CN108876965A - The data record method of duty is sentenced for automatic Pilot people's vehicle accident - Google Patents
The data record method of duty is sentenced for automatic Pilot people's vehicle accident Download PDFInfo
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- CN108876965A CN108876965A CN201810820829.4A CN201810820829A CN108876965A CN 108876965 A CN108876965 A CN 108876965A CN 201810820829 A CN201810820829 A CN 201810820829A CN 108876965 A CN108876965 A CN 108876965A
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/08—Registering or indicating performance data other than driving, working, idle, or waiting time, with or without registering driving, working, idle or waiting time
- G07C5/0841—Registering performance data
- G07C5/085—Registering performance data using electronic data carriers
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/60—Software deployment
- G06F8/65—Updates
- G06F8/654—Updates using techniques specially adapted for alterable solid state memories, e.g. for EEPROM or flash memories
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Abstract
The invention discloses a kind of data record methods that duty is sentenced for automatic Pilot people's vehicle accident, when vehicle powers on, vehicle data are obtained in real time, sensing data, one of the control data of auto-pilot controller sending and video data are a variety of, external RAM memory module is written into acquired data, and when there is trouble-signal or triggering latch condition, the data of front and back a period of time this moment are written in external Flash memory module by control from external RAM memory module, and the data being written in external Flash memory module are uploaded to cloud server by data uploading module；Judge whether the data read module has been authorized to, if data read module has been authorized to, allows the data read module to read the data in the external Flash memory module, otherwise cannot read the data in external Flash memory module.The present invention will be provided with the important operating parameter in the automobile of advanced Function for Automatic Pilot and record, while for closing tuple according to being latched.
Description
Technical field
The present invention relates to a kind of digital data recording system technical fields, especially a kind of to sentence duty for automatic Pilot people vehicle accident
Data record method.
Background technique
Automobile industry is in the high-speed developing period, with the development of the technologies such as cloud computing, big data and intelligent network connection, automatically
Drive the development trend for becoming automobile future.Safety is the problem of autonomous driving vehicle is paid close attention to the most.With Function for Automatic Pilot
Automobile, user open Function for Automatic Pilot after, if generate traffic accident, how to determine automobile break down or
Since the violation operation of driver causes, and how divisions of responsibility is carried out between people, vehicle, these are crucial.
To solution problem above, needing vehicle data and be supported, current data logger fills product after belonging to,
It is not the standard configuration of every trolley.Meanwhile data logger is mainly used for the videograph of vehicle front, can not meet have it is advanced
The automobile of Function for Automatic Pilot carries out people's vehicle and sentences duty.
Summary of the invention
The object of the present invention is to provide a kind of data record methods that duty is sentenced for automatic Pilot people's vehicle accident, can will be provided with
Important operating parameter in the automobile of advanced Function for Automatic Pilot is recorded, while for tuple is closed according to being latched, being sent out
Make trouble thus after data are read out analysis, to determine accident responsibility main body.
The data record method of the present invention that duty is sentenced for automatic Pilot people vehicle accident, includes the following steps：
When vehicle powers on, control data and view that vehicle data, sensing data, auto-pilot controller issue are obtained in real time
One of frequency evidence is a variety of, external RAM memory module is written in acquired data, and trouble-signal or triggering occurring
When latch condition, the data of front and back a period of time this moment are written to from external RAM memory module external Flash and stored by control
In module, and the data being written in external Flash memory module are uploaded to cloud server by data uploading module；
Judge whether external reading equipment has been authorized to, if the external equipment that reads has been authorized to, allows to deposit external Flash
Data in storage module are read out, and otherwise, cannot be read.
Further, the vehicle data include vehicle speed information required for advanced automatic Pilot, direction information and brake letter
Breath；
The sensing data includes the raw information of objects in front identification information and each sensor；
The control data bag that the auto-pilot controller issues includes direction information and acceleration and deceleration information；
The video data include DMS driver status monitoring video, 360 look around splicing video and forward direction camera video in
It is one or more.
Further, the control data and video data that the vehicle data, sensing data, auto-pilot controller issue
With a seconds for a cycle, stored at least two periods in external RAM memory module；When trouble-signal is encountered, system
Data before constantly refreshing and cover；When meeting with an accidet signal or triggering latch condition, a seconds before moment numbers are latched
According to if vehicle can also continue status data, b seconds after accident vehicle data being re-recorded, if sensor of interest is also
It can work, then re-record b seconds after accident sensing datas, if auto-pilot controller can also work on, re-record
The control data that b seconds auto-pilot controllers issue after accident, if target video acquisition device can also work on, then
B seconds video datas after record accident.
Further, the triggering latch condition includes prompting before Function for Automatic Pilot is opened, in Function for Automatic Pilot unlatching
Driver actions and other non-accident class scenario triggered conditions after adapter tube, Function for Automatic Pilot prompt adapter tube.
Further, before Function for Automatic Pilot unlatching：Record automated driving system prompt can open the time of automatic Pilot
Stamp, while recording the foundation for judging that Function for Automatic Pilot can be opened, including current sensor data, vehicle data and automatic Pilot
The control data that controller issues；
Function for Automatic Pilot is being opened based on the prompt that can open Function for Automatic Pilot, then is recording the time of automatic Pilot unlatching
Stamp, while recording after Function for Automatic Pilot is opened to the data in stable operation c seconds, including current sensor data, vehicle number
According to the control data issued with auto-pilot controller；
After prompt can open the time of Function for Automatic Pilot, non-response system is reminded, then records and do not open automatic Pilot
The timestamp of function；And the number being not turned on is counted.
Further, when prompting adapter tube in Function for Automatic Pilot unlatching：
If automated driving system normal operation, record under automated driving system normal operation prompt driver adapter tube when
Between stab, while recording the foundation that judgement needs driver to take over, including current sensor data, vehicle data and automatic Pilot control
The control data that device processed issues；
If automated driving system is operating abnormally, the time that driver's adapter tube is prompted under automated driving system abnormal conditions is recorded
Stamp, if driver's violation operation or maloperation cause exception, record sensing data at this time, whole vehicle state data and
The control data that auto-pilot controller issues.
Further, after Function for Automatic Pilot prompt adapter tube when driver actions：
After automated driving system prompt driver's adapter tube, if driver is not responding to takeover request, during recording prompt adapter tube
All data including the timestamp for prompting driver to take over for the first time, while recording the foundation that judgement need to take over, including current sensor
The control data that device data, vehicle data and auto-pilot controller issue；
Automated driving system prompt driver adapter tube after, if driver respond takeover request, record driver adapter tube when
Between stab, while recording operating condition in d seconds after driver's adapter tube, including current sensor data, vehicle data and automatic Pilot
The control data that controller issues；
After automated driving system prompt driver's adapter tube, if driver is not responding to takeover request, records last time and prompt
The timestamp and automated driving system of driver's adapter tube start control to the timestamp for completing secure parking, while record security stops
The control data that sensing data, whole vehicle state data and auto-pilot controller issue during vehicle.
Further, in other non-accident class scenario triggereds：The timestamp of the situation occurs for record, while record passes at this time
The control data that sensor data, vehicle data and auto-pilot controller issue；If automatic brake functions enable, record occurs
The timestamp of the situation, while recording the control data that sensing data, vehicle data and auto-pilot controller issue at this time；
If vehicle loss of stability, when body electronics systems stabilisation intervenes, then the timestamp that the situation occurs is recorded, while recording at this time
The control data that sensing data, vehicle data and auto-pilot controller issue；If vehicle loses steering manipulation, deviates suddenly
When projected route, the timestamp of the situation occurs for record, while recording sensing data, vehicle data and automatic Pilot control at this time
The control data that device processed issues.
Further, further include：When external Flash memory module is written in data, if the power module on vehicle fails,
It is then system power supply by backup battery module, so that data is completely written in external Flash memory module and pass through data
Uploading module uploads to main engine plants' cloud server.
Further, the data for being recorded in external Flash memory module are encrypted, make the data stored in it
It is only capable of to read by the data read module authorized.
The present invention has the following advantages that：Acquisition and selectively record automobile are when Function for Automatic Pilot is opened when the weight of each pass
The control data of vehicle sensor status data, whole vehicle state data, auto-pilot controller sending in intermediate node, accident hair
Video data after before death in certain period of time, the automobile for solving the function of having advanced automatic Pilot are opening automatic Pilot
People, vehicle when function meets with an accidet, which sentence, asks topic reprovingly, while by backstage big data analysis, understand advanced Function for Automatic Pilot with
Acceptance level in family improves automatic Pilot correlation function.
Detailed description of the invention
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the schematic diagram of data flow of the invention；
Fig. 3 is the logical schematic of system data storage in the present invention；
In figure, 1, control module, 2, external RAM memory module, 3, external Flash memory module, 4, gateway, 5, data upload mould
Block, 6, data read module, 7, OTA module, 8, backup battery module, 9, power module, 10, source video sequence controller, 11,
TBOX, 12, CAN transceiver.
Specific embodiment
The present invention will be further explained below with reference to the attached drawings.
The data record method that duty is sentenced for automatic Pilot people vehicle accident as depicted in figs. 1 and 2, including TBOX（It is i.e. remote
Journey message handler）11, gateway 4, power module 9 and data recording equipment.Data recording equipment, TBOX11 respectively with gateway 4
Connection, power module 9 are connect with gateway 4 and data recording equipment respectively.
As shown in Figure 1, the data recording equipment includes control module 1, and it connect respectively with control module 1 external
RAM memory module 2, external Flash memory module 3, data uploading module 5, data read module 6, OTA（I.e. aerial downloading）Mould
Block 7 and backup battery module 8.
In the present embodiment, the control module 1 is programmed to execute following steps：
（1）Obtain one of control data and the video data that vehicle data, sensing data, auto-pilot controller issue
Or it is a variety of；The external RAM memory module 2 is written into acquired data, and trouble-signal or triggering latch condition is occurring
When, the data of front and back a period of time this moment are written to external Flash memory module 3 by control from external RAM memory module 2
In, and the data being written in external Flash memory module 3 are uploaded to cloud server by data uploading module 5.
（2）Judge whether the software installed in it needs to upgrade, if desired upgrades, then control OTA module 7 for software upgrading
Packet is read in control module 1, and completes the upgrading of software, if escalation process fails, moreover it is possible to retract current version software, and protect
The function of demonstrate,proving software is unaffected.
In the present embodiment, the data read module 6 for connect it is external read equipment, if it is external read equipment by
Authorization, then allow for the data in external Flash memory module 3 to be read out, otherwise, cannot read.
In the present embodiment, the video data includes DMS driver status monitoring video, 360 looks around splicing video and preceding
To one of camera video or a variety of.In the present embodiment, video data includes DMS driver status monitoring video, 360
Look around splicing video and forward direction camera video.
It is data recording equipment confession by power module 9 when the power module 9 of vehicle works normally in the present embodiment
Electricity.When external Flash memory module 3 is written in data, if the power module 9 on vehicle fails, pass through backup battery mould
Block 8 is system power supply, and data is enable completely to be written in external Flash memory module 3 and upload to by data uploading module 5
The cloud server of main engine plants.
In the present embodiment, the control module 1 of the data recording equipment is connect with gateway 4, and control module 1 is from gateway 4
The control data and video data that vehicle data, sensing data, auto-pilot controller issue are obtained, and will be written external
Flash memory module 3 is sent to TBOX11 by gateway 4, is sent to cloud server by TBOX11.
In the present embodiment, the control module 1 obtains vehicle data, sensing data at least from gateway 4 and drives automatically
Sail the control data of controller sending.
As shown in Fig. 2, the control module 1 is connect by vehicle-mounted Ethernet with gateway 4 in the present embodiment；Cloud service
The software upgrade package of device is sent by TBOX11 and is stored in gateway 4, when control module 1 issues OTA upgrade command, gateway
4 are entered in ethernet PHY 12 by vehicle-mounted Ethernet, and upgrade package is transmitted to control module 1 by ethernet PHY 12, complete upgrading
Work.
As shown in Fig. 2, the control module 1 is also connect by CAN transceiver 12 with gateway 4；The control module 1 is also logical
Vehicle-mounted Ethernet is crossed to connect with gateway 4 or source video sequence controller 14.
The control data that vehicle data, sensing data and auto-pilot controller issue are by gateway 4 with CAN message
Form issues, and control module is received by CAN transceiver 12 and is transmitted to control module 1, if not triggering latch
Condition, the then process that the data are persistently write, wiped in external RAM memory module 2；If triggering deposited condition, data start
It is written in external Flash memory module 3, while data are dealt into gateway 4 by vehicle-mounted Ethernet by control module 1, gateway 4 will
Data are sent to TBOX11, to upload to cloud server.
Video data can be transmitted to control by vehicle-mounted Ethernet by gateway 4 or by source video sequence controller 14
Module 1, if not triggering the condition of latch, process which persistently writes, wipes in external RAM memory module 2；If
Latch condition is triggered, data start to be written in external Flash memory module 3, while data being sent out by vehicle-mounted Ethernet
To gateway 4, gateway 4 sends the data to TBOX11, to upload to cloud server.
In the present embodiment, the control module 1 be can integrate in automatic Pilot control module, but also increase in automobiles
Add individual control module.
As shown in figure 3, the data record method of the present invention that duty is sentenced for automatic Pilot people vehicle accident, including it is following
Step：
When vehicle powers on, control data and view that vehicle data, sensing data, auto-pilot controller issue are obtained in real time
One of frequency evidence is a variety of, external RAM memory module 2 is written in acquired data, and trouble-signal or touching occurring
When sending out latch condition, the data of front and back a period of time this moment are written to external Flash from external RAM memory module 2 by control
In memory module 3, and the data being written in external Flash memory module 3 are uploaded to cloud clothes by data uploading module 5
Business device；
Judge whether the data read module 6 has been authorized to, if data read module 6 has been authorized to, the data is allowed to read
Modulus block 6 reads the data in the external Flash memory module 3, otherwise cannot read in external Flash memory module 3
Data.
In the present embodiment, the vehicle data include vehicle speed information required for advanced automatic Pilot, direction information and brake
Vehicle information.The sensing data includes the raw information of objects in front identification information and each sensor.The automatic Pilot control
The control data bag that device processed issues includes direction information and acceleration and deceleration information.The video data includes the monitoring of DMS driver status
Splicing video and forward direction camera video are looked around in video, 360.
In the present embodiment, control data and video that the vehicle data, sensing data, auto-pilot controller issue
Data are with a seconds（30 seconds）For a cycle, stored at least two periods in external RAM memory module；Accident is being encountered
When signal, system constantly can refresh and cover before data；When meeting with an accidet signal or triggering latch condition, when latching this
A seconds data re-record after accident b seconds if vehicle can also continue status data before carving（Such as：10 seconds）Vehicle
Data re-record b seconds after accident sensing datas if sensor of interest can also work, if auto-pilot controller
It can also work on, then re-record the control data that b seconds after accident auto-pilot controllers issue, if target video acquires
Device can also work on, then re-record b seconds after accident video datas.
In the present embodiment, the triggering latch condition includes before Function for Automatic Pilot is opened, in Function for Automatic Pilot unlatching
Driver actions and other non-accident class scenario triggered conditions after prompt adapter tube, Function for Automatic Pilot prompt adapter tube.
In the present embodiment, before Function for Automatic Pilot unlatching：
Record automated driving system prompt can open the timestamp of automatic Pilot, be accurate to millisecond, while recording judgement to open
The foundation of Function for Automatic Pilot, the control data issued including current sensor data, vehicle data, auto-pilot controller.
Function for Automatic Pilot is being opened based on the prompt that can open Function for Automatic Pilot, then is recording the timestamp of automatic Pilot unlatching,
It is recorded after Function for Automatic Pilot is opened simultaneously by stable operation c seconds（Such as：10 seconds）Interior data, including current sensor number
According to, vehicle data, auto-pilot controller issue control data.Terminate in the time that prompt can open Function for Automatic Pilot
Afterwards, non-response system is reminded, then records the timestamp for not opening Function for Automatic Pilot, be accurate to millisecond；And time that will be not turned on
Number is counted.
In the present embodiment, when prompting adapter tube in Function for Automatic Pilot unlatching：
If automated driving system normal operation, record under automated driving system normal operation prompt driver adapter tube when
Between stab, be accurate to millisecond, while recording the foundation that judgement needs driver to take over, including current sensor data, vehicle data
The control data issued with auto-pilot controller.
If automated driving system be operating abnormally, record under automated driving system abnormal conditions prompt driver adapter tube when
Between stab, be accurate to millisecond, if driver's violation operation or maloperation cause exception, record sensing data at this time,
The control data that whole vehicle state data and auto-pilot controller issue.
In the present embodiment, after Function for Automatic Pilot prompt adapter tube when driver actions；
After automated driving system prompt driver's adapter tube, if driver is not responding to takeover request, during recording prompt adapter tube
All data, including the timestamp for prompting driver to take over for the first time（Such as：If the time is taken in the prompt that system is arranged 10 seconds,
And prompted three times in this 10 seconds, then, the timestamp of prompt driver adapter tube for the first time is then recorded herein）, it is accurate to
Millisecond, while the foundation that judgement need to take over is recorded, including current sensor data, vehicle data and auto-pilot controller issue
Control data.
After automated driving system prompt driver's adapter tube, if driver responds takeover request, record driver responds system
System is reminded, the timestamp of driver's adapter tube, while being recorded after driver's adapter tube d seconds（Such as：10 seconds）Interior operating condition, including work as
The control data that front sensor data, vehicle data and auto-pilot controller issue.
After automated driving system prompt driver's adapter tube, if driver is not responding to takeover request, record is last
The timestamp and automated driving system of primary prompt driver adapter tube start control to the timestamp for completing secure parking, are accurate to
Millisecond, while the control that sensing data, whole vehicle state data and auto-pilot controller issue in record security docking process
Data.
In the present embodiment, in other non-accident class scenario triggereds, the timestamp of the situation occurs for record, is accurate to milli
Second, while recording the control data that sensing data, vehicle data and auto-pilot controller issue at this time；If self-actuating brake function
When can enable, the timestamp of the situation occurs for record, is accurate to millisecond, at the same record at this time sensing data, vehicle data and
The control data that auto-pilot controller issues；If vehicle loss of stability, when body electronics systems stabilisation intervenes, then hair is recorded
The timestamp of the raw situation is accurate to millisecond, while recording sensing data, vehicle data and auto-pilot controller hair at this time
Control data out；If vehicle loses steering manipulation, deviates projected route suddenly, the timestamp of the situation, essence occur for record
Millisecond is really arrived, while recording the control data that sensing data, vehicle data and auto-pilot controller issue at this time.
In the present embodiment, the data for being recorded in external Flash memory module 3 are encrypted, i.e., all storages
Data fit main engine plants information security code requirement；System can encrypt the data of storage, any with cannot read per family
With the data of change storage；The data stored in it are made to be only capable of to read by the data read module authorized, thus
Ensure the confidence level of data.
In the present embodiment, the data time of cloud storage is by main engine plants' self-defining, it is however generally that, for accident type data
Holding time be set as 24 months, 12 months are set as the holding time of triggering type data.Number defined in the present invention
It can be adjusted according to the actual situation according to holding time definition, while if there is national legislation, then should meet national legislation
Regulation.
Claims (10)
1. a kind of data record method for sentencing duty for automatic Pilot people's vehicle accident, it is characterised in that：Include the following steps：
When vehicle powers on, control data and view that vehicle data, sensing data, auto-pilot controller issue are obtained in real time
One of frequency evidence is a variety of, external RAM memory module is written in acquired data, and trouble-signal or triggering occurring
When latch condition, the data of front and back a period of time this moment are written to from external RAM memory module external Flash and stored by control
In module, and the data being written in external Flash memory module are uploaded to cloud server by data uploading module；
Judge whether external reading equipment has been authorized to, if the external equipment that reads has been authorized to, allows to deposit external Flash
Data in storage module are read out, and otherwise, cannot be read.
2. the data record method according to claim 1 for sentencing duty for automatic Pilot people vehicle accident, it is characterised in that：
The vehicle data include vehicle speed information required for advanced automatic Pilot, direction information and brake information；
The sensing data includes the raw information of objects in front identification information and each sensor；
The control data bag that the auto-pilot controller issues includes direction information and acceleration and deceleration information；
The video data include DMS driver status monitoring video, 360 look around splicing video and forward direction camera video in
It is one or more.
3. the data record method according to claim 1 or 2 for sentencing duty for automatic Pilot people vehicle accident, feature exist
In：The control data and video data that the vehicle data, sensing data, auto-pilot controller issue are with a seconds for one
A period stored at least two periods in external RAM memory module；When trouble-signal is encountered, system can constantly refresh
And the data before covering；When meeting with an accidet signal or triggering latch condition, a seconds before moment data are latched, if whole
Vehicle can also continue status data, then re-record b seconds after accident vehicle data, if sensor of interest can also work,
B seconds after accident sensing datas are re-recorded to re-record after accident b seconds if auto-pilot controller can also work on
Auto-pilot controller issue control data re-record accident if target video acquisition device can also work on
B seconds video datas afterwards.
4. the data record method according to claim 3 for sentencing duty for automatic Pilot people vehicle accident, it is characterised in that：Institute
Stating triggering latch condition includes prompting adapter tube, Function for Automatic Pilot before Function for Automatic Pilot is opened, in Function for Automatic Pilot unlatching
Driver actions and other non-accident class scenario triggered conditions after prompt adapter tube.
5. the data record method according to claim 4 for sentencing duty for automatic Pilot people vehicle accident, it is characterised in that：?
Before Function for Automatic Pilot is opened：
It records automated driving system to prompt that the timestamp of automatic Pilot can be opened, while recording judgement to open Function for Automatic Pilot
Foundation, including current sensor data, vehicle data and auto-pilot controller issue control data；
Function for Automatic Pilot is being opened based on the prompt that can open Function for Automatic Pilot, then is recording the time of automatic Pilot unlatching
Stamp, while recording after Function for Automatic Pilot is opened to the data in stable operation c seconds, including current sensor data, vehicle number
According to the control data issued with auto-pilot controller；
After prompt can open the time of Function for Automatic Pilot, non-response system is reminded, then records and do not open automatic Pilot
The timestamp of function；And the number being not turned on is counted.
6. the data record method according to claim 4 for sentencing duty for automatic Pilot people vehicle accident, it is characterised in that：
When prompting adapter tube in Function for Automatic Pilot unlatching：
If automated driving system normal operation, record under automated driving system normal operation prompt driver adapter tube when
Between stab, while recording the foundation that judgement needs driver to take over, including current sensor data, vehicle data and automatic Pilot control
The control data that device processed issues；
If automated driving system is operating abnormally, the time that driver's adapter tube is prompted under automated driving system abnormal conditions is recorded
Stamp, if driver's violation operation or maloperation cause exception, record sensing data at this time, whole vehicle state data and
The control data that auto-pilot controller issues.
7. the data record method according to claim 4 for sentencing duty for automatic Pilot people vehicle accident, it is characterised in that：
After Function for Automatic Pilot prompt adapter tube when driver actions：
After automated driving system prompt driver's adapter tube, if driver is not responding to takeover request, during recording prompt adapter tube
All data including the timestamp for prompting driver to take over for the first time, while recording the foundation that judgement need to take over, including current sensor
The control data that device data, vehicle data and auto-pilot controller issue；
Automated driving system prompt driver adapter tube after, if driver respond takeover request, record driver adapter tube when
Between stab, while recording operating condition in d seconds after driver's adapter tube, including current sensor data, vehicle data and automatic Pilot
The control data that controller issues；
After automated driving system prompt driver's adapter tube, if driver is not responding to takeover request, records last time and prompt
The timestamp and automated driving system of driver's adapter tube start control to the timestamp for completing secure parking, while record security stops
The control data that sensing data, whole vehicle state data and auto-pilot controller issue during vehicle.
8. the data record method according to claim 4 for sentencing duty for automatic Pilot people vehicle accident, it is characterised in that：?
When other non-accident class scenario triggereds：The timestamp of the situation occurs for record, while recording sensing data, vehicle number at this time
According to the control data issued with auto-pilot controller；If automatic brake functions enable, the timestamp of the situation occurs for record,
The record control data that sensing data, vehicle data and auto-pilot controller issue at this time simultaneously；If vehicle loses stabilization
Property, when body electronics systems stabilisation intervenes, then the timestamp that the situation occurs is recorded, while recording sensing data, whole at this time
The control data that car data and auto-pilot controller issue；If vehicle loses steering manipulation, deviates projected route suddenly, note
The timestamp of the situation occurs for record, while recording the control that sensing data, vehicle data and auto-pilot controller issue at this time
Data processed.
9. the data record of duty is sentenced described according to claim 1 or 2 or 4 or 5 or 6 or 7 or 8 for automatic Pilot people vehicle accident
Method, it is characterised in that：Further include：
When external Flash memory module is written in data, if the power module on vehicle fails, pass through backup battery module
For system power supply, so that data is completely written in external Flash memory module and host is uploaded to by data uploading module
Factory's cloud server.
10. the data record method according to claim 9 for sentencing duty for automatic Pilot people vehicle accident, it is characterised in that：
The data for being recorded in external Flash memory module are encrypted, are only capable of the data stored in it by having authorized
Data read module could read.
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| CN201810820829.4A CN108876965A (en) | 2018-07-24 | 2018-07-24 | The data record method of duty is sentenced for automatic Pilot people's vehicle accident |
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| CN201810820829.4A CN108876965A (en) | 2018-07-24 | 2018-07-24 | The data record method of duty is sentenced for automatic Pilot people's vehicle accident |
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| CN110356344A (en) * | 2019-07-24 | 2019-10-22 | 重庆长安汽车股份有限公司 | A kind of vehicle-mounted event recording method, system and automobile applied to panorama system |
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| CN111932717A (en) * | 2020-08-20 | 2020-11-13 | 中国第一汽车股份有限公司 | Vehicle emergency analysis method, device, storage medium and system |
| CN111953588A (en) * | 2020-08-26 | 2020-11-17 | 的卢技术有限公司 | Vehicle-mounted T-BOX based on vehicle-mounted Ethernet |
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| CN112802227A (en) * | 2019-11-14 | 2021-05-14 | 北京车和家信息技术有限公司 | Acquisition method and device for vehicle ADAS driving data, man-machine interaction device and vehicle |
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| CN112758094A (en) * | 2021-01-04 | 2021-05-07 | 重庆长安汽车股份有限公司 | Safe parking device and method for driving assistance system |
| CN112860747A (en) * | 2021-02-05 | 2021-05-28 | 重庆长安汽车股份有限公司 | Automatic data recording, storing and classifying system and method |
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