CN110435668A - Abatement detecting method, module and the mobile unit of intelligent driving vehicle executing agency - Google Patents
Abatement detecting method, module and the mobile unit of intelligent driving vehicle executing agency Download PDFInfo
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- CN110435668A CN110435668A CN201910560483.3A CN201910560483A CN110435668A CN 110435668 A CN110435668 A CN 110435668A CN 201910560483 A CN201910560483 A CN 201910560483A CN 110435668 A CN110435668 A CN 110435668A
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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
- 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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- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- 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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
Abstract
The embodiment of the present disclosure is related to abatement detecting method, module and the mobile unit of a kind of intelligent driving vehicle executing agency, and wherein method includes: to obtain desired control information and actual vehicle status information；Based on desired control information, First Speed mode is determined；Based on actual vehicle status information, second speed mode is determined；Based on First Speed mode and second speed mode, the executing agency of failure is detected.The embodiment of the present disclosure, by First Speed mode and second speed mode, the executing agency of failure is detected, realizes the active detecting to executing agency, the executing agency of discovery failure in time, and then remind driver's adapter tube control in time and corresponding actions is taken to guarantee traffic safety.
Description
Technical field
The embodiment of the present disclosure is related to intelligent driving technical field, and in particular to a kind of mistake of intelligent driving vehicle executing agency
Imitate detection method, module, mobile unit and non-transient computer readable storage medium.
Background technique
The executing agency of intelligent driving vehicle bottom can be divided into three kinds according to different functions: drive system, braking system
And steering system.Under normal circumstances, the controller of drive system, braking system and steering system respectively reports whether this system is sent out
Raw failure and corresponding fault message (error code) inform the intelligent driving system on upper layer, intelligent driving system and then prompting
Driver's adapter tube control simultaneously takes corresponding actions to guarantee traffic safety.
But when some failures occur, the controller of bottom may not report corresponding fault message in time, or due to
Other reasons, the intelligent driving system on upper layer are unable to the fault message of the controller report of timely learning bottom, thus cannot and
When take corresponding actions, cause driving dangerous.
For example, intelligent driving system issues brake command, but braking system does not work or brake force is inadequate, alternatively, intelligence
Can control loop issue corner order, but steering system does not act or turns to not in place, and intelligent driving system does not know system
Dynamic system or steering system are no longer valid, if driver cannot be reminded in time, it will cause intelligent driving vehicles, and accident occurs.
The description of the above-mentioned discovery procedure to problem, is only used to facilitate the understanding of the technical scheme, and does not represent and holds
Recognizing above content is the prior art.
Summary of the invention
In order to solve the problems, such as it is of the existing technology at least one, at least one embodiment of the present invention provides a kind of intelligence
Abatement detecting method, module and the mobile unit of vehicle executing agency can be driven.
In a first aspect, the embodiment of the present disclosure proposes a kind of abatement detecting method of intelligent driving vehicle executing agency, it is described
Method includes:
Obtain desired control information and actual vehicle status information；
Based on the desired control information, First Speed mode is determined；
Based on the actual vehicle status information, second speed mode is determined；
Based on the First Speed mode and the second speed mode, the executing agency of failure is detected.
In first aspect first embodiment, according in a first aspect, the desired control information includes: desired acceleration；Institute
Stating actual vehicle status information includes: actual speed；The executing agency includes: drive system and braking system.
In first aspect second embodiment, according to first aspect first embodiment,
Based on the expectation acceleration, the First Speed mode is determined；
Based on the actual speed, the second speed mode is determined；
Based on the First Speed mode and the second speed mode, the drive system and the braking system are judged
Whether fail.
In first aspect 3rd embodiment, according to first aspect second embodiment, be based on the actual speed, determine described in
Second speed mode, comprising:
Based on the actual speed, actual acceleration is determined；
Based on the actual acceleration, the second speed mode is determined.
It is described according to any one of first aspect to first aspect fourth embodiment in first aspect fourth embodiment
First Speed mode and the second speed mode include: acceleration mode, at the uniform velocity mode and deceleration mode.
In the 5th embodiment of first aspect, according to first aspect fourth embodiment, it is based on the actual acceleration, determines institute
State second speed mode, comprising: the second speed mode of second speed mode, the last moment based on last moment is corresponding
Acceleration rate threshold and the actual acceleration at current time, determine the second speed mode at current time.
In first aspect sixth embodiment, according to the 5th embodiment of first aspect, the acceleration rate threshold includes:
Acceleration mode corresponds to the first acceleration rate threshold；
Corresponding the first negative acceleration rate threshold of deceleration mode；
At the uniform velocity corresponding second acceleration rate threshold of mode and the second negative acceleration rate threshold；
Wherein, first acceleration rate threshold is less than second acceleration rate threshold, and is both positive.
In the 7th embodiment of first aspect, according to first aspect sixth embodiment, the second speed mould based on last moment
The actual acceleration of formula, second speed the mode corresponding acceleration rate threshold and current time of the last moment determines current
The second speed mode at moment, comprising:
If the second speed mode of last moment is acceleration mode, and the actual acceleration at current time is greater than or equal to the
One acceleration rate threshold, then otherwise it is at the uniform velocity mode that the second speed mode at current time, which is acceleration mode,；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is greater than second and accelerates
Threshold value is spent, then the second speed mode at current time is acceleration mode；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is less than or equal to the
Two acceleration rate thresholds and it is greater than or equal to the second negative acceleration rate threshold, then the second speed mode at current time is at the uniform velocity mould
Formula；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is less than negative second
Acceleration rate threshold, then the second speed mode at current time is deceleration mode；
If the second speed mode of last moment is deceleration mode, and the actual acceleration at current time is greater than negative first
Acceleration rate threshold, then otherwise it is deceleration mode that the second speed mode at current time, which is at the uniform velocity mode,.
In the 8th embodiment of first aspect, according to first aspect fourth embodiment, it is based on the First Speed mode and institute
Second speed mode is stated, the executing agency of failure is detected, comprising:
If the First Speed mode is acceleration mode, and the second speed mode is at the uniform velocity mode or deceleration mode,
Then determine that the drive system failure is primary；
If the First Speed mode is deceleration mode, and the second speed mode at the uniform velocity mode or accelerates mode,
Then determine that the brake system non-functional is primary.
In the 9th embodiment of first aspect, according to the 8th embodiment of first aspect, the method also includes: if drive system
Continuous failure n times then report the information of the drive system failure；
The n times if braking system continuously fails report the information of the brake system non-functional；
Wherein, N is default positive integer.
The tenth embodiment of first aspect, according to first aspect first embodiment, the desired control information further include: expectation
Steering wheel angle；The actual vehicle status information further include: actual steering wheel corner；The executing agency further include: turn to
System.
The 11st embodiment of first aspect, according to the tenth embodiment of first aspect, the method also includes: it is based on the phase
It hopes steering wheel angle and the actual steering wheel corner, judges whether the steering system fails.
The 12nd embodiment of first aspect is based on the desired orientation disk corner according to the 11st embodiment of first aspect
With the actual steering wheel corner, judge whether the steering system fails, comprising:
Determine the angle difference of the desired orientation disk corner Yu the actual steering wheel corner；
If the angle difference is greater than preset threshold, it is determined that the steering system failure is primary.
The 13rd embodiment of first aspect, according to the tenth embodiment of first aspect, the method also includes: if steering system
Continuous failure M times then reports the information of the steering system failure；
Wherein, M is default positive integer.
The 14th embodiment of first aspect, basis in a first aspect, the method also includes: detect the executing agency of failure
Afterwards, fail message is reported.
Second aspect, the embodiment of the present disclosure also propose a kind of failure detection module of intelligent driving vehicle executing agency, packet
It includes:
Acquiring unit, for obtaining desired control information and actual vehicle status information；
Determination unit determines First Speed mode for being based on the desired control information；And it is based on the practical vehicle
Status information, determines second speed mode；
Failure detection unit detects holding for failure for being based on the First Speed mode and the second speed mode
Row mechanism.
The third aspect, the embodiment of the present disclosure also propose a kind of mobile unit, comprising: processor and memory；The processing
Device is used to execute such as first aspect to the 14th embodiment of first aspect by the program or instruction of calling the memory to store
Any one of the method the step of.
Fourth aspect, the embodiment of the present disclosure also propose a kind of non-transient computer readable storage medium, the non-transient meter
Calculation machine readable storage medium storing program for executing stores program or instruction, and described program or instruction execute computer such as first aspect to first aspect
The step of any one of 14th embodiment the method.
As it can be seen that First Speed mode and second speed mode, detection are lost at least one embodiment of the embodiment of the present disclosure
The executing agency of effect realizes the active detecting to executing agency, the executing agency of discovery failure in time, and then reminds driving in time
Member's adapter tube control simultaneously takes corresponding actions to guarantee traffic safety.
Detailed description of the invention
It, below will be in embodiment or description of the prior art in order to illustrate more clearly of the technical solution of the embodiment of the present disclosure
Required attached drawing is briefly described, it should be apparent that, the accompanying drawings in the following description is only some realities of the invention
Example is applied, for those of ordinary skill in the art, is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of integrated stand composition for intelligent driving vehicle that the embodiment of the present disclosure provides；
Fig. 2 is a kind of block diagram for intelligent driving system that the embodiment of the present disclosure provides；
Fig. 3 is a kind of block diagram for failure detection module that the embodiment of the present disclosure provides；
Fig. 4 is a kind of block diagram for mobile unit that the embodiment of the present disclosure provides；
Fig. 5 is a kind of abatement detecting method flow chart for intelligent driving vehicle executing agency that the embodiment of the present disclosure provides.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawings and examples
The present invention is described in further detail.It is understood that described embodiment is a part of the embodiments of the present invention,
Instead of all the embodiments.Specific embodiment described herein is used only for explaining the present invention, rather than to limit of the invention
It is fixed.Based on described the embodiment of the present invention, those of ordinary skill in the art's every other embodiment obtained is belonged to
The scope of protection of the invention.
It should be noted that, in this document, the relational terms of such as " first " and " second " or the like are used merely to one
A entity or operation with another entity or operate distinguish, without necessarily requiring or implying these entities or operation it
Between there are any actual relationship or orders.
The controller report fault message of bottom is passively waited for intelligent driving system in the prior art to know failure
Executing agency, there is a problem of finding that the executing agency of failure causes driving dangerous in time, the embodiment of the present disclosure provides
A kind of failure detection scheme of intelligent driving vehicle executing agency, changes from passive to active, by obtaining desired control information and reality
Border car status information determines desired speed mode and actual speed mode, and then the execution based on velocity mode detection failure
Mechanism realizes the active detecting to executing agency, the executing agency of discovery failure in time, and then reminds driver to take over control in time
System is weighed and corresponding actions is taken to guarantee traffic safety.
The failure detection scheme for the intelligent driving vehicle executing agency that the embodiment of the present disclosure provides, can be applied to intelligent driving
Vehicle.
Fig. 1 is a kind of integrated stand composition for intelligent driving vehicle that the embodiment of the present disclosure provides.As shown in Figure 1, intelligence is driven
Sail vehicle include: sensor group, intelligent driving system 100, vehicle bottom execute system and other can be used for driving vehicle and
Control the component of vehicle operation.
Sensor group, for acquiring the data of vehicle external environment and the position data of detection vehicle.Sensor group is for example
Including but not limited to camera, laser radar, millimetre-wave radar, GPS (Global Positioning System, global location
At least one of system) and IMU (Inertial Measurement Unit, Inertial Measurement Unit).
In some embodiments, sensor group, is also used to acquire the dynamics data of vehicle, and sensor group for example further includes
But it is not limited to wheel speed sensor, velocity sensor, acceleration transducer, steering wheel angle sensor, front wheel angle sensing
At least one of device.
Intelligent driving system 100, for obtaining the data of sensor group, all the sensors are in intelligent driving in sensor group
Data are all transmitted with higher frequency in vehicle travel process.Intelligent driving system is also used to wirelessly communicate with cloud server,
The various information of interaction.
Intelligent driving system 100 is also used to the data based on sensor group and carries out environment sensing and vehicle location, and is based on
Environment sensing information and vehicle location information carry out path planning and decision, and the coordinates measurement vehicle control based on planning refers to
It enables, is travelled to control vehicle according to planning path.
In some embodiments, intelligent driving system 100 are also used to obtain desired control information and actual vehicle state letter
Breath；Based on desired control information, First Speed mode is determined；Based on actual vehicle status information, second speed mode is determined；Base
In First Speed mode and second speed mode, the executing agency of failure is detected.
In some embodiments, intelligent driving system 100 can be software systems, hardware system or software and hardware combining
System.For example, intelligent driving system 100 is the software systems run on an operating system, vehicle-mounted hardware system is to support operation
The hardware system of system operation.
Vehicle bottom executes system, for receiving vehicle control instruction, realizes the control to vehicle driving.In some implementations
In example, vehicle bottom executes system and includes but is not limited to: steering system, braking system and drive system.Steering system, braking system
System and drive system belong to vehicular field mature system, and details are not described herein.
In some embodiments, it is total to may also include unshowned vehicle CAN bus, vehicle CAN in Fig. 1 for intelligent driving vehicle
Line connects vehicle bottom and executes system.Information exchange between intelligent driving system 100 and vehicle bottom execution system passes through vehicle
CAN bus is transmitted.
In some embodiments, intelligent driving vehicle not only by driver but also can pass through intelligent driving system 100
Control vehicle driving.Under pilot steering mode, driver drives vehicle by the device of operation control vehicle driving, controls vehicle
The device of traveling for example including but be not limited to brake pedal, steering wheel and gas pedal etc..The device for controlling vehicle driving can
Directly operation vehicle bottom executes system and controls vehicle driving.
In some embodiments, intelligent driving vehicle may be unmanned vehicle, and the Driving control of vehicle is by intelligent driving system
System 100 executes.
Fig. 2 is a kind of block diagram for intelligent driving system 200 that the embodiment of the present disclosure provides.In some embodiments, intelligence
Control loop 200 can be implemented as a part of intelligent driving system 100 or intelligent driving system 100 in Fig. 1, for controlling
Vehicle driving processed.
As shown in Fig. 2, intelligent driving system 200 can be divided into multiple modules, for example including but be not limited to: sensing module
201, planning module 202, control module 203, failure detection module 204 and some other module that can be used for intelligent driving.
Sensing module 201 is for carrying out environment sensing and positioning.
In some embodiments, sensing module 201 for the sensing data of acquisition, V2X (Vehicle to X, it is automobile-used
Wireless communication) data such as data, high-precision map.
In some embodiments, sensing module 201 for based on acquisition sensing data, V2X (Vehicle to X,
At least one of automobile-used wireless communication) data such as data, high-precision map, carry out environment sensing and positioning.
In some embodiments, sensing module 201 is realized for generating perceptual positioning information to barrier perception, camera shooting
The travelable region recognition of head image and the positioning of vehicle etc..
Environment sensing (Environmental Perception) can be understood as the scene understanding ability for environment, example
Such as the position of barrier, the detection of road sign/label, the semantic classification of the data such as pedestrian/vehicle detection.
In some embodiments, a variety of sensings such as fusion camera, laser radar, millimetre-wave radar can be used in environment sensing
The data of device carry out environment sensing.
Positioning (Localization) belongs to a part of perception, is position of the determining intelligent driving vehicle relative to environment
Ability.
Positioning can be used: GPS positioning, and for the positioning accuracy of GPS in tens of rice to a centimetre rank, positioning accuracy is high；Positioning is also
The localization method of fusion GPS and inertial navigation system (Inertial Navigation System) can be used.Positioning can also adopt
With SLAM (Simultaneous Localization And Mapping, synchronous superposition), the target of SLAM is
Construct map while positioned using the map, SLAM by utilization it has been observed that environmental characteristic determine current vehicle
Position and Current observation feature position.
V2X is the key technology of intelligent transport system, so that energy between vehicle and vehicle, vehicle and base station, base station and base station
Enough communication, so that a series of traffic informations such as real-time road, road information, pedestrian information are obtained, raising intelligent driving safety,
Reduce congestion, improve traffic efficiency, car entertainment information is provided etc..
High-precision map is geographical map used in intelligent driving field, compared with traditional map, the difference is that:
1) high-precision map includes a large amount of driving assistance information, such as relies on the accurate three-dimensional characterization of road network: including intersection
Office and road sign position etc.；2) high-precision map further includes the meaning of different colours in a large amount of semantic information, such as report predicted traffic lamp,
In another example the position that the rate limitation and left turn lane of instruction road start；3) high-precision map can reach the essence of Centimeter Level
Degree, it is ensured that the safety traffic of intelligent driving vehicle.
Planning module 202 is used for the perceptual positioning information generated based on perceptual positioning module, carries out path planning and decision.
In some embodiments, planning module 202 is used for the perceptual positioning information generated based on perceptual positioning module, and ties
At least one of data such as V2X data, high-precision map are closed, path planning and decision are carried out.
In some embodiments, planning module 202 be used for planning path, decision: behavior (for example including but be not limited to
Vehicle overtakes other vehicles, stops, detouring), vehicle course, car speed, the expectation acceleration of vehicle, desired steering wheel angle etc., it is raw
At planning decision information.
Control module 203 is used for the programmed decision-making information generated based on planning module, carries out path trace and track following.
In some embodiments, control module 203 is used to generate vehicle bottom and executes the control instruction of system, and issues control
System instruction so that vehicle bottom executes system control vehicle desirably route, such as by control steering wheel, brake with
And throttle carries out horizontal and vertical control to vehicle.
In some embodiments, control module 203 is also used to calculate front wheel angle based on path tracking algorithm.
In some embodiments, the expected path curve in path tracking procedure is unrelated with time parameter, when tracing control,
It assume that intelligent driving vehicle is at the uniform velocity advanced with present speed, so that driving path is leveled off to desired road with certain cost rule
Diameter；And when track following, expected path curve and time and space are related, and require intelligent driving vehicle in the defined time
It is interior to reach a certain reference path point preset.
Path trace is different from track following, without being bound by time-constrain, it is only necessary to track the phase within a certain error range
Hope path.
Failure detection module 204 is for obtaining desired control information and actual vehicle status information.In some embodiments,
Failure detection module 204 is based on desired control information, determines First Speed mode；Based on actual vehicle status information, is determined
Two velocity modes.Further, failure detection module 204 is based on First Speed mode and second speed mode, detection failure
Executing agency.
In some embodiments, control module 203 can issue desired control information to failure detection module 204, it is expected that controlling
Information processed includes but is not limited to it is expected acceleration and desired orientation disk corner etc..The controller of vehicle bottom executing agency can be to mistake
It imitates detection module 204 and feeds back actual vehicle status information, actual vehicle status information includes but is not limited to actual speed and reality
Steering wheel angle etc..
In some embodiments, the controller of vehicle bottom executing agency feeds back reality not directly to failure detection module 204
Border car status information, but it is fed directly to control module 203.Actual vehicle status information is handed down to by control module 203
Failure detection module 204.
In some embodiments, the function of failure detection module 204 can be integrated into sensing module 201, planning module 202 or
In control module 203, can be configured as with the mutually independent module of intelligent driving system, failure detection module 204 can be software
The module of module, hardware module or software and hardware combining.For example, failure detection module 204 is to run on an operating system soft
Part module, vehicle-mounted hardware system are the hardware systems for supporting operating system.
Fig. 3 is a kind of block diagram for failure detection module 300 that the embodiment of the present disclosure provides.In some embodiments, it fails
Detection module 300 can be implemented as a part of failure detection module 204 or failure detection module 204 in Fig. 2.
As shown in figure 3, failure detection module 300 may include with lower unit: acquiring unit 301, determination unit 302 and failure
Detection unit 303.
Acquiring unit 301, for obtaining desired control information and actual vehicle status information.
In some embodiments, it is desirable to which controlling information is the control letter that intelligent driving system generates during programmed decision-making
Breath.Actual vehicle status information is the vehicle-state letter that the controller of vehicle bottom executing agency is fed back to intelligent driving system
Breath.
Determination unit 302 determines First Speed mode for being based on desired control information；And it is based on actual vehicle shape
State information determines second speed mode.
In some embodiments, determination unit 302, which is based on desired control information, can determine First Speed mode, First Speed
Mode can be regarded as desired velocity mode；Determination unit 302, which is based on actual vehicle status information, can determine second speed mode,
Second speed mode can be regarded as actual velocity mode.
In some embodiments, determination unit 302 is based on actual vehicle status information, determines second speed mode, specifically
Are as follows: the actual vehicle status information of second speed mode and current time of the determination unit 302 based on last moment determines current
The second speed mode at moment.
Time interval between last moment and current time is one or more duty cycles of intelligent driving system, one
A duty cycle is, for example, 100ms.
The second speed mode at current time is not directly based upon the car status information at current time and is determined, and also wants
Second speed mode based on last moment is determined, it is seen then that the determination of second speed mode belongs to the determination of reaction type, mentions
The accuracy that height determines.
In some embodiments, it is desirable to which controlling information includes but is not limited to it is expected acceleration；Actual vehicle status information packet
It includes but is not limited to actual speed
Determination unit 302 is based on desired acceleration, it may be determined that First Speed mode；Determination unit 302 is based on actual speed,
It can determine second speed mode.
In some embodiments, determination unit 302 is based on actual speed, determines second speed mode, specifically: it determines single
Member 302 is based on actual speed, determines actual acceleration；Based on actual acceleration, second speed mode is determined.
Velocity mode is determined based on acceleration namely desired speed mode is determined based on desired acceleration, practical speed
Degree mode is determined based on actual acceleration.
It will be understood by those skilled in the art that if desired control information and actual vehicle status information are not acceleration informations
When, need to be converted to acceleration information, then determine desired speed mode and actual speed mode.
In some embodiments, velocity mode is a kind of describing mode to vehicular longitudinal velocity, and longitudinal direction of car can be managed
Solution is the direction of advance of vehicle.Whether First Speed mode or second speed mode include three kinds: accelerating mode, even
Fast mode and deceleration mode.
In some embodiments, determination unit 302 is based on actual acceleration, determines second speed mode, specifically: it determines
Second speed mode of the unit 302 based on last moment, the corresponding acceleration rate threshold of second speed mode of last moment and work as
The actual acceleration at preceding moment determines the second speed mode at current time.
Time interval between last moment and current time is one or more duty cycles of intelligent driving system, one
A duty cycle is, for example, 100ms.
Corresponding relationship between velocity mode and acceleration rate threshold is for example are as follows:
Acceleration mode corresponds to the first acceleration rate threshold；
Corresponding the first negative acceleration rate threshold of deceleration mode；
At the uniform velocity corresponding second acceleration rate threshold of mode and the second negative acceleration rate threshold；
Wherein, the first acceleration rate threshold is positive less than the second acceleration rate threshold, and both.
It should be noted that the present embodiment does not limit the specific value of the first acceleration rate threshold and the second acceleration rate threshold,
Those skilled in the art can be configured according to actual needs.
In some embodiments, if the second speed mode of last moment is acceleration mode, and the reality at current time adds
Speed is greater than or equal to the first acceleration rate threshold, then otherwise it is at the uniform velocity mould that the second speed mode at current time, which is acceleration mode,
Formula；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is greater than second and accelerates
Threshold value is spent, then the second speed mode at current time is acceleration mode；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is less than or equal to the
Two acceleration rate thresholds and it is greater than or equal to the second negative acceleration rate threshold, then the second speed mode at current time is at the uniform velocity mould
Formula；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is less than negative second
Acceleration rate threshold, then the second speed mode at current time is deceleration mode；
If the second speed mode of last moment is deceleration mode, and the actual acceleration at current time is greater than negative first
Acceleration rate threshold, then otherwise it is deceleration mode that the second speed mode at current time, which is at the uniform velocity mode,.
In some embodiments, the second speed mode of last moment, the actual acceleration at current time and current time
Second speed mode between corresponding relationship it is as shown in Table 1.
Table one
In table one, the first acceleration rate threshold can be 0.2m/s2, the second acceleration rate threshold can be 0.3m/s2, this implementation
Example by way of example only, does not limit the specific value of the first acceleration rate threshold and the second acceleration rate threshold, for example, the first acceleration
Threshold value can also be 0.3m/s2、0.4m/s2、0.5m/s2、0.6m/s2、0.7m/s2、0.8m/s2、0.9m/s2、1m/s2In extremely
Few one kind, corresponds to the first acceleration rate threshold, the second acceleration rate threshold can be 0.4m/s2、0.5m/s2、0.6m/s2、
0.7m/s2、0.8m/s2、0.9m/s2、1m/s2At least one of, wherein the second acceleration rate threshold is greater than the first acceleration threshold
Value.The specific value of the first acceleration rate threshold and the second acceleration rate threshold can be arranged in those skilled in the art according to actual needs.
Since the intelligent driving system duty cycle is shorter, for example, 100ms, acceleration will not mutate, therefore, if on
The second speed mode at one moment is acceleration mode, then the second speed mode at current time will not be deceleration mode；If upper one
The second speed mode at moment is deceleration mode, then the second speed mode at current time will not be acceleration mode.
By table one as it can be seen that entering acceleration mode from the uniform velocity mode, actual acceleration need to be greater than 0.3m/s2, and from accelerate mould
Formula retracts at the uniform velocity mode, and actual acceleration need to be less than 0.2m/s2；Enter deceleration mode from the uniform velocity mode, actual acceleration needs small
In -0.3m/s2, and at the uniform velocity mode is retracted from deceleration mode, actual acceleration need to be greater than -0.2m/s2.Take such strategy that can keep away
Exempt from actual acceleration in a certain critical value or so variation, velocity mode frequent switching, wherein critical value left representation is less than critical
Value, critical value is right to be indicated to be greater than critical value.
In further embodiments, acceleration mode and deceleration mode can also continue to be divided into according to the size of acceleration value
Force fast mode, weak acceleration mode, strong deceleration mode and weak deceleration mode, and the corresponding acceleration rate threshold of each mode can be according to reality
Border needs to be configured, and the present embodiment does not limit specific value.
In some embodiments, forcing the corresponding acceleration rate threshold of fast mode is 1m/s2；The corresponding acceleration of weak acceleration mode
Spend threshold value 0.4m/s2, in a particular application, the corresponding acceleration rate threshold of weak acceleration mode is between 0 to 1m/s2Between.
In some embodiments, the corresponding acceleration rate threshold of strong deceleration mode is -3m/s2, in a particular application, strong to slow down
The corresponding acceleration rate threshold of mode is less than -2m/s2；Corresponding acceleration rate threshold-the 1m/s of weak deceleration mode2, in a particular application,
The corresponding acceleration rate threshold of weak deceleration mode is between -2m/s2To between 0.
Failure detection unit 303 detects the execution machine of failure for being based on First Speed mode and second speed mode
Structure.
In some embodiments, executing agency includes but is not limited to drive system and braking system.Failure detection unit 303
Based on First Speed mode and second speed mode, it can determine whether drive system and braking system fail.
In some embodiments, failure detection unit 303, if being acceleration mode for First Speed mode, and second is fast
Degree mode is at the uniform velocity mode or deceleration mode, it is determined that drive system failure is primary；If First Speed mode is deceleration mode, and
Second speed mode is at the uniform velocity mode or accelerates mode, it is determined that brake system non-functional is primary.
In some embodiments, the n times if drive system continuously fails, failure detection unit 303 report the driving system
The information of system failure；The n times if braking system continuously fails, failure detection unit 303 report the letter of the brake system non-functional
Breath；Wherein, N is default positive integer.
In the present embodiment, it is contemplated that in acceleration or braking, since the drive system and braking system of vehicle need centainly
Response time, therefore, primary judgement failure can not correct response executing agency failure conditions.Only when continuous n times are sentenced
When breaking to fail, just thinks really to fail, need to alert driver.Wherein, N is based on vehicle itself accelerating ability or braking
Performance obtains.Under normal circumstances, N is more than or equal to 10.
As it can be seen that velocity mode based on expectations and actual velocity mode, detect the executing agency of failure, become passive based on
It is dynamic, the controller report fault message of bottom is no longer passively waited, but actively determines desired velocity mode and actual speed
Degree mode comes the executing agency of active detecting failure, the executing agency of discovery failure in time, and then reminds driver to take in time
Control simultaneously takes corresponding actions to guarantee traffic safety.
In some embodiments, it is desirable to which controlling information may also include that desired orientation disk corner；Actual vehicle status information is also
Can include: actual steering wheel corner；Executing agency may also include that steering system.Failure detection unit 303 was also used to based on the phase
It hopes steering wheel angle and actual steering wheel corner, judges whether steering system fails.
In some embodiments, failure detection unit 303 judges whether steering system fails, specifically: determine expectation side
To the angle difference of disk corner and actual steering wheel corner；If angle difference is greater than preset threshold, it is determined that steering system failure
Once.
If being all abnormally dangerous for intelligent driving vehicle when steering system does not act or turns to not in place
's.Therefore, for the failure detection of steering system, need accurately to judge the angle of desired orientation disk corner Yu actual steering wheel corner
Whether degree difference is greater than preset threshold, and preset threshold can be configured according to actual needs, and the present embodiment does not limit specific value.
In some embodiments, if steering system continuously fails M times, failure detection unit 303 reports steering system to lose
The information of effect；Wherein, M is default positive integer.
In some embodiments, if detecting the executing agency of failure, failure detection unit 303 reports failure to believe immediately
Breath, so that intelligent driving system reminds driver's adapter tube control in time and corresponding actions is taken to guarantee traffic safety.
In some embodiments, intelligent driving system still can passively receive low layer while active detecting executing agency
Controller report fault message, so that combination failure information fills the failure detection of intelligent driving vehicle executing agency more
Divide and complete, to improve the safety of intelligent driving vehicle.
In some embodiments, the division of each unit is only a kind of logical function partition in failure detection module 300, practical
There may be another division manner when realization, such as acquiring unit 301, determination unit 302 and failure detection unit 303 can be real
It is now a unit, acquiring unit 301, determination unit 302 or failure detection unit 303 can also be divided into multiple subelements.
It is understood that each unit or subelement can be come with the combination of electronic hardware or computer software and electronic hardware
It realizes.These functions are implemented in hardware or software actually, the specific application and design constraint depending on technical solution
Condition.Professional technician can use different methods to achieve the described function each specific application.
Fig. 4 is a kind of structural schematic diagram for mobile unit that the embodiment of the present disclosure provides.Mobile unit can support intelligence to drive
Sail the operation of system.
As shown in figure 4, mobile unit include: at least one processor 401, at least one processor 402 and at least one
Communication interface 403.Various components in mobile unit are coupled by bus system 404.Communication interface 403, for
Information transmission between external equipment.It is understood that bus system 404 is for realizing the connection communication between these components.Bus
System 404 further includes power bus, control bus and status signal bus in addition in addition to including data/address bus.But for clear theory
For the sake of bright, various buses are all designated as bus system 404 in Fig. 4.
It is appreciated that the memory 402 in the present embodiment can be volatile memory or nonvolatile memory, or can
Including both volatile and non-volatile memories.
In some embodiments, memory 402 stores following element, and unit or data structure can be performed, or
Their subset of person or their superset: operating system and application program.
Wherein, operating system, includes various system programs, such as ccf layer, core library layer, driving layer etc., for realizing
Various basic businesses and the hardware based task of processing.Application program includes various application programs, such as media player
(Media Player), browser (Browser) etc., for realizing various applied business.Realize what the embodiment of the present disclosure provided
The program of the abatement detecting method of intelligent driving vehicle executing agency may include in the application.
In the embodiments of the present disclosure, program or instruction that processor 401 is stored by calling memory 402, specifically, can
To be the program or instruction stored in application program, processor 401 is for executing the failure inspection of intelligent driving vehicle executing agency
The step of each embodiment of survey method.
The abatement detecting method for the intelligent driving vehicle executing agency that the embodiment of the present disclosure provides can be applied to processor
In 401, or realized by processor 401.Processor 401 can be a kind of IC chip, the processing capacity with signal.
During realization, each step of the above method can pass through the integrated logic circuit or software of the hardware in processor 401
The instruction of form is completed.Above-mentioned processor 401 can be general processor, digital signal processor (Digital Signal
Processor, DSP), it is specific integrated circuit (Application Specific Integrated Circuit, ASIC), existing
At programmable gate array (Field Programmable Gate Array, FPGA) or other programmable logic device, discrete
Door or transistor logic, discrete hardware components.General processor can be microprocessor or the processor can also be with
It is any conventional processor etc..
The step of abatement detecting method for the intelligent driving vehicle executing agency that the embodiment of the present disclosure provides, can direct body
Now executes completion for hardware decoding processor, or in decoding processor hardware and software unit combine and execute completion.It is soft
Part unit can be located at random access memory, and flash memory, read-only memory, programmable read only memory or electrically erasable programmable are deposited
In the storage medium of this fields such as reservoir, register maturation.The storage medium is located at memory 402, and processor 401 reads storage
Information in device 402, in conjunction with the step of its hardware Method Of Accomplishment.
Fig. 5 is a kind of abatement detecting method flow chart for intelligent driving vehicle executing agency that the embodiment of the present disclosure provides.
The executing subject of this method is mobile unit, in some embodiments, what the executing subject of this method was supported by mobile unit
Intelligent driving system.
As shown in figure 5, the abatement detecting method of intelligent driving vehicle executing agency disclosed in the present embodiment may include following
Step 501 is to 504:
501, desired control information and actual vehicle status information are obtained.
502, it is based on the desired control information, determines First Speed mode.
503, it is based on the actual vehicle status information, determines second speed mode.
504, it is based on the First Speed mode and the second speed mode, detects the executing agency of failure.
Desired control information is the control information that intelligent driving system generates during programmed decision-making.Actual vehicle state
Information is the car status information that the controller of vehicle bottom executing agency is fed back to intelligent driving system.
In the present embodiment, it can determine that First Speed mode, First Speed mode are appreciated that by a definite date based on desired control information
The velocity mode of prestige；It can determine that second speed mode, second speed mode can be regarded as reality based on actual vehicle status information
Velocity mode.
In the present embodiment, it is based on actual vehicle status information, determines second speed mode, specifically: it is based on last moment
Second speed mode and the actual vehicle status information at current time, determine the second speed mode at current time.
Time interval between last moment and current time is one or more duty cycles of intelligent driving system, one
A duty cycle is, for example, 100ms.
In the present embodiment, the second speed mode at current time be not be directly based upon the car status information at current time into
Row determines, to be also determined based on the second speed mode of last moment, it is seen then that the determination of second speed mode belongs to feedback
The determination of formula improves determining accuracy.
The present embodiment velocity mode based on expectations and actual velocity mode detect the executing agency of failure, become passive
Actively, no longer passively to wait the controller report fault message of bottom, but actively determine desired velocity mode and reality
Velocity mode come the executing agency of active detecting failure, driver and then reminds in time in the executing agency of discovery failure in time
Adapter tube control simultaneously takes corresponding actions to guarantee traffic safety.
In some embodiments, it is desirable to which controlling information includes but is not limited to it is expected acceleration；Actual vehicle status information packet
It includes but is not limited to actual speed；Executing agency includes but is not limited to drive system and braking system.
In the present embodiment, it is based on desired acceleration, it may be determined that First Speed mode；Based on actual speed, it may be determined that second
Velocity mode；Based on First Speed mode and second speed mode, it can determine whether drive system and braking system fail.
In some embodiments, be based on actual speed, determine second speed mode, specifically may include following steps (1) and
(2):
(1) it is based on actual speed, determines actual acceleration；
(2) it is based on actual acceleration, determines second speed mode.
In the present embodiment, the method for determination of velocity mode is provided, velocity mode is determined based on acceleration, namely expectation speed
Degree mode determines that actual speed mode is determined based on actual acceleration based on desired acceleration.
It will be understood by those skilled in the art that if desired control information and actual vehicle status information are not acceleration informations
When, need to be converted to acceleration information, then determine desired speed mode and actual speed mode.
In some embodiments, since the controller of vehicle bottom executing agency is typically only capable to the current practical vehicle of feedback
Speed, and actual acceleration cannot be provided, it is therefore desirable to actual acceleration is calculated according to actual speed signal sequence.A kind of side
Method is to solve actual acceleration Acc according to actual speed signal differential of sequence, and specific calculating formula is as follows:
Wherein, viAnd vjThe respectively actual speed at the i-th moment and j moment, tiAnd tjRespectively the i-th moment and j moment.
I-th moment and j moment can be two adjacent moment, and at the time of can also being adjacent multiple duty cycles, the duty cycle be intelligence
The duty cycle of control loop is fluctuated too big to avoid calculated actual acceleration Acc.
In some embodiments, velocity mode is a kind of describing mode to vehicular longitudinal velocity, and longitudinal direction of car can be managed
Solution is the direction of advance of vehicle.Whether First Speed mode or second speed mode include three kinds: accelerating mode, even
Fast mode and deceleration mode.
Based on actual acceleration, determine second speed mode, specifically: second speed mode based on last moment, on
The actual acceleration of second speed the mode corresponding acceleration rate threshold and current time at one moment, determines the second of current time
Velocity mode.
Time interval between last moment and current time is one or more duty cycles of intelligent driving system, one
A duty cycle is, for example, 100ms.
Corresponding relationship between velocity mode and acceleration rate threshold is for example are as follows:
Acceleration mode corresponds to the first acceleration rate threshold；
Corresponding the first negative acceleration rate threshold of deceleration mode；
At the uniform velocity corresponding second acceleration rate threshold of mode and the second negative acceleration rate threshold；
Wherein, the first acceleration rate threshold is positive less than the second acceleration rate threshold, and both.
It should be noted that the present embodiment does not limit the specific value of the first acceleration rate threshold and the second acceleration rate threshold,
Those skilled in the art can be configured according to actual needs.
In some embodiments, if the second speed mode of last moment is acceleration mode, and the reality at current time adds
Speed is greater than or equal to the first acceleration rate threshold, then otherwise it is at the uniform velocity mould that the second speed mode at current time, which is acceleration mode,
Formula；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is greater than second and accelerates
Threshold value is spent, then the second speed mode at current time is acceleration mode；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is less than or equal to the
Two acceleration rate thresholds and it is greater than or equal to the second negative acceleration rate threshold, then the second speed mode at current time is at the uniform velocity mould
Formula；
If the second speed mode of last moment is at the uniform velocity mode, and the actual acceleration at current time is less than negative second
Acceleration rate threshold, then the second speed mode at current time is deceleration mode；
If the second speed mode of last moment is deceleration mode, and the actual acceleration at current time is greater than negative first
Acceleration rate threshold, then otherwise it is deceleration mode that the second speed mode at current time, which is at the uniform velocity mode,.
In some embodiments, the second speed mode of last moment, the actual acceleration at current time and current time
Second speed mode between corresponding relationship it is as shown in Table 1.
Table one
In table one, the first acceleration rate threshold can be 0.2m/s2, the second acceleration rate threshold can be 0.3m/s2, this implementation
Example by way of example only, does not limit the specific value of the first acceleration rate threshold and the second acceleration rate threshold, for example, the first acceleration
Threshold value can also be 0.3m/s2、0.4m/s2、0.5m/s2、0.6m/s2、0.7m/s2、0.8m/s2、0.9m/s2、1m/s2In extremely
Few one kind, corresponds to the first acceleration rate threshold, the second acceleration rate threshold can be 0.4m/s2、0.5m/s2、0.6m/s2、
0.7m/s2、0.8m/s2、0.9m/s2、1m/s2At least one of, wherein the second acceleration rate threshold is greater than the first acceleration threshold
Value.The specific value of the first acceleration rate threshold and the second acceleration rate threshold can be arranged in those skilled in the art according to actual needs.
Since the intelligent driving system duty cycle is shorter, for example, 100ms, acceleration will not mutate, therefore, if on
The second speed mode at one moment is acceleration mode, then the second speed mode at current time will not be deceleration mode；If upper one
The second speed mode at moment is deceleration mode, then the second speed mode at current time will not be acceleration mode.
By table one as it can be seen that entering acceleration mode from the uniform velocity mode, actual acceleration need to be greater than 0.3m/s2, and from accelerate mould
Formula retracts at the uniform velocity mode, and actual acceleration need to be less than 0.2m/s2；Enter deceleration mode from the uniform velocity mode, actual acceleration needs small
In -0.3m/s2, and at the uniform velocity mode is retracted from deceleration mode, actual acceleration need to be greater than -0.2m/s2.Take such strategy that can keep away
Exempt from actual acceleration in a certain critical value or so variation, velocity mode frequent switching, wherein critical value left representation is less than critical
Value, critical value is right to be indicated to be greater than critical value.
In further embodiments, acceleration mode and deceleration mode can also continue to be divided into according to the size of acceleration value
Force fast mode, weak acceleration mode, strong deceleration mode and weak deceleration mode, and the corresponding acceleration rate threshold of each mode can be according to reality
Border needs to be configured, and the present embodiment does not limit specific value.
In some embodiments, forcing the corresponding acceleration rate threshold of fast mode is 1m/s2；The corresponding acceleration of weak acceleration mode
Spend threshold value 0.4m/s2, in a particular application, the corresponding acceleration rate threshold of weak acceleration mode is between 0 to 1m/s2Between.
In some embodiments, the corresponding acceleration rate threshold of strong deceleration mode is -3m/s2, in a particular application, strong to slow down
The corresponding acceleration rate threshold of mode is less than -2m/s2；Corresponding acceleration rate threshold-the 1m/s of weak deceleration mode2, in a particular application,
The corresponding acceleration rate threshold of weak deceleration mode is between -2m/s2To between 0.
In some embodiments, it is based on First Speed mode and second speed mode, the executing agency of failure is detected, can wrap
It includes:
If First Speed mode is acceleration mode, and second speed mode is at the uniform velocity mode or deceleration mode, it is determined that is driven
Dynamic thrashing is primary；
If First Speed mode is deceleration mode, and second speed mode at the uniform velocity mode or accelerates mode, it is determined that system
Dynamic thrashing is primary.
In some embodiments, the n times if drive system continuously fails report the information of the drive system failure；If
Braking system continuously fails n times, then reports the information of the brake system non-functional；Wherein, N is default positive integer.
In the present embodiment, it is contemplated that in acceleration or braking, since the drive system and braking system of vehicle need centainly
Response time, therefore, primary judgement failure can not correct response executing agency failure conditions.Only when continuous n times are sentenced
When breaking to fail, just thinks really to fail, need to alert driver.Wherein, N is based on vehicle itself accelerating ability or braking
Performance obtains.Under normal circumstances, N is more than or equal to 10.
In some embodiments, it is desirable to which controlling information may also include that desired orientation disk corner；Actual vehicle status information is also
Can include: actual steering wheel corner；Executing agency may also include that steering system.
The abatement detecting method for the intelligent driving vehicle executing agency that the embodiment of the present disclosure provides is in addition to including shown in fig. 5
Step, further includes: be based on desired orientation disk corner and actual steering wheel corner, judge whether steering system fails.
Judge whether steering system fails, specifically may include following steps (1) and (2):
(1) angle difference of desired orientation disk corner Yu actual steering wheel corner is determined；
(2) if angle difference is greater than preset threshold, it is determined that steering system failure is primary.
If being all abnormally dangerous for intelligent driving vehicle when steering system does not act or turns to not in place
's.Therefore, for the failure detection of steering system, need accurately to judge the angle of desired orientation disk corner Yu actual steering wheel corner
Whether degree difference is greater than preset threshold, and preset threshold can be configured according to actual needs, and the present embodiment does not limit specific value.
In some embodiments, if steering system continuously fails M times, the information of steering system failure is reported；Wherein, M
To preset positive integer.
In some embodiments, if detecting the executing agency of failure, fail message is reported immediately, so that intelligent driving system
System reminds driver's adapter tube control in time and corresponding actions is taken to guarantee traffic safety.
In some embodiments, intelligent driving system still can passively receive low layer while active detecting executing agency
Controller report fault message, so that combination failure information fills the failure detection of intelligent driving vehicle executing agency more
Divide and complete, to improve the safety of intelligent driving vehicle.
It should be noted that for the various method embodiments described above, for simple description, therefore, it is stated as a series of
Combination of actions, but it will be appreciated by those skilled in the art that the embodiment of the present disclosure is not by the limit of described sequence of movement
System, because some steps may be performed in other sequences or simultaneously according to the embodiment of the present disclosure (such as described in step 502
" believed based on the actual vehicle state described in " being based on the desired control information, determine First Speed mode " and step 503
Breath, determines second speed mode " can carry out simultaneously).In addition, it will be appreciated by those skilled in the art that described in this description
Embodiment belongs to alternative embodiment.
The embodiment of the present disclosure also proposes a kind of non-transient computer readable storage medium, and the non-transient computer is readable to deposit
Storage media stores program or instruction, and described program or instruction make computer execute the failure inspection such as intelligent driving vehicle executing agency
The step of each embodiment of survey method, to avoid repeated description, details are not described herein.
It should be noted that, in this document, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that the process, method, article or the device that include a series of elements not only include those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including being somebody's turn to do
There is also other identical elements in the process, method of element, article or device.
It will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments is wrapped
Certain features for including rather than other feature, but the combination of the feature of different embodiments mean in the scope of the present invention it
It is interior and form different embodiments.
It will be appreciated by those of skill in the art that the description to each embodiment all emphasizes particularly on different fields, do not have in some embodiment
The part being described in detail, reference can be made to the related descriptions of other embodiments.
Although the embodiments of the invention are described in conjunction with the attached drawings, but those skilled in the art can not depart from this hair
Various modifications and variations are made in the case where bright spirit and scope, such modifications and variations are each fallen within by appended claims
Within limited range.
Claims (10)
1. a kind of abatement detecting method of intelligent driving vehicle executing agency, which is characterized in that the described method includes:
Obtain desired control information and actual vehicle status information；
Based on the desired control information, First Speed mode is determined；
Based on the actual vehicle status information, second speed mode is determined；
Based on the First Speed mode and the second speed mode, the executing agency of failure is detected.
2. the method according to claim 1, wherein the desired control information includes: desired acceleration；It is described
Actual vehicle status information includes: actual speed；The executing agency includes: drive system and braking system.
3. according to the method described in claim 2, it is characterized in that,
Based on the expectation acceleration, the First Speed mode is determined；
Based on the actual speed, the second speed mode is determined；
Based on the First Speed mode and the second speed mode, judge whether are the drive system and the braking system
Failure.
4. according to the method described in claim 3, it is characterized in that, determining the second speed mould based on the actual speed
Formula, comprising:
Based on the actual speed, actual acceleration is determined；
Based on the actual acceleration, the second speed mode is determined.
5. method according to any one of claims 1 to 4, which is characterized in that the First Speed mode and described second
Velocity mode includes: acceleration mode, at the uniform velocity mode and deceleration mode.
6. according to the method described in claim 5, it is characterized in that, determining the second speed based on the actual acceleration
Mode, comprising: the corresponding acceleration threshold of second speed mode of second speed mode, the last moment based on last moment
The actual acceleration of value and current time, determines the second speed mode at current time.
7. according to the method described in claim 6, it is characterized in that, the acceleration rate threshold includes:
Acceleration mode corresponds to the first acceleration rate threshold；
Corresponding the first negative acceleration rate threshold of deceleration mode；
At the uniform velocity corresponding second acceleration rate threshold of mode and the second negative acceleration rate threshold；
Wherein, first acceleration rate threshold is less than second acceleration rate threshold, and is both positive.
8. a kind of failure detection module of intelligent driving vehicle executing agency characterized by comprising
Acquiring unit, for obtaining desired control information and actual vehicle status information；
Determination unit determines First Speed mode for being based on the desired control information；And it is based on the actual vehicle shape
State information determines second speed mode；
Failure detection unit detects the execution machine of failure for being based on the First Speed mode and the second speed mode
Structure.
9. a kind of mobile unit characterized by comprising processor and memory；
The processor is used to execute such as any one of claim 1 to 7 by the program or instruction of calling the memory to store
The step of the method.
10. a kind of non-transient computer readable storage medium, which is characterized in that the non-transient computer readable storage medium is deposited
Program or instruction are stored up, described program or instruction execute computer such as the step of any one of claim 1 to 7 the method.
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