CN111489576B - Control method and system of vehicle automatic driving equipment and storage medium - Google Patents
Control method and system of vehicle automatic driving equipment and storage medium Download PDFInfo
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- CN111489576B CN111489576B CN202010106434.5A CN202010106434A CN111489576B CN 111489576 B CN111489576 B CN 111489576B CN 202010106434 A CN202010106434 A CN 202010106434A CN 111489576 B CN111489576 B CN 111489576B
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/165—Anti-collision systems for passive traffic, e.g. including static obstacles, trees
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
- H04W12/12—Detection or prevention of fraud
- H04W12/121—Wireless intrusion detection systems [WIDS]; Wireless intrusion prevention systems [WIPS]
- H04W12/122—Counter-measures against attacks; Protection against rogue devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
Abstract
The invention provides a control method of vehicle automatic driving equipment, which comprises the following steps: detecting a specified object by a sensing unit in the automatic driving device of the vehicle during the automatic driving process of the vehicle to obtain sensing data; acquiring network state information of the vehicle automatic driving equipment through an information collecting unit; one or more processors process the sensing data and the network state information through an application program, and send the processed sensing data and the network state data of a specified object to a server; the server expects a possible event based on the distance from the specified object and the expected collision time with the specified object; transmitting remote control information to the vehicle; or the server sends warning information to the vehicle automatic driving equipment based on the network state information; by the method, the automatic vehicle driving equipment can accurately identify the sensing data, control the load state of the automatic vehicle driving equipment, filter out useless messages and switch the driving mode when potential safety hazards exist.
Description
Technical Field
The invention belongs to the technical field of vehicle automatic driving, and relates to an automatic driving method and system of vehicle-mounted automatic driving equipment and a storage medium.
Background
A large number of traffic accidents occur worldwide each year, resulting in a large number of casualties and property losses. Among them, the main reason for the occurrence of traffic accidents is the lack of reliable information interaction mechanism among vehicles. The internet of vehicles system aims to achieve the purposes of improving road safety, improving traffic efficiency and providing rich streaming media services for users through communication between vehicles and X (V2X). Specifically, V2X includes V2V (Vehicle-to-Vehicle), V2I (Vehicle-to-Infrastructure), and V2P (Vehicle-to-Pedestrian handheld).
In order to improve road safety due to the increase of vehicles and the limitation of transmission resources in the internet of vehicles system, in the prior art, a vehicle automatic driving device communicates with a large number of sensors installed in a vehicle, receives a large amount of information sensed by the sensors, communicates with a server according to sensing data of the sensors, and receives control of the server. The vehicle automatic driving apparatus may receive a large amount of sensor information at the same time and at the same location, and is subjected to a great load, and how to recognize the urgency of such information and filter useless information becomes one of the most concerned problems. Meanwhile, in the communication process of the vehicle-mounted equipment and the server, a plurality of security holes exist, and if the processing load of the vehicle automatic driving equipment is too large or the vehicle automatic driving equipment is attacked by a network, how to ensure the safety of a passenger is also a problem which needs to be paid attention to urgently.
Disclosure of Invention
In order to solve the technical problem, the invention provides a control method of a vehicle automatic driving device, wherein a vehicle detects a specified object through a sensing unit in the vehicle automatic driving device in the automatic driving process to obtain sensing data; acquiring network state information of the vehicle automatic driving equipment through an information collecting unit; one or more processors process the sensing data and the network state information through an application program, and send the processed sensing data and the network state data of a specified object to a server; the server transmits remote control information to the vehicle in anticipation of a possible event based on a distance from the designated object and an anticipated time of collision with the designated object; or the server sends warning information to the vehicle automatic driving equipment based on the network state information.
In particular, processing the sensed data by the application includes the application adding thereto an identification of a hazard level at which the vehicle is located based on the sensed data.
Specifically, the one or more processors count, in real time, the waiting time of packets of the sensed data that the application program needs to process or packets currently waiting for the application program to process, and process the sensed data according to the number of packets or the waiting time of the sensed data to be processed.
In particular, the one or more processors generate a white list or a black list for the sensed data based on at least one of a road type and a traffic flow when the sensed data is processed more than a corresponding threshold according to the number of data packets or the waiting time of the sensed data to be processed.
Specifically, the server sending the warning information by the vehicle automatic driving device includes: and the server analyzes the network state information of the vehicle automatic driving equipment and generates a warning that the vehicle automatic driving equipment is attacked by the network.
In particular, the automatic driving apparatus of the vehicle switches to the manual driving mode according to the warning.
Specifically, the vehicle automatic driving apparatus senses biometric information of a person in the vehicle through a sensing unit, determines whether to switch to a manual driving mode according to a sensing result, and switches to an emergency braking mode if the sensing result shows that the person in the vehicle is not suitable for manually driving the vehicle.
The invention also provides a control system of the automatic driving equipment for the vehicle, which comprises the automatic driving equipment for the vehicle and a server; the vehicle automatic driving device comprises one or more processors, a sensing unit and an information collecting unit; a sensing unit in the vehicle automatic driving device detects a specified object and obtains sensing data; acquiring network state information of the vehicle automatic driving equipment through an information collecting unit; one or more processors process the sensing data and the network state information through an application program, and send the processed sensing data and the network state data of a specified object to a server; the server is used for sending remote control information to the vehicle according to the distance between the server and the specified object and the expected collision time of the specified object and the expected possible events; or the server sends warning information to the vehicle automatic driving equipment based on the network state information.
The invention also provides a vehicle automatic driving device, which comprises a processor and a memory, wherein the memory is used for storing a computer program, the processor is used for calling and running the computer program stored in the memory, and the method is executed.
The invention also proposes a computer-readable storage medium, characterized by a computer program for storing a computer program that causes a computer to execute the aforementioned method. By the method, the automatic vehicle driving equipment can accurately identify the sensing data, control the load state of the automatic vehicle driving equipment, filter out useless messages and switch the driving mode when potential safety hazards exist.
Drawings
Fig. 1 is a block diagram showing the construction of an automatic driving apparatus for a vehicle according to the present invention;
fig. 2 is a schematic diagram of a communication process between the vehicle automatic driving device and the server according to the present invention.
Detailed Description
The following detailed description of embodiments of the invention refers to the accompanying drawings.
The technical solutions in the embodiments of the present application are described, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
It should be understood that the technical solutions of the embodiments of the present application may be applied to various communication systems, for example: a Global System for Mobile communications (GSM) System, a Code Division Multiple Access (CDMA) System, a Wideband Code Division Multiple Access (WCDMA) System, a General Packet Radio Service (GPRS), a long term evolution LTE System, a LTE Frequency Division Duplex (FDD) System, a LTE Time Division Duplex (TDD), a Universal Mobile telecommunications System (Universal Mobile telecommunications System, UMTS), a UMTS Worldwide Interoperability for Microwave Access (WiMAX) communication System, a New Radio (New Radio, NR), a future 5G System, and the like.
In particular, the technical solution of the embodiment of the present application may be applied to various communication systems based on a non-orthogonal Multiple Access technology, such as a Sparse Code Multiple Access (SCMA) system, a Low Density Signature (LDS) system, and the like, and certainly the SCMA system and the LDS system may also be called other names in the communication field; further, the technical solution of the embodiment of the present application may be applied to a Multi-Carrier transmission system using a non-Orthogonal multiple access technology, for example, an Orthogonal Frequency Division Multiplexing (OFDM) using a non-Orthogonal multiple access technology, a Filter Bank Multi-Carrier (FBMC), a General Frequency Division Multiplexing (GFDM), a Filtered Orthogonal Frequency Division Multiplexing (F-OFDM) system, and the like.
The vehicle automatic driving control device and the server in the embodiment of the present application may implement communication through various Network devices, the Network device may be a device for communicating with a terminal device, the Network device may be a Base Transceiver Station (BTS) in GSM or CDMA, a Base Station (NodeB, NB) in a WCDMA system, an evolved node b (eNB, or eNodeB) in an LTE system, a wireless controller in a Cloud Radio Access Network (CRAN) scenario, or the Network device may be a relay Station, an Access point, a vehicle-mounted device, a wearable device, a Network device in a future 5G Network, or a Network device in a future evolved PLMN Network, and the like, and the embodiment of the present application is not limited.
The D2D communication mode may be applied to Vehicle-to-Vehicle (V2V) communication or Vehicle-to-other device (V2X) communication. In V2X communication, X may refer to any device with wireless receiving and transmitting capability, such as but not limited to a slow moving wireless device, a fast moving vehicle-mounted device, or a network control node with wireless transmitting and receiving capability. It should be understood that the embodiment of the present application is mainly applied to the scenario of V2X communication, but may also be applied to any other D2D communication scenario, and the embodiment of the present application is not limited in this respect.
The invention provides a control method of a vehicle automatic driving device, which is shown in figure 2 and specifically comprises the following steps,
s201, a vehicle automatic driving device in a vehicle senses a surrounding sensing object through a sensing unit; the sensing unit may include a plurality of sensors, and each sensor may generate sensing data about the same sensing object; an application program in the vehicle automatic driving device determines a current danger level identification based on the distance from the vehicle to the sensing object, the expected collision time and/or the occurrence event, adds the current danger level identification to the sensing data and sends the sensing data to a server; the risk level may include three levels, and in order of magnitude, the smaller the level, the higher the risk level, and the more urgent the response of the server is required.
S202, the server determines the type of the sensing object according to the sensing data and the danger level identification, determines whether the sensing object threatens the driving vehicle according to the danger level and the sensing data, determines whether to classify and track the sensing object according to the judgment conclusion, and sends a control command to the automatic driving equipment of the vehicle.
For example, the vehicle recognizes a stationary obstacle approaching 20 meters in front left by a radar sensor. The vehicle automatic driving device determines the danger level as a third level, namely a lowest level according to the sensing result of the radar sensor; and transmits sensed data, such as 15 meters left-front, third level, etc., to the server. The server determines not to track the object based on the third level and the sensed data, and may determine whether the vehicle can travel to the right lane by avoiding by the road information and other sensed data. After the vehicle is driving and the distance between the vehicle behind and the vehicle is estimated, a control instruction is sent to the vehicle and the driver can move to the right lane.
For example, the vehicle senses other vehicles that are close to 200 meters from the vehicle that is traveling straight through the radar sensor; the vehicle automatic driving device determines the danger level as a second level according to the sensing result of the radar sensor; the vehicle automatic driving device adds the danger level to the sensed data and transmits the added danger level to the server. The server receives the sensing data, performs object detection, object classification and object tracking on approaching objects, and determines that the vehicle is approaching and traveling at the current speed may collide after 5 seconds; the server generates a control message which the vehicle receives and subsequently reduces the braking torque to a speed of 30 km/h after 3 seconds by means of the braking system.
For another example, if the sensed data and the danger level are wrong, the sensed data can be received again through the sensor for verification; a control message is generated based on the sensed data. The authentication process may be performed by an AI processor of the server or an AI processor of the vehicle.
In addition, in the unmanned system, the vehicle automatic driving device may receive a large amount of sensing data based on the road state or traffic condition where the vehicle automatic driving device is located, and at this time, in order to ensure that the vehicle automatic driving device can quickly and accurately respond to the sensing data, and timely receive the control command of the server, and perform corresponding response, the received sensing data needs to be filtered; the application program of the processor counts the number of sensing data packets which are urgently pending in real time, waiting time, and when the waiting time is larger than a corresponding threshold value, the one or more processors generate a white list or a black list for the sensing data based on at least one of road type and traffic flow.
For example, when the number of packets in the internal reception queue of the application is 5 or more and the time waiting in the internal reception queue is 100ms or more, it is necessary to generate a white list or a black list for the sensed data according to the road type or the traffic state.
For example, when a vehicle waits at an intersection, the vehicle sensing unit needs to sense and track both front and rear vehicles and a vehicle on the side, and when the vehicle is in a stationary state, the application program may receive sensing data exceeding a threshold, and at this time, the processor in the vehicle automatic driving device generates a blacklist for the sensing data.
For example, when the vehicle is running and the digitized traffic volume within the preset radius is greater than or equal to the reference value, the processor in the vehicle automatic driving device generates a white list for the sensed data; conversely, if the digitized traffic volume within the preset radius is less than the reference value, it may include generating a blacklist.
For example, when the vehicle is crowded on a highway, the processor may generate a white list when the sensing unit needs to receive sensed data from other vehicles (including front and rear vehicles and side vehicles) in the vicinity since the other vehicles around the vehicle are dangerous vehicles.
For example, the white list generation is also applicable when the vehicle is traveling on a highway without intersections and when the vehicle is traveling at an average speed of 10km/h or less.
Furthermore, the sensed data in the blacklist can be processed with nearby vehicle identifications as statistics. Because the vehicle often receives the same source of sensed data frequently over a period of time; when the application has received the sensed data from the sensing unit, it checks if the vehicle identification of the source of the sensed data is the same as the vehicle identification in the blacklist for a predetermined period of time, e.g. 5s, and ignores its sensed data if the source is determined to be the same.
In addition, in the process of communication between the vehicle automatic driving equipment and the server, a plurality of security holes may exist, and if the vehicle automatic driving equipment is abnormal in processing or is attacked by a network, communication between the vehicle automatic driving equipment and the server may be intercepted and controlled by a malicious program, so that huge potential safety hazards are caused.
Based on the information, the vehicle automatic driving device further comprises an information collecting unit which is used for collecting the network state information of the vehicle automatic driving device at regular time and sending the network state information to the server. The server analyzes the network status information and, if the server determines that a potential safety hazard exists in the vehicle autopilot device, it sends a warning message to the vehicle autopilot device. Based on the warning information, the processor collects user status information through the sensing unit; the user status information may include at least one of a sleep state, a blood alcohol concentration, or a blood oxygen saturation of the user. Determining a likelihood of manual driving support of the user based on the user status information; if the user state supports manual driving and it is assumed that the user has a driving license, the vehicle can be switched to a manual driving mode and a different driving route can be recommended and switched for the user in real time so as to smoothly complete driving. And if the user state is determined to be incapable of manually driving, switching the vehicle to an emergency braking mode, specifically comprising controlling the vehicle to run to a nearby legal parking position, braking the vehicle, and informing the user.
The invention also provides a control system of the vehicle automatic driving equipment, which comprises the vehicle automatic driving equipment and the server, wherein the control system of the automatic driving equipment comprises the vehicle automatic driving equipment and the server; the vehicle automatic driving device comprises one or more processors, a sensing unit and an information collecting unit; a sensing unit in the vehicle automatic driving device detects a specified object and obtains sensing data; acquiring network state information of the vehicle automatic driving equipment through an information collecting unit; one or more processors process the sensing data and the network state information through an application program, and send the processed sensing data and the network state data of a specified object to a server; the server is used for predicting a possible event based on the distance between the server and the specified object and the expected collision time of the server and the specified object; transmitting remote control information to the vehicle; or the server sends warning information to the vehicle automatic driving equipment based on the network state information.
It should be understood that the processor of embodiments of the present invention may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method embodiments may be performed by integrated logic circuits of hardware in a processor or instructions in the form of software. The Processor may be a general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. The various methods, steps, and logic blocks disclosed in the embodiments of the present application may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present application may be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software modules in the decoding processor. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in a memory, and a processor reads information in the memory and completes the steps of the method in combination with hardware of the processor.
It will be appreciated that the memory in the embodiments of the subject application can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The non-volatile Memory may be a Read-Only Memory (ROM), a Programmable ROM (PROM), an Erasable PROM (EPROM), an Electrically Erasable PROM (EEPROM), or a flash Memory. Volatile Memory can be Random Access Memory (RAM), which acts as external cache Memory. By way of example, but not limitation, many forms of RAM are available, such as Static random access memory (Static RAM, SRAM), Dynamic Random Access Memory (DRAM), Synchronous Dynamic random access memory (Synchronous DRAM, SDRAM), Double Data Rate Synchronous Dynamic random access memory (DDR SDRAM), Enhanced Synchronous SDRAM (ESDRAM), Synchronous link SDRAM (SLDRAM), and Direct Rambus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to comprise, without being limited to, these and any other suitable types of memory.
It should be understood that the above memories are exemplary but not limiting illustrations, for example, the memories in the embodiments of the present application may also be Static Random Access Memory (SRAM), dynamic random access memory (dynamic RAM, DRAM), Synchronous Dynamic Random Access Memory (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (enhanced SDRAM, ESDRAM), Synchronous Link DRAM (SLDRAM), Direct Rambus RAM (DR RAM), and the like. That is, the memory in the embodiments of the present application is intended to comprise, without being limited to, these and any other suitable types of memory.
The embodiment of the application also provides a computer readable storage medium for storing the computer program.
Optionally, the computer-readable storage medium may be applied to the terminal device in the embodiment of the present application, and the computer program enables the computer to execute the corresponding process implemented by the mobile terminal/terminal device in each method in the embodiment of the present application, which is not described herein again for brevity.
Embodiments of the present application also provide a computer program product comprising computer program instructions.
Optionally, the computer program product may be applied to the terminal device in the embodiment of the present application, and the computer program instructions enable the computer to execute the corresponding process implemented by the mobile terminal/terminal device in each method in the embodiment of the present application, which is not described herein again for brevity.
The embodiment of the application also provides a computer program.
Optionally, the computer program may be applied to the vehicle automatic driving device in the embodiment of the present application, and when the computer program runs on a computer, the computer is enabled to execute corresponding processes implemented by the terminal device in the methods in the embodiment of the present application, and for brevity, details are not described here again.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Claims (5)
1. A control method of a vehicle automatic driving apparatus, characterized in that: detecting a specified object by a sensing unit in the automatic driving device of the vehicle during the automatic driving process of the vehicle to obtain sensing data; acquiring network state information of the vehicle automatic driving equipment through an information collecting unit; one or more processors process the sensing data and the network state information through an application program, and send the processed sensing data and the network state information of the designated object to a server; the server anticipates a possible event and transmits remote control information to the vehicle based on the distance between the vehicle and the specified object and the anticipated collision time with the specified object, or transmits warning information to the vehicle automatic driving device based on the network state information; wherein the server transmitting the warning information to the vehicle automatic driving apparatus based on the network state information includes: the server analyzes the network state information of the vehicle automatic driving equipment, generates a warning that the vehicle automatic driving equipment is attacked by a network, and switches a vehicle driving mode to a manual driving mode according to the warning;
the control method further comprises the following steps: the one or more processors count the number of data packets in the sensing data required to be processed by the application program or the waiting time of a packet currently waiting to be processed by the application program in real time, and process the sensing data according to the number of data packets or the waiting time in the sensing data to be processed; when the number of data packets in the sensed data to be processed or the waiting time is greater than a corresponding threshold value, the one or more processors generate a white list or a black list for the sensed data based on at least one of road type and traffic flow;
processing the sensed data by the application includes: the application program adds the danger level identification of the vehicle according to the sensing data, if the sensing data and/or the danger level have errors, the sensing data is received again through the sensor for verification, and the control message is regenerated based on the sensing data; the authentication process may be performed by an AI processor of the server.
2. The control method of the vehicular automatic driving apparatus according to claim 1, characterized in that: the automatic vehicle driving device senses the biological characteristic information of people in the vehicle through the sensing unit, determines whether to switch to a manual driving mode according to the sensing result, and switches to an emergency braking mode if the sensing result shows that the people in the vehicle are not suitable for manually driving the vehicle.
3. A control system of a vehicle automatic driving apparatus, characterized in that: the control system of the automatic driving device includes: a vehicle autopilot device and a server; the vehicle autopilot device includes one or more processors, a sensing unit, and an information collection unit; a sensing unit in the vehicle automatic driving device detects a specified object and obtains sensing data; acquiring network state information of the vehicle automatic driving equipment through an information collecting unit; one or more processors process the sensing data and the network state information through an application program, and send the processed sensing data and the network state information of the designated object to a server; the server is used for anticipating possible events and sending remote control information to the vehicle or sending warning information to the vehicle automatic driving equipment based on the distance between the vehicle and the specified object and the expected collision time with the specified object;
wherein the server sending the warning information to the vehicle autonomous driving apparatus based on the network state information includes: the server analyzes the network state information of the vehicle automatic driving equipment, generates a warning that the vehicle automatic driving equipment is attacked by a network, and switches a vehicle driving mode to a manual driving mode according to the warning;
the one or more processors count the number of data packets in the sensing data required to be processed by the application program or the waiting time of a packet currently waiting to be processed by the application program in real time, and process the sensing data according to the number of data packets or the waiting time of the sensing data to be processed; when the number of data packets of the sensed data to be processed or the waiting time is greater than a corresponding threshold value, the one or more processors generate a white list or a black list for the sensed data based on at least one of road type and traffic flow;
processing the sensed data by the application includes: the application program adds the danger level identification of the vehicle to the application program according to the sensing data, if the sensing data and/or the danger level have errors, the application program receives the sensing data again through the sensor for verification, and the control message is regenerated based on the sensing data; the authentication process may be performed by an AI processor of the server.
4. An automatic driving apparatus for a vehicle, characterized by comprising: a processor and a memory for storing a computer program, the processor being adapted to read and execute the computer program stored in the memory to perform the method of any of claims 1 to 2.
5. A computer-readable storage medium for storing a computer program which causes a computer to perform the method of any one of claims 1 to 2.
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| CN112019602B (en) * | 2020-08-10 | 2022-09-27 | 中国联合网络通信集团有限公司 | Vehicle communication method and device |
| CN112752682A (en) * | 2020-09-01 | 2021-05-04 | 华为技术有限公司 | Method and system for improving vehicle safety |
| CN112265541A (en) * | 2020-10-13 | 2021-01-26 | 恒大新能源汽车投资控股集团有限公司 | Automatic parking method and device based on PC5 air interface direct communication |
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| JP6723955B2 (en) * | 2017-05-12 | 2020-07-15 | 日立オートモティブシステムズ株式会社 | Information processing apparatus and abnormality coping method |
| CN108923904A (en) * | 2018-06-29 | 2018-11-30 | 百度在线网络技术（北京）有限公司 | Automobile command processing method, device, equipment, cloud platform and storage medium |
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| CN110544390B (en) * | 2019-08-31 | 2022-03-01 | 武汉理工大学 | Vehicle-vehicle interactive pedestrian active collision avoidance method and device |
| CN110634296A (en) * | 2019-09-30 | 2019-12-31 | 重庆元韩汽车技术设计研究院有限公司 | Emergency processing system and method for intelligent driving |
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