CN110136295A - System and method for detecting the confidence level of automatic Pilot - Google Patents
System and method for detecting the confidence level of automatic Pilot Download PDFInfo
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- CN110136295A CN110136295A CN201810134570.8A CN201810134570A CN110136295A CN 110136295 A CN110136295 A CN 110136295A CN 201810134570 A CN201810134570 A CN 201810134570A CN 110136295 A CN110136295 A CN 110136295A
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- 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
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Abstract
The embodiment of the present disclosure is related to system, method, medium and the electronic equipment of the confidence level for detecting automatic Pilot, which includes environment and vehicle monitoring module, is set as obtaining environment and information of vehicles；Confidence level computing module is set as calculating the confidence value of the automatic Pilot of vehicle according to the environment and information of vehicles；And confidence level output module, it is set as determining the confidence levels of automatic Pilot according to the confidence value of the automatic Pilot.The system and method for the disclosure pass through indirect monitoring component relevant to automated driving system and vehicle-state, objectively judge the control confidence level of automated driving system, trouble free service of the vehicle under automatic driving mode can not only be effectively ensured, and driver can be reminded to intervene in time, the use automated driving system for trusting driver or passenger more.
Description
Technical field
This disclosure relates to automotive field, in particular to for detect the system, method, medium of the confidence level of automatic Pilot with
And electronic equipment.
Background technique
Automated driving system is rapidly developed in recent years.Automated driving system is based on using sensing the control of vehicle
Device sensing external environment controls vehicle automatic running on planning road according to driving requirements.But due to current automatic Pilot
System is not mature enough, and driver or passenger is caused not enough to trust system, so that can not when using automated driving system
Mitigate the tensity of driver or passenger, driver or passenger need to be always maintained at hig diligence, can not loosen.This shape
State makes driver or passenger be unwilling using automated driving system.
Therefore, it is necessary to obtain driver or passenger more about the information of automated driving system, understands them and work as
The state of preceding automated driving system, automated driving system safe to use.
It should be noted that information is only used for reinforcing the reason to the background of the disclosure disclosed in above-mentioned background technology part
Solution, therefore may include the information not constituted to the prior art known to persons of ordinary skill in the art.
Summary of the invention
In view of the defect of the above-mentioned prior art, the disclosure proposes the concept of the confidence levels of automated driving system, so that
Driver and passenger can more relievedly use automated driving system according to the confidence levels of automated driving system.
According to the one side of the disclosure, a kind of system for detecting the confidence level of automatic Pilot is proposed, comprising:
Environment and vehicle monitoring module are set as obtaining environment and information of vehicles；
Confidence level computing module is set as calculating the confidence level of the automatic Pilot of vehicle according to the environment and information of vehicles
Value；
Confidence level output module is set as determining the confidence level grade of automatic Pilot according to the confidence value of the automatic Pilot
Not.
In accordance with an embodiment of the present disclosure, the environment and vehicle monitoring module include:
External environment monitors submodule, is set as obtaining the external environmental information of vehicle；
Automated driving system monitors submodule, is set as obtaining the automated driving system status information of vehicle；
Driving posture monitors submodule, is set as obtaining the driving posture information of vehicle；And
Control system monitors submodule, is set as obtaining the status information of the control system of vehicle.
In accordance with an embodiment of the present disclosure, the confidence level computing module includes computational submodule, which is based on
Bayesian network and/or artificial neural network generate the confidence value of automatic Pilot.
In accordance with an embodiment of the present disclosure, the confidence level computing module includes computational submodule, which is based on
The confidence value of probability statistics algorithm generation automatic Pilot.
In accordance with an embodiment of the present disclosure, the confidence level computing module includes weighting block, which is set as
Before the confidence value for generating automatic Pilot, processing is weighted to the environment and information of vehicles.
In accordance with an embodiment of the present disclosure, the confidence level output module is according to the confidence value and confidence levels threshold value
Comparison determine the confidence levels.
In accordance with an embodiment of the present disclosure, the automated driving system status information includes the perception sensing of automated driving system
The state and performance information of device.
In accordance with an embodiment of the present disclosure, the vehicle driving posture information includes speed, yaw angle, acceleration, car light shape
At least one of state.
In accordance with an embodiment of the present disclosure, the control system status information includes the steering system state of vehicle, dynamical system
At least one of system state and brake system state.
In accordance with an embodiment of the present disclosure, the system also includes:
Reminding module, be set as according to the confidence level output module export confidence levels remind driver and/or
Passenger.
According to another aspect of the present disclosure, a kind of method for detecting the confidence level of automatic Pilot is proposed, comprising:
Obtain environment and information of vehicles；
The confidence value of the automatic Pilot of vehicle is calculated according to the environment and information of vehicles；And
The confidence levels of automatic Pilot are determined according to the confidence value of the automatic Pilot.
In accordance with an embodiment of the present disclosure, it obtains environment and information of vehicles includes:
Obtain the external environmental information of vehicle；
Obtain the automated driving system status information of vehicle；
Obtain the driving posture information of vehicle；And
Obtain the status information of the control system of vehicle.
In accordance with an embodiment of the present disclosure, the confidence value of the automatic Pilot of vehicle is calculated according to the environment and information of vehicles
Include:
The confidence value of automatic Pilot is generated based on Bayesian network and/or artificial neural network.
In accordance with an embodiment of the present disclosure, the confidence value of the automatic Pilot of vehicle is calculated according to the environment and information of vehicles
Include:
The confidence value of automatic Pilot is generated based on probability statistics algorithm.
In accordance with an embodiment of the present disclosure, before the confidence value for calculating automatic Pilot, to the environment and information of vehicles
It is weighted processing.
In accordance with an embodiment of the present disclosure, the confidence levels of automatic Pilot are determined according to the confidence value of the automatic Pilot
Include:
The confidence levels are determined compared with confidence levels threshold value according to the confidence value.
In accordance with an embodiment of the present disclosure, this method further includes the confidence levels exported according to the confidence level output module
Remind driver and/or passenger.
According to the another aspect of the disclosure, proposes a kind of computer readable storage medium, is stored thereon with computer program,
The computer program includes executable instruction, when the executable instruction is executed by processor, implements method as described above.
According to the another further aspect of the disclosure, a kind of electronic equipment is proposed, comprising:
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is arranged to carry out the executable instruction to implement method as described above.
System and method according to an embodiment of the present disclosure for detecting the confidence level of automatic Pilot, as automatic Pilot
One ancillary technique of system, it is relevant to automated driving system by detecting indirectly relatively for tradition automated driving system
Component, environment and vehicle-state objectively judge the control confidence level of automated driving system, and vehicle can not only be effectively ensured certainly
Trouble free service under dynamic driving mode, and driver can be reminded to intervene in time, the use for trusting driver or passenger more is certainly
Dynamic control loop.
It should be understood that above general description and following detailed description be only it is exemplary and explanatory, not
The disclosure can be limited.
Detailed description of the invention
Its exemplary embodiment is described in detail by referring to accompanying drawing, the above and other feature and advantage of the disclosure will become
It is more obvious.
Fig. 1 is the schematic block according to the system of the confidence level for detecting automatic Pilot of one embodiment of the disclosure
Figure；
Fig. 2 is the environment and vehicle according to the system of the confidence level for detecting automatic Pilot of one embodiment of the disclosure
The schematic block diagram of monitoring modular；
Fig. 3 is based on the confidence level according to the system of the confidence level by detecting automatic Pilot of one embodiment of the disclosure
Calculate the schematic block diagram of module；
Fig. 4 is based on the confidence level according to the system of the confidence level by detecting automatic Pilot of one embodiment of the disclosure
Calculate the schematic block diagram of module；
Fig. 5 is the schematic block according to the system of the confidence level for detecting automatic Pilot of one embodiment of the disclosure
Figure；
Fig. 6 is the exemplary flow according to the method for the confidence level for detecting automatic Pilot of one embodiment of the disclosure
Figure；
Fig. 7 is to obtain environment in method according to the confidence level for detecting automatic Pilot of one embodiment of the disclosure
With the schematic flow diagram of information of vehicles；
Fig. 8 is the calculating vehicle according to the method for the confidence level for detecting automatic Pilot of one embodiment of the disclosure
Automatic Pilot confidence value schematic flow diagram；
Fig. 9 is automatic according to the determination of the method for the confidence level for detecting automatic Pilot of one embodiment of the disclosure
The schematic flow diagram of the confidence levels of driving；
Figure 10 is the signal stream according to the method for the confidence level for detecting automatic Pilot of one embodiment of the disclosure
Cheng Tu；
Figure 11 is showing according to the method for the confidence level for detecting automatic Pilot in another embodiment of the disclosure
Meaning flow chart；
Figure 12 is the electronic equipment according to the method for the confidence level for examinations automatic Pilot of the embodiment of the present disclosure
Schematic block diagram.
Specific embodiment
Exemplary embodiment is described more fully with reference to the drawings.However, exemplary embodiment can be with a variety of shapes
Formula is implemented, and is not understood as limited to embodiment set forth herein；On the contrary, thesing embodiments are provided so that the disclosure will
Fully and completely, and by the design of exemplary embodiment comprehensively it is communicated to those skilled in the art.In the figure in order to clear
It is clear, the size of subelement may be exaggerated or deformed.Identical appended drawing reference indicates same or similar knot in figure
Structure, thus the detailed description that them will be omitted.
In addition, described feature, structure or characteristic can be incorporated in one or more implementations in any suitable manner
In example.In the following description, many details are provided to provide and fully understand to embodiment of the disclosure.However,
It will be appreciated by persons skilled in the art that can be with technical solution of the disclosure without one in the specific detail or more
It is more, or can be using other methods, element etc..In other cases, be not shown in detail or describe known features, method or
Person operates to avoid fuzzy all aspects of this disclosure.
For automated driving system used in vehicle, since automated driving system will take over driver to the longitudinal direction of vehicle
And crosswise joint, and current automatic Pilot technology can't 100% guarantee reliability and complete reply special screne ability.Needle
Automatic Pilot is calculated by the outer environment state and vehicle-state of real-time monitoring vehicle to this situation embodiment of the disclosure
The confidence value of system current control state, and the confidence value is converted into confidence levels, it is timely according to confidence levels
Driver or passenger are reminded, the use automated driving system more trusted is made it.
External environment according to the confidence levels of the automated driving system of the embodiment of the present disclosure based on vehicle, with drive automatically
Sail the relevant sensor states of system and state, the driving posture of vehicle, vehicle behaviour of automated driving system that performance is characterized
The vehicle itself that control system mode is characterized judges the responding ability of the control of automated driving system indirectly.Confidence value
Confidence network integration probability statistics algorithm can be used in calculating.The determination of confidence levels can by the confidence value that is calculated with
Preset corresponding confidence levels threshold value.
The system that Fig. 1 shows the confidence level for detecting automatic Pilot of one embodiment according to the disclosure.
The system includes environment and vehicle monitoring module 100, confidence level computing module 200 and confidence level output module 300.
Wherein, environment and vehicle monitoring module 100 are set as obtaining environment and information of vehicles, the environment and information of vehicles tool
Body includes: the external environmental information of vehicle, the automated driving system status information of vehicle, the driving posture information of vehicle and vehicle
Control system status information.
The environment and information of vehicles that confidence level computing module 200 is exported according to environment and vehicle monitoring module 100 calculate vehicle
Automatic Pilot confidence value.Confidence level computing module 200 includes confidence network, for carrying out environment and information of vehicles
Macro or mass analysis obtains the confidence value of current automated driving system control.
Confidence level computing module 200 can be credible based on one of Bayesian network and artificial neural network or a variety of calculating
Angle value can also calculate confidence value based on probability statistics algorithm.In some embodiments of the present disclosure, it is normal vehicle can be acquired
Environment and vehicle information data when driving are trained to be formed Bayesian network or artificial neural network using the data
Comparison database.It is carried out by the data stored in the current environment and car status information data and comparison database that will acquire
Comparison calculates confidence value according to matching degree.
In accordance with an embodiment of the present disclosure, confidence value can be specific value, percent value, or two with instruction meaning
System number or character string etc..
Confidence level output module 300 determines the confidence levels of automatic Pilot according to the confidence value of automatic Pilot.
Confidence levels can be using percentage or the green color grading of reddish yellow.For example, using percents classification
Confidence levels can indicate that the confidence level of current automated driving system is 100%, i.e. the automated driving system is completely credible；
50% confidence level indicates that automated driving system has 50% possibility to complete task at present；And 10% hereinafter, even 0% it is credible
Degree indicates that current automated driving system is very insincere or completely insincere so that it cannot ensure to complete wanting for automatic Pilot
It asks.According to actual needs, different credibilities can also be set to the percent value of different numerical value.For driver or multiply
Member, also there is different understanding to the percent value.
It in accordance with an embodiment of the present disclosure, can also be using the confidence levels of such as color grading form of reddish yellow indigo plant to driving
The person of sailing or occupant provide the credibility of automated driving system.For example, green indicates that current automated driving system can complete it
Set-up function, credibility are very high；Yellow indicates that automated driving system is generally possible to complete its set-up function or its achievable base
This function, credibility be not high but still available；And red then indicates that Function for Automatic Pilot is insincere, needs driver or occupant
Manual manipulation vehicle is caused to lose control of one's vehicle to avoid due to Function for Automatic Pilot failure.
Conversion from confidence value to confidence levels is needed by confidence value compared with confidence levels threshold value, really
Surely confidence levels belonging to the confidence value being computed.
For example, if confidence value is percent value, can set the confidence levels threshold value of insincere rank as
15%, the confidence levels threshold value of confidence levels is 60%.It is credible lower than insincere rank when confidence value is 5%
Level threshold is spent, then the confidence level of current automatic Pilot is insincere；When confidence value is 90%, it is higher than confidence levels
Confidence levels threshold value, then current credibility be it is very credible.If user receives the confidence value of percent value expression, can
Directly to use the confidence value in the form of the percent value as confidence levels.Further, it is possible to different confidence levels
Using color grading convenient for user's observation.As escribed above 90% very can credit green indicate, 5% can not credit it is red
It indicates, and the confidence level between 10%-60% is indicated with yellow.
For another example if confidence value is the numerical value of 0-100, it can be by the conversion of confidence level output module 300, it will
The numerical value conversion is more intuitive for the confidence levels of percent value or RGB color grading form.20 and 60 difference can be set
As insincere to credible, the credible confidence levels threshold value between very credible.As needed, can also be arranged thinner
It divides, confidence levels threshold value can also adjust accordingly.The confidence value that numerical value is 0 can also be separately presented as completely
Incredible confidence levels indicate that automated driving system catastrophe failure or present case occurs completely and do not allow using driving automatically
Sail function.
Referring to fig. 2, in accordance with an embodiment of the present disclosure, environment and vehicle monitoring module 100 include that external environment monitors submodule
Block 110, automated driving system monitoring submodule 120, driving posture monitoring submodule 130 and control system monitor submodule 140.
External environment monitors the external rings that submodule 110 obtains vehicle by the external elements of sensor detected vehicle
Border information.For example, external environment, which monitors submodule 110, detects whether rainfall size of raining and correspond to by precipitation rain fall sensor, lead to
Light sensor detection light intensity is crossed to judging current illumination condition, or even judges that current time is daytime or black
Night, or currently whether snowed and snowfall size by the judgement of snowfall sensor.The detection data of various sensors can be
Variate-value, such as the bi-values of true (true) false (false), character string or error code.External environment monitors submodule 110 also
Detection data based on various sensors generates the external environmental information of vehicle.The external environmental information can be by several sensors
The detection data composition array or synthesis external environmental information value Jing Guo primary Calculation.In particular, being removed for sensor fault
It uses the fault flag as the data in external environmental information, can also be indicated using numerical value.For example, the inspection of precipitation rain fall sensor
In measured data, 0 expression rainfall is more than the upper limit so that precipitation rain fall sensor can not work or be unable to complete Function for Automatic Pilot, and 1
Indicate that rainfall will affect greatly automatic Pilot, less so as to will not impact to automatic Pilot, 3 expression rainfall are 2 expression rainfall
0, that is, it does not rain.Similarly, external environment monitors other sensors in submodule 110 and the sensor being described below all
It can be exported using similar sensing data.
Automated driving system monitors submodule 120 and monitors detecting sensor relevant to automated driving system to obtain vehicle
Automated driving system status information.Detecting sensor relevant to automatic Pilot for example including visual sensor, ultrasonic sensor,
Radar sensor, laser sensor, radar laser sensor etc..Monitoring to detecting sensor includes the sense for automatic Pilot
Know the state and performance information of sensor, wherein state includes normal operation, standby and failure etc., and performance includes detectability
Deng.For example, whether working properly need to monitor visual sensor for visual sensor, and when working properly its to vehicle
The ability of diatom and target detection；It wherein may include lane line color, the width, quantity of detection for the detectability of lane line
With the bending degree of lane line etc..For another example whether working properly needing to detect it, and work is just for radar sensor
To the detectability etc. of barrier when often；It wherein may include maximum distance, the minimum obstacle of detection to the detectability of barrier
Object size, detection resolution and response time etc..
Equally, the detection data for the various sensors that automated driving system monitoring submodule 120 obtains can be and outside
The similar variate-value of environmental monitoring submodule 110, such as true and false bi-values, character string or error code, can also be based on each
The detection data of kind sensor generates the vehicle of the array formed with sensor detection data or the comprehensive state information being computed
Automated driving system status information.
Driving posture monitors submodule 130 by the attitude data of sensor real-time monitoring vehicle in motion to obtain vehicle
Driving posture information.The driving posture of vehicle includes speed, yaw angle, acceleration, can also include the car light shape of vehicle
State.The driving posture of vehicle characterizes the current dynamical state of vehicle, and which defines automated driving systems can be by changing vehicle
Traveling setting drives the limitation range allowed of vehicle.For example, oneself of vehicle may not be allowed if current vehicle speed is very fast
Dynamic control loop carries out excessively fierce control mode and changes vehicle driving setting, because this may cause driver and passenger not
The suitable stabilization for even influencing vehicle.It is current by vehicle speed sensor, sideway angle transducer, the available vehicle of acceleration transducer
Driving posture, and car light interlock circuit can provide the information whether normally lighted about the car light of vehicle.Equally, appearance is travelled
The detection data for the various sensors that state monitoring submodule 130 obtains can be similar with external environment monitoring submodule 110
Variate-value, such as true and false bi-values, character string or error code, can also based on the detection data of various sensors generate with
The automated driving system status information of the vehicle of the array or comprehensive state information being computed of sensor detection data composition.
Control system monitors submodule 140 by the actuator state of detection vehicle, and real-time monitoring wheel steering system moves
Force system and brake system and obtain vehicle control system status information.Steering system, dynamical system and the brake of vehicle
The respective state of system also defines the range that automated driving system can be allowed by changing vehicle driving.For example, working as
When being short of power to allow vehicle to carry out fast reserve of vehicle in front, automated driving system will not pass through fast reserve and complete phase
Answer function.Equally, the detection data for the various sensors that control system monitoring submodule 140 obtains can be supervises with external environment
It surveys the similar variate-value of submodule 110, such as true and false bi-values, character string or error code, various sensings can also be based on
The detection data of device generates the automatic of the vehicle of the array formed with sensor detection data or the comprehensive state information being computed
Control loop status information.
Referring to Fig. 3, the structure of the confidence level computing module 200 according to the embodiment of the present disclosure is shown.
Confidence level computing module 200 may include computational submodule 220, for completing based on Bayesian network and/or manually
Neural network, or the function of the confidence value based on probability statistics algorithm generation automatic Pilot.From environment and vehicle monitoring mould
External environment monitoring submodule 110, automated driving system monitoring submodule 120 in block 100, driving posture monitor submodule
130, control system monitoring submodule 140 in each submodule obtain with numerical value/variate-value, bi-values, character string, failure
Code, array or the comprehensive state information being computed are calculated by above-mentioned Bayesian network and/or artificial neural network, probability statistics
One of method or it is a variety of consider effect of the various parameters to the automated driving system of vehicle respectively, calculate automatic Pilot can
Certainty value.
The confidence level computing module 200 of embodiment of the disclosure shown in Fig. 4, further includes weighting block 210, by based on
Before operator module 220 carries out the calculating of confidence value, submodule is monitored to the external environment in environment and vehicle monitoring module 100
Block 110, automated driving system monitoring submodule 120, driving posture monitoring submodule 130, control system monitor in submodule 140
Each submodule obtain with numerical value/variate-value, bi-values, character string, error code, array or be computed comprehensive state letter
It ceases the environment indicated and information of vehicles is weighted processing, based on presetting or can be assigned respectively by user to different parameters
The weighted value for giving different weighted factors adjusts contribution of each information parameter to confidence value is calculated.For example, current external ring
Border information causes very big influence to the confidence level of the automated driving system of vehicle, then can be by increasing in weighting block with outside
Environmental information corresponding weight in portion's amplifies contribution of the information parameter to confidence value.Weighted value setting can be in automatic Pilot system
System factory before it is preset, can constantly update, learn and adjust in vehicle use, can also by vehicle user according to oneself
Demand and experience setting.When changing weighted value, need to meet the Minimum requirements of automatic Pilot, such as cannot be beyond traveling peace
Full regulation.
Fig. 5 shows another system for detecting the confidence level of automatic Pilot according to an embodiment of the present disclosure.Compared to Fig. 1
Embodiment, the system increases reminding module 400, the confidence levels for being exported according to confidence level output module 300 are mentioned
Awake driver/passenger.For different confidence levels, driver or passenger can be reminded to carry out different operations.Driver
Or passenger can be reminded based on confidence levels and carry out corresponding operating, or the suggestion for operation choosing provided referring to reminding module 400
Select corresponding operation.
System according to an embodiment of the present disclosure for detecting the confidence level of automatic Pilot, as automated driving system
One ancillary technique not only monitors the component directly related with automatic Pilot, the especially information of sensor element, Er Qiejian
Survey the vehicle driving appearance that may be influenced the external environmental information of automated driving system and will limit the function of automated driving system
The information of state and control system provides accurate confidence levels information to driver or passenger.
For relatively traditional automated driving system, system according to an embodiment of the present disclosure passes through indirect monitoring and drives automatically
The relevant component of system and vehicle-state are sailed, the control confidence level of automated driving system is objectively judged, can not only be effectively ensured
Trouble free service of the vehicle under automatic driving mode, and driver can be reminded to intervene in time, trust driver or passenger more
Use automated driving system.
The method that Fig. 6 shows the confidence level for detecting automatic Pilot according to the embodiment of the present disclosure.Here, with above
The confidence level for detecting automatic Pilot system in the similar part of detail hereinafter will not be repeated again.
Method as shown in FIG. 6 includes the following steps:
S100: environment and information of vehicles are obtained；
S200: the confidence value of the automatic Pilot of vehicle is calculated according to environment and information of vehicles；And
S300: the confidence levels of automatic Pilot are determined according to the confidence value of automatic Pilot.
Fig. 7 shows the acquisition environment and information of vehicles step of method according to an embodiment of the present disclosure.
Wherein, step S100 further comprises following sub-step:
S110: the external environmental information of vehicle is obtained；
S120: the automated driving system status information of vehicle is obtained；
S130: the driving posture information of vehicle is obtained；And
S140: the status information of the control system of vehicle is obtained.
Referring to Fig. 8, in accordance with an embodiment of the present disclosure, include: in step S200
S221: the confidence value of automatic Pilot is generated based on Bayesian network and/or artificial neural network；And/or
S222: the confidence value of automatic Pilot is generated based on probability statistics algorithm.
In some embodiments, in step S200 before S221 and S222, there is also steps:
S210: before the confidence value for calculating automatic Pilot, processing is weighted to environment and information of vehicles.
Fig. 9 then shows the details of the step S300 according to the embodiment of the present disclosure.Wherein S300 includes:
S310: confidence levels are determined compared with confidence levels threshold value according to confidence value.
In accordance with an embodiment of the present disclosure, the method for the confidence level for detecting automatic Pilot further includes as shown in Figure 10
Step S400: driver and/or passenger are reminded according to the confidence levels of confidence level output module output.
Figure 11 shows the method for the confidence level for monitoring automatic Pilot of another embodiment of the disclosure.
After system for detecting the confidence level of automatic Pilot brings into operation, in the step s 100, environment and vehicle are obtained
Information.In accordance with an embodiment of the present disclosure, step S100 is specifically included:
S110: the external environmental information of vehicle is obtained；
S120: the automated driving system status information of vehicle is obtained；
S130: the driving posture information of vehicle is obtained；And
S140: the status information of the control system of vehicle is obtained.
The external elements that step S110 monitors vehicle by sensor and are sentenced with obtaining the external environmental information of vehicle
Whether disconnected external environmental information meets the condition of automatic Pilot.If meeting the condition of automatic Pilot, by the detection of sensor
The external environmental information that data form vehicle is supplied to next step S200.If being unsatisfactory for the condition of automatic Pilot, export
Insincere state.For example, the confidence value value of insincere state is 0.
Step S120 is by the state and performance of monitoring detecting sensor relevant to automated driving system to obtain vehicle
Automated driving system status information, and judge whether the state of detecting sensor and performance are normal, the i.e. property of automated driving system
It can and whether normal work.If detecting sensor is normal, Vehicular automatic driving system status information is supplied in next step
Rapid S200.If detecting sensor is abnormal, insincere state is exported.Equally, the confidence value of insincere state can be 0.
Step S130 obtains the driving posture of vehicle by the attitude data of sensor real-time monitoring vehicle in motion
Information, and judge whether the traveling dynamic of vehicle is normal.If judging that vehicle dynamic is normal by each dynamic parameter, by vehicle
Driving posture information be supplied to next step S200.If vehicle dynamic is abnormal, insincere state is exported.It is insincere
The confidence value of state can also be taken as 0.
And step S140 passes through the actuator state of detection vehicle, real-time monitoring wheel steering system, dynamical system and brake
Vehicle system and obtain vehicle control system status information, and judge whether the actuator state of vehicle normally motor-driven to complete
Function.If the actuator state of vehicle is normal, the control system status information of vehicle is supplied to next step S200.Such as
Fruit actuator state is abnormal, then exports the insincere state similar into S130 with other step S110, confidence value example
As 0 can also be taken.
In step s 200, the confidence value of the automatic Pilot of vehicle is calculated according to environment and information of vehicles.In some realities
It applies in example, step S200 further comprises step S210, before the confidence value for calculating automatic Pilot, to environment and vehicle
Information is weighted processing, to being obtained into S140 from step S110 with numerical value/variate-value, bi-values, character string, failure
The environment and information of vehicles that code, array or the comprehensive state information that is computed indicate are weighted processing, based on presetting or
The weighted value that different weighted factors can be assigned respectively to different parameters by user, adjusting each information parameter can to calculating
The contribution of certainty value.
In step S300, exported in the confidence value and step S100 of the automatic Pilot that receiving step S200 is calculated
The confidence value (for example, 0) of insincere state, determines the confidence levels of the automatic Pilot of vehicle.In some embodiments,
If there are the corresponding confidence values of insincere state, then current confidence levels are insincere in confidence value, or
When step S100 export insincere state when, can be directly determined in step S300 automatic Pilot confidence levels be can not
Letter.
In step S400, driver and/or passenger are reminded according to the confidence levels exported in S300.In some implementations
In example, the prompting include light, screen show, one or more of sound, the modes such as vibration.Wherein light can lead to
The light of different colours is crossed to indicate different confidence levels, such as red expression danger, yellow indicates warning, green expression
Safety, or green indicate that current automated driving system can complete its set-up function, and credibility is very high；Yellow indicates automatic
Control loop is generally possible to complete its set-up function or its achievable basic function, and credibility is not high but still available；And it is red
Color then indicates that Function for Automatic Pilot is insincere, needs driver or occupant's manual manipulation vehicle to avoid due to Function for Automatic Pilot
Failure causes to lose control of one's vehicle.Vibration can indicate different confidence levels by modes such as the frequencies of vibration, and screen is shown can
It shows different confidence levels or confidence level score value, and is equipped with different colors, sound can also be by expression way not
With indicating different confidence levels.Above-mentioned alerting pattern a variety of can be combined, such as vibration can be with light
It is common to remind driver and passenger.
Method according to an embodiment of the present disclosure for detecting the confidence level of automatic Pilot, as automated driving system
One ancillary technique not only monitors the component directly related with automatic Pilot, the especially information of sensor element, Er Qiejian
Survey the vehicle driving appearance that may be influenced the external environmental information of automated driving system and will limit the function of automated driving system
The information of state and control system provides accurate confidence levels information to driver or passenger.
For relatively traditional automatic Pilot method, method according to an embodiment of the present disclosure passes through indirect monitoring and drives automatically
The relevant component of system and vehicle-state are sailed, the control confidence level of automated driving system is objectively judged, can not only be effectively ensured
Trouble free service of the vehicle under automatic driving mode, and driver can be reminded to intervene in time, trust driver or passenger more
Use automated driving system.
If it should be noted that although being referred to the system of the confidence level for detecting automatic Pilot in the above detailed description
Dry module or unit, but this division is not enforceable.In fact, according to embodiment of the present disclosure, above description
Two or more modules or the feature and function of unit can be embodied in a module or unit.Conversely, above
One module of description or the feature and function of unit can be to be embodied by multiple modules or unit with further division.
The component shown as module or unit may or may not be physical unit, it can and it is in one place, or
It may be distributed over multiple network units.Some or all of the modules therein can be selected to realize according to the actual needs
The purpose of disclosure scheme.Those of ordinary skill in the art are without creative efforts, it can understand and real
It applies.
In an exemplary embodiment of the disclosure, a kind of computer readable storage medium is additionally provided, meter is stored thereon with
Calculation machine program, the program include executable instruction, which may be implemented above-mentioned any when being executed by such as processor
The step of method of automatic Pilot confidence level detection is used for described in one embodiment.In some possible embodiments, originally
Disclosed various aspects are also implemented as a kind of form of program product comprising program code, when described program product exists
When running on terminal device, said program code is for making the terminal device execute this specification for automatic Pilot confidence level
Described in the method for detection the step of exemplary embodiments various according to the disclosure.
Program product according to an embodiment of the present disclosure for realizing the above method can be using portable compact disc only
It reads memory (CD-ROM) and including program code, and can be run on terminal device, such as PC.However, this public affairs
The program product opened is without being limited thereto, and in this document, readable storage medium storing program for executing can be any tangible Jie for including or store program
Matter, the program can be commanded execution system, device or device use or in connection.
Described program product can be using any combination of one or more readable mediums.Readable medium can be readable letter
Number medium or readable storage medium storing program for executing.Readable storage medium storing program for executing for example can be but be not limited to electricity, magnetic, optical, electromagnetic, infrared ray or
System, device or the device of semiconductor, or any above combination.The more specific example of readable storage medium storing program for executing is (non exhaustive
List) include: electrical connection with one or more conducting wires, portable disc, hard disk, random access memory (RAM), read-only
Memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disc read only memory
(CD-ROM), light storage device, magnetic memory device or above-mentioned any appropriate combination.
The computer readable storage medium may include in a base band or the data as the propagation of carrier wave a part are believed
Number, wherein carrying readable program code.The data-signal of this propagation can take various forms, including but not limited to electromagnetism
Signal, optical signal or above-mentioned any appropriate combination.Readable storage medium storing program for executing can also be any other than readable storage medium storing program for executing
Readable medium, the readable medium can send, propagate or transmit for by instruction execution system, device or device use or
Person's program in connection.The program code for including on readable storage medium storing program for executing can transmit with any suitable medium, packet
Include but be not limited to wireless, wired, optical cable, RF etc. or above-mentioned any appropriate combination.
Can with any combination of one or more programming languages come write for execute the disclosure operation program
Code, described program design language include object oriented program language-Java, C++ etc., further include conventional
Procedural programming language-such as " C " language or similar programming language.Program code can be fully in user
It calculates and executes in equipment, partly executes on a user device, being executed as an independent software package, partially in user's calculating
Upper side point is executed on a remote computing or is executed in remote computing device or server completely.It is being related to far
Journey calculates in the situation of equipment, and remote computing device can pass through the network of any kind, including local area network (LAN) or wide area network
(WAN), it is connected to user calculating equipment, or, it may be connected to external computing device (such as utilize ISP
To be connected by internet).
In an exemplary embodiment of the disclosure, a kind of electronic equipment is also provided, which may include processor,
And the memory of the executable instruction for storing the processor.Wherein, the processor is configured to via described in execution
Executable instruction is come the step of executing the method for the detection of automatic Pilot confidence level in any one above-mentioned embodiment.
Person of ordinary skill in the field it is understood that various aspects of the disclosure can be implemented as system, method or
Program product.Therefore, various aspects of the disclosure can be with specific implementation is as follows, it may be assumed that complete hardware embodiment, complete
The embodiment combined in terms of full Software Implementation (including firmware, microcode etc.) or hardware and software, can unite here
Referred to as circuit, " module " or " system ".
The electronic equipment 600 of this embodiment according to the disclosure is described referring to Figure 12.The electricity that Figure 12 is shown
Sub- equipment 600 is only an example, should not function to the embodiment of the present disclosure and use scope bring any restrictions.
As shown in figure 12, electronic equipment 600 is showed in the form of universal computing device.The component of electronic equipment 600 can be with
Including but not limited to: at least one processing unit 610, at least one storage unit 620, the different system components of connection (including are deposited
Storage unit 620 and processing unit 610) bus 630, display unit 640 etc..
Wherein, the storage unit is stored with program code, and said program code can be held by the processing unit 610
Row, so that the processing unit 610 executes described in method of this specification for the detection of automatic Pilot confidence level according to this
The step of disclosing various illustrative embodiments.For example, the processing unit 610 can be executed as shown in Fig. 6 to Figure 10
Step.
The storage unit 620 may include the readable medium of volatile memory cell form, such as random access memory
Unit (RAM) 6201 and/or cache memory unit 6202 can further include read-only memory unit (ROM) 6203.
The storage unit 620 can also include program/practical work with one group of (at least one) program module 6205
Tool 6204, such program module 6205 includes but is not limited to: operating system, one or more application program, other programs
It may include the realization of network environment in module and program data, each of these examples or certain combination.
Bus 630 can be to indicate one of a few class bus structures or a variety of, including storage unit bus or storage
Cell controller, peripheral bus, graphics acceleration port, processing unit use any bus structures in a variety of bus structures
Local bus.
Electronic equipment 600 can also be with one or more external equipments 700 (such as keyboard, sensing equipment, bluetooth equipment
Deng) communication, can also be enabled a user to one or more equipment interact with the electronic equipment 600 communicate, and/or with make
Any equipment (such as the router, modulation /demodulation that the electronic equipment 600 can be communicated with one or more of the other calculating equipment
Device etc.) communication.This communication can be carried out by input/output (I/O) interface 650.Also, electronic equipment 600 can be with
By network adapter 660 and one or more network (such as local area network (LAN), wide area network (WAN) and/or public network,
Such as internet) communication.Network adapter 660 can be communicated by bus 630 with other modules of electronic equipment 600.It should
Understand, although not shown in the drawings, other hardware and/or software module can be used in conjunction with electronic equipment 600, including but unlimited
In: microcode, device driver, redundant processing unit, external disk drive array, RAID system, tape drive and number
According to backup storage system etc..
Through the above description of the embodiments, those skilled in the art is it can be readily appreciated that example described herein is implemented
Mode can also be realized by software realization in such a way that software is in conjunction with necessary hardware.Therefore, according to the disclosure
The technical solution of embodiment can be embodied in the form of software products, which can store non-volatile at one
Property storage medium (can be CD-ROM, USB flash disk, mobile hard disk etc.) in or network on, including some instructions are so that a calculating
Equipment (can be personal computer, server or network equipment etc.) is executed according to disclosure embodiment for automatic
The method for driving confidence level detection.
Those skilled in the art will readily occur to its of the disclosure after considering specification and practicing disclosure disclosed herein
Its embodiment.This application is intended to cover any variations, uses, or adaptations of the disclosure, these modifications, purposes or
Person's adaptive change follows the general principles of this disclosure and including the undocumented common knowledge in the art of the disclosure
Or conventional techniques.The description and examples are only to be considered as illustrative, and the true scope and spirit of the disclosure are by appended
Claim is pointed out.
Claims (10)
1. a kind of system for detecting the confidence level of automatic Pilot characterized by comprising
Environment and vehicle monitoring module are set as obtaining environment and information of vehicles；
Confidence level computing module is set as calculating the confidence value of the automatic Pilot of vehicle according to the environment and information of vehicles；
Confidence level output module is set as determining the confidence levels of automatic Pilot according to the confidence value of the automatic Pilot.
2. system according to claim 1, which is characterized in that the environment and vehicle monitoring module include:
External environment monitors submodule, is set as obtaining the external environmental information of vehicle；
Automated driving system monitors submodule, is set as obtaining the automated driving system status information of vehicle；
Driving posture monitors submodule, is set as obtaining the driving posture information of vehicle；And
Control system monitors submodule, is set as obtaining the status information of the control system of vehicle.
3. system according to claim 1, which is characterized in that the confidence level computing module includes computational submodule, should
Computational submodule generates the confidence value of automatic Pilot based on Bayesian network and/or artificial neural network.
4. system according to claim 1, which is characterized in that the confidence level computing module includes computational submodule, should
Computational submodule generates the confidence value of automatic Pilot based on probability statistics algorithm.
5. system according to claim 3 or 4, which is characterized in that the confidence level computing module further includes weighting block,
The weighting block is set as before the confidence value for generating automatic Pilot, is weighted place to the environment and information of vehicles
Reason.
6. a kind of method for detecting the confidence level of automatic Pilot characterized by comprising
Obtain environment and information of vehicles；
The confidence value of the automatic Pilot of vehicle is calculated according to the environment and information of vehicles；And
The confidence levels of automatic Pilot are determined according to the confidence value of the automatic Pilot.
7. according to the method described in claim 6, it is characterized in that, acquisition environment and information of vehicles include:
Obtain the external environmental information of vehicle；
Obtain the automated driving system status information of vehicle；
Obtain the driving posture information of vehicle；And
Obtain the status information of the control system of vehicle.
8. according to the method described in claim 6, it is characterized in that, calculating the automatic of vehicle according to the environment and information of vehicles
The confidence value of driving includes:
The confidence value of automatic Pilot is generated based on Bayesian network and/or artificial neural network.
9. according to the method described in claim 6, it is characterized in that, calculating the automatic of vehicle according to the environment and information of vehicles
The confidence value of driving includes:
The confidence value of automatic Pilot is generated based on probability statistics algorithm.
10. method according to claim 8 or claim 9, which is characterized in that right before the confidence value for calculating automatic Pilot
The environment and information of vehicles are weighted processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810134570.8A CN110136295A (en) | 2018-02-09 | 2018-02-09 | System and method for detecting the confidence level of automatic Pilot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810134570.8A CN110136295A (en) | 2018-02-09 | 2018-02-09 | System and method for detecting the confidence level of automatic Pilot |
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| CN201810134570.8A Pending CN110136295A (en) | 2018-02-09 | 2018-02-09 | System and method for detecting the confidence level of automatic Pilot |
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| CN110525436A (en) * | 2019-08-27 | 2019-12-03 | 中国第一汽车股份有限公司 | Vehicle lane-changing control method, device, vehicle and storage medium |
| CN112183415A (en) * | 2020-09-30 | 2021-01-05 | 上汽通用五菱汽车股份有限公司 | Lane line processing method, vehicle, and readable storage medium |
| CN112462368A (en) * | 2020-11-25 | 2021-03-09 | 中国第一汽车股份有限公司 | Obstacle detection method and device, vehicle and storage medium |
| CN114228742A (en) * | 2021-11-30 | 2022-03-25 | 国汽智控(北京)科技有限公司 | Method, device and equipment for outputting reliability of automatic driving system and storage medium |
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