CN109677402A - The security protection system and method for automatic Pilot tool - Google Patents
The security protection system and method for automatic Pilot tool Download PDFInfo
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- CN109677402A CN109677402A CN201811347042.7A CN201811347042A CN109677402A CN 109677402 A CN109677402 A CN 109677402A CN 201811347042 A CN201811347042 A CN 201811347042A CN 109677402 A CN109677402 A CN 109677402A
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- 238000000034 method Methods 0.000 title claims abstract description 17
- 230000004927 fusion Effects 0.000 claims abstract description 73
- 238000011282 treatment Methods 0.000 claims abstract description 73
- 230000008447 perception Effects 0.000 claims abstract description 53
- 238000012545 processing Methods 0.000 claims abstract description 34
- 230000004888 barrier function Effects 0.000 claims description 29
- 230000001133 acceleration Effects 0.000 claims description 4
- 239000011159 matrix material Substances 0.000 claims description 4
- 238000004321 preservation Methods 0.000 claims 1
- 230000000875 corresponding effect Effects 0.000 description 4
- 238000009825 accumulation Methods 0.000 description 2
- 238000004040 coloring Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000000155 melt Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
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Classifications
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0953—Predicting travel path or likelihood of collision the prediction being responsive to vehicle dynamic parameters
-
- 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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/06—Road conditions
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Traffic Control Systems (AREA)
Abstract
This application discloses the security protection system and method for a kind of automatic Pilot tool, sension unit is for acquiring automatic Pilot tool and condition of road surface perception data；First fusion treatment unit calculates condition of road surface characteristic information according to perception data；Second fusion treatment unit judges automatic Pilot tool driving safety distance is interior, and whether there are obstacles；The weighted value that weighted value setup unit sets the first fusion treatment cell processing result sets the weighted value of the second fusion treatment cell processing result to neutralize dynamic；The high result of decision package selection weighted value carries out traveling decision.The application is by carrying out different road conditions identifying processings to condition of road surface, set the decision that different weighted values is travelled, the weighted value of different disposal result corresponds to different decisions, two different road conditions identifying processings carry out mutually complementation, and baseline protection is carried out for automatic Pilot tool, it can be to avoid the security risk in road test and operation.
Description
Technical field
The present disclosure relates generally to automatic Pilot field more particularly to the security protection systems and method of automatic Pilot tool.
Background technique
As apparatus of transport develops to the direction of semi-automatic driving and automatic Pilot, safety is extremely important as one
Evaluation index, the operational safety of automatic Pilot apparatus of transport is the basic premise of all practical applications.Currently, automatic Pilot carries
A series of safety accident occurs in drive test for fortune tool.Prevent therefore, it is proposed to which automatic Pilot delivery vehicle needs to carry out safety
The idea of shield.
Summary of the invention
In view of drawbacks described above in the prior art or deficiency, it is intended to provide a kind of security protection system of automatic Pilot tool
And method.
In a first aspect, providing a kind of security protection system of automatic Pilot tool, comprising:
Sension unit, for acquiring automatic Pilot tool and condition of road surface perception data；
First fusion treatment unit, for receive the perception data of the sension unit and to the perception data at
Reason calculates condition of road surface characteristic information according to the perception data, and the condition of road surface characteristic information includes at least lane line
Information, mark information, traffic light information, pedestrian information and other information of vehicles；
Second fusion treatment unit, for receiving the perception data of the sension unit and judging the automatic Pilot tool
Driving safety distance is interior, and whether there are obstacles；
Weighted value setup unit, for setting the weighted value of the first fusion treatment cell processing result in；With it is dynamic
State sets the weighted value of the second fusion treatment cell processing result；
Decision package, for the first fusion treatment unit and the second fusion treatment cell processing result
Weighted value, the result for selecting weighted value high carry out traveling decision.
Second aspect provides a kind of safety protecting method of automatic Pilot tool, comprising steps of
S10: acquisition automatic Pilot tool and condition of road surface perception data；
S20: receiving the perception data and carries out the first fusion treatment to the perception data, according to the perception data
Condition of road surface characteristic information is calculated, the condition of road surface characteristic information refers to including at least lane line information, mark information, traffic
Show lamp information, pedestrian information and other information of vehicles；
S30: carrying out the second fusion treatment to the perception data, judges in the automatic Pilot tool driving safety distance
Whether there are obstacles；
S40: setting the weighted value of the first fusion treatment result in, and dynamic sets the weight of the second fusion treatment result
Value；
S50: comparing the weighted value of the first fusion treatment result and the weighted value of the second fusion treatment result, selects weighted value
High result carries out traveling decision.
According to technical solution provided by the embodiments of the present application, by carrying out different road conditions identifying processings to condition of road surface,
Different processing results sets different weighted values, according to the decision that different weighted values are travelled, the power of different disposal result
Weight values correspond to different decisions, and two different road conditions identifying processings carry out mutually complementation, and carry out for automatic Pilot tool
Baseline protection, can be to avoid the security risk in road test and operation.
Detailed description of the invention
By reading a detailed description of non-restrictive embodiments in the light of the attached drawings below, the application's is other
Feature, objects and advantages will become more apparent upon:
Fig. 1 is the security protection system structural schematic diagram of automatic Pilot tool in the embodiment of the present invention；
Fig. 2 is the safety protecting method flow chart of automatic Pilot tool in the embodiment of the present invention.
Specific embodiment
The application is described in further detail with reference to the accompanying drawings and examples.It is understood that this place is retouched
The specific embodiment stated is used only for explaining related invention, rather than the restriction to the invention.It also should be noted that in order to
Convenient for description, part relevant to invention is illustrated only in attached drawing.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
Referring to FIG. 1, the present embodiment provides a kind of security protection systems of automatic Pilot tool, comprising: sension unit is used
In acquisition automatic Pilot tool and condition of road surface perception data；
First fusion treatment unit, for receive the perception data of the sension unit and to the perception data at
Reason calculates condition of road surface characteristic information according to the perception data, and the condition of road surface characteristic information includes at least lane line
Information, mark information, traffic light information, pedestrian information and other information of vehicles；
Second fusion treatment unit, for receiving the perception data of the sension unit and judging the automatic Pilot tool
Driving safety distance is interior, and whether there are obstacles；
Weighted value setup unit, for setting the weighted value of the first fusion treatment cell processing result in；With it is dynamic
State sets the weighted value of the second fusion treatment cell processing result；
Decision package, for the first fusion treatment unit and the second fusion treatment cell processing result
Weighted value, the result for selecting weighted value high carry out traveling decision.
The acquisition of automatic Pilot tool and condition of road surface perception data is carried out in the present embodiment by sension unit, and
Different fusion treatments is carried out according to the perception data of acquisition, different fusion treatments can get different information, such as logical
The more detailed environmental data that is calculated that the first fusion treatment unit carries out detailed condition of road surface characteristic information is crossed, such as
Lane line information, mark information, traffic light information etc.；Second fusion treatment unit only carries out the identification of barrier, leads to
It crosses in the safe distance of algorithm identification setting either with or without geometry barrier, characteristic information and type to barrier etc. are careful
Information and without identification；
Above two data processing method is not identical, respectively by accurately identify with fuzzy diagnosis to perception data at
Reason is carried out the setting of weighted value by different processing modes, final traveling decision is carried out according to weighted value is compared, by upper
The mode of stating can carry out different road conditions identifying processings to condition of road surface, and different processing results sets different weighted values, root
According to the decision that different weighted values are travelled, the weighted value of different disposal result corresponds to different decisions, two different road conditions
Identifying processing carries out mutually complementation, and carries out baseline protection for automatic Pilot tool, can be to avoid in road test and fortune
Security risk in battalion.
Further, the weighted value that the dynamic sets the second fusion treatment unit specifically includes: if described automatic
Driving tool driving safety distance is interior to be not present barrier, then sets the weighted value of the second fusion treatment unit to be low；
If there are barriers apart from interior for the automatic Pilot tool driving safety, the second fusion treatment unit is set
Weighted value be height.
The second fusion treatment unit calculates perception data in the present embodiment, judges in safe distance with the presence or absence of barrier
Hinder object, wherein also needing setting of the weighted value setup unit to its processing result progress weighted value, the second fusion treatment unit
The weighted value of processing result be it is uncertain, according to barrier with the presence or absence of being determined, barrier, then set weight if it exists
Value is height, barrier if it does not exist, then sets weighted value to be low；I.e. when in safe distance there are when barrier then according to the obstacle
The presence of object carries out traveling decision, should consider barrier first at this time, carries out the strategy etc. that barrier is avoided.
Further, the perception data of the condition of road surface includes at least road image, road video and road laser point
Battle array；The automatic Pilot tool perception data includes at least current automatic Pilot tool velocity, current steering wheel angle；
The sension unit includes camera, laser radar, ultrasonic radar, positioning system, one in millimetre-wave radar
Kind is a variety of.
The perception data for obtaining condition of road surface in the present embodiment by sension unit, passes through the different disposal to perception data
Obtain the information of accurate condition of road surface characteristic information or barrier；Obtaining for road conditions is carried out using above-mentioned apparatus in the present embodiment
It takes, camera obtains road image, road video, and the information that laser radar and ultrasonic radar obtain road laser dot-matrix carries out
Subsequent processing etc..
Further, described to travel the steering and/or braking and/or acceleration that decision includes the automatic Pilot tool
And/or it blows a whistle and/or slows down.
Decision package in the present embodiment is determined according to the traveling that the height of calculated result weighted value carries out automatic Pilot tool
Plan, including allow automatic Pilot tool to accelerate perhaps to slow down or brake the barrier etc. for hiding front, such as believed according to road sign
The adjustment of the progress travel speed such as breath, traffic light information；Such as at the crossing for being equipped with traffic lights, according to traffic light
Colouring information determines that the automatic Pilot tool is to slow down to pass through or stop waiting etc.；It is real if having other vehicles in driving direction
When the distance and current vehicle speed according to front truck determine whether to need to slow down；It is real if having other pedestrians etc. in driving direction
When basis at a distance from pedestrian and current vehicle speed determine whether need slow down or emergency braking；Root in the process of moving
The traffic marks information such as mark information according to acquisition is adjusted travel speed, it is ensured that vehicle does not violate the traffic such as road speed limit
Rule.
Further, further includes: execution unit, for carrying out corresponding actions according to the traveling decision of the decision package.
It further include that execution unit executes corresponding work in the present embodiment, execution unit may include the operation of steering wheel,
The operation of throttle, operation and the operation of loudspeaker of brake etc..
Further, the security protection system further includes logging modle, at the second fusion treatment unit
When reason result weighted value is high, present road condition information is recorded and saved；
Counter, for being counted and being saved when the second fusion treatment cell processing result weighted value is high.
In the present embodiment when the weighted value of the second fusion treatment cell processing result is high, decision package melts according to second
The processing result for closing processing unit carries out decision, and current road condition information is recorded and protected by logging modle at this time
It deposits, in order to further analyze road condition information, system is improved and is optimized.
System in the present embodiment has stronger " personification " property, and with being continuously increased for data sample, energy Continuous optimization is determined
Plan algorithm, constantly close to really unmanned.But in feature information extraction failure, a possibility that there are traffic accidents,
There is larger security risk.And the path planning based on method of geometry, it can more effectively ensure the evacuation of barrier, can be used as
A kind of supplement and safe baseline protection of technology path.
This programme can under the premise of ensuring traffic safety actual operation apparatus of transport, pass through accumulation sample data side
Just the automatic Pilot behavior of delivery vehicle is continued to optimize.
A kind of safety protecting method of automatic Pilot tool is also provided with reference to Fig. 2, in the present embodiment, comprising steps of
S10: acquisition automatic Pilot tool and condition of road surface perception data；
S20: receiving perception data and carries out the first fusion treatment to the perception data, is calculated according to the perception data
Condition of road surface characteristic information out, the condition of road surface characteristic information include at least lane line information, mark information, traffic light
Information, pedestrian information and other information of vehicles；
S30: carrying out the second fusion treatment to the perception data, judges in the automatic Pilot tool driving safety distance
Whether there are obstacles；
S40: setting the weighted value of the first fusion treatment result in, and dynamic sets the weight of the second fusion treatment result
Value；
S50: comparing the weighted value of the first fusion treatment result and the weighted value of the second fusion treatment result, selects weighted value
High result carries out traveling decision.
The acquisition of automatic Pilot tool and condition of road surface perception data is carried out in the present embodiment by sension unit, and
Different fusion treatments is carried out according to the perception data of acquisition, different fusion treatments can get different information, such as logical
That crosses that the first fusion treatment carries out detailed condition of road surface characteristic information is calculated more detailed environmental data, such as lane
Line information, mark information, traffic light information etc.；Second fusion treatment only carries out the identification of barrier, is known by algorithm
Either with or without geometry barrier in the safe distance not set, the careful information such as characteristic information and type to barrier is simultaneously
Without identification；
Above two data processing method is not identical, respectively by accurately identify with fuzzy diagnosis to perception data at
Reason is carried out the setting of weighted value by different processing modes, final traveling decision is carried out according to weighted value is compared, by upper
The mode of stating can carry out different road conditions identifying processings to condition of road surface, and different processing results sets different weighted values, root
According to the decision that different weighted values are travelled, the weighted value of different disposal result corresponds to different decisions, two different road conditions
Identifying processing carries out mutually complementation, and carries out baseline protection for automatic Pilot tool, can be to avoid in road test and fortune
Security risk in battalion.
Further, the weighted value that the second fusion treatment result is dynamically set described in S40 specifically includes: if described automatic
Driving tool driving safety distance is interior to be not present barrier, then sets the weighted value of the second fusion treatment unit to be low；
If there are barriers apart from interior for the automatic Pilot tool driving safety, the second fusion treatment unit is set
Weighted value be height.
Judge that whether there are obstacles in automatic Pilot tool safe distance by the second fusion treatment in the present embodiment, when
There are when barrier, need to carry out urgent braking or the operations such as deceleration immediately at this time to carry out carry out barrier in safe distance
Evacuation, therefore, current operation is especially critical, need the result by the second fusion treatment to be set as high weighted value so that
Consider first when carrying out traveling decision the second fusion treatment as a result, guarantee the safety of automatic Pilot tool traveling
Property；If barrier is not present in safe distance, normally travel is carried out at this time, sets the result of the second fusion treatment as weighted value
It is low, the decision of normally travel is carried out according to condition of road surface characteristic information.
Further, the perception data of the condition of road surface includes at least road image, road video and road laser point
Battle array；The automatic Pilot tool perception data includes at least current automatic Pilot tool velocity, current steering wheel angle；
The perception data is in camera, laser radar, ultrasonic radar, positioning system, millimetre-wave radar
It is one or more.
The perception data for obtaining condition of road surface in the present embodiment by sension unit, passes through the different disposal to perception data
Obtain the information of accurate condition of road surface characteristic information or barrier；Obtaining for road conditions is carried out using above-mentioned apparatus in the present embodiment
It takes, camera obtains road image, road video, and the information that laser radar and ultrasonic radar obtain road laser dot-matrix carries out
Subsequent processing etc..
Further, described to travel the steering and/or braking and/or acceleration that decision includes the automatic Pilot tool
And/or it blows a whistle and/or slows down.
Decision package in the present embodiment is determined according to the traveling that the height of calculated result weighted value carries out automatic Pilot tool
Plan, including allow automatic Pilot tool to accelerate perhaps to slow down or brake the barrier etc. for hiding front, such as believed according to road sign
The adjustment of the progress travel speed such as breath, traffic light information；Such as at the crossing for being equipped with traffic lights, according to traffic light
Colouring information determines that the automatic Pilot tool is to slow down to pass through or stop waiting etc.；It is real if having other vehicles in driving direction
When the distance and current vehicle speed according to front truck determine whether to need to slow down；It is real if having other pedestrians etc. in driving direction
When basis at a distance from pedestrian and current vehicle speed determine whether need slow down or emergency braking；Root in the process of moving
The traffic marks information such as mark information according to acquisition is adjusted travel speed, it is ensured that vehicle does not violate the traffic such as road speed limit
Rule.
Further, further include S60: corresponding actions are carried out according to the traveling decision of the decision package.
It further include that execution unit executes corresponding work in the present embodiment, execution unit may include the operation of steering wheel,
The operation of throttle, operation and the operation of loudspeaker of brake etc..
Further, it further comprises the steps of: when the second fusion treatment result weighted value is high, to present road situation
Information is recorded and is saved, and is counted and saved.
The present embodiment is recorded and is saved to current road condition information by logging modle, in order to further right
Road condition information is analyzed, and is improved and is optimized to system.
This programme can under the premise of ensuring traffic safety actual operation apparatus of transport, pass through accumulation sample data side
Just the automatic Pilot behavior of delivery vehicle is continued to optimize.
Above description is only the preferred embodiment of the application and the explanation to institute's application technology principle.Those skilled in the art
Member is it should be appreciated that invention scope involved in the application, however it is not limited to technology made of the specific combination of above-mentioned technical characteristic
Scheme, while should also cover in the case where not departing from the inventive concept, it is carried out by above-mentioned technical characteristic or its equivalent feature
Any combination and the other technical solutions formed.Such as features described above has similar function with (but being not limited to) disclosed herein
Can technical characteristic replaced mutually and the technical solution that is formed.
Claims (10)
1. a kind of security protection system of automatic Pilot tool characterized by comprising
Sension unit, for acquiring automatic Pilot tool and condition of road surface perception data；
First fusion treatment unit, for receiving the perception data of the sension unit and handling the perception data,
Condition of road surface characteristic information is calculated according to the perception data, the condition of road surface characteristic information is believed including at least lane line
Breath, mark information, traffic light information, pedestrian information and other information of vehicles；
Second fusion treatment unit, for receiving the perception data of the sension unit and judging the automatic Pilot tool traveling
Whether there are obstacles in safe distance；
Weighted value setup unit, for setting the weighted value of the first fusion treatment cell processing result in；Dynamically set
The weighted value of the fixed second fusion treatment cell processing result；
Decision package, the weight for the first fusion treatment unit and the second fusion treatment cell processing result
Value, the result for selecting weighted value high carry out traveling decision.
2. the security protection system of automatic Pilot tool according to claim 1, which is characterized in that the dynamic sets institute
The weighted value for stating the second fusion treatment unit specifically includes: if automatic Pilot tool driving safety distance is interior to be not present obstacle
Object then sets the weighted value of the second fusion treatment unit to be low；
If there are barriers apart from interior for the automatic Pilot tool driving safety, the power of the second fusion treatment unit is set
Weight values are height.
3. the security protection system of automatic Pilot tool according to claim 1, which is characterized in that the condition of road surface
Perception data includes at least road image, road video and road laser dot-matrix；The automatic Pilot tool perception data is at least
Including current automatic Pilot tool velocity, current steering wheel angle；
The sension unit include one of camera, laser radar, ultrasonic radar, positioning system, millimetre-wave radar or
It is a variety of.
4. the security protection system of automatic Pilot tool according to claim 1 to 3, which is characterized in that the traveling
Decision includes the steering and/or braking and/or acceleration and/or whistle and/or deceleration of the automatic Pilot tool.
5. the security protection system of automatic Pilot tool according to claim 4, which is characterized in that the security protection system
System further includes logging modle, is used for when the second fusion treatment cell processing result weighted value is high, to present road shape
Condition information is recorded and is saved；
Counter, for being counted and being saved when the second fusion treatment cell processing result weighted value is high.
6. a kind of safety protecting method of automatic Pilot tool, which is characterized in that comprising steps of
S10: acquisition automatic Pilot tool and condition of road surface perception data；
S20: receiving the perception data and carries out the first fusion treatment to the perception data, is calculated according to the perception data
Condition of road surface characteristic information out, the condition of road surface characteristic information include at least lane line information, mark information, traffic light
Information, pedestrian information and other information of vehicles；
S30: carrying out the second fusion treatment to the perception data, judge automatic Pilot tool driving safety distance it is interior whether
There are barriers；
S40: setting the weighted value of the first fusion treatment result in, and dynamic sets the weighted value of the second fusion treatment result；
S50: comparing the weighted value of the first fusion treatment result and the weighted value of the second fusion treatment result, selects weighted value high
As a result traveling decision is carried out.
7. the safety protecting method of automatic Pilot tool according to claim 6, which is characterized in that dynamic described in S40
The weighted value for setting the second fusion treatment result specifically includes: if automatic Pilot tool driving safety distance is interior, there is no barriers
Hinder object, then sets the weighted value of the second fusion treatment unit to be low；
If there are barriers apart from interior for the automatic Pilot tool driving safety, the power of the second fusion treatment unit is set
Weight values are height.
8. the safety protecting method of automatic Pilot tool according to claim 6, which is characterized in that the condition of road surface
Perception data includes at least road image, road video and road laser dot-matrix；The automatic Pilot tool perception data is at least
Including current automatic Pilot tool velocity, current steering wheel angle；
The perception data derives from one of camera, laser radar, ultrasonic radar, positioning system, millimetre-wave radar
Or it is a variety of.
9. the safety protecting method of automatic Pilot tool according to claim 8, which is characterized in that the traveling decision package
Include the steering and/or braking and/or acceleration and/or whistle and/or deceleration of the automatic Pilot tool.
10. the safety protecting method of automatic Pilot tool according to claim 8, which is characterized in that further comprise the steps of:
When the second fusion treatment result weighted value is high, present road condition information is recorded and saved, and is counted
And preservation.
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| CN111137283A (en) * | 2019-12-27 | 2020-05-12 | 奇瑞汽车股份有限公司 | Sensor data fusion method and device, advanced driving assistance system and vehicle |
| CN111506076A (en) * | 2020-05-11 | 2020-08-07 | 张学志 | Automatic driving vehicle and system for mobile service |
| CN110362077B (en) * | 2019-07-03 | 2020-09-04 | 上海交通大学 | Unmanned vehicle emergency hedge decision making system, method and medium |
| CN111722617A (en) * | 2020-06-29 | 2020-09-29 | 史秋虹 | Automatic driving automobile performance judgment system and method based on big data |
| CN112540365A (en) * | 2020-12-10 | 2021-03-23 | 中国第一汽车股份有限公司 | Evaluation method, device, equipment and storage medium |
| CN112572430A (en) * | 2020-12-14 | 2021-03-30 | 深兰人工智能(深圳)有限公司 | Collision risk determination method and device |
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