CN111610787B

CN111610787B - Method for controlling safety of automatically driven automobile, computer storage medium and electronic device

Info

Publication number: CN111610787B
Application number: CN202010475072.7A
Authority: CN
Inventors: 李明; 杨敬锋; 林康; 胡林; 董永琪; 苏杰
Original assignee: Acer Technology Co ltd
Current assignee: Acer Technology Co ltd
Priority date: 2020-05-29
Filing date: 2020-05-29
Publication date: 2023-04-07
Anticipated expiration: 2040-05-29
Also published as: CN111610787A

Abstract

The invention relates to a safety control method for an automatic driving automobile, a computer storage medium and electronic equipment, which comprises the following steps: s1, acquiring a user input terminal, and planning a driving path from the current position of a vehicle to the terminal; s2, segmenting roads along the driving path, and dividing the danger degree of each road section according to the number of historical accidents in each road section; and S3, controlling the automatic driving automobile to run in a road section with the risk degree higher than a set threshold, and taking a preset safe speed as a reference to run. According to the invention, the danger degree is segmented and pre-divided on the road required to be driven by the automatic driving automobile in the future, and the speed control is carried out based on the danger degree in the driving process, so that the risk resistance of the high-risk road section can be improved, the accident occurrence probability is reduced, and the safety of the automatic driving automobile in the driving process is ensured.

Description

Method for controlling safety of autonomous vehicle, computer storage medium, and electronic device

Technical Field

The invention relates to a safe driving method, in particular to a safe control method for an automatic driving automobile, a computer storage medium and electronic equipment.

Background

At present, a sensor assembly is additionally arranged on an automobile, and then road condition analysis is realized by utilizing vehicle-to-vehicle communication (V2V) and vehicle cloud communication, so that the automobile can realize unmanned automatic driving, but the traditional automatic driving mode only carries out dynamic vehicle speed adjustment based on the distance and the speed difference between the automobile and a front vehicle, the control based on a road section on the vehicle speed is lacked, when the road section with high potential risk is dealt with, the defect of insufficient risk resistance is shown, and the probability of occurrence of driving accidents of the automatic driving automobile is poor.

Disclosure of Invention

The invention aims to improve the safety of the automatic driving automobile in the driving process and reduce the accident occurrence rate.

Therefore, the safety control method for the automatic driving automobile comprises the following steps:

s1, acquiring a user input terminal, and planning a driving path from the current position of a vehicle to the terminal;

s2, segmenting roads along the driving path, and dividing the danger degree of each road section according to the number of historical accidents in each road section;

and S3, controlling the automatic driving automobile to run in a road section with the risk degree higher than a set threshold, and taking a preset safe speed as a reference to run.

Preferably, in step S2, roads along the driving path are segmented at equal distances.

Preferably, the distance is adjusted according to the total number of historical accidents occurring on the road along the driving path.

Preferably, step S2 further comprises: when the danger degree of the road section is divided, the current weather of the road section is used for weighting the coefficient.

Preferably, the product of the coefficient corresponding to the current weather of the road section and the number of historical accidents in the road section is used as the risk degree of the road section.

Preferably, the safe speed is set according to the braking performance of the autonomous vehicle.

Preferably, step S3 further comprises:

configuring a braking distance for each safety level by taking every incremental A kilometer per hour as a safety level;

and when the automatic driving automobile is controlled to run in a road section with the risk degree higher than a set threshold, at least keeping the braking distance corresponding to the safety level B with the front automobile, wherein the safety level B is the next level of the safety speed.

Preferably, step S3 further comprises: and controlling the automatic driving automobile to reduce the safe speed by a safe level after a set period of time.

There is also provided an electronic device comprising a controller and a memory arranged to store computer executable instructions which, when executed, cause the controller to carry out the method described above.

A computer readable computer storage medium is also provided, storing one or more programs which, when executed by a controller, implement the above-described method.

Has the advantages that:

according to the invention, the danger degree is segmented and pre-divided on the road required to be driven by the automatic driving automobile in the future, and the speed control is carried out based on the danger degree in the driving process, so that the risk resistance of the high-risk road section can be improved, the accident occurrence probability is reduced, and the safety of the automatic driving automobile in the driving process is ensured.

The foregoing description is only an overview of the technical solutions of the present invention, and the embodiments of the present invention are described below in order to make the technical means of the present invention more clearly understood and to make the above and other objects, features, and advantages of the present invention more clearly understandable.

Drawings

Various additional advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like reference numerals are used to refer to like elements throughout the drawings.

In the drawings:

FIG. 1 illustrates a flow chart of an implementation of the present invention method for controlling the safety of an autonomous vehicle;

FIG. 2 is a schematic diagram of an electronic device according to the present invention;

FIG. 3 is a schematic diagram of a computer-readable computer storage medium according to the present invention.

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.

Fig. 1 is a flowchart illustrating an implementation of the safety control method for an autonomous vehicle according to this embodiment, and as shown in fig. 1, the safety control method for an autonomous vehicle specifically includes the following steps:

s1, acquiring a user input terminal, and planning a driving path from the current position of the vehicle to the terminal.

Specifically, when the user starts the automatic driving mode, the automatic driving automobile guides the user to input a destination to be reached through a touch panel of the automatic driving automobile, then the current position of the automatic driving automobile is obtained through the vehicle-mounted GPS, all paths from the current position of the automatic driving automobile to the destination are planned on the electronic map, and in order to achieve energy-saving driving, the shortest path is selected as a driving path.

After the driving path planning is finished, in order to improve user experience, the automatic driving automobile immediately starts the vehicle to drive according to the set initial speed v1, and the following step S2 is executed to plan the potential risk of future driving.

And S2, segmenting the roads along the driving path, and dividing the danger degree of each road section according to the number of historical accidents in each road section.

Specifically, a mapping relation table of the number of accidents and the segment distance is stored in advance in the autonomous automobile.

The method comprises the steps that after a driving path is obtained by an automatic driving automobile based on the step S1, roads along the driving path are marked, then a traffic control center is remotely accessed based on mobile communication, historical accident data and an accident occurrence place occurring in the total length of a marked road section are requested to be obtained, after the data are obtained, the total number of historical accidents of the total length of the marked road section is counted, the corresponding segmentation distance is searched in a mapping relation table according to the total number of the historical accidents, then, the segmentation distance is used as the segmentation distance, the roads along the driving path are segmented equidistantly, and the last section is short of the segmentation distance and is calculated according to one section.

Because the greater the number of accidents, the higher the risk potential of the road section is reflected, the greater the number of accidents is, the shorter the corresponding segmentation distance is, so as to finely segment the road section with high risk potential and improve the accuracy of calculating the risk degree of each subsequent section in the mapping relation table, and only coarsely segment the road section with low risk potential, so as to reduce the calculation amount of the risk degree of the full-length road section by the system and improve the calculation speed.

After segmentation is completed, the automatic driving automobile classifies historical accident data into all road sections according to accident places, and therefore the number of historical accidents in all road sections is counted. And then, for each road section, taking the product result of the number of the historical accidents in the road section and the coefficient corresponding to the current weather of the road section as the danger degree of the road section, wherein the current weather of the road section is acquired by inquiring weather information released on the current day through internet.

In the above, the weather type and the corresponding coefficient relationship are shown in the following table, where the coefficient is an experimental empirical value and can be adjusted according to a data sample:

weather type	Coefficient of performance
		All weather	1
Cloudy	1
		Wind blowing	1.2
Thunder strike	1.2
		In fog weather	1.5
Rainy day	1.5
		Snow sky	1.5
Hailstones	2

In the step S2, the influence of weather factors on the driving potential risk in the road section is considered, and the risk degree of the road section is weighted by using the weather type coefficient, so that the risk degree is closer to the reality, and the control accuracy is ensured.

After the danger level of the road segment is divided, step S3 is performed to perform speed control in response to the potential risk.

And S3, controlling the automatic driving automobile to drive in a road section with the risk degree higher than a set threshold, and driving by taking a preset safe speed as a reference, so that the risk resistance of the high-risk road section is improved.

Specifically, the safe speed is set according to the braking performance of the automatic driving automobile, for example, a civil car with the braking performance meeting the national standard on the market can be set to be 60Km/h, so that the braking performance of the automatic driving automobile can be ensured to be enough to quickly brake the current speed when an accident occurs.

It should be noted that the safe speed indicated in step S3 is only a reference, and the vehicle speed may temporarily fluctuate around the reference in the actual control.

Further, in order to ensure that the automatic driving automobile has a safe braking distance when emergently braking on a high-risk road section, when the automatic driving automobile is controlled to run on a road section with a risk degree higher than a set threshold, the automatic driving automobile is controlled to keep at least a sufficiently long braking distance with a front automobile, specifically, the braking distance is configured for each safety grade according to national standards by taking each incremental 5 kilometers per hour as a safety grade, and the following table is generated:

vehicle speed (Km/h)	Automobile standard braking distance (m)
		40	8
45	9
		50	10
55	15
		60	20
65	25
		70	30
75	35
		80	40
85	45

Taking the safe speed as 60Km/h as an example, when the automatic driving automobile is controlled to run in a road section with the risk degree higher than the set threshold, at least 25m is kept with the front automobile, and 5m is reserved as the buffer margin.

Considering that the braking performance of the automobile is gradually reduced along with the use time, the safe speed is controlled to be reduced by a safe level after the automobile automatically drives every set period, and similarly, the safe speed is controlled to be reduced by 5Km/h after the automobile automatically drives every year by taking the safe speed as an example, so that the change of the use time of the automobile is adapted.

According to the embodiment, the danger degree is segmented and pre-divided on the road needing to be driven by the automatic driving automobile in the future, the speed control is implemented based on the danger degree in the driving process, the risk resistance of the high-risk road section can be improved, the accident occurrence probability is reduced, and the safety of the automatic driving automobile in the driving process is ensured.

It should be noted that:

the method of the present embodiment can be converted into program steps and apparatuses that can be stored in a computer storage medium, and implemented by being invoked and executed by a controller.

The algorithms and displays presented herein are not inherently related to any particular computer, virtual machine, or other apparatus. Various general purpose devices may be used with the teachings herein. The required structure for constructing such a device will be apparent from the description above. Moreover, the present invention is not directed to any particular programming language. It is appreciated that a variety of programming languages may be used to implement the teachings of the present invention as described herein, and any descriptions of specific languages are provided above to disclose the best mode of the invention.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the foregoing description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the disclosed method should not be interpreted as reflecting an intention that: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

Those skilled in the art will appreciate that the modules in the device in an embodiment may be adaptively changed and disposed in one or more devices different from the embodiment. The modules or units or components of the embodiments may be combined into one module or unit or component, and furthermore they may be divided into a plurality of sub-modules or sub-units or sub-components. All of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where at least some of such features and/or processes or elements are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the following claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. The present invention may also be embodied as apparatus or device programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

For example, fig. 2 shows a schematic structural diagram of an electronic device according to an embodiment of the invention. The electronic device conventionally comprises a processor 21 and a memory 22 arranged to store computer-executable instructions (program code). The memory 22 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read only memory), an EPROM, a hard disk, or a ROM. The memory 22 has a storage space 23 for storing program code 24 for performing any of the method steps in the embodiments. For example, the storage space 23 for the program code may comprise respective program codes 24 for implementing respective steps in the above method. The program code can be read from or written to one or more computer program products. These computer program products comprise a program code carrier such as a hard disk, a Compact Disc (CD), a memory card or a floppy disk. Such a computer program product is typically a computer readable computer storage medium such as described in fig. 3. The computer readable computer storage medium may have memory segments, memory spaces, etc. arranged similarly to memory 22 in the electronic device of fig. 2. The program code may be compressed, for example, in a suitable form. In general, the memory unit stores program code 31 for performing the steps of the method according to the invention, i.e. program code readable by a processor such as 21, which when run by an electronic device causes the electronic device to perform the individual steps of the method described above.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

Claims

1. The safety control method for the automatic driving automobile is characterized by comprising the following steps of:

s2, segmenting the roads along the driving path, dividing the danger degree of each road section according to the number of historical accidents occurring in each road section, segmenting the roads along the driving path at equal intervals in the S2, and adjusting the distance according to the total number of the historical accidents occurring on the roads along the driving path, wherein the adjustment further comprises the following steps: marking roads along the driving path, accessing a traffic control center to request to acquire historical accident data and accident places occurring in the full length of a marked road section, counting the total number of historical accidents of the full length of the marked road section, searching corresponding segmentation distances in a mapping relation table according to the total number of the historical accidents, and carrying out equidistant segmentation on the roads along the driving path by taking the segmentation distances as segmentation distances, wherein the mapping relation table follows the principle that the number of accidents is in inverse proportion to the segmentation distances;

2. The method of claim 1, wherein step S2 further comprises: when the danger degree of the road section is divided, the current weather of the road section is used for weighting the coefficient.

3. The method of claim 2, wherein: and taking the product of the coefficient corresponding to the current weather of the road section and the number of historical accidents in the road section as the danger degree of the road section.

4. The method of claim 1, wherein: the safe speed is set according to the braking performance of the autonomous vehicle.

5. The method of claim 4, wherein step S3 further comprises:

6. The method of claim 5, wherein step S3 further comprises:

and controlling the automatic driving automobile to reduce the safe speed by a safe level after a set period of time.

7. Computer storage medium storing a computer program which, when executed by a processor, implements the method of any one of claims 1-6.

8. An electronic device, wherein the electronic device comprises:

a controller; and the number of the first and second groups,

a memory arranged to store computer executable instructions that, when executed, cause the controller to implement the method of any one of claims 1-6.