CN109969176A - A kind of method and system of autonomous driving vehicle emergency braking control - Google Patents
A kind of method and system of autonomous driving vehicle emergency braking control Download PDFInfo
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- CN109969176A CN109969176A CN201910300150.7A CN201910300150A CN109969176A CN 109969176 A CN109969176 A CN 109969176A CN 201910300150 A CN201910300150 A CN 201910300150A CN 109969176 A CN109969176 A CN 109969176A
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- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000013461 design Methods 0.000 claims description 9
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- 230000004927 fusion Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 7
- 238000004364 calculation method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
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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
-
- 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
- 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
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Regulating Braking Force (AREA)
- Traffic Control Systems (AREA)
Abstract
The present invention provides a kind of methods of autonomous driving vehicle emergency braking control, belong to computer security technique and vehicle safety control field, comprising the following steps: S01: when encountering emergency, executing artificial emergency braking system；S02: it if being not carried out artificial emergency braking system, executes automatic Pilot and brakes avoidance operating system；S03: if being not carried out artificial emergency braking system, it is also not carried out automatic Pilot braking avoidance operating system, executes quick automatic emergency brake system.The present invention breaks down in automatic Pilot sensor, or will collide equal contingencies when, the automatic emergency braking module for enabling vehicle, prior to driver's natural reaction, it is automatic to carry out emergency braking control, assist automatic driving vehicle or driver to evade or mitigate accident bring adverse consequences in time.
Description
Technical field
The present invention relates to a kind of control methods of autonomous driving vehicle emergency braking, are specifically related to a kind of computer security
Technology and vehicle safety control method and system.
Background technique
One of greatest problem encountered in the development of autonomous driving vehicle is undoubtedly safety problem, current multiple automatic Pilots
In automobile actual motion, constantly generation quality accident, the safety accident occurred such as tesla's autonomous driving vehicle when road is run,
The safety accident etc. that Uber autonomous driving vehicle occurs in drive test, it is that autonomous driving vehicle is difficult to volume production that safety problem, which becomes,
Commercial obstacle.In order to solve this problem, autonomous driving vehicle has been all made of artificial adapter tube control at present, automobile automatically controls
Two kinds of emergency braking control methods drive function and rest on L3 stage (semi-automatic driving) state, are not entirely autonomous property
Automatic Pilot so that driver needs the operation for staring at vehicle that energy is more concentrated, this required for driver it is too high, it is right
For human driver, reaction speed average out to 0.84 second when encountering problems after training, and it is unbred for each person
Reaction time can reach 2 seconds, it is difficult to guarantees taking at any time when something goes wrong, it is prominent meeting even across professional training
After sending out the time, artificial adapter tube drive evade accident risk it is still very big, that automatic Pilot brings the convenience of people's material benefit also just
No longer exist.In addition autonomous driving vehicle has a large amount of sensor, also has powerful calculating power due to having function abundant
Central computation unit, meet various application demands, but appropriate, simple with modularization, the granularity in automotive safety design requirement
Type is variant, the often safety sacrificed while meeting power demand, and is also difficult to defining issue after there is accident
The reason of, so only the method for both emergency brakings control is obviously inadequate.
It is directed to such case, the invention proposes a kind of method of the emergency braking of autonomous driving vehicle control and is
System breaks down in automatic Pilot sensor, or will collide equal contingencies when, the automatic emergency braking for enabling vehicle
Module, it is automatic to carry out emergency braking control prior to driver's natural reaction, assist automatic driving vehicle or driver to advise in time
Keep away or mitigate accident bring adverse consequences.
Summary of the invention
The present invention provides a kind of Edge Computing Rack platform applied to autonomous driving vehicle, this platform melts
Orthodox car ECU software and hardware, and calculating, storage, network software and hardware to realize Function for Automatic Pilot are closed, by using integrated
Design, the mode of virtualization, meet the needs of autonomous driving vehicle basic calculation hardware.
The present invention provides a kind of methods of autonomous driving vehicle emergency braking control, comprising the following steps:
S01: when encountering emergency, executing artificial emergency braking system, the as former brake control for driving vehicle design
Measure is directly connected with vehicle control system, such as brake pedal or brake button；
S02: it if being not carried out artificial emergency braking system, executes automatic Pilot and brakes avoidance operating system, driven when automatically
The emergency perceived after automobile sensor fusion is sailed, so that the avoidance brake measure taken, passes through the vehicle sensory of fusion
Device includes but is not limited to laser radar, millimetre-wave radar, camera, GPS, IMU etc., is directly connected with central computation unit,
Central computation unit carries out sensor fusion, intelligent decision etc. and calculates, and is then passed to vehicle control system and is braked or kept away
Barrier；
S03: if being not carried out artificial emergency braking system, it is also not carried out automatic Pilot braking avoidance operating system, is held
Row agility automatic emergency brake system judges when quick automatic emergency brake system detects emergency without artificial urgent
Brake operating is also braked under avoidance operational circumstances without automatic Pilot, and quick automatic emergency brake system starts automatically, carries out vehicle
Emergency braking.
The present invention provides a kind of autonomous driving vehicle emergency braking control systems, comprising:
Artificial emergency braking system executes artificial emergency braking system when encountering emergency, and the as former vehicle that drives is set
The brake control measure of meter, are directly connected with vehicle control system, such as brake pedal and/or brake button；
Automatic Pilot brakes avoidance operating system, when encountering emergency, if being not carried out artificial emergency braking system,
It executes automatic Pilot and brakes avoidance operating system, the emergency perceived after the fusion of autonomous driving vehicle sensor, thus
The avoidance brake measure taken, the vehicle sensors by fusion include but is not limited to laser radar, millimetre-wave radar, camera shooting
Head, GPS, IMU etc., are directly connected with central computation unit, and central computation unit carries out the meter such as sensor fusion, intelligent decision
It calculates, is then passed to vehicle control system and carries out braking or avoidance；
Quick automatic emergency brake system, if being not carried out artificial emergency braking system, does not have when encountering emergency yet
Have and execute automatic Pilot braking avoidance operating system, quick automatic emergency brake system is executed, when quick automatic emergency brake system
When system detects emergency, judge without artificial emergency brake operations, is also braked under avoidance operational circumstances without automatic Pilot, it is quick
Automatic emergency brake system starts automatically, carries out emergency brake of vehicle, quick automatic emergency brake is individual system, in vehicle
The independent radar equipment with other sensing equipments of autonomous driving vehicle of front end installation, this radar equipment and quick automatic breaking system
It is connected, quick automatic breaking system is connected with vehicle control, when front of the car highlights barrier, and vehicle automatic Pilot avoidance
In the case that braking function fails action, this system starts automatically, carries out emergency brake of vehicle.
Method provided by the invention takes a part of general technology and methods, requirement and spy in conjunction with Automobile Design
Point proposes a kind of platform of innovation, this platform is able to solve the reliability of autonomous driving vehicle volume production application, safety is set
Meter requires, and safe and reliable trip tool is provided for people；The computing platform that automobile uses is the typical case case of edge calculations
Example, can be applied to be related to the multiple fields of edge calculations in this approach, will bring good economic benefit and social benefit, promote
Into the development of autonomous driving vehicle technology and industrialization.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is three-level emergency braking schematic diagram of the invention.
Fig. 2 is three-level emergency braking flow chart of the invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments, based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
As shown in Figs. 1-2, the present invention provides a kind of systems of autonomous driving vehicle emergency braking control, evade to meet
Or mitigate the burst accident being likely to occur in autonomous driving vehicle operational process, it breaks down in automatic Pilot sensor, or i.e.
To collide equal contingencies when, the automatic quick automatic emergency brake system for enabling vehicle, prior to driver's natural reaction,
It is automatic to carry out emergency braking control, assist automatic driving vehicle or driver evade in time or mitigate accident bring it is bad after
Fruit.The method takes sensor, the simple control unit (quick automatic breaking system) that part is not influenced by Changes in weather, knot
The requirement and feature of Automobile Design are closed, three-level emergency braking measure is mainly based upon artificial emergency braking system, automatic Pilot is kept away
Barrier braking system increases a kind of quick automatic emergency brake system, the method can be applied to be related to autonomous driving vehicle, nobody
The multiple fields such as machine, robot.
A kind of method of autonomous driving vehicle emergency braking control refers to the three-level emergency braking measure of use, according to priority
Sequence is respectively as follows: artificial emergency braking system, quick automatic emergency brake system and automatic Pilot avoidance braking system three-level.
When encountering emergency, emergency braking can be artificially carried out, implementation is the brake control of former vehicle design
Measure is directly connected with vehicle control system, such as brake pedal or brake button.
When quick automatic emergency brake system detects emergency, judge without artificial emergency brake operations, also without certainly
Dynamic to drive under braking avoidance operational circumstances, quick automatic emergency brake system starts automatically, carries out emergency brake of vehicle.
The emergency perceived after the fusion of autonomous driving vehicle sensor, so that the avoidance brake measure taken, leads to
The vehicle sensors for crossing fusion include but is not limited to laser radar, millimetre-wave radar, camera, GPS, IMU etc., directly with center
Computing unit is connected, and central computation unit carries out sensor fusion, intelligent decision etc. and calculates, and is then passed to vehicle control system
System carries out braking or avoidance.
In conclusion each embodiment of the present invention at least may be implemented it is following the utility model has the advantages that
1, the present invention advises to meet autonomous driving vehicle to traditional ECU and the fused vehicle-mounted vehicle of IT underlying hardware at this stage
It is required that this fusion of platforms passes the invention proposes a kind of Edge ComputingRack platform applied to autonomous driving vehicle
System automobile ECU software and hardware, and be calculating, the storage, network software and hardware for realizing Function for Automatic Pilot, it is set by using integrated
Meter, the mode virtualized, meet the needs of autonomous driving vehicle basic calculation hardware.
2, a kind of Edge Computing Rack platform applied to autonomous driving vehicle provided by the invention, refers to and is based on
The mode of conditional electronic control unit, intelligence computation framework and virtualization, the Edge being fused in autonomous driving vehicle
Computing Rack platform, facilitates centrally connected power supply.
3, this invention takes general technology and methods proposes a kind of wound in conjunction with the requirement and feature of Automobile Design
New platform, this platform are able to solve the reliability of autonomous driving vehicle volume production application, the design requirement of safety, mention for people
For safe and reliable trip tool, the computing platform that automobile uses for the typical case case of edge calculations, in this approach may be used by institute
Applied to the multiple fields of edge calculations are related to, good economic benefit and social benefit are brought, promotes autonomous driving vehicle skill
Art development and industrialization.
Finally, it should be noted that the foregoing is merely presently preferred embodiments of the present invention, it is merely to illustrate skill of the invention
Art scheme, is not intended to limit the scope of the present invention.Any modification for being made all within the spirits and principles of the present invention,
Equivalent replacement, improvement etc., are included within the scope of protection of the present invention.
Claims (10)
1. a kind of method of autonomous driving vehicle emergency braking control, which comprises the following steps:
S01: when encountering emergency, artificial emergency braking is executed；
S02: if being not carried out artificial emergency braking, automatic Pilot braking avoidance operation is executed；
S03: if being not carried out artificial emergency braking, it is also not carried out automatic Pilot braking avoidance operation, is executed quick automatic tight
Anxious braking.
2. a kind of method of autonomous driving vehicle emergency braking control according to claim 1, which is characterized in that the people
Refer to the former vehicle self-carrying brake modes artificially controlled for emergency braking.
3. a kind of method of autonomous driving vehicle emergency braking control according to claim 1, which is characterized in that it is described from
Dynamic driving braking avoidance operation refers to central computation unit receiving sensor information, carries out intelligent decision calculating, is then made
Dynamic or avoidance.
4. a kind of method of autonomous driving vehicle emergency braking control according to claim 3, which is characterized in that sensor
Including laser radar, millimetre-wave radar, camera, GPS, IMU.
5. a kind of method of autonomous driving vehicle emergency braking control according to claim 1, which is characterized in that described quick
Prompt automatic emergency brake is individual mode of operation, in front of the car installation independently of autonomous driving vehicle other sensing equipments
Radar equipment, central computation unit receive radar equipment information, carry out intelligent decision calculating, then carry out braking or avoidance.
6. a kind of autonomous driving vehicle emergency braking control system characterized by comprising
1) artificial emergency braking system, 2) automatic Pilot braking avoidance operating system, 3) agility automatic emergency brake system,
In,
1) artificial emergency braking system when emergency, realizes emergency braking brake, avoids dangerous generation；
2) automatic Pilot brakes avoidance operating system, and when emergency, artificial emergency braking system is not carried out emergency braking brake
Vehicle, autonomous driving vehicle sensor perceive emergency after receiving information, and the avoidance brake measure taken avoids dangerous hair
It is raw；
3) quick automatic emergency brake system, when emergency, artificial emergency braking system is not carried out emergency braking brake, from
The dynamic braking avoidance operating system that drives is not carried out emergency braking brake, and the agility automatic emergency brake system realizes car
Anxious braking, avoids dangerous generation.
7. a kind of autonomous driving vehicle emergency braking control system according to claim 6, which is characterized in that described artificial
Emergency braking system is directly connect with vehicle, for the former braking control device for driving vehicle design.
8. a kind of autonomous driving vehicle emergency braking control system according to claim 6, which is characterized in that described automatic
It drives braking avoidance operating system to be connected with central computation unit, central computation unit receiving sensor information carries out intelligence
Decision calculates, and then carries out braking or avoidance.
9. a kind of method of autonomous driving vehicle emergency braking control according to claim 8, which is characterized in that vehicle passes
Sensor includes laser radar, millimetre-wave radar, camera, GPS, IMU.
10. a kind of autonomous driving vehicle emergency braking control system according to claim 6, which is characterized in that described quick
Prompt automatic emergency brake system is individual system, in front of the car installation independently of autonomous driving vehicle other sensing equipments
Radar equipment, the radar equipment are connected with quick automatic breaking system, and quick automatic breaking system is connected with vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910300150.7A CN109969176A (en) | 2019-04-15 | 2019-04-15 | A kind of method and system of autonomous driving vehicle emergency braking control |
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| CN201910300150.7A CN109969176A (en) | 2019-04-15 | 2019-04-15 | A kind of method and system of autonomous driving vehicle emergency braking control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110949377A (en) * | 2019-12-18 | 2020-04-03 | 成都坦途智行科技有限公司 | Emergency stop judging method and system for low-speed unmanned vehicle |
| CN113401100A (en) * | 2021-07-28 | 2021-09-17 | 奇瑞汽车股份有限公司 | Vehicle braking method and device |
| CN113771877A (en) * | 2021-09-14 | 2021-12-10 | 广州文远知行科技有限公司 | Automatic driving-based brake control method, device, equipment and storage medium |
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| CN110949377A (en) * | 2019-12-18 | 2020-04-03 | 成都坦途智行科技有限公司 | Emergency stop judging method and system for low-speed unmanned vehicle |
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