CN108776472A - Intelligent driving control method and system, onboard control device and intelligent driving vehicle - Google Patents

Intelligent driving control method and system, onboard control device and intelligent driving vehicle Download PDF

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Publication number
CN108776472A
CN108776472A CN201810476519.5A CN201810476519A CN108776472A CN 108776472 A CN108776472 A CN 108776472A CN 201810476519 A CN201810476519 A CN 201810476519A CN 108776472 A CN108776472 A CN 108776472A
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China
Prior art keywords
control signal
algorithm
control
sensor information
generates
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CN201810476519.5A
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Chinese (zh)
Inventor
叶凌峡
刘洋
王子涵
张基伟
吴迪
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Yu Potential (shanghai) Automotive Technology Co Ltd
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Yu Potential (shanghai) Automotive Technology Co Ltd
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Priority to CN201810476519.5A priority Critical patent/CN108776472A/en
Publication of CN108776472A publication Critical patent/CN108776472A/en
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    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0255Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0212Driverless passenger transport vehicle

Abstract

The embodiment of the present disclosure is related to intelligent driving control method and system, onboard control device and intelligent driving vehicle.First control signal and second control signal are generated using two algorithms in this method, and according to the state of first control signal, selects first control signal or second control signal to control vehicle, to realize the Redundant Control of intelligent driving.Security risk can be greatly reduced.

Description

Intelligent driving control method and system, onboard control device and intelligent driving vehicle
Technical field
Embodiment of the disclosure is related to intelligent driving field more particularly to intelligent driving control method and system, vehicle-mounted control Control equipment and intelligent driving vehicle.
Background technology
Intelligent driving system including automated driving system is determined accordingly based on sensor sensing external environment Plan, and to the control of vehicle.When intelligent driving system breaks down, the improper control to vehicle is frequently can lead to, causes weight Big safety accident.In addition during to relation technological researching, inventor has found:Generally there are detections for automated driving system Limitation, the automated driving system of single type be often difficult to ensure and can be accurately identified to all scenes of nature, therefore Also control decision of the automated driving system to vehicle can be influenced.
Invention content
One purpose of an embodiment of the present disclosure is to solve at least one of technical problem mentioned above.
In a first aspect, the embodiment of the present disclosure provides a kind of intelligent driving control method, including:
Obtain first sensor information and second sensor information;
It is based on the first sensor information using the first algorithm and generates first control signal;
It is based on the second sensor information using the second algorithm and generates second control signal;
Based on the state of the first control signal, the first control signal or the second control signal pair are selected Vehicle is controlled.
In some embodiments, the state based on the first control signal, select the first control signal or The second control signal controls vehicle, including:
When detecting that the first control signal normally generates, vehicle is controlled based on the first control signal System;
When detecting that the first control signal cannot be generated normally, vehicle is carried out based on the second control signal Control.
In some embodiments, first algorithm is different from the algorithm logic of the second algorithm.
In some embodiments, the functional class of first algorithm is higher than the functional class of second algorithm.
In some embodiments, first algorithm has automatic Pilot global function;Second algorithm only has peace Full security function.
It is in some embodiments, described to be based on first sensor information generation first control signal using the first algorithm, Including:
Operation is carried out to the first sensor information using first algorithm, generates the first control signal;
It is described to be based on second sensor information generation second control signal using the second algorithm, including:
Operation is carried out to the second sensor information using second algorithm, generates the second control signal.
In some embodiments, the first sensor information includes one or several kinds of sensings in following sensor The data that device is acquired:
Millimetre-wave radar, the first camera, laser radar, ultrasonic radar, GPS;
It is described that operation is carried out to the first sensor information using first algorithm, generate the first control letter Number, including:
The first sensor information is merged, path planning and decision are carried out according to fusion results, described in generation First control signal.
In some embodiments, the second sensor information includes:Second camera acquired image;
It is described that operation is carried out to the second sensor information using second algorithm, generate the second control letter Number, including:
The second camera acquired image is split using intelligent algorithm, determines wheeled region;
Path planning and decision are carried out according to identified wheeled region, generates the second control signal.
Second aspect, the embodiment of the present disclosure provide a kind of intelligent driving control system again, including:
Acquisition module, for obtaining first sensor information and second sensor information;
First control module generates first control signal for being based on first sensor information using the first algorithm;
Second control module generates second control signal for being based on second sensor information using the second algorithm;
Control selections module, be used for the state based on the first control signal, select the first control signal or The second control signal controls vehicle.
In some embodiments, the control selections module, for detecting that the first control signal normally gives birth to Cheng Shi controls vehicle based on the first control signal;Detecting that the first control signal cannot generate normally When, vehicle is controlled based on the second control signal.
In some embodiments, first algorithm is different from the algorithm logic of the second algorithm.
In some embodiments, the functional class of first algorithm is higher than the functional class of second algorithm.
In some embodiments, first algorithm has automatic Pilot global function;Second algorithm only has peace Full security function.
In some embodiments, first control module is based on first sensor information using the first algorithm and generates the One control signal, including:
Operation is carried out to the first sensor information using first algorithm, generates the first control signal;
Second control module is based on second sensor information using the second algorithm and generates second control signal, including:
Operation is carried out to the second sensor information using second algorithm, generates the second control signal.
In some embodiments, the first sensor information include one kind in following sensor or
The data that several sensors are acquired:
Millimetre-wave radar, the first camera, laser radar, ultrasonic radar, GPS;
First control module carries out operation using first algorithm to the first sensor information, described in generation First control signal, including:
The first sensor information is merged, path planning and decision are carried out according to fusion results, described in generation First control signal.
In some embodiments, the second sensor information includes:Second camera acquired image;
Second control module carries out operation using second algorithm to the second sensor information, described in generation Second control signal, including:
The second camera acquired image is split using intelligent algorithm, determines wheeled region;
Path planning and decision are carried out according to identified wheeled region, generates the second control signal.
The third aspect, the embodiment of the present disclosure provide again a kind of onboard control device, including:At least one processor, extremely The computer program that lacks a processor and storage on a memory and can run on a processor, the processor execute institute The step of first aspect the method being realized when stating program.
Fourth aspect, a kind of intelligent driving vehicle include the onboard control device as described in the third aspect.
In at least one embodiment of the disclosure, first control signal and second control signal are generated using two algorithms, and According to the state of first control signal, first control signal or second control signal is selected to control vehicle, to realize The Redundant Control of intelligent driving.Security risk can be greatly reduced.
Description of the drawings
Fig. 1 shows the intelligent driving control system architecture schematic diagram that one embodiment of the disclosure provides;
Fig. 2 shows another schematic diagrames of intelligent driving Control system architecture that one embodiment of the disclosure provides;
Fig. 3 shows the onboard control device structure diagram that one embodiment of the disclosure provides;
Fig. 4 shows the flow diagram for the intelligent driving control method that one embodiment of the disclosure provides.
Specific implementation mode
It should be appreciated that specific embodiment described herein is only used to explain the disclosure, it is not used to limit the disclosure.
In a first aspect, embodiment of the disclosure provides a kind of intelligent driving control system, to execute the implementation of the disclosure The intelligent driving control method that example provides, and then realize the intelligent driving of vehicle.Herein, intelligent driving can refer to being promoted to drive The auxiliary of the driving experience for the person of sailing drives, and may also mean that there is no unmanned when the case where driver.
Referring to Fig. 1, Fig. 1 is the schematic diagram for the intelligent driving control system that one embodiment of the disclosure provides.As shown in Figure 1, Embodiment of the disclosure provide intelligent driving control system 100 include:
Acquisition module 101, for obtaining first sensor information and second sensor information;
First control module 102 generates first control signal for being based on first sensor information using the first algorithm;
Second control module 103 generates second control signal for being based on second sensor information using the second algorithm;
Control selections module 104, be used for the state based on the first control signal, select the first control signal or Second control signal described in person controls vehicle.
It is understood that " first " herein, " second " mainly distinguish, to illustrate two class herein not Sensor information (first sensor information and second sensor information) together, two different control signals (the first control letter Number and second control signal), two different algorithms (the first algorithm and the second algorithm), and should not be construed limit sequentially It is fixed.It should be noted that " different algorithms " here are not meant to that algorithm used by limiting must be different, use is identical Algorithm can't influence embodiment of the disclosure scheme implementation.
In some embodiments, first algorithm is different from the algorithm logic of the second algorithm.In some implementations In mode, the functional class of first algorithm is higher than the functional class of second algorithm.In some embodiments, described First algorithm has automatic Pilot global function;Second algorithm only has safety guarantee function.
In order to realize intelligent driving, firstly, it is necessary to be obtained by the acquisition module 101 in intelligent driving control system 100 First sensor information and second sensor information, wherein first sensor information is that the multiple sensors configured on vehicle are adopted The information of collection, including:One or more of millimetre-wave radar, the first camera, laser radar, ultrasonic radar, GPS etc.. The type of the sensor configured on vehicle is more, and the first sensor information that acquisition module 101 is got is abundanter.Second sensing Device information is the information of the forward direction camera acquisition on vehicle, to determine the wheeled region of vehicle front.
First control module 102 and the second control module 103 are connected with acquisition module 101 respectively, the first control module 102 First sensor information is obtained by acquisition module 101, the second control module 103 obtains the second sensing by acquisition module 101 Device information.103 respective independent operating of first control module 102 and the second control module, the two can be run parallel, mutually not shadow It rings.
First control module 102 is based on first sensor information using the first algorithm, generates first control signal.Specifically Ground, the first control module 102 first merge the information from multiple sensors, then according to fusion results into walking along the street Diameter is planned and decision, ultimately produces first control signal.Due to the letter of the first control module 102 synthesis multiple sensors acquisition Breath, so the perception to external environment is more comprehensive and accurate, is as far as possible identified all scenes of nature, thus generates First control signal it is relatively reliable.
Second control module 103 is based on second sensor information using the second algorithm, generates second control signal.Specifically Ground, the second control module 103 utilize intelligent algorithm, are split to the image of the forward direction camera acquisition on vehicle, really Determine the wheeled region of vehicle front, path planning and decision are then carried out according to identified wheeled region, generates second Control signal.
Control selections module 104 is respectively connected with the first control module 102 and the second control module 103.Control selections mould In the second control signal that the first control signal and the second control module 103 that block 104 is generated from the first control module 102 generate One control signal of selection, to control vehicle.In synchronization, control selections module 104 only selects first control signal and Control signal of one of the two control signals as final control vehicle.Specifically, control selections module is detecting first When control signal normally generates, vehicle is controlled based on first control signal;Detecting that first control signal cannot be just When often generating, vehicle is controlled based on second control signal.
Due to information of the first control signal based on multiple sensors, and the forward direction that second control signal is based only upon vehicle is taken the photograph As head, so compared to second control signal, first control signal is more accurate and reliable, thus, first control signal is suitble to As master signal, second control signal is suitable as spare control signal or auxiliary control signal.First control signal just Often generate when, control selections module 104 select first control signal vehicle is controlled, first control signal cannot be normal When generation, control selections module 104 selects second control signal to control vehicle.
In this way, even if the first control module 102 break down or vehicle on one or more sensors break down, Control selections module 104 can still control vehicle by the second control signal that the second control module 103 generates, and ensure To the continuity and reliability of vehicle control.
Referring to Fig. 2, Fig. 2 is another schematic diagram for the intelligent driving control system that one embodiment of the disclosure provides.Such as Fig. 2 institutes Show, the intelligent driving control system that embodiment of the disclosure provides includes:Master control system, auxiliary control system and vehicle control Module P007.Master control system and auxiliary control system are concurrent workings, possess complete perception decision-making capability respectively, only respectively It is vertical to complete the judgement to automatic Pilot environment and decision.Master control system and auxiliary control system form major-minor dual system, main control System and auxiliary control system are mutual indepedent, and auxiliary control system improves intelligence and drive as the supplement of master control system or spare Sail safety and the reliability of control system.
Wherein, master control system includes:A variety of detecting sensor P001, data fusion module P002 and automatic Pilot are complete Function algorithm module P003, P001 are connected with P002, and P002 is connected with P003.Auxiliary control system includes:Wheeled region detection Camera P004, wheeled regional processing algoritic module P005 and automatic Pilot safety traffic algoritic module P006, P004 with P005 is connected, and P005 is connected with P006.P003 and P006 are connected with P007 respectively.
Wherein, P001 is a part for acquisition module 101, for obtaining first sensor information, first sensor information It is the input of master control system, is input to P002.P001 includes a variety of detecting sensors, such as:Millimetre-wave radar, camera, Laser radar, ultrasonic radar and GPS etc..Information based on the acquisition of a variety of detecting sensors, it is ensured that master control system is complete The realization of function.
P002 and P003 completes the function of the first control module 102 jointly.First, P002 is to all perception from P001 Information carries out fusion treatment, and the result of fusion treatment is the external environment current to vehicle, then by the result of fusion treatment It is output to P003.P003 according to fusion treatment as a result, completing automatic Pilot path planning and decision, believe by the first control of output Number, realize automatic Pilot global function.
P004 is the forward direction camera for detecting wheeled region, is another part of acquisition module 101, for obtaining It is the input of auxiliary control system to take the second heat transfer agent, the second heat transfer agent, is input to P005, based on it is preceding to camera acquire Image realizes basic automatic Pilot detection demand.
P005 and P006 completes the function of the second control module 103 jointly.First, P005 to P004 the image collected into Row processing, the wheeled region of vehicle front is partitioned into using artificial intelligence (AI) algorithm, then by the wheeled of vehicle front Region is output to P006.P006 according to the wheeled region of vehicle front, based on safety is ensured under the premise of cook up vehicle Driving path and vehicle control decision, export second control signal, and realization ensures safe Function for Automatic Pilot.
P003 in master control system uses automatic Pilot global function algorithm, and the P006 in auxiliary control system is using artificial Intelligent algorithm, master control system and auxiliary control system use different algorithm logics, avoid the occurrence of same source error, have mutual complementary energy Power.
P007 completes the function of control selections module 104.The work of P007 real-time judges master control system and auxiliary control system Make state, it is ensured that the normal control of vehicle.It is normal in master control system, preferentially use master control system global function mould Formula works, and receives the first control signal of P003 outputs;When master control system breaks down, P007 will automatically switch to auxiliary control System safety traffic pattern work processed, receives the second control signal of P006 outputs.Whether no matter master control system breaks down, It can guarantee that vehicle safe driving, the redundancy of major-minor dual system improve the safe class of vehicle drive.Also, main control system System has automatic Pilot global function, and auxiliary control system only has ensures safe Function for Automatic Pilot, and auxiliary control system is compared Degrade in master control system function, fully ensures that safety on the basis of realizing vehicle control, while being also effectively controlled and being System cost.
Second aspect, embodiment of the disclosure provide a kind of onboard control device, referring to Fig. 3, the onboard control device, Including:At least one processor (processor), at least one processor (memory), bus and at least one bus connect Mouthful;
Wherein, the processor and memory complete mutual communication by the bus, and the processor is used for The program instruction in the memory is called, to execute the intelligent driving control method that the embodiment of the present disclosure is provided.It is described total Line interface is used to carry out data interaction with external equipment.
The third aspect, embodiment of the disclosure provide a kind of intelligent driving vehicle, including vehicle-mounted described in second aspect Control device.Since onboard control device being described in detail above, details are not described herein.
Fourth aspect, embodiment of the disclosure provide a kind of intelligent driving control method, are carried by embodiment of the disclosure The intelligent driving control system of confession executes, and then realizes the intelligent driving of vehicle.Referring to Fig. 4, this method includes:
Step S11 obtains first sensor information and second sensor information.
Step S12 is based on the first sensor information using the first algorithm and generates first control signal.
Step S13 is based on the second sensor information using the second algorithm and generates second control signal.
Step S14 selects the first control signal or second control based on the state of the first control signal Signal processed controls vehicle.
Signified " control signal " refers to the signal of the traveling for controlling vehicle, these signals in embodiment of the disclosure Can include speed control signal, steering controling signal, brake control signal, light controling signal etc.." the first algorithm " or " Two algorithms " refer to then generating these control signal institute foundations based on acquired first sensor information or second sensor information Algorithm.Specifically, intelligent driving control system carries out operation using the first algorithm to first sensor information, and utilizes the Two algorithms carry out operation to second sensor information, and driving path planning and vehicle control decision are completed according to each operation, into And generate corresponding control signal.
In some embodiments, different algorithm logics may be used in the first algorithm and the second algorithm, can reduce in this way The probability of two algorithms simultaneous faults in application process reduces common cause fault.Further, the work(of two algorithms can be set Energy level is identical, or for the considerations of reducing cost, and the functional class that the first algorithm can also be arranged is higher than the work(of the second algorithm It can rank.Here functional class refer to should be generated algorithmically by control signal possessed by control function rank.Implementing When, the first control signal generated using the first algorithm can have automatic Pilot global function;The generated using the second algorithm Two control signals can only have safety guarantee function.
In addition to above mentioned algorithm logic and functional class are different, the sensor information that two algorithms are based on It can be different.Specifically, the first algorithm of utilization in above-mentioned S12, which is based on the first sensor information, generates the first control Signal may include:
The first sensor information is merged, path planning and decision are carried out according to fusion results, described in generation First control signal.
In the specific implementation, first sensor information here may include that the one or several kinds of lower sensor kind such as pass The information that sensor is acquired:Millimetre-wave radar, the first camera, laser radar, ultrasonic radar, GPS.Certainly can also include The information of other sensors acquisition, it is not limited in this embodiment of the present disclosure.
Then first sensor information is merged, carries out path planning and decision according to fusion results, generates first Control signal.It specifically, can be by millimetre-wave radar, the first camera, laser radar, ultrasonic radar, the sensors such as GPS A variety of data of acquisition are merged.Wherein, data fusion here can be described as:The information of comprehensive multi-source, obtains Gao Pin The useful information of matter.Since various single sensors tend not to extract enough information from scene, so that it is difficult to It even can not independently obtain comprehensive description to a secondary scene, it is therefore desirable to obtain target data while multisensor and be melted Analysis is closed, Classification and Identification decision just can be effectively carried out.Understandable to be, the result after merging can illustrate currently substantially The traffic information of traveling carries out planning and the decision in path then according to the result of fusion, generates corresponding first control letter Number.The first control signal can be driven a car with indicating intelligent and execute corresponding driver behavior, such as brake, turning, deceleration etc..
In some embodiments, the second sensor information is transported using second algorithm in step S13 It calculates, generates the second control signal, may include:
The second camera acquired image is split using intelligent algorithm, determines wheeled region;
Path planning and decision are carried out according to identified wheeled region, generates the second control signal.
Specifically, second sensor information here may include:Second camera acquired image.Second camera shooting The image of head acquisition is the image in intelligent driving automobile direction of advance.Then utilize intelligent algorithm to second camera Acquired image is split, and then carries out analyzing processing to the image after segmentation, is determined according to the image after segmentation Where road ahead is wheeled region;It is possible to further carry out path planning according to identified wheeled region and determine Plan generates second control signal, which can be driven a car with indicating intelligent travels to wheeled region direction.
In some embodiments, the state based on the first control signal in step S14 selects first control Signal or the second control signal control vehicle, may include:
When detecting that the first control signal normally generates, vehicle is controlled based on the first control signal System;
When detecting that the first control signal cannot be generated normally, vehicle is carried out based on the second control signal Control.
Wherein, the reason of first control signal cannot be generated normally may include:Running software mistake or failure, Jin Erwu Method effective integration is carried out to first sensor information and/or can not be carried out according to first sensor information correct path planning and Decision.The reason of certain first control signal cannot be generated normally can also include:Hardware device configured with the software occurs Failure (such as the power-off, short circuit etc.) reasons such as cause software that can not run, it is not limited in this embodiment of the present disclosure.
In embodiment of the disclosure, first control signals and second control signal are generated using two algorithms, and according to the The state of one control signal, selects first control signal or second control signal to control vehicle, to realize intelligence The Redundant Control of driving.Security risk can be greatly reduced.
It should be noted that since the intelligent driving control system that first aspect is introduced is that can execute implementation of the present invention The system of intelligent driving control method in example, so the side based on the intelligent driving control described in the embodiment of the present invention Method, those skilled in the art can understand the specific implementation mode of the intelligent driving control system of the present embodiment and it is each Kind version, so how to realize that the intelligent driving in the embodiment of the present invention controls for the intelligent driving control system at this Method is no longer discussed in detail.It is adopted as long as those skilled in the art implement intelligent driving control method in the embodiment of the present invention System belongs to the range to be protected of the application.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that the implementation of the application Example can be put into practice without these specific details.In some instances, well known method, structure is not been shown in detail And technology, so as not to obscure the understanding of this description.
Similarly, it should be understood that in order to simplify the disclosure and help to understand one or more of each application aspect, Above in the description of the exemplary embodiment of the application, each feature of the application is grouped together into single implementation sometimes In example, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following intention:It is i.e. required to protect Shield this application claims the more features of feature than being expressly recited in each claim.More precisely, as following Claims reflect as, all features less than single embodiment disclosed above are in terms of application.Therefore, Thus the claims for following specific implementation mode are expressly incorporated in the specific implementation mode, wherein each claim itself All as the separate embodiments of the application.
Those skilled in the art, which are appreciated that, to carry out adaptively the module in the equipment in embodiment Change and they are arranged in the one or more equipment different from the embodiment.It can be the module or list in embodiment Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or Sub-component.Other than such feature and/or at least some of process or unit exclude each other, it may be used any Combination is disclosed to all features disclosed in this specification (including adjoint claim, abstract and attached drawing) and so to appoint Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power Profit requires, abstract and attached drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation It replaces.
In addition, it will be appreciated by those of skill in the art that although some embodiments in this include institute in other embodiments Including certain features rather than other feature, but the combination of the feature of different embodiment means to be in scope of the present application Within and form different embodiments.For example, in the following claims, embodiment claimed it is arbitrary it One mode can use in any combination.
Certain unit embodiments of the application can be with hardware realization, or to run on one or more processors Software module realize, or realized with combination thereof.
The application is limited it should be noted that above-described embodiment illustrates rather than the application, and ability Field technique personnel can design alternative embodiment without departing from the scope of the appended claims.In the claims, Any reference mark between bracket should not be configured to limitations on claims.Word "comprising" does not exclude the presence of not Element or step listed in the claims.Word "a" or "an" before element does not exclude the presence of multiple such Element.The application can be by means of including the hardware of several different elements and being come by means of properly programmed computer real It is existing.In the unit claims listing several devices, several in these devices can be by the same hardware branch To embody.The use of word first, second etc. does not indicate that any sequence.These words can be construed to title.

Claims (18)

1. a kind of intelligent driving control method, which is characterized in that including:
Obtain first sensor information and second sensor information;
It is based on the first sensor information using the first algorithm and generates first control signal;
It is based on the second sensor information using the second algorithm and generates second control signal;
Based on the state of the first control signal, select the first control signal or the second control signal to vehicle It is controlled.
2. according to the method described in claim 1, it is characterized in that, the state based on the first control signal, described in selection First control signal or the second control signal control vehicle, including:
When detecting that the first control signal normally generates, vehicle is controlled based on the first control signal;
When detecting that the first control signal cannot be generated normally, vehicle is controlled based on the second control signal System.
3. according to the method described in claim 1, it is characterized in that, the algorithm logic of first algorithm and second algorithm It is different.
4. according to the method described in claim 3, it is characterized in that, the functional class of first algorithm is calculated higher than described second The functional class of method.
5. according to the method described in claim 4, it is characterized in that, first algorithm has automatic Pilot global function;It is described Second algorithm only has safety guarantee function.
6. according to claim 1-5 any one of them methods, which is characterized in that described to be based on the first sensing using the first algorithm Device information generates first control signal, including:
Operation is carried out to the first sensor information using first algorithm, generates the first control signal;
It is described to be based on second sensor information generation second control signal using the second algorithm, including:
Operation is carried out to the second sensor information using second algorithm, generates the second control signal.
7. according to the method described in claim 6, it is characterized in that, the first sensor information includes in following sensor The data that one or several kinds of sensors are acquired:
Millimetre-wave radar, the first camera, laser radar, ultrasonic radar, GPS;
It is described that operation is carried out to the first sensor information using first algorithm, the first control signal is generated, is wrapped It includes:
The first sensor information is merged, path planning and decision is carried out according to fusion results, generates described first Control signal.
8. according to the method described in claim 6, it is characterized in that, the second sensor information includes:Second camera institute The image of acquisition;
It is described that operation is carried out to the second sensor information using second algorithm, the second control signal is generated, is wrapped It includes:
The second camera acquired image is split using intelligent algorithm, determines wheeled region;
Path planning and decision are carried out according to identified wheeled region, generates the second control signal.
9. a kind of intelligent driving control system, which is characterized in that including:
Acquisition module, for obtaining first sensor information and second sensor information;
First control module generates first control signal for being based on first sensor information using the first algorithm;
Second control module generates second control signal for being based on second sensor information using the second algorithm;
Control selections module is used for the state based on the first control signal, selects the first control signal or described Second control signal controls vehicle.
10. system according to claim 9, which is characterized in that the control selections module, for detecting described When one control signal normally generates, vehicle is controlled based on the first control signal;Detecting first control When signal cannot be generated normally, vehicle is controlled based on the second control signal.
11. system according to claim 9, which is characterized in that the algorithm of first algorithm and second algorithm is patrolled Collect difference.
12. system according to claim 11, which is characterized in that the functional class of first algorithm is higher than described second The functional class of algorithm.
13. system according to claim 12, which is characterized in that first algorithm has automatic Pilot global function;Institute Stating the second algorithm only has safety guarantee function.
14. according to claim 9-13 any one of them systems, which is characterized in that first control module is calculated using first Method is based on first sensor information and generates first control signal, including:
Operation is carried out to the first sensor information using first algorithm, generates the first control signal;
Second control module is based on second sensor information using the second algorithm and generates second control signal, including:
Operation is carried out to the second sensor information using second algorithm, generates the second control signal.
15. system according to claim 14, which is characterized in that the first sensor information includes in following sensor The data that are acquired of one or several kinds of sensors:
Millimetre-wave radar, the first camera, laser radar, ultrasonic radar, GPS;
First control module carries out operation using first algorithm to the first sensor information, generates described first Signal is controlled, including:
The first sensor information is merged, path planning and decision is carried out according to fusion results, generates described first Control signal.
16. system according to claim 14, which is characterized in that the second sensor information includes:Second camera Acquired image;
Second control module carries out operation using second algorithm to the second sensor information, generates described second Signal is controlled, including:
The second camera acquired image is split using intelligent algorithm, determines wheeled region;
Path planning and decision are carried out according to identified wheeled region, generates the second control signal.
17. a kind of onboard control device, including:At least one processor, at least one processor and storage are on a memory And the computer program that can be run on a processor, which is characterized in that the processor realizes such as right when executing described program It is required that the step of 1-8 any the methods.
18. a kind of intelligent driving vehicle, which is characterized in that including onboard control device as claimed in claim 17.
CN201810476519.5A 2018-05-17 2018-05-17 Intelligent driving control method and system, onboard control device and intelligent driving vehicle Pending CN108776472A (en)

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