CN113183988B - Method, device and equipment for supervising automatic driving of vehicle and storage medium - Google Patents
Method, device and equipment for supervising automatic driving of vehicle and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/007—Emergency override
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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Abstract
The embodiment of the invention discloses a method for supervising automatic driving of a vehicle, which comprises the following steps: when the current automatic driving mode is monitored, respectively calculating and marking the credibility according to the perception data of at least one sensor of the vehicle, and acquiring the initial calculation result corresponding to each sensor; respectively carrying out preliminary verification on the current control strategy of the automatic driving system and preliminary calculation results corresponding to the sensors; if the initial calculation result is larger than or equal to the set initial check threshold and the reliability is smaller than the set reliability threshold, performing secondary calculation according to the sensing data; and carrying out secondary verification on the current control strategy and a secondary calculation result, and starting an emergency takeover program when the secondary verification result is greater than or equal to a set secondary verification threshold value. The monitoring method for automatic driving of the vehicle provided by the embodiment of the invention utilizes the sensing data of the sensor to calculate and verifies the sensing data with the control strategy of the automatic driving system, thereby improving the safety of automatic driving of the vehicle.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a method, a device, equipment and a storage medium for supervising automatic driving of a vehicle.
Background
Automatic driving is a technical hotspot in recent years, and various industries are conducting rapid research, experiments and applications, and the existing technologies include full automatic driving (FSD) and various automatic parking functions.
With the application of autonomous driving, two problems are gradually emerging: 1. robustness of the autonomous vehicle-side algorithm and program. If the algorithm or program has logic defects and is not found in a test scene in advance, serious problems such as rear-end collision and even casualties can be caused; 2. the safety problem of autonomous vehicles can have serious consequences if the vehicle is hacked.
Disclosure of Invention
The embodiment of the invention provides a method, a device, equipment and a storage medium for supervising automatic driving of a vehicle, which can quickly cope with a risk scene and improve the safety of automatic driving of the vehicle.
In a first aspect, an embodiment of the present invention provides a method for supervising automatic driving of a vehicle, including:
when the current automatic driving mode is monitored, respectively calculating and marking the credibility according to the perception data of at least one sensor of the vehicle, and acquiring the preliminary calculation result corresponding to each sensor;
respectively carrying out preliminary verification on the current control strategy of the automatic driving system and the preliminary calculation results corresponding to the sensors;
if a primary calculation result which is greater than or equal to a set primary check threshold and has reliability lower than a set reliability threshold exists, performing secondary calculation according to the sensing data;
and carrying out secondary verification on the current control strategy and a secondary calculation result, and starting an emergency takeover program when the secondary verification result is greater than or equal to a set secondary verification threshold value.
Further, respectively calculating and marking the credibility according to the perception data of at least one sensor of the vehicle, comprising:
acquiring perception data of at least one sensor of the vehicle;
and respectively calculating according to the sensing data of each sensor, acquiring corresponding calculation results and respectively marking the credibility.
Further, the preliminary verification is respectively carried out on the current control strategy of the automatic driving system and the preliminary calculation results corresponding to the sensors, and the preliminary verification comprises the following steps:
determining the current driving environment information of the vehicle represented by the current control strategy given by the automatic driving system;
and respectively carrying out preliminary verification on the current running environment information of the vehicle and the preliminary calculation results corresponding to the sensors to obtain corresponding preliminary verification results.
Further, the current running environment information of the vehicle and the preliminary calculation results corresponding to the sensors are respectively preliminarily verified, and corresponding preliminary verification results are obtained, wherein the preliminary verification results comprise:
respectively judging whether the current running environment information of the vehicle is consistent with the preliminary calculation results corresponding to the sensors, and if so, taking a check value 0 as a preliminary check result; otherwise, determining that the preliminary verification result is 1.
Further, if a primary calculation result which is greater than or equal to a set primary check threshold and has reliability lower than a set reliability threshold exists, performing secondary calculation according to the sensing data, wherein the secondary calculation comprises:
and if the preliminary verification result is greater than or equal to the preliminary verification threshold, checking the credibility of the preliminary calculation result corresponding to the preliminary verification result, and when the credibility is less than the set credibility threshold, synthesizing the perception data of each sensor to perform secondary calculation.
Further, the secondary calculation includes a boundary value calculation, a multi-sensor fusion calculation, and an ambient noise calculation.
Further, after performing a second check on the current control strategy and a second calculation result, the method further includes:
and when the secondary verification result is smaller than a set secondary verification threshold value, the vehicle is kept controlled according to the current control strategy.
In a second aspect, an embodiment of the present invention further provides a monitoring apparatus for vehicle automatic driving, including:
the initial calculation module is used for respectively calculating and marking the credibility according to the perception data of at least one sensor of the vehicle when monitoring that the vehicle is in the automatic driving mode at present, and acquiring the initial calculation result corresponding to each sensor;
the preliminary verification module is used for respectively preliminarily verifying the current control strategy of the automatic driving system and the preliminary calculation results corresponding to the sensors;
the secondary calculation module is used for performing secondary calculation according to the perception data if a primary calculation result which is greater than or equal to a set primary check threshold value and has reliability lower than a set reliability threshold value exists;
and the secondary checking module is used for carrying out secondary checking on the current control strategy and a secondary calculation result, and starting an emergency takeover program when the secondary checking result is greater than or equal to a set secondary checking threshold value.
Optionally, the preliminary calculation module is further configured to:
acquiring perception data of at least one sensor of the vehicle;
and respectively calculating according to the sensing data of each sensor, acquiring corresponding calculation results and respectively marking the credibility.
Optionally, the preliminary verification module is further configured to:
determining the current driving environment information of the vehicle represented by the current control strategy given by the automatic driving system;
and respectively carrying out preliminary verification on the current running environment information of the vehicle and the preliminary calculation results corresponding to the sensors to obtain corresponding preliminary verification results.
Optionally, the preliminary verification module is further configured to:
respectively judging whether the current running environment information of the vehicle is consistent with the preliminary calculation results corresponding to the sensors, and if so, taking a check value 0 as a preliminary check result; otherwise, determining that the preliminary verification result is 1.
Optionally, the secondary calculation module is further configured to:
and if the preliminary verification result is greater than or equal to the preliminary verification threshold, checking the credibility of the preliminary calculation result corresponding to the preliminary verification result, and when the credibility is less than the set credibility threshold, synthesizing the perception data of each sensor to perform secondary calculation.
Optionally, the apparatus further includes a maintaining control module, configured to maintain control of the vehicle according to the current control strategy when the secondary verification result is smaller than a set secondary verification threshold.
In a third aspect, an embodiment of the present invention further provides a monitoring apparatus for vehicle automatic driving, including:
comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method for supervising the automatic driving of a vehicle according to any of the embodiments of the present invention when executing the program.
In a fourth aspect, the present invention further provides a vehicle automatic driving monitoring storage medium, on which a computer program is stored, where the computer program is executed by a processing device to implement the vehicle automatic driving monitoring method according to any one of the embodiments of the present invention.
The method comprises the steps of firstly, when monitoring that the vehicle is in an automatic driving mode at present, respectively calculating according to perception data of at least one sensor of the vehicle and marking the credibility, and obtaining a preliminary calculation result corresponding to each sensor; then, respectively carrying out preliminary verification on the current control strategy of the automatic driving system and preliminary calculation results corresponding to the sensors; if the initial calculation result is larger than or equal to the set initial check threshold and the reliability is smaller than the set reliability threshold, performing secondary calculation according to the sensing data; and finally, carrying out secondary verification on the current control strategy and a secondary calculation result, and starting an emergency takeover program when the secondary verification result is greater than or equal to a set secondary verification threshold value. According to the monitoring method for the automatic driving of the vehicle, provided by the embodiment of the invention, the sensing data of the sensor is used for calculation and is verified with the control strategy of the automatic driving system, the vehicle cannot be directly controlled during normal driving, the monitoring method is only used for acquiring information, and bidirectional communication with the vehicle and the automatic driving receiving control information is avoided, so that the probability of being concerned by a hacker is low; when the vehicle is taken over, only the control instruction is output to the vehicle, so the difficulty of being controlled by a hacker is higher, and the safety risk is reduced. And when the vehicle-mounted automatic driving system has risks, the vehicle-mounted automatic driving system can quickly deal with the risk scenes, so that the safety of automatic driving of the vehicle is improved.
Drawings
FIG. 1 is a flow chart of a method for supervising automatic driving of a vehicle according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating an implementation process of a supervision method for automatic driving of a vehicle according to a first embodiment of the present invention;
fig. 3 is a schematic structural diagram of a monitoring device for automatic driving of a vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in a third embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
Example one
Fig. 1 is a flowchart of a method for supervising vehicle automatic driving according to an embodiment of the present invention, where the embodiment is applicable to a situation where an automatic driving system of a vehicle is supervised when the vehicle is in an automatic driving mode, and the method may be executed by a vehicle automatic driving supervising device, which may be composed of hardware and/or software and may be generally integrated into a device having a vehicle automatic driving supervising function, where the device may be an electronic device such as a server or a server cluster. As shown in fig. 1, the method specifically comprises the following steps:
and 110, when the current automatic driving mode is monitored, respectively calculating and marking the credibility according to the perception data of at least one sensor of the vehicle, and acquiring a preliminary calculation result corresponding to each sensor.
The sensors include, but are not limited to, a vision sensor, a laser radar, an ultrasonic sensor, a millimeter wave radar, a GPS/beidou positioning, an inertial sensor (IMU), a high-precision map and the like, and the sensing data may be vehicle-related data acquired by each sensor; the preliminary calculation result may be a result calculated separately from each sensor data, and indicates whether or not there is a person, a vehicle, or other obstacle around the vehicle that affects the travel of the vehicle. Specifically, for a vehicle with an automatic driving function, when the vehicle is in an automatic driving mode, sensing data acquired by each sensor of the vehicle can be acquired, the sensing data of each sensor is calculated respectively, a corresponding calculation result is acquired, and whether people, the vehicle and other obstacles exist in the current driving environment is judged.
In this embodiment, the manner of respectively calculating and marking the confidence level according to the perception data of at least one sensor of the vehicle may be: acquiring perception data of at least one sensor of a vehicle; and respectively calculating according to the sensing data of each sensor, acquiring corresponding calculation results and respectively marking the credibility.
For example, the sensors of the vehicle include a vision sensor, a laser radar, an ultrasonic sensor, a GPS/beidou positioning sensor, and an inertial sensor, and then the sensing data of the five sensors can be acquired respectively, and then calculation is performed respectively to obtain five corresponding calculation results. Meanwhile, the reliability of each calculation result is calculated and marked, and the reliability is used for representing the reliability of the calculation result.
And 120, respectively carrying out preliminary verification on the current control strategy of the automatic driving system and the preliminary calculation results corresponding to the sensors.
The current control strategy of the automatic driving system may be that the automatic driving system of the vehicle collects data of the vehicle and surrounding environment, and calculates instructions and signals for controlling the motion state of the vehicle based on the collected data.
In this embodiment, the manner of performing the preliminary verification on the current control strategy of the automatic driving system and the preliminary calculation results corresponding to each sensor may be: determining the current driving environment information of the vehicle represented by the current control strategy given by the automatic driving system; and respectively carrying out preliminary verification on the current running environment information of the vehicle and the preliminary calculation results corresponding to the sensors to obtain corresponding preliminary verification results.
Optionally, the current control strategy given by the autopilot system may be a command such as a direction, a speed, and the like, for example, if the autopilot system determines that no obstacle exists in the current driving environment, the current control strategy may be to keep moving straight at a higher speed; if it is determined that an obstacle exists in front of the vehicle, the current control strategy may be to decelerate and change lanes. The current control strategy given by the autopilot system is therefore dependent on the current driving situation, from which information characterizing the current driving situation can be determined. And after the initial calculation result is obtained and the current running environment information of the vehicle represented by the current control strategy is determined, the initial verification can be performed on the initial calculation result and the current running environment information.
Further, the current driving environment information of the vehicle and the preliminary calculation results corresponding to the sensors are respectively subjected to preliminary verification, and the manner of obtaining the corresponding preliminary verification results may be: respectively judging whether the current running environment information of the vehicle is consistent with the preliminary calculation results corresponding to the sensors, and if so, taking a check value of 0 as a preliminary check result; otherwise, determining that the preliminary verification result is 1.
Optionally, the preliminary verification may be to determine whether the current driving environment information of the vehicle is consistent with the preliminary calculation results corresponding to the sensors, assuming that the current driving environment information of the vehicle is barrier-free, and the preliminary calculation results corresponding to the vision sensor, the laser radar, the ultrasonic sensor, the GPS/beidou positioning and the inertial sensor are barrier-free, barrier-free and barrier-free, respectively, and then the corresponding preliminary verification results are 0, 1, 0 and 0, respectively.
And step 130, if a primary calculation result which is greater than or equal to the set primary check threshold and has the reliability lower than the set reliability threshold exists, performing secondary calculation according to the sensing data.
The preliminary verification threshold and the confidence threshold may be values used for verifying the preliminary verification result, for example, the preliminary verification threshold may be set to 1, the confidence threshold may be set to 80%, and if there is a preliminary calculation result that is greater than or equal to 1 and has a confidence level that is less than 80%, secondary calculation may be performed according to the sensing data.
In this embodiment, if there is a preliminary calculation result that is greater than or equal to the set preliminary verification threshold and whose reliability is less than the set reliability threshold, the manner of performing secondary calculation according to the sensing data may be: and if the preliminary verification result is greater than or equal to the preliminary verification threshold, performing credibility check on a preliminary calculation result corresponding to the preliminary verification result, and when the credibility is less than a set credibility threshold, performing secondary calculation by integrating the perception data of each sensor.
Optionally, if the preliminary verification result is greater than or equal to the preliminary verification threshold, the preliminary calculation result may be considered to be different from the judgment of the automatic driving system on the vehicle surrounding environment, and the reliability of the corresponding preliminary calculation result should be checked immediately at this time. If the reliability is greater than or equal to the set reliability threshold, the calculation result is considered to be reliable, namely the automatic driving system makes a misjudgment, and an emergency takeover program is started at the moment; if the reliability is less than the set reliability threshold, the calculation result is considered to be unreliable, and secondary calculation is needed for strict verification. For example, if the preliminary verification results corresponding to the vision sensor, the laser radar, the ultrasonic sensor, the GPS/beidou positioning sensor and the inertial sensor are 0, 1, 0 and 0, respectively, and the preliminary verification threshold is 1, the reliability check is performed on the preliminary calculation result corresponding to the ultrasonic sensor, if the reliability is greater than or equal to the reliability threshold, the emergency take-over program is started, and if the reliability is less than the reliability threshold, the secondary calculation is performed.
Further, the emergency taking-over procedure can include emergency stop, alarm sending to the driver, other emergency strategies selected according to the scene and the like, and meanwhile, the checking result can be sent to the cloud end for manual checking and subsequent model training, so that the accuracy and the safety of the vehicle automatic driving monitoring system are improved.
Further, the secondary calculation includes a boundary value calculation, a multi-sensor fusion calculation, and an ambient noise calculation.
Optionally, the secondary calculation may use algorithms such as boundary value calculation, multi-sensor fusion calculation, and environmental noise calculation, and combines the sensing data of each sensor to perform data analysis processing more complex than the primary calculation, so as to more accurately determine whether there are people, vehicles, and other obstacles around the vehicle that affect the vehicle.
And 140, performing secondary verification on the current control strategy and the secondary calculation result, and starting an emergency takeover program when the secondary verification result is greater than or equal to a set secondary verification threshold value.
Optionally, similar to the preliminary verification, the current driving environment information of the vehicle represented by the current control strategy given by the automatic driving system is verified with the secondary calculation result, and if the current driving environment information of the vehicle represented by the current control strategy given by the automatic driving system is consistent with the secondary calculation result, the verification value 0 serves as the secondary verification result; otherwise, determining that the secondary check result is 1. And (4) marking the reliability of the secondary calculation without marking, wherein the reliability can be considered as 100%, and if the secondary check threshold is set to be 1, starting an emergency takeover program when the secondary check result is greater than or equal to 1.
In this embodiment, after performing the secondary verification on the current control strategy and the secondary calculation result, the following steps may be further performed: and when the secondary verification result is smaller than the set secondary verification threshold, controlling the vehicle according to the current control strategy.
Optionally, after the second verification, if the second verification result is smaller than the second verification threshold, it may be considered that the second calculation result is consistent with the current driving environment information of the vehicle represented by the current control strategy given by the automatic driving system, that is, the automatic driving system determines no error, and at this time, the vehicle may be controlled according to the current control strategy given by the automatic driving system.
Fig. 2 is a schematic diagram of an implementation process of a vehicle automatic driving supervision method according to an embodiment of the present invention, where as shown in the diagram, a preliminary calculation result is verified with a current control strategy given by an automatic driving system, a reliability check is performed on a calculation result exceeding a threshold, whether to perform secondary calculation is determined, then a secondary verification is performed, and finally, whether to start an emergency takeover procedure is determined.
The method comprises the steps of firstly, when monitoring that the vehicle is in an automatic driving mode at present, respectively calculating according to perception data of at least one sensor of the vehicle and marking the credibility, and obtaining a preliminary calculation result corresponding to each sensor; then, respectively carrying out preliminary verification on the current control strategy of the automatic driving system and preliminary calculation results corresponding to the sensors; if the initial calculation result is larger than or equal to the set initial check threshold and the reliability is smaller than the set reliability threshold, performing secondary calculation according to the sensing data; and finally, carrying out secondary verification on the current control strategy and a secondary calculation result, and starting an emergency takeover program when the secondary verification result is greater than or equal to a set secondary verification threshold value. According to the monitoring method for the automatic driving of the vehicle, provided by the embodiment of the invention, the sensing data of the sensor is used for calculation and is verified with the control strategy of the automatic driving system, the vehicle cannot be directly controlled during normal driving, the monitoring method is only used for acquiring information, and bidirectional communication with the vehicle and the automatic driving receiving control information is avoided, so that the probability of being concerned by a hacker is low; when the vehicle is taken over, only the control instruction is output to the vehicle, so the difficulty of being controlled by a hacker is higher, and the safety risk is reduced. And when the vehicle-mounted automatic driving system has risks, the vehicle-mounted automatic driving system can quickly deal with the risk scenes, so that the safety of automatic driving of the vehicle is improved.
Example two
Fig. 3 is a schematic structural diagram of a monitoring device for vehicle automatic driving according to a second embodiment of the present invention. As shown in fig. 3, the apparatus includes: a primary calculation module 210, a primary verification module 220, a secondary calculation module 230, and a secondary verification module 240.
And the preliminary calculation module 210 is configured to, when it is monitored that the vehicle is currently in the automatic driving mode, perform calculation and mark the confidence level according to the sensing data of at least one sensor of the vehicle, and obtain a preliminary calculation result corresponding to each sensor.
Optionally, the preliminary calculation module 210 is further configured to: acquiring perception data of at least one sensor of a vehicle; and respectively calculating according to the sensing data of each sensor, acquiring corresponding calculation results and respectively marking the credibility.
And a preliminary verification module 220, configured to perform preliminary verification on the current control strategy of the automatic driving system and the preliminary calculation results corresponding to the sensors, respectively.
Optionally, the preliminary verification module 220 is further configured to: determining the current driving environment information of the vehicle represented by the current control strategy given by the automatic driving system; and respectively carrying out preliminary verification on the current running environment information of the vehicle and the preliminary calculation results corresponding to the sensors to obtain corresponding preliminary verification results.
Optionally, the preliminary verification module 220 is further configured to: respectively judging whether the current running environment information of the vehicle is consistent with the preliminary calculation results corresponding to the sensors, and if so, taking a check value of 0 as a preliminary check result; otherwise, determining that the preliminary verification result is 1.
And the secondary calculation module 230 is configured to perform secondary calculation according to the sensing data if a primary calculation result that is greater than or equal to the set primary check threshold and has a reliability that is less than the set reliability threshold exists.
Optionally, the quadratic calculation module 230 is further configured to: and if the preliminary verification result is greater than or equal to the preliminary verification threshold, performing credibility check on a preliminary calculation result corresponding to the preliminary verification result, and when the credibility is less than a set credibility threshold, performing secondary calculation by integrating the perception data of each sensor.
And a secondary checking module 240, configured to perform secondary checking on the current control strategy and the secondary calculation result, and start an emergency takeover procedure when the secondary checking result is greater than or equal to a set secondary checking threshold.
Optionally, the device further includes a maintaining control module, configured to maintain control of the vehicle according to the current control strategy when the secondary verification result is smaller than the set secondary verification threshold.
The device can execute the methods provided by all the embodiments of the disclosure, and has corresponding functional modules and beneficial effects for executing the methods. For technical details that are not described in detail in this embodiment, reference may be made to the methods provided in all the foregoing embodiments of the disclosure.
EXAMPLE III
Fig. 4 is a schematic structural diagram of a computer device according to a third embodiment of the present invention. FIG. 4 illustrates a block diagram of a computer device 312 suitable for use in implementing embodiments of the present invention. The computer device 312 shown in FIG. 4 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention. Device 312 is a supervisory computing device for typical vehicle autopilot.
As shown in FIG. 4, computer device 312 is in the form of a general purpose computing device. The components of computer device 312 may include, but are not limited to: one or more processors 316, a storage device 328, and a bus 318 that couples the various system components including the storage device 328 and the processors 316.
The computer device 312 may also communicate with one or more external devices 314 (e.g., keyboard, pointing device, camera, display 324, etc.), with one or more devices that enable a user to interact with the computer device 312, and/or with any devices (e.g., network card, modem, etc.) that enable the computer device 312 to communicate with one or more other computing devices. Such communication may occur via input/output (I/O) interfaces 322. Also, computer device 312 may communicate with one or more networks (e.g., a Local Area Network (LAN), Wide Area Network (WAN), etc.) and/or a public Network, such as the internet, via Network adapter 320. As shown, network adapter 320 communicates with the other modules of computer device 312 via bus 318. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the computer device 312, including but not limited to: microcode, device drivers, Redundant processing units, external disk drive Arrays, disk array (RAID) systems, tape drives, and data backup storage systems, to name a few.
The processor 316 executes various functional applications and data processing by executing programs stored in the storage device 328, for example, implementing the method for supervising the automatic driving of the vehicle provided in the above-described embodiment of the present invention.
Example four
Embodiments of the present invention provide a computer-readable storage medium having stored thereon a computer program that, when executed by a processing device, implements a method of supervising automatic driving of a vehicle as in embodiments of the present invention. The computer readable medium of the present invention described above may be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present disclosure, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In contrast, in the present disclosure, a computer readable signal medium may comprise a propagated data signal with computer readable program code embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: electrical wires, optical cables, RF (radio frequency), etc., or any suitable combination of the foregoing.
In some embodiments, the clients, servers may communicate using any currently known or future developed network Protocol, such as HTTP (HyperText Transfer Protocol), and may interconnect with any form or medium of digital data communication (e.g., a communications network). Examples of communication networks include a local area network ("LAN"), a wide area network ("WAN"), the Internet (e.g., the Internet), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future developed network.
The computer readable medium may be embodied in the electronic device; or may exist separately without being assembled into the electronic device.
The computer readable medium carries one or more programs which, when executed by the electronic device, cause the electronic device to: when the current automatic driving mode is monitored, respectively calculating and marking the credibility according to the perception data of at least one sensor of the vehicle, and acquiring the initial calculation result corresponding to each sensor; respectively carrying out preliminary verification on the current control strategy of the automatic driving system and preliminary calculation results corresponding to the sensors; if the initial calculation result is larger than or equal to the set initial check threshold and the reliability is smaller than the set reliability threshold, performing secondary calculation according to the sensing data; and carrying out secondary verification on the current control strategy and a secondary calculation result, and starting an emergency takeover program when the secondary verification result is greater than or equal to a set secondary verification threshold value.
Computer program code for carrying out operations for the present disclosure may be written in any combination of one or more programming languages, including but not limited to an object oriented programming language such as Java, Smalltalk, C + +, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present disclosure may be implemented by software or hardware. Where the name of an element does not in some cases constitute a limitation on the element itself.
The functions described herein above may be performed, at least in part, by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), systems on a chip (SOCs), Complex Programmable Logic Devices (CPLDs), and the like.
In the context of this disclosure, a machine-readable medium may be a tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (8)
1. A method for supervising automatic driving of a vehicle, comprising:
when the current automatic driving mode is monitored, respectively calculating and marking the credibility according to the perception data of at least one sensor of the vehicle, and acquiring the preliminary calculation result corresponding to each sensor;
determining the current running environment information of the vehicle represented by the current control strategy given by the automatic driving system, respectively judging whether the current running environment information of the vehicle is consistent with the preliminary calculation results corresponding to the sensors, and if so, taking a check value 0 as a preliminary check result; otherwise, determining that the preliminary verification result is 1;
if a primary calculation result which is greater than or equal to a set primary check threshold and has reliability lower than a set reliability threshold exists, performing secondary calculation according to the sensing data;
and carrying out secondary verification on the current control strategy and a secondary calculation result, and starting an emergency takeover program when the secondary verification result is greater than or equal to a set secondary verification threshold value.
2. The method of claim 1, wherein calculating and flagging confidence levels based on sensory data of at least one sensor of the vehicle, respectively, comprises:
acquiring perception data of at least one sensor of the vehicle;
and respectively calculating according to the sensing data of each sensor, acquiring corresponding calculation results and respectively marking the credibility.
3. The method according to claim 1, wherein if there is a primary calculation result that is greater than or equal to a set primary check threshold and whose reliability is less than a set reliability threshold, performing secondary calculation according to the perception data includes:
and if the preliminary verification result is greater than or equal to the preliminary verification threshold, checking the credibility of the preliminary calculation result corresponding to the preliminary verification result, and when the credibility is less than the set credibility threshold, synthesizing the perception data of each sensor to perform secondary calculation.
4. The method of claim 3, wherein the secondary calculations comprise boundary value calculations, multi-sensor fusion calculations, and ambient noise calculations.
5. The method of claim 1, wherein after performing a second check on the current control strategy and a second calculation result, further comprising:
and when the secondary verification result is smaller than a set secondary verification threshold value, the vehicle is kept controlled according to the current control strategy.
6. A monitoring device for automatic driving, comprising:
the initial calculation module is used for respectively calculating and marking the credibility according to the perception data of at least one sensor of the vehicle when monitoring that the vehicle is in the automatic driving mode at present, and acquiring the initial calculation result corresponding to each sensor;
the preliminary verification module is used for determining the current driving environment information of the vehicle represented by the current control strategy given by the automatic driving system, respectively judging whether the current driving environment information of the vehicle is consistent with the preliminary calculation results corresponding to the sensors, and if so, taking a verification value of 0 as a preliminary verification result; otherwise, determining that the preliminary verification result is 1;
the secondary calculation module is used for performing secondary calculation according to the perception data if a primary calculation result which is greater than or equal to a set primary check threshold value and has reliability lower than a set reliability threshold value exists;
and the secondary checking module is used for carrying out secondary checking on the current control strategy and a secondary calculation result, and starting an emergency takeover program when the secondary checking result is greater than or equal to a set secondary checking threshold value.
7. A computer device, the device comprising: comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing a method for supervising the automatic driving of a vehicle according to any of claims 1 to 5 when executing said program.
8. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processing means, carries out a method of supervising automatic driving of a vehicle according to any one of claims 1-5.
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