second check code.Wherein, the first verification
Code refers to the output data that controller is calculated random code according to the security algorithm being arranged in inside controller, the second school
It tests code and refers to the output data that actuator is calculated random code according to the security algorithm being arranged in inside actuator.
Optionally, actuator can be sent, to guarantee that controller can when sending random code to controller with continuous several times
Receive random code.In the communication modes of automotive interior, actuator and controller are not one-to-one communication connection, that is, are held
Row device send data be likely to occur packet loss, random code is repeatedly sent by actuator, enable to controller receive with
The probability of machine code increases, and promotes the efficiency of safety check.
It further, is the thin of the safe checking method second embodiment of autonomous driving vehicle of the present invention referring to Fig. 4, Fig. 4
Change flow diagram, in the present embodiment, the step S13, the controller sends first check code to the execution
Device, so as to the second check code that the actuator is calculated according to first check code and the actuator be controlled, to described
Controller carry out safety check the step of include:
Step S131, the controller send first check code to the actuator, so that the actuator judges
Whether the second check code and first check code that actuator calculates are consistent；If so, thening follow the steps S132；If it is not, then holding
Row step S133；
Step S132 determines that the controller verification passes through；
Step S133 determines that the controller verification does not pass through.
In the present embodiment, controller is according to internal security algorithm and random code after calculating and obtaining the first check code,
First check code is sent to actuator, actuator is then calculated according to the random code of the security algorithm of inside setting and generation and obtained
The first check code and the second check code are compared for second check code, actuator, when the second check code and the first check code one
When cause, that is, controller is identical as the security algorithm that actuator executes random code, the safety check that controller passes through actuator；
When the second check code and inconsistent the first check code, it is arranged inside the security algorithm and actuator that controller executes random code
Security algorithm it is inconsistent, controller not over actuator safety check.
It should be noted that actuator is generating random code and after being sent to controller, if in preset time range
The first check code of controller return is not received, then equally determines that controller does not pass through safety check.At this point, if controller needs
Safety check is carried out again, needs controller to send verification request to actuator again, so that actuator pacifies controller
Whole school tests.
Actuator matches the first check code and the second check code, can determine security algorithm used in controller
It is whether consistent with the security algorithm inside actuator, to confirm the authenticity of controller, other third square controllers is avoided to pass through
The communication modes of automotive interior control actuator.
It further, is the thin of the safe checking method second embodiment of autonomous driving vehicle of the present invention referring to Fig. 5, Fig. 5
Change flow diagram, in the present embodiment, the step S12, the controller is according to first check code of Randomised code acquisition
The step of include:
Step S121, the controller obtain the corresponding security algorithm of the actuator according to the random code；
Step S122, the controller pass through the first check code of the security algorithm and the Randomised code acquisition；
Step S13 controls the second verification that the actuator is calculated according to first check code and the actuator
Yard, include: to the step of controller progress safety check
Step S134, the controller control the actuator and calculate the second verification according to the preset security algorithm of actuator
Code, so that the actuator carries out safety check to the controller according to first check code and second check code；
Wherein, the corresponding security algorithm of the actuator is consistent with the preset security algorithm of the actuator.
In the present embodiment, controller is after the random code for obtaining actuator feedback, according to Randomised code acquisition and actuator
Corresponding security algorithm, and random code is calculated by security algorithm, calculated result is obtained, calculated result is the first school
Test code.Actuator receive controller transmission the first check code after, according to the security algorithm being preset in inside actuator to
Machine code is calculated to obtain the second check code.Wherein, the security algorithm that controller calculates random code is held with being preset in
Security algorithm inside row device is identical, that is, the second verification that the first check code that controller obtains should be calculated with actuator
Code is consistent.
For actuator after sending random code, controller can be according to the random code that actuator is sent from being preset in controller
The corresponding security algorithm of actuator is obtained in the security algorithm in portion, when actuator can obtain the first check code according to security algorithm
Afterwards, identical with security algorithm used by actuator as controller, the result of the first check code and the second check code is consistent, makes
Obtain the safety verification that controller passes through the execution phase.
It further, is the thin of the safe checking method second embodiment of autonomous driving vehicle of the present invention referring to Fig. 6, Fig. 6
Change flow diagram, in the present embodiment, the step S121, the controller obtains the execution according to the random code
The step of device corresponding security algorithm includes:
Step S1211, the controller identify the actuator according to the random code；
Step S1212, the controller obtain the corresponding security algorithm of the actuator.
In the present embodiment, controller can be identified according to random code and be held after the random code for receiving actuator transmission
Row device, controller internal preset have the different security algorithms of corresponding a variety of different actuators, identify actuator in controller
Afterwards, controller obtains security algorithm corresponding with actuator according to actuator from preset a variety of security algorithms, and is pacified
Full checking procedure.
Since the security algorithm between multiple actuators is not identical, for any actuator, the actuator internal preset
Security algorithm only have controller internal preset to have same security algorithm, therefore, when the first check code that actuator obtains and
When second check code is consistent, you can get it, and the first check code is calculated for controller, and then confirms the identity of controller, completes
To the safety check of controller.Different security algorithms is set by multiple actuators, can be avoided other actuators leakage peace
Full algorithm causes the authenticity of safety check to reduce, while enhancing the safety and independence of security algorithm.
It further, is the stream of the safe checking method 3rd embodiment of autonomous driving vehicle of the present invention referring to Fig. 7, Fig. 7
Journey schematic diagram, in the present embodiment, the step S20, the controller receive the safety check result that the actuator is sent
The step of after further include:
Step S30, the controller send control instruction to the actuator so as to control described in the actuator response
Instruction.
In the present embodiment, controller is after the safety check result for receiving actuator transmission, according to safety check knot
Fruit judges whether safety check passes through.When safety check passes through, controller sends control instruction to actuator, and actuator receives
Control instruction and the control instruction for executing controller realize automatic Pilot；When safety check is obstructed out-of-date, controller is to actuator
Control instruction is sent, actuator does not execute control instruction.
Actuator judges whether that executing controller issues after carrying out safety check to controller, according to safety check result
Control instruction enable to the identity of actuator confirmation controller, avoid other third square controllers pair by safety verification
Actuator is interfered and is influenced the safety of automatic Pilot.
It further, is the stream of the safe checking method fourth embodiment of autonomous driving vehicle of the present invention referring to Fig. 8, Fig. 8
Journey schematic diagram, in the present embodiment, the step S30, the controller send control instruction so that described to the actuator
Include: later the step of control instruction described in actuator response
Step S40 controls the actuator and removes safety check after the controller and actuator communication disconnection
As a result.
In the present embodiment, for controller after to actuator request verification, actuator passes through the safety check of controller,
Then controller can control actuator and execute corresponding control instruction, realize the normal operation of autonomous driving vehicle.And controller
Communication connection state is remained during automatic Pilot with actuator.After communication state disconnection, actuator no longer retains
Safety check for controller as a result, when i.e. controller and actuator carry out communication connection again, controller need again to
Actuator sends control request to carry out safety check.Wherein communication off-state, which is usually expressed as autonomous driving vehicle, terminates certainly
Dynamic driving function or autonomous driving vehicle stop working and closing engine.
Further, in the 5th embodiment of safe checking method of autonomous driving vehicle of the present invention, the actuator packet
Include level-one actuator and second level actuator；The controller received after the step of safety check result that the actuator is sent
Further include:
After level-one actuator complete verification passes through, control instruction is sent to any level-one actuator so that the level-one executes
Device responds the control instruction；
After the verification of any secondary actuator passes through, control instruction is sent so that the second level is held to the second level actuator
Row device responds the control instruction.
It in the present embodiment, include multiple actuators inside autonomous driving vehicle, it can be real according to multiple actuators
Existing function is divided into level-one actuator and second level actuator to actuator.Level-one actuator be autonomous driving vehicle in automobile
Relevant actuator is travelled, for example, level-one actuator may include whole vehicle state monitor, vehicle speed control system, braking system
With steering system etc..When controller needs to send control instruction to level-one actuator, need to distinguish all level-one actuators
Safety check is carried out, when all level-one actuators carry out safety check and pass through to controller, controller could be to any
One level-one actuator sends control instruction and executes corresponding actions to control actuator.Second level actuator then includes automatic Pilot vapour
The actuator that the function other than running car function is realized in vehicle executes corresponding actions when controller needs to control second level actuator
When, the safety check that controller need to only carry out controller by the actuator, i.e., transmittable control instruction is to control actuator.
In autonomous driving vehicle, realizes the actuator of automatic running function and realize the actuator of other function for certainly
The dynamic influence driven is not identical, and any level-one actuator is possible to generate automatic Pilot security risk, and controller is logical
Level-one actuator can be controlled after crossing all level-one actuators, can guarantee the safety of automatic Pilot, avoid sending out
It makes trouble former.
Further, in the inventive solutions, autonomous driving vehicle is realized controller by CAN network and is executed
Communication between device.CAN network includes two CAN bus, all contains in autonomous driving vehicle and owns in any one bus
The communication node of controller and actuator, any node can initiate data communication to other one or more nodes, other sections
Point can be confirmed whether to collect the data of node sending according to the ID of sending node.Therefore, CAN network can be realized in node
The various data communication modes such as a point-to-point, point-to-points electricity and global broadcast, promote the reliability of automotive interior communication modes
And anti-interference.
Furthermore the embodiment of the present invention also proposes that a kind of controller, controller include memory, processor and be stored in
On reservoir and the safety check routines of autonomous driving vehicle that can run on a processor, the safety check journey of autonomous driving vehicle
The safe checking method of the autonomous driving vehicle of each embodiment of the present invention is realized when sequence is executed by processor.
Furthermore the embodiment of the present invention also proposes a kind of computer readable storage medium, is stored thereon with autonomous driving vehicle
Safety check routines, the storage medium can be the memory 1005 in the terminal of Fig. 1, be also possible to such as ROM (Read-
Only Memory, read-only memory)/RAM (Random Access Memory, random access memory), magnetic disk, in CD
At least one, the computer readable storage medium includes that some instructions are used so that the equipment with processor (can
To be automobile, mobile phone, computer, server or television set etc.) execute the autonomous driving vehicle of each embodiment of the present invention
Safe checking method.
It is understood that in the description of this specification, reference term " embodiment ", " another embodiment ", " other
The description of embodiment " or " first embodiment~N embodiment " etc. means specific spy described in conjunction with this embodiment or example
Sign, structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned
The schematic representation of term may not refer to the same embodiment or example.Moreover, the specific features of description, structure, material
Or feature can be combined in any suitable manner in any one or more of the embodiments or examples.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the system that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or system institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or system.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can be realized by means of software and necessary general hardware platform, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical solution of the present invention substantially in other words does the prior art
The part contributed out can be embodied in the form of software products, which is stored in one as described above
In storage medium (such as ROM/RAM, magnetic disk, CD), including some instructions are used so that terminal device (it can be mobile phone,
Computer, server, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The above is only a preferred embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair
Equivalent structure or equivalent flow shift made by bright specification and accompanying drawing content is applied directly or indirectly in other relevant skills
Art field, is included within the scope of the present invention.
Claims (10)
1. a kind of safe checking method of autonomous driving vehicle, is applied to controller, the autonomous driving vehicle further includes executing
Device, which is characterized in that the described method comprises the following steps:
The controller sends verification request to the actuator, is requested according to the verification to institute so as to control the actuator
It states controller and carries out safety check；
The controller receives the safety check result that the actuator is sent.
2. the safe checking method of autonomous driving vehicle as described in claim 1, which is characterized in that the control execution
Device is requested according to the verification
The controller receives the random code fed back after verification request described in the actuator response；
The controller is according to first check code of Randomised code acquisition；
The controller sends first check code to the actuator, so as to control the actuator according to first school
The second check code that code and the actuator calculate is tested, safety check is carried out to the controller.
3. the safe checking method of autonomous driving vehicle as claimed in claim 2, which is characterized in that the controller sends institute
The first check code is stated to the actuator, so that the actuator was calculated according to first check code and the actuator
Second check code, to the controller carry out safety check the step of include:
The controller sends first check code to the actuator, the second check code to be calculated in the actuator and
First check code determines that the controller verification passes through when consistent；The actuator calculate the second check code with it is described
When first check code is inconsistent, determine that the control verification does not pass through.
4. the safe checking method of autonomous driving vehicle as claimed in claim 2, which is characterized in that the controller is according to institute
The step of stating the first check code of Randomised code acquisition include:
The controller obtains the corresponding security algorithm of the actuator according to the random code；
The controller passes through the first check code of the security algorithm and the Randomised code acquisition；
The second check code that the control actuator is calculated according to first check code and the actuator, to described
Controller carry out safety check the step of include:
The controller controls the actuator and calculates the second check code according to the preset security algorithm of actuator, so that described hold
Row device carries out safety check to the controller according to first check code and second check code；Wherein, the execution
The corresponding security algorithm of device is consistent with the preset security algorithm of the actuator.
5. the safe checking method of autonomous driving vehicle as claimed in claim 4, which is characterized in that the controller is according to institute
The step of stating random code, obtaining the actuator corresponding security algorithm include:
The controller identifies the actuator according to the random code；
The controller obtains the corresponding security algorithm of the actuator.
6. the safe checking method of autonomous driving vehicle according to any one of claims 1 to 5, which is characterized in that the control
Device processed received after the step of safety check result that the actuator is sent further include:
The controller sends control instruction so that control instruction described in the actuator response to the actuator.
7. the safe checking method of autonomous driving vehicle as claimed in claim 6, which is characterized in that the controller is to described
Actuator sends control instruction so as to include: after the step of control instruction described in the actuator response
After the controller and actuator communication disconnect, controls the actuator and remove safety check result.
8. the safe checking method of autonomous driving vehicle according to any one of claims 1 to 5, which is characterized in that described to hold
Row device includes level-one actuator and second level actuator；The controller receives the step for the safety check result that the actuator is sent
After rapid further include:
After level-one actuator complete verification passes through, control instruction is sent to any level-one actuator so that the level-one actuator is rung
Answer the control instruction；
After the verification of any secondary actuator passes through, control instruction is sent so that the second level actuator to the second level actuator
Respond the control instruction.
9. a kind of autonomous driving vehicle, which is characterized in that the autonomous driving vehicle includes controller and connects with controller communication
The multiple actuators connect；The controller includes memory, processor and is stored on the memory and can be in the processing
The safety check routines of the autonomous driving vehicle run on device, in which: the safety check routines of the autonomous driving vehicle are by institute
State the step that the safe checking method such as autonomous driving vehicle described in any item of the claim 1 to 8 is realized when processor executes
Suddenly.
10. a kind of computer readable storage medium, which is characterized in that be stored on the computer readable storage medium and drive automatically
The safety check routines of automobile are sailed, are realized when the safety check routines of the autonomous driving vehicle are executed by processor as right is wanted
The step of safe checking method of autonomous driving vehicle described in asking any one of 1 to 8.
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| CN111193745A (en) * | 2019-12-31 | 2020-05-22 | 新石器慧通（北京）科技有限公司 | Controller authentication method, control system and unmanned vehicle |
| CN111619480A (en) * | 2020-05-28 | 2020-09-04 | 新石器慧通（北京）科技有限公司 | Driving control method, driving controller, vehicle control unit and driving control system |
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Application publication date: 20190125 |