CN113212429A - Automatic driving vehicle safety control method and device - Google Patents
Automatic driving vehicle safety control method and device Download PDFInfo
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Abstract
The invention provides a safety control method and device for an automatic driving vehicle. Wherein, the method comprises the following steps: the method comprises the steps that vehicle kinematic information of a corresponding target area, collected by a target sensor, is obtained based on a set simple sensing module, and the vehicle kinematic information is sent to a set safety path analysis module; the vehicle kinematic information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, and the target safe distance between the local vehicle and the target vehicle is obtained; and comparing the target safe distance with the current actual distance based on an arbitration module to generate corresponding vehicle control request information. The safety control method for the automatic driving vehicle disclosed by the invention has the advantages of simple implementation process, higher reliability and accuracy of a safety output verification mechanism, capability of quickly realizing the safety control of the automatic driving vehicle and improvement on the safety and the robustness of the automatic driving vehicle.
Description
Technical Field
The invention relates to the technical field of intelligent driving of vehicles, in particular to a safety control method and device for an automatic driving vehicle. In addition, an electronic device and a non-transitory computer readable storage medium are also related.
Background
In vehicle engineering, safety is a very important issue. For vehicles that are autonomous, L2 and below, defined in SAE updated autonomous driving hierarchy (J3016), the driver is always the core in driving. However, for the automatic driving system of L3 and above, the system may not fail due to the extensive use of methods such as deep learning and artificial intelligence, but there may be situations where the control of the vehicle is not safe enough.
Currently, only a constant limit value is set for the control output in the adas (advanced Driving Assistance system) rating (level L2). As long as the value of the output control command is within the set reasonable range, the value is considered reasonable and output, but other verification measures are absent. In order to ensure the robustness of the system, generally, the threshold is set relatively broadly, so that the accuracy of the system control is lost, and the current real safety state of the vehicle cannot be reflected. As shown in fig. 2, the current ADAS/AD (advanced driving) mainstream schemes are implemented by Sensors (sensor module), perceiving (raw sensing module), Planning (raw Planning module), and Control (raw Control module) as the Doer role, which is responsible for the function of the ADAS/AD system. A constant threshold is set in Safety Barrier (original Safety Barrier module) as a Checker of system input. For example, the safety mechanism designed by many ADAS/AD systems for the safety goal of avoiding system overruns is: the maximum speed of the system is set inline at 140kph in Safety Barrier. The output of the Control module is then compared to this threshold in the Arbitrator module. As long as the output of the Control module does not violate the Safety Barrier limit, the output result is considered to be correct and is output to the executor by the Arbitrator to be executed. This has the advantage of simple design and implementation, and the probability of violating this functional security goal is very small, so that frequent system exits can be effectively avoided, and high robustness is achieved. The disadvantage is that the accuracy of the detection of a failure is not high. For example, under the current working condition, the normally controlled cruise speed should be 60kph, but because the system is in failure, the actual output control result is that the cruise speed is 100 kph. Although there is a failure in the system and an error in the control result, the system does not consider the control result as an error because it is still within the set reasonable range, and the driving assistance/automatic driving mode continues to be maintained, which may have serious consequences. Therefore, how to design an autonomous vehicle safety control scheme with higher reliability and accuracy becomes an important issue of research in the field.
Disclosure of Invention
Therefore, the invention provides a safety control method and a safety control device for an automatic driving vehicle, which aim to solve the problems that the safety control scheme for the automatic driving vehicle in the prior art has high limitation and the reliability and the control precision can not meet the current actual use requirement gradually.
The invention provides a simple perception module based on setting, which is used for acquiring vehicle kinematic information of a corresponding target area acquired by a target sensor and sending the vehicle kinematic information to a set safety path analysis module; the vehicle kinematic information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, and the target safe distance between the local vehicle and the target vehicle is obtained; and comparing the target safe distance with the current actual distance based on an arbitration module to generate corresponding vehicle control request information.
Further, the comparing the target safe distance and the current actual distance by the arbitration module to generate corresponding vehicle control request information specifically includes:
and performing real-time verification analysis on the target safe distance and the current actual distance based on an arbitration module, if the current actual distance is detected to be smaller than the target safe distance, generating a corresponding vehicle motion control request based on a verification result, and sending the vehicle motion control request to an actuator of the local vehicle.
Further, the vehicle kinematic information specifically includes: lateral and longitudinal speed information, acceleration information, and distance information from the local vehicle.
Further, the simple perception module based on setting obtains the vehicle kinematics information of the corresponding target area collected by the target sensor, and specifically includes: on the basis of a current automatic driving safety mechanism control system, vehicle kinematic information of a corresponding target area acquired by a target sensor is acquired based on a set simple sensing module; the automatic driving safety mechanism control system comprises an original sensing module, an original planning module, an original control module, an original sensor and the safety manager; the safety manager comprises the simple perception module and an original safety barrier module.
Further, the checking the vehicle kinematics information, the preset vehicle collision time and the minimum safe parking distance between the vehicles based on the safe path analysis module to obtain the target safe distance between the local vehicle and the target vehicle specifically includes:
based on the set safe path analysis module, analyzing the vehicle kinematic information, preset vehicle collision time and the minimum safe parking space between the vehicles by using a safe distance model to obtain a corresponding target safe distance;
the expression corresponding to the safe distance model is as follows:
Ssafe＝v1TTC+1/2v1TTC2-(v2TTC+1/2v2TTC2)+d (1)
in the formula, SsafeA target safety distance between the local vehicle and the target vehicle is obtained; TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2Is the current running speed of the target vehicle.
Further, the vehicle collision time is obtained based on a preset vehicle collision time model analysis;
if the local vehicle and the target vehicle have the same acceleration, namely a1-a2When the vehicle collision time model is 0, the corresponding expression of the vehicle collision time model is (2):
in the formula, TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2The current running speed of the target vehicle; s is the current actual distance between the local vehicle and the target vehicle;
if the acceleration of the local vehicle is different from that of the target vehicle, the corresponding expression of the vehicle collision time model is (3):
in the formula, TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2The current running speed of the target vehicle; s is the current actual distance between the local vehicle and the target vehicle; a is1Is the current acceleration of the local vehicle; a is2Is the current acceleration of the target vehicle.
Further, the control request includes at least one of a deceleration control signal, a steering control signal, and an acceleration control signal.
The present invention also provides an automatic driving vehicle safety control device, including:
the vehicle kinematic information acquisition unit is used for acquiring vehicle kinematic information of a corresponding target area acquired by a target sensor based on a set simple sensing module and sending the vehicle kinematic information to a set safety path analysis module;
the safe distance checking unit is used for checking the vehicle kinematic information, preset vehicle collision time and the minimum safe parking distance between the vehicles based on the safe path analysis module to obtain a target safe distance between a local vehicle and a target vehicle;
and the vehicle state arbitration unit is used for comparing the target safe distance with the current actual distance based on the arbitration module and generating corresponding vehicle control request information.
Further, the vehicle state arbitration unit is specifically configured to:
and performing real-time verification analysis on the target safe distance and the current actual distance based on an arbitration module, if the current actual distance is detected to be smaller than the target safe distance, generating a corresponding vehicle motion control request based on a verification result, and sending the vehicle motion control request to an actuator of the local vehicle.
Further, the vehicle kinematic information specifically includes: lateral and longitudinal speed information, acceleration information, and distance information from the local vehicle.
Further, the vehicle kinematic information acquisition unit is specifically configured to: on the basis of a current automatic driving safety mechanism control system, vehicle kinematic information of a corresponding target area acquired by a target sensor is acquired based on a set simple sensing module; the automatic driving safety mechanism control system comprises an original sensing module, an original planning module, an original control module, an original sensor and the safety manager; the safety manager comprises the simple perception module and an original safety barrier module.
Further, the safety distance checking unit is specifically configured to:
based on the set safe path analysis module, analyzing the vehicle kinematic information, preset vehicle collision time and the minimum safe parking space between the vehicles by using a safe distance model to obtain a corresponding target safe distance;
the expression corresponding to the safe distance model is as follows:
Ssafe＝v1TTC+1/2v1TTC2-(v2TTC+1/2v2TTC2)+d (1)
in the formula, SsafeA target safety distance between the local vehicle and the target vehicle is obtained; TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2Is the current running speed of the target vehicle.
Further, the vehicle collision time is obtained based on a preset vehicle collision time model analysis;
if the local vehicle and the target vehicle have the same acceleration, namely a1-a2If 0, the vehicle collision time model corresponds toThe expression is (2):
in the formula, TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2The current running speed of the target vehicle; s is the current actual distance between the local vehicle and the target vehicle;
if the acceleration of the local vehicle is different from that of the target vehicle, the corresponding expression of the vehicle collision time model is (3):
in the formula, TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2The current running speed of the target vehicle; s is the current actual distance between the local vehicle and the target vehicle; a is1Is the current acceleration of the local vehicle; a is2Is the current acceleration of the target vehicle.
Further, the control request includes at least one of a deceleration control signal, a steering control signal, and an acceleration control signal.
Correspondingly, the invention also provides an electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor when executing the program implementing the steps of the method of safety control of an autonomous vehicle as claimed in any one of the preceding claims.
Accordingly, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of safety control of an autonomous vehicle as claimed in any one of the preceding claims.
By adopting the safety control method of the automatic driving vehicle, the vehicle kinematics information of the corresponding target area acquired by the target sensor can be acquired through the simple sensing module, the vehicle kinematics information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, the target safe distance between the local vehicle and the target vehicle is obtained, and then the target safe distance is compared with the current actual distance to determine the corresponding vehicle control request information.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a schematic flow chart illustrating a method for controlling safety of an autonomous vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram illustrating a safety control system for an autonomous vehicle according to the prior art;
fig. 3 is a schematic diagram of a following scene in the safety control method for an autonomous vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating a safety control of an autonomous vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a safety control device for an autonomous vehicle according to an embodiment of the present invention;
fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. 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 invention.
As shown in fig. 2, the existing automatic driving Safety mechanism Control system generally includes a raw sensing module (performance module), a raw Planning module (Planning module), a raw Control module (Control module), a raw sensor (Sensors module), and the Safety Manager (Safety Manager); the security manager includes an original security barrier module (security barrier module) and an arbitration module (Arbitrator module). The original safety barrier module is a limiting module which limits the output of the automatic control system within a certain range. In the embodiment of the invention, data acquisition can be realized based on the Sensors (Sensors) of the existing automatic driving system, and the safety control of the automatic driving vehicle is realized on the basis of the current automatic driving safety mechanism control system.
The following describes an embodiment of the automated driving vehicle safety control method according to the present invention in detail. As shown in fig. 1, which is a schematic flow chart of a safety control method for an autonomous vehicle according to an embodiment of the present invention, the specific implementation process includes the following steps:
step 101: the method comprises the steps that vehicle kinematic information of a corresponding target area, collected by a target sensor, is obtained through a set simple sensing module, and the vehicle kinematic information is sent to a set safety path analysis module. Wherein the vehicle kinematics information specifically includes: lateral and longitudinal speed information, acceleration information, and distance information from the local vehicle.
Specifically, the plurality of sensors may be first divided into two groups: sensors Part 1 and Sensors Part 2. Output signals of two groups of Sensors, namely, a sensor Part 1 and a sensor Part 2 are sent to a Perception (original Perception module) for target detection. In a specific implementation process, the dividing modes of the Sensors of the two parts, i.e., the Sensors Part 1 and the Sensors Part 2, can be reasonably distributed according to specific sensor configurations of different projects, and are not specifically limited herein.
As shown in fig. 4, before executing this step, the Simple Perception module (Simple permission module) and the Safety Path analysis module (Safety Path Manager module) need to be set in advance in the Safety Manager (Safety Manager) on the basis of the automatic driving Safety mechanism control system. The safety path analysis module is used for analyzing a driving path of which the current speed does not collide with other vehicles or obstacles.
Vehicle kinematic information of a corresponding target area acquired by a target sensor (such as a Sensors Part 2) is acquired based on the simple perception module, namely perception calculation is carried out by only utilizing a Part of all Sensors. The Perception module in the automatic driving safety mechanism control system continuously executes the sensing function of full function, namely, the Perception module still takes the role of a Doer. And the Simple persistence module needs to acquire the transverse and longitudinal speed and acceleration information of the obstacle in the target area and the distance information of the local vehicle. Compared with the Perception module, the Simple Perception module can adopt a simplified Perception algorithm to reduce the implementation difficulty and the calculation amount and improve the reliability. The Simple permission module needs to output the acceleration, speed, and distance information from the local vehicle of the target obstacle (such as the front vehicle) to the Safety Path Calculator module.
Step 102: and verifying the vehicle kinematic information, the preset vehicle collision time and the minimum safe parking distance between the vehicles based on the safe path analysis module to obtain the target safe distance between the local vehicle and the target vehicle.
As shown in fig. 3, in a specific implementation process, based on the safety path analysis module, the vehicle kinematics information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are analyzed by using a safe distance model, so as to obtain a corresponding target safe distance. Namely: according to local vehicleKinematic information (speed v) of a vehicle1Acceleration a1) The target safe distance S of the vehicle can be calculated by using a safe distance model according To the Time-To-Collision (TTC) set by the system and the minimum safe stopping distance d between the vehiclessafe. Wherein the vehicle time to collision TTC is the time required if two vehicles continue to travel to the collision at the present speed and the same route.
The expression corresponding to the safe distance model is as follows:
Ssafe＝v1TTC+1/2v1TTC2-(v2TTC+1/2v2TTC2)+d (1)
in the formula, SsafeA target safety distance between the local vehicle and the target vehicle is obtained; TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2Is the current running speed of the target vehicle.
Actual distance S and actual distance S between two current vehicles need to be compared based on Arbitrator modulesafeAnd the former is ensured to be larger than or equal to the latter, so that the two vehicles can be ensured not to collide. Upon finding that S is less than SsafeThe local vehicle' S L2 or L3 autopilot control system need only reduce the acceleration request of the host vehicle, or even further request a greater deceleration request, until S is less than SsafeAnd (4) finishing.
The corresponding vehicle collision time can also be calculated reversely through the known following distance, for example, the vehicle collision time can be obtained based on the preset vehicle collision time model analysis.
If the local vehicle and the target vehicle have the same acceleration, namely a1-a2When the vehicle collision time model is 0, the corresponding expression of the vehicle collision time model is (2):
wherein TTC is a predetermined time to collision of the vehicleD is a preset minimum safe parking space between the vehicles; v. of1The current running speed of the local vehicle; v. of2The current running speed of the target vehicle; s is the current actual distance between the local vehicle and the target vehicle;
if the acceleration of the local vehicle is different from that of the target vehicle, the corresponding expression of the vehicle collision time model is (3):
in the formula, TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2The current running speed of the target vehicle; s is the current actual distance between the local vehicle and the target vehicle; a is1Is the current acceleration of the local vehicle; a is2Is the current acceleration of the target vehicle.
In this mode, the Arbitrator module is only required to compare the actual distance TTC between the two vehicles and the set TTC, and details are not repeated herein.
Step 103: and comparing the target safe distance with the current actual distance based on an arbitration module to generate corresponding vehicle control request information.
In the embodiment of the present invention, the target safe distance and the current actual distance may be verified and analyzed in real time based on an arbitration module, and if it is detected that the current actual distance is smaller than the target safe distance, a corresponding vehicle motion control request is generated based on a verification result, and the vehicle motion control request is sent to an actuator of the local vehicle, such as an engine, a transmission, a steering system, a braking system, and the like. Wherein the control request comprises at least one of a deceleration control signal, a steering control signal, an acceleration control signal, and the like.
In addition, it should be noted that, in the implementation process, the interaction information between the modules is as shown in fig. 4: 1 is a sensor original output signal; 2, a sensor original output signal; 3, the information is output by a sensing module and comprises the distance, the speed, the acceleration and the like of the front object; 4, path planning information and speed planning information; 5, a sensor original output signal; and 6, control command output, such as: control signals for acceleration, deceleration, steering, etc.; 7 is a safety threshold constant, such as maximum allowable speed, acceleration or distance; 8, the information is output by a sensing module and comprises the distance, the speed, the acceleration and the like of the front object; and 9 is a safety check result, for example: maximum allowable acceleration, deceleration, whether TTC is violated, and the like; 10: verified control command outputs, such as: acceleration, deceleration, steering, etc.
According to the embodiment of the invention, the control output check does not adopt a loose constant limit any more, but a variable calculated according to the real-time motion state of the vehicle, so that the control on the vehicle is more accurate. Meanwhile, the safety threshold value calculated based on the real-time kinematic state of the vehicle is closer to the safety boundary of the current vehicle, so that the output result is safer. The safety verification scheme can be simultaneously applied to longitudinal and transverse control of the vehicle, not only can the time distance be set to calculate the space distance, but also the space distance with the vehicle can be set in reverse, the time distance is deduced in a reverse mode, and the expandability is strong. In addition, the safety verification scheme provided by the invention can provide kinematic parameter input on a common vehicle type, does not need additional special parameters, avoids adding new hardware, and is simple in software implementation. A simple sensing module is added in the design, and a set of redundant sensing scheme is added to the current mainstream scheme. In addition, after the following space distance or the time distance of the system is set, the maximum acceleration or the minimum deceleration which is allowed by the vehicle at present can be reversely calculated, and the robustness of the system is effectively enhanced.
By adopting the safety control method of the automatic driving vehicle, which is disclosed by the embodiment of the invention, the vehicle kinematics information of the corresponding target area acquired by the target sensor can be acquired through the simple sensing module, the vehicle kinematics information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, the target safe distance between the local vehicle and the target vehicle is obtained, and then the target safe distance is compared with the current actual distance to determine the corresponding vehicle control request information.
Corresponding to the automatic driving vehicle safety control method, the invention also provides an automatic driving vehicle safety control device. Since the embodiment of the device is similar to the embodiment of the method, the description is simple, and the related points can be referred to the description of the embodiment of the method, and the embodiment of the safety control device of the automatic driving vehicle described below is only schematic. Fig. 5 is a schematic structural diagram of an automatic vehicle safety control device according to an embodiment of the present invention. The safety control device for the automatic driving vehicle specifically comprises the following parts:
the vehicle kinematic information acquisition unit 501 is configured to acquire vehicle kinematic information of a corresponding target area, which is acquired by a target sensor, based on a set simple sensing module, and send the vehicle kinematic information to a set safe path analysis module;
a safe distance checking unit 502, configured to check the vehicle kinematics information, preset vehicle collision time, and a minimum safe parking distance between the vehicles based on the safe path analysis module, so as to obtain a target safe distance between a local vehicle and a target vehicle;
and a vehicle state arbitration unit 503, configured to generate corresponding vehicle control request information based on comparison between the target safe distance and the current actual distance by the arbitration module.
By adopting the safety control device for the automatic driving vehicle, which is disclosed by the embodiment of the invention, the vehicle kinematics information of the corresponding target area acquired by the target sensor can be acquired through the simple sensing module, the vehicle kinematics information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, the target safe distance between the local vehicle and the target vehicle is obtained, and then the target safe distance is compared with the current actual distance to determine the corresponding vehicle control request information.
Corresponding to the automatic driving vehicle safety control method, the invention also provides electronic equipment. Since the embodiment of the electronic device is similar to the above method embodiment, the description is simple, and please refer to the description of the above method embodiment, and the electronic device described below is only schematic. Fig. 6 is a schematic physical structure diagram of an electronic device according to an embodiment of the present invention. The electronic device may include: a processor (processor)601, a memory (memory)602, and a communication bus 603, wherein the processor 601 and the memory 602 communicate with each other through the communication bus 603. Processor 601 may invoke logic instructions in memory 602 to perform an autonomous vehicle safety control method comprising: on the basis of a current automatic driving safety mechanism control system, acquiring vehicle kinematic information of a corresponding target area acquired by a target sensor based on a set simple sensing module, and sending the vehicle kinematic information to a set safety path analysis module; the vehicle kinematic information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, and the target safe distance between the local vehicle and the target vehicle is obtained; and comparing the target safe distance with the current actual distance based on an arbitration module to generate corresponding vehicle control request information.
Furthermore, the logic instructions in the memory 602 may be implemented in software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In another aspect, an embodiment of the present invention further provides a computer program product, where the computer program product includes a computer program stored on a non-transitory computer-readable storage medium, the computer program includes program instructions, and when the program instructions are executed by a computer, the computer can execute the method for controlling safety of an autonomous vehicle provided by the above-mentioned method embodiments, where the method includes: on the basis of a current automatic driving safety mechanism control system, acquiring vehicle kinematic information of a corresponding target area acquired by a target sensor based on a set simple sensing module, and sending the vehicle kinematic information to a set safety path analysis module; the vehicle kinematic information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, and the target safe distance between the local vehicle and the target vehicle is obtained; and comparing the target safe distance with the current actual distance based on an arbitration module to generate corresponding vehicle control request information.
In yet another aspect, an embodiment of the present invention further provides a non-transitory computer-readable storage medium, on which a computer program is stored, where the computer program is implemented by a processor to execute the method for controlling safety of an autonomous vehicle provided in the foregoing embodiments, and the method includes: on the basis of a current automatic driving safety mechanism control system, acquiring vehicle kinematic information of a corresponding target area acquired by a target sensor based on a set simple sensing module, and sending the vehicle kinematic information to a set safety path analysis module; the vehicle kinematic information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, and the target safe distance between the local vehicle and the target vehicle is obtained; and comparing the target safe distance with the current actual distance based on an arbitration module to generate corresponding vehicle control request information.
The above-described embodiments of the apparatus are merely illustrative, and 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 modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware. With this understanding in mind, the above-described technical solutions may be embodied in the form of a software product, which can be stored in a computer-readable storage medium such as ROM/RAM, magnetic disk, optical disk, etc., and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the methods described in the embodiments or some parts of the embodiments.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An autonomous vehicle safety control method, comprising:
the method comprises the steps that vehicle kinematic information of a corresponding target area, collected by a target sensor, is obtained based on a set simple sensing module, and the vehicle kinematic information is sent to a set safety path analysis module;
the vehicle kinematic information, the preset vehicle collision time and the minimum safe parking distance between the vehicles are verified based on the safe path analysis module, and the target safe distance between the local vehicle and the target vehicle is obtained;
and comparing the target safe distance with the current actual distance based on an arbitration module to generate corresponding vehicle control request information.
2. The method according to claim 1, wherein the comparing the target safe distance and the current actual distance based on the arbitration module to generate corresponding vehicle control request information specifically comprises:
and performing real-time verification analysis on the target safe distance and the current actual distance based on an arbitration module, if the current actual distance is detected to be smaller than the target safe distance, generating a corresponding vehicle motion control request based on a verification result, and sending the vehicle motion control request to an actuator of the local vehicle.
3. The autonomous-capable vehicle safety control method of claim 1, wherein the vehicle kinematics specifically include: lateral and longitudinal speed information, acceleration information, and distance information from the local vehicle.
4. The method according to claim 1, wherein the obtaining of the vehicle kinematics information of the corresponding target area collected by the target sensor by the simple perception module based on the setting specifically includes: on the basis of a current automatic driving safety mechanism control system, vehicle kinematic information of a corresponding target area acquired by a target sensor is acquired based on a set simple sensing module; the automatic driving safety mechanism control system comprises an original sensing module, an original planning module, an original control module, an original sensor and the safety manager; the safety manager comprises the simple perception module and an original safety barrier module.
5. The method according to claim 1, wherein the verifying the vehicle kinematics information, the preset vehicle collision time and the minimum safe parking distance between the vehicles based on the safe path analysis module to obtain the target safe distance between the local vehicle and the target vehicle comprises:
based on the set safe path analysis module, analyzing the vehicle kinematic information, preset vehicle collision time and the minimum safe parking space between the vehicles by using a safe distance model to obtain a corresponding target safe distance;
the expression corresponding to the safe distance model is as follows:
Ssafe＝v1TTC+1/2v1TTC2-(v2TTC+1/2v2TTC2)+d (1)
in the formula, SsafeA target safety distance between the local vehicle and the target vehicle is obtained; TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2Is the current running speed of the target vehicle.
6. The automated driving vehicle safety control method according to claim 1, wherein the vehicle collision time is obtained based on a preset vehicle collision time model analysis;
if the local vehicle and the target vehicle have the same acceleration, namely a1-a2When the vehicle collision time model is 0, the corresponding expression of the vehicle collision time model is (2):
in the formula, TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2The current running speed of the target vehicle; s is the current actual distance between the local vehicle and the target vehicle;
if the acceleration of the local vehicle is different from that of the target vehicle, the corresponding expression of the vehicle collision time model is (3):
in the formula, TTC is preset vehicle collision time, d is preset minimum safe parking distance between vehicles; v. of1The current running speed of the local vehicle; v. of2The current running speed of the target vehicle; s is the current actual distance between the local vehicle and the target vehicle; a is1Is the current acceleration of the local vehicle; a is2Is the current acceleration of the target vehicle.
7. The autonomous-capable vehicle safety control method of claim 2, wherein the control request comprises at least one of a deceleration control signal, a steering control signal, and an acceleration control signal.
8. An autonomous vehicle safety control apparatus, comprising:
the vehicle kinematic information acquisition unit is used for acquiring vehicle kinematic information of a corresponding target area acquired by a target sensor based on a set simple sensing module and sending the vehicle kinematic information to a set safety path analysis module;
the safe distance checking unit is used for checking the vehicle kinematic information, preset vehicle collision time and the minimum safe parking distance between the vehicles based on the safe path analysis module to obtain a target safe distance between a local vehicle and a target vehicle;
and the vehicle state arbitration unit is used for comparing the target safe distance with the current actual distance based on the arbitration module and generating corresponding vehicle control request information.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the steps of the method of safety control of an autonomous vehicle as claimed in any of claims 1 to 7 are implemented when the program is executed by the processor.
10. A non-transitory computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the autonomous vehicle safety control method of any of claims 1-7.
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