CN111221341B - Safe driving control method for automatic driving vehicle and vehicle-mounted controller - Google Patents

Safe driving control method for automatic driving vehicle and vehicle-mounted controller Download PDF

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Publication number
CN111221341B
CN111221341B CN202010094612.7A CN202010094612A CN111221341B CN 111221341 B CN111221341 B CN 111221341B CN 202010094612 A CN202010094612 A CN 202010094612A CN 111221341 B CN111221341 B CN 111221341B
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vehicle
data
mounted controller
controller
target
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CN111221341A (en
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翟桂芳
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Shenzhen Jinghongquan Intelligent Technology Co ltd
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Shenzhen Jinghongquan Intelligent Technology Co ltd
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Priority to CN202010950272.3A priority patent/CN112068533A/en
Priority to CN202010094612.7A priority patent/CN111221341B/en
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
    • G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
    • G05D1/0251—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0259—Control of position or course in two dimensions specially adapted to land vehicles using magnetic or electromagnetic means
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle

Abstract

The invention provides a safe driving control method of an automatic driving vehicle and an on-board controller, which can determine a first on-board controller from each target on-board controller based on first detection data, further screen attenuation characteristic information corresponding to the first on-board controller based on a prestored corresponding relation, then determine a safety influence factor of each first on-board controller relative to the on-board controller, and build a vehicle condition shared data pool with a second on-board controller based on a preset control strategy generation mode. In this way, the adjustment command can be generated directly from the detection data input by the second onboard controller to the vehicle condition shared data pool for the third vehicle, so as to be used for performing automatic driving control on the first vehicle. Therefore, the emergency driving condition of other vehicles can be timely known, and the driving state of the current vehicle can be timely controlled based on the emergency driving condition of other vehicles, so that the safety of automatic driving is improved.

Description

Safe driving control method for automatic driving vehicle and vehicle-mounted controller
Technical Field
The invention relates to the technical field of automatic driving, in particular to a safe driving control method of an automatic driving vehicle and a vehicle-mounted controller.
Background
With the development of the internet of things technology, the automatic driving technology is more mature, and nowadays, more and more vehicles start to adopt the automatic driving technology. The automatic driving technology provides a convenient private car trip mode for users who are not good at driving, and therefore the automatic driving technology is favored by many users. However, frequent automatic driving accidents sound a warning clock, and how to further improve the safety of automatic driving is a technical problem to be solved urgently at present.
Disclosure of Invention
In order to improve the above problems, the present invention provides a safe driving control method of an autonomous vehicle and an on-vehicle controller.
In a first aspect of the embodiments of the present invention, a safe driving control method for an autonomous vehicle is provided, which is applied to an onboard controller, and the method includes:
the vehicle-mounted controller receives first detection data which are acquired and uploaded by vehicle condition detection equipment in a first vehicle corresponding to the vehicle-mounted controller, traverses data storage spaces corresponding to target vehicle-mounted controllers in communication connection with the vehicle-mounted controller, and screens out first vehicle-mounted controllers containing at least part of data types in the first detection data from the data storage spaces corresponding to the target vehicle-mounted controllers;
acquiring attenuation characteristic information which is corresponding to the screened first vehicle-mounted controller and contains a first signal attenuation coefficient and a first signal attenuation rate corresponding to the at least part of data types according to the corresponding relation between the pre-stored first vehicle-mounted controller and the data transmission attenuation rate corresponding to the at least part of data types;
determining a safety influence factor of each first vehicle-mounted controller relative to the vehicle-mounted controllers according to the vehicle distance of the first vehicle corresponding to the vehicle-mounted controller and the second vehicle corresponding to each first vehicle-mounted controller in the target area and the attenuation characteristic information corresponding to each first vehicle-mounted controller; sequencing the determined safety influence factors, and sending a vehicle condition sharing request to a second vehicle-mounted controller corresponding to at least part of the sequenced safety influence factors based on a preset control strategy generation mode; and building a vehicle condition shared data pool according to the received confirmation information sent by the second vehicle-mounted controller, importing the first detection data and second detection data acquired and uploaded by vehicle condition detection equipment in a third vehicle corresponding to the second vehicle-mounted controller into the vehicle condition shared data pool, periodically generating an adjusting instruction for controlling the running state of the first vehicle according to the imported detection data in the vehicle condition shared data pool, and issuing the adjusting instruction to control equipment corresponding to the vehicle-mounted controller.
In an alternative embodiment, the periodically generating an adjustment instruction for controlling the driving state of the first vehicle according to the detection data imported from the vehicle condition sharing data pool and sending the adjustment instruction to the control device corresponding to the vehicle-mounted controller includes:
judging whether the residual memory capacity of the current time period reaches the target capacity of the updating data received by the vehicle condition shared data pool in the current time period;
if the residual memory capacity of the current time interval reaches the target capacity of the updating data received by the vehicle condition sharing data pool in the current time interval, constructing an instruction generation script thread according to the residual memory capacity, importing the updating data into the instruction generation script thread, operating the instruction generation script thread to obtain the adjusting instruction, and issuing the adjusting instruction to the control equipment corresponding to the vehicle-mounted controller;
if the residual memory capacity of the current time interval does not reach the target capacity of the update data received by the vehicle condition shared data pool in the current time interval, performing data compression on the update data to obtain compressed data, building an instruction generation script thread, introducing the compressed data into the instruction generation script thread, operating the instruction generation script thread to obtain the adjustment instruction, and issuing the adjustment instruction to the control device corresponding to the vehicle-mounted controller; wherein the capacity of the compressed data is equal to the remaining memory capacity.
In an alternative embodiment, the data compressing the update data to obtain compressed data includes:
acquiring a data structured description of the updating data;
carrying out data structure identification on the data structural description, and determining a plurality of structure categories corresponding to the updating data represented by the data structural description; the structure type is used for representing service data and logic data in the updating data, the service data is used for representing the driving state of a vehicle, and the logic data is used for connecting the service data;
separating the updated data according to the plurality of structure categories to obtain a plurality of data groups corresponding to the updated data;
for each data packet, when the data packet is a packet in which service data is located, adding a logic tag for the data packet, wherein the logic tag is used for indicating the logic relationship between the data packet and other data packets; when the data packet is a packet in which the logic data is located, determining at least two data packets which are represented by the logic data in the data packet and have a logic relationship, packaging the logic data in the data packet into a logic tag according to the service data represented by the at least two data packets, and respectively adding the logic tag to the at least two data packets;
and obtaining the compressed data according to the data packet added with the logic label.
In an alternative embodiment, the periodically generating an adjustment instruction for controlling the driving state of the first vehicle according to the detection data imported from the vehicle condition sharing data pool and sending the adjustment instruction to the control device corresponding to the vehicle-mounted controller includes:
and judging whether the vehicle condition shared data pool contains imported data or not within a set time interval, if so, generating an adjusting instruction for controlling the running state of the first vehicle according to the imported data and sending the adjusting instruction to control equipment corresponding to the vehicle-mounted controller, and if not, generating an adjusting instruction for controlling the running state of the first vehicle according to the set time interval and detection data within the latest set time interval in the vehicle condition shared data pool and sending the adjusting instruction to the control equipment corresponding to the vehicle-mounted controller.
In an alternative embodiment, the method further comprises: and adjusting the set time interval according to the number of vehicles in the target area.
In an alternative embodiment, the determining a safety impact factor of each first vehicle-mounted controller relative to the vehicle-mounted controller according to the vehicle distance between the first vehicle corresponding to the vehicle-mounted controller and the second vehicle corresponding to each first vehicle-mounted controller in the target area and the attenuation characteristic information corresponding to each first vehicle-mounted controller includes:
determining a signal delay distribution sequence between the vehicle-mounted controller and the first vehicle-mounted controller according to the vehicle distance and the attenuation characteristic information; the signal delay distribution sequence comprises delay difference values when detection data of different data types reach a detection terminal when the detection data are sent to the detection terminal by the vehicle-mounted controllers and each first vehicle-mounted controller simultaneously;
extracting numerical characteristics of the signal delay distribution sequence, and obtaining delay influence weights corresponding to detection data corresponding to each data type in the signal delay distribution sequence based on a control delay coefficient of delay time;
extracting road network safety characteristic values of the signal delay distribution sequence according to the road network information of the target area, the delay duration and each delay influence weight, and taking the road network safety characteristic values as reference parameters of the signal delay distribution sequence; wherein, the road network safety characteristic value comprises any one or more of the following: road network congestion coefficient, road network accident occurrence rate and road network vehicle driving loss value;
fusing the reference parameters to obtain target parameters, and determining a directional connecting line track corresponding to the control logic of the first vehicle-mounted controller compared with the vehicle-mounted controller according to a first signal attenuation coefficient and a first signal attenuation rate which are included in the attenuation characteristic information; and determining a safety influence factor of the first vehicle-mounted controller relative to the vehicle-mounted controller according to the directed connecting line track.
In an alternative embodiment, the determining a safety impact factor of the first onboard controller relative to the onboard controller according to the directional link trajectory includes:
judging whether a vehicle networking network for vehicle-mounted communication is mutually established with a plurality of first vehicle-mounted controllers or not, if the vehicle networking network is mutually established with the plurality of first vehicle-mounted controllers, forming a node migration sequence according to the network node distribution of the vehicle networking network and sending the node migration sequence to the plurality of first vehicle-mounted controllers so that the plurality of first vehicle-mounted controllers dynamically store the node migration sequence; the network node distribution is determined through a first relative position of a first vehicle corresponding to the vehicle-mounted controller in the target area and a second relative position of a second vehicle corresponding to the first vehicle-mounted controller in the target area, and the node migration sequence is used for representing a change sequence of the network node distribution relative to the second vehicle corresponding to the vehicle-mounted controller in the driving process of the first vehicle corresponding to the vehicle-mounted controller;
when each first vehicle-mounted controller iterates the node migration sequence stored in the first vehicle-mounted controller according to the directional connection track corresponding to the first vehicle-mounted controller, acquiring iteration information generated by each first vehicle-mounted controller; the iteration information comprises vehicle-mounted communication change information of each first vehicle-mounted controller and the vehicle-mounted controller in each set step length, and the vehicle-mounted communication change information is independently transmitted through the vehicle networking network;
extracting the characteristics of all the obtained iteration information to obtain the multidimensional characteristics corresponding to each iteration information; clustering the multidimensional characteristics by adopting a K mean value clustering method to obtain a plurality of target clusters; the method comprises the steps that each target cluster is correspondingly provided with a cluster identifier, the cluster identifier is used for indicating a weighted value of each first vehicle-mounted controller in each target cluster relative to a safety influence factor of the vehicle-mounted controller, and the weighted value is used for representing the confidence of the safety influence factor;
and for each first vehicle-mounted controller in each target cluster, determining an offset coefficient when the track deviation occurs in the directional connecting track of the first vehicle-mounted controller, determining a target weighted value for adjusting the offset coefficient according to the cluster identifier corresponding to the target cluster where the first vehicle-mounted controller is located, and adjusting the offset coefficient according to the target weighted value to obtain a safety influence factor of the first vehicle-mounted controller relative to the vehicle-mounted controller.
In a second aspect of the embodiments of the present invention, there is provided an onboard controller, including:
the traversing module is used for receiving first detection data which are acquired and uploaded by vehicle condition detection equipment in a first vehicle corresponding to the vehicle-mounted controller by the vehicle-mounted controller, traversing data storage spaces corresponding to target vehicle-mounted controllers which are in communication connection with the vehicle-mounted controller, and screening out a first vehicle-mounted controller containing at least part of data types in the first detection data from the data storage spaces corresponding to the target vehicle-mounted controllers;
the acquisition module is used for acquiring attenuation characteristic information which is corresponding to the screened first vehicle-mounted controller and comprises a first signal attenuation coefficient and a first signal attenuation rate corresponding to at least part of data types according to the corresponding relation between the pre-stored first vehicle-mounted controller and the data transmission attenuation rate corresponding to at least part of data types;
the control module is used for determining a safety influence factor of each first vehicle-mounted controller relative to the vehicle-mounted controllers according to the vehicle distance of the first vehicle corresponding to the vehicle-mounted controller and the second vehicle corresponding to each first vehicle-mounted controller in the target area and the attenuation characteristic information corresponding to each first vehicle-mounted controller; sequencing the determined safety influence factors, and sending a vehicle condition sharing request to a second vehicle-mounted controller corresponding to at least part of the sequenced safety influence factors based on a preset control strategy generation mode; and building a vehicle condition shared data pool according to the received confirmation information sent by the second vehicle-mounted controller, importing the first detection data and second detection data acquired and uploaded by vehicle condition detection equipment in a third vehicle corresponding to the second vehicle-mounted controller into the vehicle condition shared data pool, periodically generating an adjusting instruction for controlling the running state of the first vehicle according to the imported detection data in the vehicle condition shared data pool, and issuing the adjusting instruction to control equipment corresponding to the vehicle-mounted controller.
In a third aspect of the embodiments of the present invention, there is provided an onboard controller, including: a processor and a memory and bus connected to the processor; the processor and the memory are communicated with each other through the bus; the processor is used for calling the computer program in the memory so as to execute the safe driving control method of the automatic driving vehicle.
In a fourth aspect of the embodiments of the present invention, there is provided a readable storage medium having stored thereon a program that, when executed by a processor, implements the safe driving control method for an autonomous vehicle described above.
According to the safe driving control method of the automatic driving vehicle and the vehicle-mounted controllers, the data storage space corresponding to each target vehicle-mounted controller can be traversed based on the first detection data, so that the first vehicle-mounted controller containing at least part of data types in the first detection data is determined, the attenuation characteristic information corresponding to the first vehicle-mounted controller is screened out based on the pre-stored corresponding relation, then the safety influence factor of each first vehicle-mounted controller relative to the vehicle-mounted controller is determined, and a vehicle condition shared data pool is built with the second vehicle-mounted controller based on a preset control strategy generation mode. Therefore, the adjustment instruction can be generated according to the detection data input by the second vehicle-mounted controller to the vehicle condition shared data pool aiming at the third vehicle, so that automatic driving control can be performed on the first vehicle, the sudden driving condition of other vehicles can be timely obtained, the driving state of the current vehicle can be timely controlled based on the sudden driving condition of other vehicles, and the safety of automatic driving is improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a schematic structural diagram of a safe driving control system of an autonomous vehicle according to an embodiment of the present invention.
Fig. 2 is a flowchart of a safe driving control method for an autonomous vehicle according to an embodiment of the present invention.
Fig. 3 is a functional block diagram of an onboard controller according to an embodiment of the present invention.
Icon:
100-safe driving control system;
10-a vehicle; 101-an onboard controller; 1011-traverse module; 1012-an acquisition module; 1013-control module.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
In order to better understand the technical solutions of the present invention, the following detailed descriptions of the technical solutions of the present invention are provided with the accompanying drawings and the specific embodiments, and it should be understood that the specific features in the embodiments and the examples of the present invention are the detailed descriptions of the technical solutions of the present invention, and are not limitations of the technical solutions of the present invention, and the technical features in the embodiments and the examples of the present invention may be combined with each other without conflict.
The inventor researches and analyzes common automatic driving technologies, and finds that the common automatic driving technologies mostly control the driving state of a vehicle based on a sensing signal of a single vehicle, and in the process of realizing driving control, transmission loss and attenuation of control signals of other vehicles in an internet of vehicles are not taken into consideration.
Therefore, the embodiment of the invention provides a safe driving control method of an automatic driving vehicle and an on-board controller, which can take the transmission loss and attenuation of control signals of other vehicles in an internet of vehicles into consideration, so that the sudden driving condition of other vehicles can be timely known, and the driving state of the current vehicle can be timely controlled based on the sudden driving condition of other vehicles, thereby improving the safety of automatic driving.
Referring to fig. 1, a schematic diagram of a safety driving control system 100 for an autonomous vehicle according to an embodiment of the present invention includes a plurality of onboard controllers 101 communicatively connected to each other, and each onboard controller 101 is disposed in one vehicle 10. Further, a plurality of vehicles may travel within the target area. In this embodiment, there may be a plurality of roads in the target area.
It can be understood that, in the above-mentioned safe driving control system 100, for any one of the onboard controllers 101, the onboard controller 101 can perform real-time communication with other onboard controllers in the system, and take into account transmission loss and attenuation of control signals of the other onboard controllers in the system, so as to obtain an emergency driving situation of other vehicles due to the loss and attenuation of the control signals in advance, and timely control the driving state of the current vehicle based on the emergency driving situation, thereby improving safety of automatic driving.
On the basis of the above, please refer to fig. 2 in conjunction with the above, which is a method for controlling safe driving of an autonomous vehicle according to an embodiment of the present invention, the method may be applied to any one of the onboard controllers 101 in fig. 1, and for convenience of description, when the above method is applied to a certain onboard controller in fig. 1, another onboard controller communicating with the onboard controller may be defined as a target onboard controller.
For example, the safe driving control system 100 shown in fig. 1 includes N on-board controllers communicating with each other, such that the on-board controller N1For example, to perform the above method, the vehicle-mounted controller N2~NNCan be understood as a target on-board controller, where N is a positive integer.
Further, the vehicle-mounted controller may specifically include the following when executing the method.
Step S21, the vehicle-mounted controller receives first detection data which are collected and uploaded by vehicle condition detection equipment in a first vehicle corresponding to the vehicle-mounted controller, traverses data storage spaces corresponding to target vehicle-mounted controllers which are in communication connection with the vehicle-mounted controller, and screens out first vehicle-mounted controllers containing at least part of data types in the first detection data from the data storage spaces corresponding to the target vehicle-mounted controllers;
in the present embodiment, the vehicle condition detection device may be one or a combination of more of a vehicle positioning device, a gyroscope, an in-vehicle camera, an in-vehicle microphone, an in-vehicle distance sensor, a door hall sensor, and a brake pad detector. It is understood that the vehicle condition detection apparatus is used to collect the vehicle condition of the vehicle during the running of the vehicle.
Accordingly, the first detection data may be data related to the vehicle, such as vehicle three-dimensional coordinates, vehicle offset angle data, image data of the vehicle surroundings, voice data of the vehicle surroundings, and the like, which are collected by the above-described different types of vehicle condition detection apparatuses. In the present embodiment, the data type may be determined from various data in the first detection data.
Step S22, obtaining attenuation characteristic information including a first signal attenuation coefficient and a first signal attenuation rate corresponding to the at least part of data types, which corresponds to the screened first onboard controller, according to a correspondence between pre-stored first onboard controllers and data transmission attenuation rates corresponding to the at least part of data types.
In the embodiment, the data transmission attenuation rate is used for representing the degree of data transmission distortion caused by signal attenuation when the vehicle-mounted controller communicates with the vehicle condition detection device. The data transmission attenuation rate can be expressed in a percentage form, the larger the data transmission attenuation rate is, the larger the representation data transmission distortion degree is, and the lower the communication accuracy rate between the vehicle-mounted controller and the vehicle condition detection equipment can be further represented.
In this embodiment, the first signal attenuation coefficient is used to represent a difference value between a first execution action performed when the control device receives the control signal and a second execution action expected to be performed by the control device based on the control signal in advance when the on-board controller sends the control signal to the corresponding control device in the vehicle after receiving the detection data.
Wherein, the difference value can be determined by determining the similarity of the first execution action and the second execution action. It is to be understood that the first performing act and the second performing act may be understood as performing instructions, which may be mapped to character encodings in the onboard controller. Accordingly, determining a difference value between the first performed action and the second performed action may be determined by a similarity between a first character encoding of the first performed action and a second character encoding of the second performed action.
In this embodiment, the signal decay rate is used to characterize the rate of amplitude decay of the control signal as it is transmitted between the on-board controller and the control device.
Step S23, determining a safety influence factor of each first vehicle-mounted controller relative to the vehicle-mounted controllers according to the vehicle distance of the first vehicle corresponding to the vehicle-mounted controller and the second vehicle corresponding to each first vehicle-mounted controller in the target area and the attenuation characteristic information corresponding to each first vehicle-mounted controller; sequencing the determined safety influence factors, and sending a vehicle condition sharing request to a second vehicle-mounted controller corresponding to at least part of the sequenced safety influence factors based on a preset control strategy generation mode; and building a vehicle condition shared data pool according to the received confirmation information sent by the second vehicle-mounted controller, importing the first detection data and second detection data acquired and uploaded by vehicle condition detection equipment in a third vehicle corresponding to the second vehicle-mounted controller into the vehicle condition shared data pool, periodically generating an adjusting instruction for controlling the running state of the first vehicle according to the imported detection data in the vehicle condition shared data pool, and issuing the adjusting instruction to control equipment corresponding to the vehicle-mounted controller.
In this embodiment, the safety impact factor is used to characterize the probability that the second vehicle corresponding to the first onboard controller collides with/hangs from the first vehicle directly or indirectly during the driving process. Accordingly, at least part of the safety impact factor may be a safety impact factor higher than the set value. The set value may be obtained from vehicle condition data (detection data) of the vehicle in the traffic accident that has occurred in the target area.
In this embodiment, the preset control strategy generation manner may be obtained according to a historical control strategy of the first vehicle, where the historical control strategy includes control strategies when the first vehicle deals with normal road conditions and abnormal road conditions.
In this embodiment, the onboard controller and the second onboard controller may share data in the vehicle condition shared data pool, so that the onboard controller may directly obtain the driving condition of the third vehicle corresponding to the second onboard controller from the vehicle condition shared data pool, and assuming that a failure occurs in signal transmission between the second onboard controller and the control device corresponding to the second onboard controller, which results in abnormal driving of the third vehicle, the onboard controller may timely learn the third vehicle with abnormal driving through the vehicle condition shared data pool, and then generate an adjustment instruction according to the real-time vehicle condition of the third vehicle with abnormal driving, so as to instruct the control device corresponding to the first vehicle to adjust and control the driving state of the first vehicle, thereby avoiding an accident.
It can be understood that through steps S21-S23, the data storage space corresponding to each target vehicle-mounted controller can be traversed based on the first detection data, so as to determine the first vehicle-mounted controller including at least part of the data types in the first detection data, further screen out the attenuation characteristic information corresponding to the first vehicle-mounted controller based on the pre-stored corresponding relationship, then determine the safety influence factor of each first vehicle-mounted controller relative to the vehicle-mounted controller, and build the vehicle condition shared data pool with the second vehicle-mounted controller based on the preset control strategy generation manner. Therefore, the adjustment instruction can be generated according to the detection data input by the second vehicle-mounted controller to the vehicle condition shared data pool aiming at the third vehicle, so that automatic driving control can be performed on the first vehicle, the sudden driving condition of other vehicles can be timely obtained, the driving state of the current vehicle can be timely controlled based on the sudden driving condition of other vehicles, and the safety of automatic driving is improved.
In an alternative embodiment, the obtaining, according to a correspondence between pre-stored first onboard controller and data transmission attenuation rate corresponding to the at least part of data type, attenuation characteristic information corresponding to the screened first onboard controller and including a first signal attenuation coefficient and a first signal attenuation rate corresponding to the at least part of data type may specifically include the following.
Step S221, searching whether a target data type consistent with the at least part of data types and marked by the onboard controller in a set time period exists in the relationship list represented by the corresponding relationship.
In step S221, the set time period is a time period before the current time, and the on-board controller marks a data type corresponding to the detection data in which the abnormal fluctuation exists within the set time period.
In step S221, the detection data in which the abnormal fluctuation exists may be determined by the mean value, the maximum value, and the minimum value of the detection data within the set period. For example, if both a first difference value between the mean value and the maximum value and a second difference value between the mean value and the minimum value are larger than a set difference value, it may be determined that there is an abnormal fluctuation in the detected data. It is understood that the detection data in which the abnormal fluctuation exists may indicate that the running state of the first vehicle corresponding to the on-vehicle controller is abnormal.
Step S222, if the target data type is found, acquiring a data transmission attenuation unit corresponding to the target data type in the relationship list.
In step S222, the data transmission attenuation unit is located in the relationship list, the data transmission attenuation unit includes at least a plurality of attenuation evaluation indexes, each attenuation evaluation index has an association relationship with the control logic of the onboard controller, and the control logic of the onboard controller generates an analysis result corresponding to a thread according to the control signal of the onboard controller.
Step S223, after the data transmission attenuation unit is obtained, according to a plurality of attenuation evaluation indexes included in the data transmission attenuation unit, responding to the target data type and feeding back a signal attenuation confirmation message to the first onboard controller.
In step S223, the signal attenuation confirmation message is used to prompt the first vehicle-mounted controller to generate a log file according to the instruction stream stored in the first vehicle-mounted controller; and responding to the target data type by adding the target data type in a feature extraction thread preset by the vehicle-mounted controller.
Step S224, obtaining a log file generated by the first vehicle-mounted controller, adding the log file to the feature extraction thread, and determining the similarity between the target data type and at least part of data types based on the weight ratio of the target data type to the data transmission attenuation rate; and determining a first signal attenuation coefficient and a first signal attenuation rate corresponding to the first vehicle-mounted controller according to the similarity and the current breakage rate of the first vehicle-mounted controller.
It can be understood that through steps S221 to S224, when the target data type is found, the data transmission attenuation unit can be further obtained, and then the communication interaction of signal attenuation confirmation is performed with the first onboard controller based on a plurality of attenuation evaluation indexes included in the data transmission attenuation unit, and then the log file generated by the first onboard controller is obtained, and then the similarity between the target data type and at least part of the data types is determined based on the log file and the weight ratio between the target data type and the data transmission attenuation rate in the preset feature extraction thread, so that the first signal attenuation coefficient and the first signal attenuation rate corresponding to the first onboard controller are determined according to the similarity. In this way, the log file of the first onboard controller can be analyzed, thereby ensuring the accuracy and reliability of the first signal attenuation coefficient and the first signal attenuation rate.
In practical application, the road condition information is a key influencing safe driving of vehicles, and in order to ensure safe automatic driving of the vehicles and reduce the accident occurrence probability, safety influence factors among a plurality of vehicles need to be accurately determined.
For this purpose, in step S23, the determining a safety influence factor of each first vehicle-mounted controller with respect to the vehicle-mounted controller according to the vehicle distance between the first vehicle corresponding to the vehicle-mounted controller and the second vehicle corresponding to each first vehicle-mounted controller in the target area and the attenuation characteristic information corresponding to each first vehicle-mounted controller may specifically include the following.
Step S2311, determining a signal delay distribution sequence between the vehicle-mounted controller and the first vehicle-mounted controller according to the vehicle distance and the attenuation characteristic information; the signal delay distribution sequence comprises delay difference values when detection data of different data types reach the detection terminal when the detection data are sent to the detection terminal by the vehicle-mounted controllers and each first vehicle-mounted controller at the same time.
Step S2312, extracting numerical features of the signal delay distribution sequence, and obtaining delay influence weights corresponding to the detection data corresponding to each data type in the signal delay distribution sequence based on a control delay coefficient of delay time.
In this embodiment, the control hysteresis coefficient is used to characterize the difference between the actual control behavior and the desired control behavior due to the delay in receiving and processing the detection data, and the delay impact weight is used to characterize the degree of impact of the detection data of different data types on the difference in control behavior.
Step S2313, extracting road network safety characteristic values of the signal delay distribution sequence according to the road network information of the target area, the delay duration and each delay influence weight, and taking the road network safety characteristic values as reference parameters of the signal delay distribution sequence; wherein, the road network safety characteristic value comprises any one or more of the following: road network congestion coefficient, road network accident rate and road network vehicle driving loss value.
In step S2313, the driving loss value of the road network vehicle is used to represent energy additionally consumed, such as oil consumption or electricity consumption, when the vehicle is started or stopped due to a congested road condition or a traffic accident while the vehicle is traveling in the target area.
Step S2314, fusing the reference parameters to obtain target parameters, and determining a directional connecting line track corresponding to the control logic of the first vehicle-mounted controller compared with the vehicle-mounted controller according to a first signal attenuation coefficient and a first signal attenuation rate included in the attenuation characteristic information; and determining a safety influence factor of the first vehicle-mounted controller relative to the vehicle-mounted controller according to the directed connecting line track.
It can be understood that through the above, the safety influence factors of the plurality of first onboard controllers relative to the onboard controllers can be accurately determined, and then the safety influence factors of the plurality of vehicles when the vehicles run in the road section of the target area are determined, so that safe automatic driving of the vehicles is ensured, and the accident occurrence probability is reduced.
In specific implementation, in order to improve the confidence of the safety impact factor, in step S2314, the determining the safety impact factor of the first onboard controller relative to the onboard controller according to the directional link track may specifically include the following steps.
(1) The method comprises the steps of judging whether a vehicle networking network for vehicle-mounted communication is mutually established with a plurality of first vehicle-mounted controllers, if the vehicle networking network is mutually established with the plurality of first vehicle-mounted controllers, forming a node migration sequence according to network node distribution of the vehicle networking network, and sending the node migration sequence to the plurality of first vehicle-mounted controllers so that the plurality of first vehicle-mounted controllers dynamically store the node migration sequence.
In this embodiment, the distribution of the network nodes is determined by a first relative position of a first vehicle corresponding to the on-board controller in the target area and a second relative position of a second vehicle corresponding to the first on-board controller in the target area, and the node migration sequence is used to represent a change sequence of the distribution of the network nodes in comparison with the second vehicle corresponding to the on-board controller during the driving process of the first vehicle corresponding to the on-board controller.
(2) When each first vehicle-mounted controller iterates the node migration sequence stored in the first vehicle-mounted controller according to the directional connection track corresponding to the first vehicle-mounted controller, the iteration information generated by each first vehicle-mounted controller is obtained.
In this embodiment, the iterative information includes vehicle-mounted communication change information of each first vehicle-mounted controller and the vehicle-mounted controller in each set step, and the vehicle-mounted communication change information is transmitted through the internet of vehicles network separately.
(3) Extracting the characteristics of all the obtained iteration information to obtain the multidimensional characteristics corresponding to each iteration information; and clustering the multidimensional characteristics by adopting a K-means clustering method to obtain a plurality of target clusters.
In this embodiment, each target cluster is correspondingly provided with a cluster identifier, the cluster identifier is used to indicate a weighted value of each first vehicle-mounted controller in each target cluster relative to a safety influence factor of the vehicle-mounted controller, and the weighted value is used to represent a confidence of the safety influence factor.
(4) And for each first vehicle-mounted controller in each target cluster, determining an offset coefficient when the track deviation occurs in the directional connecting track of the first vehicle-mounted controller, determining a target weighted value for adjusting the offset coefficient according to the cluster identifier corresponding to the target cluster where the first vehicle-mounted controller is located, and adjusting the offset coefficient according to the target weighted value to obtain a safety influence factor of the first vehicle-mounted controller relative to the vehicle-mounted controller.
In this embodiment, the weighted value can be taken into account when determining the safety influence factor, and the accuracy of the confidence level of the safety influence factor represented by the weighted value can be ensured by the determination of the weighted value, so that the confidence level of the safety influence factor determined by the method can be ensured, and a reliable data basis is provided for the establishment of the subsequent vehicle condition shared data pool.
In a specific implementation, the detection data in the vehicle condition shared data pool is updated in real time, and in order to ensure that the adjustment command is generated in time, in step S23, the adjustment command for controlling the driving state of the first vehicle is periodically generated according to the detection data imported from the vehicle condition shared data pool, and the adjustment command is issued to the control device corresponding to the on-board controller.
Step S2321, determine whether the remaining memory capacity in the current time period reaches the target capacity of the update data received by the vehicle condition shared data pool in the current time period.
Step S2322, if the remaining memory capacity of the current time interval reaches the target capacity of the update data received by the vehicle condition shared data pool in the current time interval, a command generation script thread is built according to the remaining memory capacity, the update data is imported into the command generation script thread, the command generation script thread is operated to obtain the adjustment command, and the adjustment command is issued to the control device corresponding to the vehicle-mounted controller.
Step S2323, if the remaining memory capacity of the current time interval does not reach the target capacity of the update data received by the vehicle condition shared data pool in the current time interval, performing data compression on the update data to obtain compressed data, building an instruction generation script thread, importing the compressed data into the instruction generation script thread, operating the instruction generation script thread to obtain the adjustment instruction, and issuing the adjustment instruction to the control device corresponding to the vehicle-mounted controller; wherein the capacity of the compressed data is equal to the remaining memory capacity.
It can be understood that through steps S2321-S2323, the onboard controller can analyze the remaining memory capacity of the onboard controller, thereby ensuring that there is enough capacity to process the updated data, ensuring accurate construction of the instruction generation script thread, and timely generation of the adjustment instruction.
In addition to the above, in order to ensure that the compressed data can completely reflect the data characteristics of the updated data when the updated data is compressed, in step S2323, the data compression of the updated data to obtain the compressed data may specifically include the following.
(1) And acquiring a data structured description of the updating data.
(2) Carrying out data structure identification on the data structural description, and determining a plurality of structure categories corresponding to the updating data represented by the data structural description; the structure type is used for representing service data and logic data in the updating data, the service data is used for representing the driving state of a vehicle, and the logic data is used for connecting the service data.
(3) And separating the updating data according to the plurality of structure categories to obtain a plurality of data groups corresponding to the updating data.
(4) For each data packet, when the data packet is a packet in which service data is located, adding a logic tag for the data packet, wherein the logic tag is used for indicating the logic relationship between the data packet and other data packets; when the data packet is a packet in which the logic data is located, determining at least two data packets which are represented by the logic data in the data packet and have a logic relationship, encapsulating the logic data in the data packet into a logic tag according to the service data represented by the at least two data packets, and respectively adding the logic tag to the at least two data packets.
(5) And obtaining the compressed data according to the data packet added with the logic label.
In this embodiment, through the above, the service data and the logic data can be determined according to the data structured description of the update data, and the logic data is compressed, so that not only the integrity of the service data can be ensured, but also the logic relationship between different service data can be determined based on the logic tag, and further, the compressed data can completely reflect the data characteristics of the update data.
In practical application, an adjustment instruction for controlling the driving state of the first vehicle is periodically generated according to the detection data imported from the vehicle condition shared data pool, and the adjustment instruction is issued to the control device corresponding to the vehicle-mounted controller, which may specifically be implemented in the following manner: and judging whether the vehicle condition shared data pool contains imported data or not within a set time interval, if so, generating an adjusting instruction for controlling the running state of the first vehicle according to the imported data and sending the adjusting instruction to control equipment corresponding to the vehicle-mounted controller, and if not, generating an adjusting instruction for controlling the running state of the first vehicle according to the set time interval and detection data within the latest set time interval in the vehicle condition shared data pool and sending the adjusting instruction to the control equipment corresponding to the vehicle-mounted controller.
It can be understood that the timeliness of the adjustment instruction can be ensured by the above. Further, on the basis of the above, the set time interval may also be adjusted according to the number of vehicles in the target area. For example, if the number of vehicles in the target area increases, the set time interval may be adjusted smaller. If the number of vehicles in the target area decreases, the set time interval may be adjusted to be larger.
On the basis of the above, please refer to fig. 3, which is a block diagram of a vehicle-mounted controller 101 according to an embodiment of the present invention, the vehicle-mounted controller 101 may include the following modules.
The traversing module 1011 is configured to receive, by the vehicle-mounted controller, first detection data collected and uploaded by the vehicle condition detection device in the first vehicle corresponding to the vehicle-mounted controller, traverse the data storage space corresponding to each target vehicle-mounted controller in communication connection with the vehicle-mounted controller, and screen out, from the data storage space corresponding to each target vehicle-mounted controller, the first vehicle-mounted controller including at least part of data types in the first detection data.
An obtaining module 1012, configured to obtain attenuation characteristic information, which includes a first signal attenuation coefficient and a first signal attenuation rate corresponding to the at least part of the data types, and corresponds to the screened first onboard controller according to a correspondence between pre-stored first onboard controllers and data transmission attenuation rates corresponding to the at least part of the data types.
The control module 1013 is configured to determine a safety influence factor of each first onboard controller relative to the onboard controllers according to the vehicle distance between the first vehicle corresponding to the onboard controllers and the second vehicle corresponding to each first onboard controller in the target area and the attenuation characteristic information corresponding to each first onboard controller; sequencing the determined safety influence factors, and sending a vehicle condition sharing request to a second vehicle-mounted controller corresponding to at least part of the sequenced safety influence factors based on a preset control strategy generation mode; and building a vehicle condition shared data pool according to the received confirmation information sent by the second vehicle-mounted controller, importing the first detection data and second detection data acquired and uploaded by vehicle condition detection equipment in a third vehicle corresponding to the second vehicle-mounted controller into the vehicle condition shared data pool, periodically generating an adjusting instruction for controlling the running state of the first vehicle according to the imported detection data in the vehicle condition shared data pool, and issuing the adjusting instruction to control equipment corresponding to the vehicle-mounted controller.
Embodiments of the present invention also provide a readable storage medium, on which a program is stored, which, when executed by a processor, implements the above-described safe driving control method for an autonomous vehicle.
The embodiment of the invention provides a processor, which is used for running a program, wherein the program executes the safe driving control method of the automatic driving vehicle when running.
In this embodiment, the onboard controller 101 includes at least one processor, and at least one memory and a bus connected to the processor. The processor and the memory complete mutual communication through the bus. The processor is configured to call program instructions in the memory to perform the above-described safe driving control method for an autonomous vehicle.
To sum up, the safe driving control method for the automatically driven vehicle and the vehicle-mounted controller provided by the embodiments of the present invention can traverse the data storage space corresponding to each target vehicle-mounted controller based on the first detection data, thereby determining the first vehicle-mounted controller including at least part of the data types in the first detection data, further screening the attenuation characteristic information corresponding to the first vehicle-mounted controller based on the pre-stored correspondence, then determining the safety influence factor of each first vehicle-mounted controller relative to the vehicle-mounted controller, and building the vehicle condition shared data pool with the second vehicle-mounted controller based on the preset control strategy generation manner. Therefore, the adjustment instruction can be generated according to the detection data input by the second vehicle-mounted controller to the vehicle condition shared data pool aiming at the third vehicle, so that automatic driving control can be performed on the first vehicle, the sudden driving condition of other vehicles can be timely obtained, the driving state of the current vehicle can be timely controlled based on the sudden driving condition of other vehicles, and the safety of automatic driving is improved.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, cloud on-board controllers (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing cloud onboard controller to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing cloud onboard controller, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a cloud onboard controller includes one or more processors (CPUs), memory, and a bus. The cloud onboard controller may also include input/output interfaces, network interfaces, and the like.
The memory may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip. The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), random access memory with other feature weights (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, magnetic tape cassettes, magnetic tape disk storage or other magnetic storage cloud onboard controllers, or any other non-transmission medium that can be used to store information that can be matched by a computing cloud onboard controller. As defined herein, computer readable media does not include transitory computer readable media such as modulated data signals and carrier waves.
It is also noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or cloud onboard controller that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or cloud onboard controller. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of additional like elements in a process, method, article, or cloud onboard controller that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (10)

1. A safe driving control method of an autonomous vehicle, applied to an on-board controller, the method comprising:
the vehicle-mounted controller receives first detection data which are acquired and uploaded by vehicle condition detection equipment in a first vehicle corresponding to the vehicle-mounted controller, traverses data storage spaces corresponding to target vehicle-mounted controllers in communication connection with the vehicle-mounted controller, and screens out first vehicle-mounted controllers containing at least part of data types in the first detection data from the data storage spaces corresponding to the target vehicle-mounted controllers; wherein the first detection data includes vehicle three-dimensional coordinates, vehicle offset angle data, image data of a vehicle surrounding environment, and voice data of the vehicle surrounding environment;
acquiring attenuation characteristic information which is corresponding to the screened first vehicle-mounted controller and contains a first signal attenuation coefficient and a first signal attenuation rate corresponding to the at least part of data types according to the corresponding relation between the pre-stored first vehicle-mounted controller and the data transmission attenuation rate corresponding to the at least part of data types;
determining a safety influence factor of each first vehicle-mounted controller relative to the vehicle-mounted controllers according to the vehicle distance of the first vehicle corresponding to the vehicle-mounted controller and the second vehicle corresponding to each first vehicle-mounted controller in the target area and the attenuation characteristic information corresponding to each first vehicle-mounted controller; sequencing the determined safety influence factors, and sending a vehicle condition sharing request to a second vehicle-mounted controller corresponding to at least part of the sequenced safety influence factors based on a preset control strategy generation mode; according to the received confirmation information sent by the second vehicle-mounted controller, a vehicle condition shared data pool is established, the first detection data and second detection data which are collected and uploaded by vehicle condition detection equipment in a third vehicle corresponding to the second vehicle-mounted controller are imported into the vehicle condition shared data pool, an adjusting instruction for controlling the running state of the first vehicle is periodically generated according to the imported detection data in the vehicle condition shared data pool, and the adjusting instruction is issued to control equipment corresponding to the vehicle-mounted controller; wherein the second detection data includes vehicle three-dimensional coordinates, vehicle offset angle data, image data of a vehicle surrounding environment, and voice data of the vehicle surrounding environment.
2. The method according to claim 1, wherein the periodically generating an adjustment instruction for controlling the driving state of the first vehicle according to the imported detection data in the vehicle condition sharing data pool and sending the adjustment instruction to a control device corresponding to the vehicle-mounted controller comprises:
judging whether the residual memory capacity of the current time period reaches the target capacity of the updating data received by the vehicle condition shared data pool in the current time period;
if the residual memory capacity of the current time interval reaches the target capacity of the updating data received by the vehicle condition sharing data pool in the current time interval, constructing an instruction generation script thread according to the residual memory capacity, importing the updating data into the instruction generation script thread, operating the instruction generation script thread to obtain the adjusting instruction, and issuing the adjusting instruction to the control equipment corresponding to the vehicle-mounted controller;
if the residual memory capacity of the current time interval does not reach the target capacity of the update data received by the vehicle condition shared data pool in the current time interval, performing data compression on the update data to obtain compressed data, building an instruction generation script thread, introducing the compressed data into the instruction generation script thread, operating the instruction generation script thread to obtain the adjustment instruction, and issuing the adjustment instruction to the control device corresponding to the vehicle-mounted controller; wherein the capacity of the compressed data is equal to the remaining memory capacity.
3. The method according to claim 2, wherein the data compressing the updated data to obtain compressed data comprises:
acquiring a data structured description of the updating data;
carrying out data structure identification on the data structural description, and determining a plurality of structure categories corresponding to the updating data represented by the data structural description; the structure type is used for representing service data and logic data in the updating data, the service data is used for representing the driving state of a vehicle, and the logic data is used for connecting the service data;
separating the updated data according to the plurality of structure categories to obtain a plurality of data groups corresponding to the updated data;
for each data packet, when the data packet is a packet in which service data is located, adding a logic tag for the data packet, wherein the logic tag is used for indicating the logic relationship between the data packet and other data packets; when the data packet is a packet in which the logic data is located, determining at least two data packets which are represented by the logic data in the data packet and have a logic relationship, packaging the logic data in the data packet into a logic tag according to the service data represented by the at least two data packets, and respectively adding the logic tag to the at least two data packets;
and obtaining the compressed data according to the data packet added with the logic label.
4. The method according to claim 1, wherein the periodically generating an adjustment instruction for controlling the driving state of the first vehicle according to the imported detection data in the vehicle condition sharing data pool and sending the adjustment instruction to a control device corresponding to the vehicle-mounted controller comprises:
and judging whether the vehicle condition shared data pool contains imported data or not within a set time interval, if so, generating an adjusting instruction for controlling the running state of the first vehicle according to the imported data and sending the adjusting instruction to control equipment corresponding to the vehicle-mounted controller, and if not, generating an adjusting instruction for controlling the running state of the first vehicle according to the set time interval and detection data within the latest set time interval in the vehicle condition shared data pool and sending the adjusting instruction to the control equipment corresponding to the vehicle-mounted controller.
5. The method of claim 4, further comprising: and adjusting the set time interval according to the number of vehicles in the target area.
6. The method of claim 1, 2 or 4, wherein determining the safety impact factor of each first vehicle-mounted controller relative to the vehicle-mounted controller according to the vehicle distance between the first vehicle corresponding to the vehicle-mounted controller and the second vehicle corresponding to each first vehicle-mounted controller in the target area and the attenuation characteristic information corresponding to each first vehicle-mounted controller comprises:
determining a signal delay distribution sequence between the vehicle-mounted controller and the first vehicle-mounted controller according to the vehicle distance and the attenuation characteristic information; the signal delay distribution sequence comprises delay difference values when detection data of different data types reach a detection terminal when the detection data are sent to the detection terminal by the vehicle-mounted controllers and each first vehicle-mounted controller simultaneously;
extracting numerical characteristics of the signal delay distribution sequence, and obtaining delay influence weights corresponding to detection data corresponding to each data type in the signal delay distribution sequence based on a control delay coefficient of delay time;
extracting road network safety characteristic values of the signal delay distribution sequence according to the road network information of the target area, the delay duration and each delay influence weight, and taking the road network safety characteristic values as reference parameters of the signal delay distribution sequence; wherein, the road network safety characteristic value comprises any one or more of the following: road network congestion coefficient, road network accident occurrence rate and road network vehicle driving loss value;
fusing the reference parameters to obtain target parameters, and determining a directional connecting line track corresponding to the control logic of the first vehicle-mounted controller compared with the vehicle-mounted controller according to a first signal attenuation coefficient and a first signal attenuation rate which are included in the attenuation characteristic information; and determining a safety influence factor of the first vehicle-mounted controller relative to the vehicle-mounted controller according to the directed connecting line track.
7. The method of claim 6, wherein determining a safety impact factor of a first onboard controller relative to the onboard controllers from the directed link trajectory comprises:
judging whether a vehicle networking network for vehicle-mounted communication is mutually established with a plurality of first vehicle-mounted controllers or not, if the vehicle networking network is mutually established with the plurality of first vehicle-mounted controllers, forming a node migration sequence according to the network node distribution of the vehicle networking network and sending the node migration sequence to the plurality of first vehicle-mounted controllers so that the plurality of first vehicle-mounted controllers dynamically store the node migration sequence; the network node distribution is determined through a first relative position of a first vehicle corresponding to the vehicle-mounted controller in the target area and a second relative position of a second vehicle corresponding to the first vehicle-mounted controller in the target area, and the node migration sequence is used for representing a change sequence of the network node distribution relative to the second vehicle corresponding to the vehicle-mounted controller in the driving process of the first vehicle corresponding to the vehicle-mounted controller;
when each first vehicle-mounted controller iterates the node migration sequence stored in the first vehicle-mounted controller according to the directional connection track corresponding to the first vehicle-mounted controller, acquiring iteration information generated by each first vehicle-mounted controller; the iteration information comprises vehicle-mounted communication change information of each first vehicle-mounted controller and the vehicle-mounted controller in each set step length, and the vehicle-mounted communication change information is independently transmitted through the vehicle networking network;
extracting the characteristics of all the obtained iteration information to obtain the multidimensional characteristics corresponding to each iteration information; clustering the multidimensional characteristics by adopting a K mean value clustering method to obtain a plurality of target clusters; the method comprises the steps that each target cluster is correspondingly provided with a cluster identifier, the cluster identifier is used for indicating a weighted value of each first vehicle-mounted controller in each target cluster relative to a safety influence factor of the vehicle-mounted controller, and the weighted value is used for representing the confidence of the safety influence factor;
and for each first vehicle-mounted controller in each target cluster, determining an offset coefficient when the track deviation occurs in the directional connecting track of the first vehicle-mounted controller, determining a target weighted value for adjusting the offset coefficient according to the cluster identifier corresponding to the target cluster where the first vehicle-mounted controller is located, and adjusting the offset coefficient according to the target weighted value to obtain a safety influence factor of the first vehicle-mounted controller relative to the vehicle-mounted controller.
8. An onboard controller, comprising:
the traversing module is used for receiving first detection data which are acquired and uploaded by vehicle condition detection equipment in a first vehicle corresponding to the vehicle-mounted controller by the vehicle-mounted controller, traversing data storage spaces corresponding to target vehicle-mounted controllers which are in communication connection with the vehicle-mounted controller, and screening out a first vehicle-mounted controller containing at least part of data types in the first detection data from the data storage spaces corresponding to the target vehicle-mounted controllers; wherein the first detection data includes vehicle three-dimensional coordinates, vehicle offset angle data, image data of a vehicle surrounding environment, and voice data of the vehicle surrounding environment;
the acquisition module is used for acquiring attenuation characteristic information which is corresponding to the screened first vehicle-mounted controller and comprises a first signal attenuation coefficient and a first signal attenuation rate corresponding to at least part of data types according to the corresponding relation between the pre-stored first vehicle-mounted controller and the data transmission attenuation rate corresponding to at least part of data types;
the control module is used for determining a safety influence factor of each first vehicle-mounted controller relative to the vehicle-mounted controllers according to the vehicle distance of the first vehicle corresponding to the vehicle-mounted controller and the second vehicle corresponding to each first vehicle-mounted controller in the target area and the attenuation characteristic information corresponding to each first vehicle-mounted controller; sequencing the determined safety influence factors, and sending a vehicle condition sharing request to a second vehicle-mounted controller corresponding to at least part of the sequenced safety influence factors based on a preset control strategy generation mode; according to the received confirmation information sent by the second vehicle-mounted controller, a vehicle condition shared data pool is established, the first detection data and second detection data which are collected and uploaded by vehicle condition detection equipment in a third vehicle corresponding to the second vehicle-mounted controller are imported into the vehicle condition shared data pool, an adjusting instruction for controlling the running state of the first vehicle is periodically generated according to the imported detection data in the vehicle condition shared data pool, and the adjusting instruction is issued to control equipment corresponding to the vehicle-mounted controller; wherein the second detection data includes vehicle three-dimensional coordinates, vehicle offset angle data, image data of a vehicle surrounding environment, and voice data of the vehicle surrounding environment.
9. An onboard controller, comprising: a processor and a memory and bus connected to the processor; the processor and the memory are communicated with each other through the bus; the processor is configured to invoke a computer program in the memory to perform the safe driving control method of the autonomous vehicle as recited in any of claims 1-7.
10. A readable storage medium, characterized in that a program is stored thereon, which when executed by a processor, implements the safe driving control method of an autonomous vehicle as recited in any one of claims 1 to 7.
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