CN112572474A - Autonomous driving redundancy system - Google Patents
Autonomous driving redundancy system Download PDFInfo
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- CN112572474A CN112572474A CN202011595328.4A CN202011595328A CN112572474A CN 112572474 A CN112572474 A CN 112572474A CN 202011595328 A CN202011595328 A CN 202011595328A CN 112572474 A CN112572474 A CN 112572474A
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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
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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Abstract
The invention provides an automatic driving safety redundancy system, which comprises: the system comprises a sound acquisition module, a sound identification module and an automatic driving decision-making module; the sound acquisition module comprises a plurality of sound sensors which are distributed in an array manner in the vehicle and used for sending acquired sound to the sound identification module in the form of electric signals; the voice recognition module is used for extracting danger warning information from the electric signals sent by the voice sensors and sending the danger warning information to the automatic driving decision-making module; and the automatic driving decision-making module is used for controlling the vehicle to enter a corresponding preset safe driving mode when the danger warning information is received. Therefore, the sound of the vehicle passengers can be used as a danger warning signal to prevent the occurrence of traffic accidents or reduce the severity of the traffic accidents.
Description
Technical Field
The invention relates to the technical field of automobiles, in particular to an automatic driving redundancy system.
Background
The era of autonomous driving has slowly begun to come. Vehicles with an automatic driving function need peripheral environment perception, driving direction and speed decision, direction automatic control and acceleration and deceleration control. The sensor and the vehicle-mounted computer are adopted to sense the surrounding environment of the vehicle and make driving decisions, and due to the limitation of hardware and algorithm, some environment sensing errors and driving decision errors are inevitable, and the errors can finally cause traffic accidents.
Although there are monitoring systems for the driver such as visual and tactile based attention monitoring, fatigue detection, driver steering wheel sensing, etc. But still does not completely solve the problem. The driver may be relaxed in the long-term autopilot mode and may even intentionally bypass the driver's monitoring system. As reported, taping the steering wheel simulates the human hand operating the steering wheel to avoid monitoring the driver by the system.
When the above measures are insufficient, more measures are needed to be found to enhance the safety of automatic driving.
Disclosure of Invention
The invention aims to provide an automatic driving redundancy system to enhance the safety of automatic driving.
In order to solve the above technical problem, the present invention provides an automatic driving safety redundancy system, comprising: the system comprises a sound acquisition module, a sound identification module and an automatic driving decision-making module; wherein the content of the first and second substances,
the sound acquisition module comprises a plurality of sound sensors which are distributed in an array manner in the vehicle and used for sending acquired sound to the sound identification module in the form of electric signals;
the voice recognition module is used for extracting danger warning information from the electric signals sent by the voice sensors and sending the danger warning information to the automatic driving decision-making module;
and the automatic driving decision-making module is used for controlling the vehicle to enter a corresponding preset safe driving mode when the danger warning information is received.
Optionally, in the redundant system for automatic driving safety, a plurality of sound sensors are respectively arranged corresponding to a seat of a vehicle, and a sound pickup angle of each sound sensor faces a backrest of the corresponding seat.
Optionally, in the redundant system for automatic driving safety, each of the sound sensors includes multiple microphones distributed in an array.
Optionally, in the redundant system for automatic driving safety, the voice recognition module includes:
the sound preprocessing unit is used for denoising the electric signals sent by the sound sensors and selecting a human sounding frequency domain from the electric signals sent by the sound sensors;
the sound production point identification unit is used for judging the position of a sound production point according to the sound intensity difference and/or the phase difference of the electric signals sent by the sound sensors;
the information preprocessing unit is used for eliminating interference sound according to the position of the sound production point; and the number of the first and second groups,
and the information fusion unit is used for identifying the danger warning information according to the processing result of the sound preprocessing unit and the processing result of the information preprocessing unit.
Optionally, in the redundant system for automatic driving safety, the disturbing sound includes sound outside the vehicle and sound inside the vehicle.
Optionally, in the redundant system of automatic driving safety, the hazard warning information includes environment information outside the vehicle, vehicle status information, and driver status information.
Optionally, in the automatic driving safety redundancy system, the preset safety driving mode includes a vehicle deceleration mode and an edge parking mode.
Optionally, in the automatic driving safety redundancy system, the automatic driving redundancy system further includes a storage module, where the storage module is configured to store sound information collected by each sound sensor, the hazard warning information extracted by the sound identification module corresponding to the sound information, and vehicle running state information of the automatic driving decision module after the automatic driving decision module controls the vehicle to enter the safety driving mode.
Optionally, in the automatic driving safety redundancy system, the automatic driving redundancy system further includes a data transmission module, and the data transmission module is configured to upload information stored in the storage module to a server.
Optionally, in the redundant system for automatic driving safety, a vibration damping unit is disposed at one end of the sound sensor for fixing to the vehicle.
The automatic driving safety redundancy system provided by the invention comprises: the system comprises a sound acquisition module, a sound identification module and an automatic driving decision-making module; the sound acquisition module comprises a plurality of sound sensors which are distributed in an array manner in the vehicle and used for sending acquired sound to the sound identification module in the form of electric signals; the voice recognition module is used for extracting danger warning information from the electric signals sent by the voice sensors and sending the danger warning information to the automatic driving decision-making module; and the automatic driving decision-making module is used for controlling the vehicle to enter a corresponding preset safe driving mode when the danger warning information is received. Therefore, the automatic driving safety is enhanced through the recognition of the voice information of the passengers.
Furthermore, the system can also comprise a storage module, wherein the sound information collected by the sound sensor is stored in the storage module, the sound information corresponds to the dangerous warning information extracted by the sound recognition module and the running state information of the vehicle after the safe driving mode is stored by the automatic driving decision module, so that a basis can be provided for improving the automatic driving system of the whole vehicle factory.
Drawings
FIG. 1 is a block diagram of an autopilot redundancy system provided in accordance with an embodiment;
fig. 2 is a diagram of an acoustic sensor array distribution according to an example of the present embodiment;
wherein the reference numerals are as follows:
11-a sound collection module; 12-a voice recognition module; 13-an automatic driving decision module; 14-a storage module; 15-a data transmission module;
111-a sound sensor;
121-sound preprocessing unit; 122-a sound emission point recognition unit; 123-an information preprocessing unit; and 124-information fusion unit.
Detailed Description
The present invention provides an automatic driving redundancy system, which is described in further detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more apparent from the following description. It is to be noted that the drawings are in a very simplified form and are not to precise scale, which is merely for the purpose of facilitating and distinctly claiming the embodiments of the present invention. Further, the structures illustrated in the drawings are often part of actual structures. In particular, the drawings may have different emphasis points and may sometimes be scaled differently.
When riding an autonomous vehicle, it is highly likely that the vehicle occupants will find some of the hazards not found by the autonomous system. At this time, the passenger with driving qualification can take over the driving theoretically to carry out manual driving. However, such a switch-over is not as time to switch-over when a dangerous situation occurs. In addition, when the automatic driving vehicle has dangerous driving behaviors, the vehicle occupant is likely to subconsciously give out various representative dangerous warning sentences such as "dangerous", "cheering up in a quick collision", "close to cheering up in a too close proximity", "runaway cheering up", and the like.
In view of the above, referring to fig. 1 and fig. 2, the present embodiment provides an automatic driving safety redundancy system, including: the system comprises a sound acquisition module 11, a sound recognition module 12 and an automatic driving decision module 13; wherein the content of the first and second substances,
the sound collection module 11 comprises a plurality of sound sensors 111, and the plurality of sound sensors 111 are distributed in an array in the vehicle and used for sending collected sound to the sound identification module 12 in the form of an electric signal;
the voice recognition module 12 is configured to extract hazard warning information from the electrical signals sent by each of the sound sensors 111, and send the hazard warning information to the automatic driving decision module 13; and the number of the first and second groups,
and the automatic driving decision module 13 is configured to control the vehicle to enter a corresponding preset safe driving mode when the danger warning information is received.
That is, the redundant system of automatic driving safety that this embodiment provided, when receiving the danger warning information that the vehicle passenger sent, the control vehicle is automatic to get into and predetermines safe driving mode, so can avoid the traffic accident to take place, perhaps strives for the time for the passenger takes over automatic driving and carries out manual driving. Even if a traffic accident occurs later, the method is also helpful for reducing the severity of the traffic accident.
In this embodiment, based on a scene where an accident may occur, the hazard warning information is classified into vehicle exterior environment information, vehicle state information, and driver state information. Examples of the information are as follows:
(1) the environment information outside the vehicle: "someone is in front", "car is behind" and "red light in front";
(2) vehicle state information: "dangerous", "quickly bump up", "close to bump", "out of control and cheer";
(3) driver state information: "you are not stranded", "driver is in a call state", "driver is in a chat state with passenger", "driver is in a noisy state with passenger".
Based on the scene of the frequently occurring accident, correspondingly, the preset safe driving mode may specifically include a vehicle deceleration mode and a side parking mode, that is, the vehicle may be controlled to decelerate or side parking to avoid the occurrence of the traffic accident, or the severity of the traffic accident may be reduced. It should be understood, however, that the preset safe driving mode is not limited to the vehicle deceleration mode and the side parking mode, and may be optimized according to other accident scenarios that may occur.
The above modules will be described in detail below.
The sound collection module 11 includes a plurality of sound sensors 111, and when the sound sensors 111 are distributed in an array in the vehicle, the specific direction of the sound source in the three-dimensional space centered on the vehicle can be determined according to the time difference and the phase difference of the same sound collected by the array of the sound sensors 111.
Preferably, a plurality of sound sensors 111 are respectively disposed corresponding to a seat of the vehicle, and the sound pickup angle of each sound sensor 111 faces the backrest of the corresponding seat, so that when a passenger sits on the seat, the sound pickup angle of the sound sensor 111 can be approximately aligned with the passenger, thereby enabling each sound sensor 111 to have a good sound pickup effect on human voice and also eliminating interference of other sounds, especially acoustic sounds. In order to further enhance the sound pickup effect, preferably, each of the sound sensors 111 includes multiple microphones distributed in an array.
In this embodiment, the voice recognition module 12 includes:
a sound preprocessing unit 121, configured to denoise the electrical signals sent by each of the sound sensors 111 and select a human vocal frequency domain from the electrical signals sent by each of the sound sensors 111;
a sound emission point recognition unit 122 for determining a sound emission point position according to a sound intensity difference and/or a phase difference of the electrical signals transmitted by the sound sensors 111;
an information preprocessing unit 123, configured to exclude interference sound according to the position of the sound-emitting point; and the number of the first and second groups,
and an information fusion unit 124, configured to identify the hazard warning information according to the processing result of the sound preprocessing unit 121 and the processing result of the information preprocessing unit 123.
Wherein the disturbing sound includes an outside sound in addition to the inside sound. Since the sound pickup angle of the sound sensor 111 is directed toward the vehicle seat, not the stereo and the outside of the vehicle, the time difference and the phase difference of the same sound are collected by the array of the sound sensor 111, and it is determined whether the obtained sound is emitted by a passenger in the vehicle or from the stereo or the outside of the vehicle, and the interfering sound from the stereo or the outside of the vehicle can be excluded.
Preferably, the automatic driving redundancy system further includes a storage module 14, where the storage module 14 is configured to store the collected sound information of each sound sensor 111, the hazard warning information extracted by the sound identification module 12 corresponding to the sound information, and vehicle operating state information of the automatic driving decision module 13 after the vehicle is controlled to enter the safe driving mode.
Further, the automatic driving redundancy system may further include a data transmission module 15, where the data transmission module 15 is configured to upload the information stored in the storage module 14 to a server.
The storage module 14 stores the sound information of the collection of the sound sensor 111, the sound information is corresponding to the sound information extracted by the sound recognition module 12, the danger warning information and the automatic driving decision module 13 can be used for controlling the vehicle to enter the safe driving mode, and then the vehicle running state information is uploaded to the server side through the data transmission module 15, so that the whole vehicle factory can improve the automatic driving system based on the uploaded information.
For convenience of description, the above autopilot redundancy system is described with the functions divided into various modules for separate description. Of course, the functionality of the various modules may be implemented in the same one or more software and/or hardware implementations of the invention. For the autopilot redundancy system provided by the embodiment of the present invention, the voice recognition module 12, the storage module 14 and the data transmission module 15 may be embodied in the form of a software product plus a hardware carrier, which is in the form of an electronic controller, for example. Similarly, the voice driving decision module may be, for example, an on-board computer.
Optionally, the sound recognition module 12 may communicate with the sound sensor through a wire, and accordingly, the hardware carrier of the sound recognition module 12 may further be provided with a communication port, and the sound sensor is connected with the communication port through a wire, so as to implement communication between the sound sensor and the sound recognition module 12. In other embodiments, wireless communication may be used between the sound sensor and the sound recognition module 12.
In addition, in the present embodiment, it is preferable that a damping unit, such as rubber or sponge, is provided at one end of the sound sensor for fixing to the vehicle. Further, when the voice recognition module 12 communicates with the voice sensor through a wire, the wire is made of a soft material, and one end connected with the voice sensor is made of a damping material. The influence of the vibration of the vehicle body on the sound signal can be reduced by the vibration reduction unit and by adopting soft materials and damping materials.
In summary, the present invention provides an automatic driving safety redundancy system, which includes: the system comprises a sound acquisition module, a sound identification module and an automatic driving decision-making module; the sound acquisition module comprises a plurality of sound sensors which are distributed in an array manner in the vehicle and used for sending acquired sound to the sound identification module in the form of electric signals; the voice recognition module is used for extracting danger warning information from the electric signals sent by the voice sensors and sending the danger warning information to the automatic driving decision-making module; and the automatic driving decision-making module is used for controlling the vehicle to enter a corresponding preset safe driving mode when the danger warning information is received. Therefore, the automatic driving safety is enhanced through the recognition of the voice information of the passengers.
The above description is only for the purpose of describing the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention, and any variations and modifications made by those skilled in the art based on the above disclosure are within the scope of the appended claims.
Claims (10)
1. An autonomous driving safety redundancy system, comprising: the system comprises a sound acquisition module, a sound identification module and an automatic driving decision-making module; wherein the content of the first and second substances,
the sound acquisition module comprises a plurality of sound sensors which are distributed in an array manner in the vehicle and used for sending acquired sound to the sound identification module in the form of electric signals;
the voice recognition module is used for extracting danger warning information from the electric signals sent by the voice sensors and sending the danger warning information to the automatic driving decision-making module;
and the automatic driving decision-making module is used for controlling the vehicle to enter a preset safe driving mode when the danger warning information is received.
2. The autonomous driving safety redundant system of claim 1, wherein a plurality of the acoustic sensors are each disposed with respect to a seat of the vehicle, and wherein a pick-up angle of each of the acoustic sensors is oriented toward a backrest of the corresponding seat.
3. The autonomous driving safety redundant system of claim 1 or 2, wherein each of the acoustic sensors comprises a plurality of microphones distributed in an array.
4. The autonomous driving safety redundancy system of claim 1, wherein the voice recognition module comprises:
the sound preprocessing unit is used for denoising the electric signals sent by the sound sensors and selecting a human sounding frequency domain from the electric signals sent by the sound sensors;
the sound production point identification unit is used for judging the position of a sound production point according to the sound intensity difference and/or the phase difference of the electric signals sent by the sound sensors;
the information preprocessing unit is used for eliminating interference sound according to the position of the sound production point; and the number of the first and second groups,
and the information fusion unit is used for identifying the danger warning information according to the processing result of the sound preprocessing unit and the processing result of the information preprocessing unit.
5. The autopilot redundancy system of claim 4 wherein the interfering sounds include vehicle exterior sounds and vehicle interior sound sounds.
6. The autonomous-driving safety-redundancy system of claim 1, wherein the hazard warning information comprises off-board environmental information, vehicle status information, and driver status information.
7. The autonomous driving redundancy system of claim 1, wherein the preset safe driving mode comprises a vehicle deceleration mode and a side parking mode.
8. The autopilot redundancy system of claim 1 further comprising a storage module for storing the collected voice information of each of the voice sensors, the hazard warning information extracted by the voice recognition module corresponding to the voice information, and vehicle operating status information of the autopilot decision module after controlling the vehicle to enter the safe driving mode.
9. The autonomous-driving redundancy system of claim 8, further comprising a data transmission module configured to upload information stored in the storage module to a server.
10. The autopilot redundancy system of claim 1 wherein the end of the sound sensor for attachment to the vehicle is provided with a vibration dampening unit.
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