CN113525422B - Automatic driving system and method - Google Patents

Abstract

The embodiment of the invention discloses an automatic driving system and method. Wherein, the system includes: a main control driving module and a standby driving module; the main control driving module is in communication connection with the standby driving module; the standby driving module is used for detecting the driving environment of the target vehicle through the single sensing equipment to obtain a first environment sensing result and generating a standby driving strategy according to the first environment sensing result; the standby driving strategy is used for outputting to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, so that automatic driving control is carried out on the target vehicle according to the standby driving strategy; the single perception device is not present in the main control driving module. The embodiment of the invention can effectively improve the reliability of an automatic driving system, save the deployment cost of the system and accelerate the landing progress.

Description

Automatic driving system and method

Technical Field

The embodiment of the invention relates to the technical field of intelligent automobiles, in particular to an automatic driving system and method.

Background

One of the key factors in determining the reliability of an autopilot system is how to deal with system failures. In the prior art, a redundant system design scheme is generally adopted in an automatic driving automobile, and two sets of identical automatic driving systems are deployed in the automobile, so that when any one system fails, the other system can be started, and the safety of the automatic driving function is ensured.

However, in the method provided by the prior art, the deployment cost of the redundant system is high, the system installation is complex, and the control of the product cost and the promotion of the landing progress are not facilitated; meanwhile, the risk of co-factor failure cannot be avoided by the exactly same system functions.

Disclosure of Invention

The embodiment of the invention provides an automatic driving system and a method thereof, which are used for improving the reliability of the automatic driving system, saving the deployment cost of the system and accelerating the landing progress.

In a first aspect, an embodiment of the present invention provides an autopilot system, including: a main control driving module and a standby driving module; the main control driving module is in communication connection with the standby driving module; wherein:

the standby driving module is used for detecting the driving environment of the target vehicle through single sensing equipment to obtain a first environment sensing result, and generating a standby driving strategy according to the first environment sensing result;

the standby driving strategy is used for outputting to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, so that automatic driving control is carried out on the target vehicle according to the standby driving strategy; the single perception device is not present in the master driving module.

In a second aspect, an embodiment of the present invention further provides an autopilot method, applied to an autopilot system, including:

detecting the driving environment of the target vehicle through single sensing equipment in the standby driving module to obtain a first environment sensing result;

generating a standby driving strategy according to the first environment sensing result by the standby driving equipment;

outputting the standby driving strategy to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, so as to automatically drive and control the target vehicle according to the standby driving strategy;

wherein the single perception device is not present in the main control driving module.

According to the embodiment of the invention, the main control driving module and the standby driving module which are in communication connection with each other are arranged in the automatic driving system, wherein single sensing equipment which does not exist in the main control driving module is arranged in the standby driving module, the driving environment of the target vehicle can be detected through the single sensing equipment to obtain a first environment sensing result, and a standby driving strategy is generated according to the first environment sensing result, so that the standby driving strategy can be output to the control system of the target vehicle under the condition that the working state of the main control driving module is abnormal is determined, the automatic driving control is carried out on the target vehicle according to the standby driving strategy, the safety of the automatic driving function under the fault condition is ensured through the non-redundant double driving module, the cost improvement problem and the potential common cause failure risk caused by the redundant system design in the prior art are avoided, the reliability of the automatic driving system is effectively improved, the system deployment cost is saved, and the landing progress is accelerated.

Drawings

Fig. 1 is a schematic diagram of an autopilot system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of an autopilot system according to a second embodiment of the present invention.

Fig. 3 is a schematic diagram of yet another automatic driving system according to a second embodiment of the present invention.

Fig. 4 is a schematic workflow diagram of a switching module according to a second embodiment of the present invention.

Fig. 5 is a flowchart of an automatic driving method according to a third embodiment of the present invention.

Detailed Description

The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof.

It should be further noted that, for convenience of description, only some, but not all of the matters related to the present invention are shown in the accompanying drawings. Before discussing exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart depicts operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently, or at the same time. Furthermore, the order of the operations may be rearranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figures. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Example 1

Fig. 1 is a schematic diagram of an autopilot system according to a first embodiment of the present invention, where the autopilot system is applicable to autopilot control of a target vehicle, and the autopilot system may be implemented in software and/or hardware, and may be generally integrated in a computer device and configured in the target vehicle. Accordingly, as shown in fig. 1, the system includes: the main control driving module 110 and the standby driving module 120 are in communication connection with each other, and the main control driving module 110 and the standby driving module 120 are connected with each other.

The standby driving module 120 is configured to detect a driving environment of the target vehicle through a single sensing device, obtain a first environment sensing result, and generate a standby driving strategy according to the first environment sensing result. The standby driving strategy is used for outputting to a control system of the target vehicle in case that the working state of the main control driving module 110 is determined to be abnormal, so as to perform automatic driving control on the target vehicle according to the standby driving strategy.

Specifically, the target vehicle may be any vehicle that needs to be configured with an autopilot function, and the target vehicle includes a control system that may be communicatively connected to the autopilot system to receive a driving maneuver output by the autopilot system, and perform autopilot control on the target vehicle according to the received driving maneuver. The single sensing device may be a device that detects the driving environment in a single form, for example, may be a visual sensor that detects the driving environment in the form of an image. The single awareness apparatus is deployed in the standby driving module 120 and is not present in the main driving module 110. The driving environment of the target vehicle may include environmental factors affecting the driving of the target vehicle in the space where the target vehicle is located, and may include, for example, road conditions on which the target vehicle is driving, road traffic signals, and obstacle conditions in the space around the target vehicle. The first environment sensing result may be detection data obtained by detecting a driving environment of the target vehicle by the single sensing device, and the data describing an environmental factor affecting the driving of the target vehicle may include, for example, a lane line recognition result, a vehicle recognition result, a pedestrian recognition result, a drivable region recognition result, and the like. The standby driving strategy may be a scheme for controlling the target vehicle generated according to the first environment sensing result, and may include a planned driving path, a scheme for controlling devices in the target vehicle, and the like.

Accordingly, the standby driving module 120 is disposed in the autopilot system and is configured on the target vehicle, and in the driving process of the target vehicle, the driving environment of the target vehicle can be detected in real time through the single sensing device disposed therein. The driving environment is detected through the single sensing device, a first environment sensing result can be obtained, and therefore a standby driving strategy suitable for the driving environment of the target vehicle can be generated according to the first environment sensing result. The specific method for generating the standby driving strategy according to the first environment sensing result may be any method adopted in the automatic driving technology, and is not limited herein.

Further, the single sensing device in the standby driving module 120 is different from any sensing device deployed in the main driving module 110, so that redundancy is not caused, and when the sensing device in the main driving module 110 fails due to a fault caused by an environmental factor, the single sensing device can avoid the failure caused by the same environmental factor due to different working principles, and can be used for detecting the driving environment of the target vehicle. Meanwhile, the standby driving module 120 may obtain the first environment sensing result according to the detection result of the single sensing device and generate the standby driving strategy independently of the main driving module 110. Therefore, the automatic driving system avoids co-factor failure of the standby driving module 120 and the main driving module 110 in the complete process, and when the working state of the main driving module 110 is abnormal, the standby driving strategy obtained by the standby driving module 120 according to the detection result of the single sensing module can be output to the control system of the target vehicle, so as to perform automatic driving control on the target vehicle according to the standby driving strategy.

The working state of the main control driving module 110 may be monitored by the standby driving module 120, or may be monitored by any other module disposed in the automatic driving system or the target vehicle, which is not limited herein. The standby driving strategy may be output to the control system through the standby driving module 120 when the working state of the main control driving module 110 is determined to be abnormal, or may be output to any other module disposed in the automatic driving system or the target vehicle through the standby driving module 120, and output to the control system through the module when the working state of the main control driving module 110 is determined to be abnormal, which is not limited herein. The specific method of automatically controlling the target vehicle according to the backup driving strategy may be any method adopted in the automatic driving technology, and is not limited herein.

In an alternative implementation of the embodiment of the present invention, the standby driving module 120 may be further configured to send the first environmental awareness result to the main driving module 110; the main control driving module 110 may be configured to receive the first environmental awareness result, and detect a driving environment through the multi-awareness apparatus to obtain a second environmental awareness result; and generating a master control driving strategy according to the first environment sensing result and the second environment sensing result.

The main control driving strategy is used for outputting to the control system under the condition that the working state of the main control driving module is normal, so that automatic driving control is carried out on the target vehicle according to the main control driving strategy.

In particular, the multi-sensing device may include devices that detect the driving environment in different forms, and may include millimeter wave radar and cameras, for example. The multi-sensing device is deployed in the main control driving module 110, and does not include a single sensing device therein. The second environmental awareness result may be detection data obtained by detecting the driving environment of the target vehicle by the multi-awareness apparatus, and may be data for describing environmental factors affecting the driving of the target vehicle, or alternatively, may describe the same environmental factors as the first environmental awareness result. The master driving policy may be a scheme for controlling the target vehicle generated by integrating the first environment sensing result and the second environment sensing result.

Correspondingly, the main control driving module 110 is deployed in an automatic driving system and is configured on a target vehicle, and in the driving process of the target vehicle, the driving environment of the target vehicle can be detected in real time through the multiple sensing devices deployed in the main control driving module. And detecting the driving environment through the multi-sensing device, so that a second environment sensing result can be obtained.

Further, after the standby driving module 120 obtains the first environment sensing result, the first environment sensing result may be sent to the main driving module 110, and then the main driving module 110 may obtain the first environment sensing result and the second environment sensing result. Because the single sensing device deployed in the standby driving module 120 is different from the multi-sensing device 110 deployed in the main driving module 110, the single sensing device and the multi-sensing device can be mutually complemented in a detection form, and the main driving module 110 generates a main driving strategy by integrating the first environment sensing result and the second environment sensing result, so that the single sensing device and the multi-sensing device can be fully utilized, more accurate driving environment detection data can be obtained, and the matching degree of the main driving strategy and the driving environment can be improved. Therefore, under the condition that the working state of the main control driving module is normal, the main control driving strategy can be output to the control system so as to automatically drive and control the target vehicle according to the main control driving strategy.

The specific method for generating the master driving strategy according to the first environment sensing result and the second environment sensing result may be any method adopted in the automatic driving technology, and is not limited herein. The working state of the main control driving module 110 may be monitored by the main control driving module 110 itself, or may be monitored by any other module disposed in an autopilot system or a target vehicle, which is not limited herein. The main control driving strategy can be output to the control system through the main control driving module 110 under the condition that the working state of the main control driving module 110 is determined to be normal, or can be output to any other module which is deployed in the automatic driving system or the target vehicle through the main control driving module 110, and the main control driving strategy is output to the control system under the condition that the working state of the main control driving module 110 is determined to be normal, and the main control driving strategy is not limited herein. The specific method for performing the automatic driving control on the target vehicle according to the master driving strategy may be any method adopted in the automatic driving technology, and is not limited herein.

In an optional implementation manner of the embodiment of the present invention, the single sensing device may be configured to detect a driving environment, obtain a first environment sensing result, and send the first environment sensing result to the fusion algorithm submodule of the main control driving module 110; master drive module 110 may include: the system comprises a multi-perception device, a fusion algorithm sub-module and a main control decision sub-module.

The multi-perception device is used for detecting the driving environment to obtain a second environment perception result and sending the second environment perception result to the fusion algorithm submodule. And the fusion algorithm sub-module is used for receiving the first environment sensing result and the second environment sensing result, carrying out fusion processing on the first environment sensing result and the second environment sensing result, obtaining a fusion result and sending the fusion result to the main control decision sub-module. And the main control decision sub-module is used for generating a main control driving strategy according to the fusion result.

Correspondingly, after the single sensing device acquires the first environment sensing result, the first environment sensing result can be directly sent to the fusion algorithm submodule, and then the multi-sensing device can also send the second environment sensing result to the fusion algorithm submodule, so that the acquisition and transmission processes of the first environment sensing result and the second environment sensing result before fusion processing are mutually independent, the acquisition and/or transmission of the first environment sensing result and the second environment sensing result by the same module are avoided, and the risk of common cause failure is further avoided. The fusion algorithm submodule can synchronously receive a first environment sensing result sent by the single sensing device and a second environment sensing result sent by the multi-sensing device, and fusion processing is carried out to obtain a fusion result. The fusion process may be an operation of mapping different types of detection data into specific types of data to integrate all the detection data to obtain data representing a final unified result, and a specific method of the fusion process may be determined according to the detection data of the single sensing device and the multiple sensing devices, which is not limited herein. The fusion result may describe an environmental factor affecting the driving of the target vehicle in the driving environment obtained by integrating the first environmental perception result and the second environmental perception result. Therefore, after the fusion algorithm submodule obtains the fusion result, the fusion result can be sent to the main control decision submodule so as to generate a main control driving strategy according to the fusion result through the main control decision submodule, and the main control driving strategy is generated by integrating the first environment sensing result and the second environment sensing result.

According to the embodiment, the single sensing device directly sends the first environment sensing result to the fusion algorithm submodule, so that the working states of the single sensing device and the multiple sensing devices are independent of each other, the risk of common cause failure is further avoided, and the automatic driving reliability is improved.

Alternatively, the backup driving module 120 may specifically include a single awareness device and a backup decision sub-module.

The single sensing device is used for detecting the driving environment, obtaining a first environment sensing result and sending the first environment sensing result to the standby decision sub-module. And the standby decision sub-module is used for receiving the first environment sensing result and generating a standby driving strategy according to the first environment sensing result.

Accordingly, the standby driving module 120 may obtain the first environmental awareness result through the single awareness apparatus, and send the first environmental awareness result to the standby decision-making sub-module through the single awareness apparatus, so as to generate the standby driving policy according to the first environmental awareness result through the standby decision-making sub-module.

In the above embodiment, the detection process and the driving decision generation process of the driving environment in the standby driving module 120 are deployed in the two sub-modules, so as to avoid the influence on the working state of the single sensing module when the standby decision sub-module fails, thereby avoiding the influence on the working state of the main control driving module 110 by the working state of the standby decision sub-module and improving the reliability of the main control driving module 110.

In an optional implementation manner of the embodiment of the present invention, the single sensing device is a visual sensing device, and is configured to obtain the driving environment in a first spatial range; the multi-sensing device comprises at least one type of radar sensing device and at least one type of visual sensing device for acquiring the driving environment within a second spatial range.

Wherein the multi-perception device does not include the single perception device, and the second spatial extent is greater than the first spatial extent.

Specifically, the visual perception device may be a device that detects an environment in real time based on machine vision, and may be configured to a target vehicle. The radar sensing device may be a device that detects the environment in real time based on radar technology and may be configured to the target vehicle. The first spatial range may be a range formed by fanning out a specific degree to both sides centering on the target vehicle and centering on the traveling direction of the target vehicle. The second spatial range may be a range formed by fanning out to a certain extent toward both sides centering on the target vehicle and centering on the traveling direction of the target vehicle.

Accordingly, the visual perception device is adopted as a single perception device, and the detection range of the visual perception device can be made to be the first space range by installing the visual perception device at a proper position of the target vehicle. By adopting at least one type of radar sensing device and at least one type of visual sensing device, the sensing devices can be respectively arranged at different positions of the target vehicle, so that the detection ranges of the sensing devices can be overlapped into a second space range. Optionally, the single sensing device and the multiple sensing devices are different in installation position and have independent power supplies, so that the risk of common cause failure is further avoided.

Alternatively, the single perception device may be a 100 degree wide viewing angle vision sensor, and the first spatial range may be within a viewing angle range in front of the target vehicle; the multi-sensing device may include 5 millimeter wave radars and 1 forward camera, wherein the 5 millimeter wave radars include 1 forward millimeter wave radar and 4 lateral millimeter wave radars, and the second spatial range may cover a space of 360 degrees around the body of the target vehicle.

The embodiment of the invention provides an automatic driving system, which is characterized in that a main control driving module and a standby driving module which are in communication connection are arranged in the automatic driving system, wherein single sensing equipment which does not exist in the main control driving module is arranged in the standby driving module, a first environment sensing result can be obtained through detecting the driving environment of a target vehicle by the single sensing equipment, and a standby driving strategy is generated according to the first environment sensing result, so that the standby driving strategy can be output to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal is determined, the automatic driving control is carried out on the target vehicle according to the standby driving strategy, the automatic driving function safety under the fault condition is ensured by the non-redundant double driving module, the cost improvement problem and the potential common cause failure risk caused by the redundant system design in the prior art are avoided, the reliability of the automatic driving system is effectively improved, the system deployment cost is saved, and the landing progress is accelerated.

Example two

Fig. 2 is a schematic diagram of an autopilot system according to a second embodiment of the present invention. As shown in fig. 2, on the basis of the above embodiment, the present embodiment further discloses an internal structure of an autopilot system, and the autopilot system may further include: a switching module 130.

The switching module 130 is in communication connection with the standby driving module 120 and the main control driving module 110, and is configured to obtain a working state of the main control driving module 110; outputting a standby driving strategy to the control system under the condition that the working state of the main control driving module 110 is determined to be abnormal; in the case where it is determined that the operation state of the main control driving module 110 is normal, the main control driving strategy is output to the control system.

Correspondingly, the switching module 130 can acquire the working state of the main control driving module 110 based on the communication connection with the main control driving module 110, so that the working state of the main control driving module 110 at any moment can be determined. The specific method for obtaining the working state of the main control driving module 110 may be any method that can be implemented, and is not limited herein, for example, a method for transmitting a heartbeat signal between the switching module 130 and the main control driving module 110 may be mentioned.

Further, the switching module 130 may further obtain a master driving policy generated by the master driving module 110 based on the communication connection with the master driving module 110; based on the communication connection with the backup driving module 120, the backup driving strategy generated by the backup driving module 120 may be obtained. The master driving policy may be actively acquired by the switching module 130 to the master driving module 110, or may be sent by the master driving module 110 to the switching module 130 and received by the switching module 130, which is not limited herein; the standby driving strategy may be actively acquired by the switching module 130 to the standby driving module 120, or may be transmitted by the standby driving module 120 to the switching module 130 and received by the switching module 130, which is not limited herein.

Therefore, the switching module 130 may send the standby driving strategy to the control system in case of determining that the operation state of the main control driving module 110 is abnormal; under the condition that the working state of the main control driving module 110 is normal, the main control driving strategy can be sent to the control system, so that the driving strategy can be switched according to the working state of the main control driving module, and the automatic driving control of the target vehicle according to the driving strategy accurately matched with the driving environment is ensured.

In an alternative implementation of the embodiment of the present invention, the switching module 130 may be further configured to: in the case of determining that the operation state of the main control driving module 110 is abnormal, a manual takeover instruction signal and a deceleration control signal are generated.

The manual take-over indication signal is used for indicating the target vehicle to prompt the user to take over driving, and the deceleration control signal is used for controlling the target vehicle to run at a deceleration until the user takes over driving.

Accordingly, in the case that the operation state of the main control driving module 110 is abnormal, the automatic driving control can be performed only on the target vehicle according to the standby driving strategy. Because the standby driving strategy is generated according to the first environment sensing result detected by the single sensing device, the single sensing device can only detect the driving environment in a single form, and the multi-sensing device can detect the driving environment in different forms, the reliability of the first environment sensing result is lower than that of the second environment sensing result and the result combining the two, and the reliability of the standby driving strategy is also lower than that of the master driving strategy generated by integrating the first environment sensing result and the second environment sensing result. Therefore, although the target vehicle may be automatically driven according to the standby driving strategy in the case of abnormal operation state of the main control driving module 110, the reliability of the automatic driving is reduced at this time, and a corresponding safety strategy is required to avoid the safety risk caused by the reduced reliability. Through the switching module 130, a manual take-over indication signal and a deceleration control signal may be generated in case that it is determined that the operation state of the main control driving module 110 is abnormal.

Specifically, the target vehicle can be indicated to prompt the user to take over driving by manually taking over the indication signal, so that the user can timely learn the abnormal state and take over driving, the time for automatically controlling the target vehicle by only relying on the standby driving strategy generated by the standby driving module 120 is shortened, and the risk of reliability reduction is avoided. Optionally, the specific content of the manual taking over instruction signal is not limited herein, and may include, for example, instructing the target vehicle to prompt the user about the current working state of the main driving module 110 and/or the standby driving module 120, or prompting through light, screen display content or voice, etc. The target vehicle can be controlled to run at a reduced speed by the reduced speed control signal, so that the safety is further improved in the process of automatically controlling the target vehicle by the standby driving strategy generated by the standby driving module 120 until the user takes over driving, and the vehicle speed can be controlled by the user after the user takes over driving.

In an alternative implementation of the embodiment of the present invention, the switching module 130 may be further configured to: in the case of determining that the operation state of the main control driving module 110 is abnormal, the operation state of the standby driving module 120 is acquired; in the event that an abnormality in the operation state of the spare driving module 120 is determined, a manual takeover instruction signal and an automatic parking control signal are generated.

The manual take-over indication signal is used for indicating the target vehicle to prompt the user to take over driving, and the automatic parking control signal is used for controlling the target vehicle to enter an automatic parking mode until the user takes over driving.

Correspondingly, in the case that the working state of the main control driving module 110 is abnormal, the switching module 130 may also obtain the working state of the standby driving module 120. In the case of determining that the operation state of the backup driving module 120 is abnormal, it is explained that the reliability of both the main driving strategy and the backup driving strategy is reduced at this time, and a corresponding safety strategy is required to avoid safety risks. Through the switching module 130, a manual take-over indication signal and an automatic parking control signal may be generated in case it is determined that the operation states of the main driving module 110 and the standby driving module 120 are abnormal.

Specifically, the manual take-over indication signal generated at the moment can also indicate the target vehicle to prompt the user to take over driving, so that the user can timely learn the abnormal state and take over driving. Optionally, the specific content of the manual takeover indication signal generated by the switching module 130 when the working states of the main control driving module 110 and the standby driving module 120 are determined to be abnormal may be different from the specific content of the manual takeover indication signal generated when the working states of the main control driving module 110 and the standby driving module 120 are determined to be abnormal, for example, the two may instruct the target vehicle to prompt the working states of the main control driving module 110 and the standby driving module 120 to the user, or the former may instruct the target vehicle to prompt the user more obviously, or the like. The automatic parking control signal may control the target vehicle to enter an automatic parking mode, so that the target vehicle may be parked in a safe area as soon as possible, for example, an emergency parking area, so as to avoid that the target vehicle continues to run in an automatic driving state in which the working states of the main driving module 110 and the standby driving module 120 are abnormal, until the user takes over driving, and then the user may perform driving control on the vehicle.

Optionally, the switching module 130 may be further configured to: under the condition that the working state of the main control driving module 110 is normal, the working state of the standby driving module 120 is obtained; in the event that an abnormality in the operation state of the backup driving module 120 is determined, a manual takeover instruction signal is generated.

Correspondingly, in the case that the working state of the main control driving module 110 is normal, the switching module 130 may also obtain the working state of the standby driving module 120. In case of determining that the operation state of the spare driving module 120 is abnormal, the complementation between the double driving modules and the mutual backup effect are reduced, and the reliability of the automatic driving system is also affected, and a corresponding safety strategy is required to avoid safety risks. Through the switching module 130, a manual take-over indication signal may be generated when it is determined that the operation state of the main control driving module 110 is normal and the operation state of the standby driving module 120 is abnormal.

Specifically, the manual take-over indication signal generated at the moment can also indicate the target vehicle to prompt the user to take over driving, so that the user can timely learn the abnormal state and take over driving. Optionally, the specific content of the manual takeover instruction signal generated by the switching module 130 when it is determined that the operation state of the main control driving module 110 is normal and the operation state of the standby driving module 120 is abnormal may be different from the specific content of the manual takeover instruction signal generated by the other operation states of the main control driving module 110 and the standby driving module 120.

Fig. 3 is a schematic diagram of an autopilot system according to an embodiment of the present invention. As shown in fig. 3, the autopilot system includes a main driving module, a standby driving module, and a switching module P006. The main control driving module comprises a multi-perception device P001, a fusion algorithm submodule P002 and a main control decision submodule P003; the standby driving module comprises single sensing equipment P004 and a standby decision sub-module P005; the main control decision sub-module P003 and the standby decision sub-module P005 are in communication connection with the switching module P006, and the switching module P006 is in communication connection with the vehicle control system P007.

Specifically, the multi-sensing device P001 belongs to sensing input of a main control driving module for realizing full-function automatic driving, and comprises various sensors, including a vehicle-mounted millimeter wave radar, a vehicle-mounted camera, a vehicle-mounted laser radar, a vehicle-mounted ultrasonic radar, a GPS (Global Positioning System ) and the like, and the full-function implementation of the automatic driving system is ensured by using the multi-sensors. Alternatively, the standard configuration thereof is 5 millimeter wave radars, including 1 forward millimeter wave radar and 4 lateral millimeter wave radars, and 1 forward vision camera, and lane line recognition, vehicle recognition, pedestrian recognition, drivable region recognition, and the like can be provided. The fusion algorithm submodule P002 can perform fusion processing on all sensing signals from P001 and P004, adopts a global fusion algorithm aiming at the sensing configuration of P001, realizes 360-degree monitoring coverage on the periphery of the vehicle in space by 5 millimeter wave radars and 1 forward camera, fuses an output result with a camera sensor signal result from P004, realizes final data output, completes monitoring on the surrounding environment of the vehicle, and outputs fused information to the main control decision submodule P003, wherein the sensing signal of P001 is main sensing equipment, can realize the requirement of full functions, and the sensing signal of P004 is used as an auxiliary signal. The main control decision sub-module P003 can complete automatic driving path planning and decision making and realize a complete automatic driving function.

Correspondingly, the single sensing device P004 belongs to the sensing input of a standby driving module for realizing redundant safe automatic driving, and the basic automatic driving detection requirement can be realized by adopting different sensing devices with P001. Optionally, the standard is configured as a visual sensor with a wide viewing angle of 100 degrees, so that lane line recognition, vehicle recognition, pedestrian recognition and drivable area recognition can be provided, the requirements of P001 environment recognition are consistent, and the requirement of functional redundancy can be met. The difference from P001 is that the reliability of single perception is reduced, the adaptive capacity of environment is reduced, but the automatic driving requirement can be met in a short time when the fault occurs, and precious buffering time is provided. Since the sensing device of P004 is different from P001 in space installation position and has an independent power supply and processing module, co-occurrence failure with the sensing device of P001 does not occur. The standby decision sub-module P005 can process the data acquired by the P004 to acquire a basic drivable area in front of the vehicle, and plan a driving path and a vehicle control decision of the vehicle on the premise of ensuring safety.

Furthermore, the switching module P006 can switch the decision command from P003 or P005 based on the premise of ensuring safety according to the working state of the dual system, and the decision command of the main control driving module is the main control driving module in the normal state. The control system P007 may perform automatic control of the vehicle in the longitudinal and transverse directions according to the output of P006.

Accordingly, exemplary, fig. 4 is a schematic workflow diagram of a switching module according to an embodiment of the present invention. As shown in fig. 4, the basic control logic of the switching module includes a strategy one and a strategy two, wherein the strategy one includes any fault of the main control driving module, and after switching to the standby driving module, the automatic driving vehicle performs speed reduction and lane keeping driving, and a double flashing light is started to remind a driver of taking over; the second strategy comprises that the standby driving module breaks down, the main control driving module enters a guaranteed driving mode, and according to customer setting, a driver can be reminded of taking over under an automatic driving state of keeping the current state, or the vehicle can be automatically driven into an emergency stop area to stop for waiting for the processing of the driver, and the double flashing lamps are started.

The embodiment of the invention provides an automatic driving system, which is characterized in that a main control driving module and a standby driving module which are in communication connection are arranged in the automatic driving system, wherein single sensing equipment which does not exist in the main control driving module is arranged in the standby driving module, a first environment sensing result can be obtained by detecting the driving environment of a target vehicle through the single sensing equipment, and a standby driving strategy is generated according to the first environment sensing result, so that the standby driving strategy can be output to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal is determined, the automatic driving control is carried out on the target vehicle according to the standby driving strategy, the automatic driving function safety under the fault condition is ensured through a non-redundant double driving module, the cost improvement problem and the potential common cause failure risk caused by the redundant system design in the prior art are avoided, the reliability of the automatic driving system is effectively improved, the system deployment cost is saved, and the landing progress is accelerated; furthermore, the switching module is deployed in the automatic driving system, so that the working states of the double driving modules can be monitored, and a proper safety guarantee strategy is adopted under any abnormal state, so that the reliability and safety of automatic driving are further improved, and the user experience is improved.

Example III

Fig. 5 is a flowchart of an autopilot method according to a third embodiment of the present invention, where the method may be performed by an autopilot system for autopilot control of a target vehicle, where the method may be implemented by software and/or hardware, and may be generally integrated in a computer device and configured for the target vehicle. Accordingly, as shown in fig. 5, the method includes the following operations:

and S310, detecting the driving environment of the target vehicle through single sensing equipment in the standby driving module to obtain a first environment sensing result.

S320, generating a standby driving strategy according to the first environment sensing result through the standby driving equipment.

And S330, outputting the standby driving strategy to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, so as to carry out automatic driving control on the target vehicle according to the standby driving strategy.

Wherein the single perception device is not present in the main control driving module.

In an optional implementation manner of the embodiment of the present invention, the method may further include: the first environment sensing result is sent to the main control driving module through the standby driving module; the first environment sensing result is received through the main control driving module, and the driving environment is detected through the multi-sensing device to obtain a second environment sensing result; generating a master control driving strategy according to the first environment sensing result and the second environment sensing result through the master control driving module; and under the condition that the working state of the main control driving module is normal, outputting the main control driving strategy to the control system so as to automatically drive and control the target vehicle according to the main control driving strategy.

In an optional implementation manner of the embodiment of the present invention, the generating a master driving policy according to the first environment sensing result and the second environment sensing result may include: performing fusion processing on the first environment sensing result and the second environment sensing result to obtain a fusion result; and generating a master control driving strategy according to the fusion result.

In an optional implementation manner of the embodiment of the present invention, the single sensing device is a visual sensing device, and is configured to obtain the driving environment in a first spatial range; the multi-perception device comprises at least one type of radar perception device and at least one type of visual perception device, and is used for acquiring the driving environment in a second space range; wherein the multi-perception device does not include the single perception device, and the second spatial extent is greater than the first spatial extent.

In an optional implementation manner of the embodiment of the present invention, the method may further include: acquiring the working state of the master control driving module through a switching module; the control system that outputs the backup driving strategy to the target vehicle may include: outputting the standby driving strategy to the control system through the switching module; the outputting the master driving strategy to the control system may include: and outputting the master control driving strategy to the control system through the switching module.

In an optional implementation manner of the embodiment of the present invention, after the obtaining, by the switching module, the working state of the main control driving module may further include: under the condition that the working state of the main control driving module is abnormal, generating a manual takeover indicating signal and a deceleration control signal through the switching module; the manual take-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the deceleration control signal is used for controlling the target vehicle to run at a deceleration until the user takes over driving.

In an optional implementation manner of the embodiment of the present invention, after the obtaining, by the switching module, the working state of the main control driving module may further include: under the condition that the working state of the main control driving module is abnormal, the working state of the standby driving module is obtained through the switching module; under the condition that the working state of the standby driving module is abnormal, a manual takeover indicating signal and an automatic parking control signal are generated through the switching module; the manual takeover indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the automatic parking control signal is used for controlling the target vehicle to enter an automatic parking mode until the user takes over driving.

The embodiment of the invention provides an automatic driving method, which comprises the steps of arranging a main control driving module and a standby driving module which are in communication connection with each other in an automatic driving system, wherein single sensing equipment which does not exist in the main control driving module is arranged in the standby driving module, the single sensing equipment can detect the driving environment of a target vehicle to obtain a first environment sensing result, and a standby driving strategy is generated according to the first environment sensing result, so that the standby driving strategy can be output to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, the automatic driving control is carried out on the target vehicle according to the standby driving strategy, the automatic driving function safety under the fault condition is ensured through a non-redundant double driving module, the cost improvement problem and the potential common cause failure risk caused by redundant system design in the prior art are avoided, the reliability of the automatic driving system is effectively improved, the system arrangement cost is saved, and the landing progress is quickened.

Note that the above is only a preferred embodiment of the present invention and the technical principle applied. 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, while the invention has been described in connection with the above embodiments, the invention is not limited to the embodiments, but may be embodied in many other equivalent forms without departing from the spirit or scope of the invention, which is set forth in the following claims.

Claims (8)

1. An autopilot system configured to a target vehicle, comprising: a main control driving module and a standby driving module; the main control driving module is in communication connection with the standby driving module; wherein:

the standby driving module is used for detecting the driving environment of the target vehicle through single sensing equipment to obtain a first environment sensing result, and generating a standby driving strategy according to the first environment sensing result;

the standby driving strategy is used for outputting to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, so that automatic driving control is carried out on the target vehicle according to the standby driving strategy; the single sensing device is not present in the master control driving module;

the standby driving module is further used for sending the first environment sensing result to a fusion algorithm submodule of the main control driving module;

the master control driving module comprises: the multi-perception device, the fusion algorithm sub-module and the main control decision sub-module; wherein:

the multi-perception device is used for detecting the driving environment to obtain a second environment perception result and sending the second environment perception result to the fusion algorithm submodule;

The fusion algorithm sub-module is used for receiving the first environment sensing result and the second environment sensing result, carrying out fusion processing on the first environment sensing result and the second environment sensing result, obtaining a fusion result and sending the fusion result to the main control decision sub-module;

the main control decision sub-module is used for generating a main control driving strategy according to the fusion result;

the main control driving strategy is used for outputting to the control system under the condition that the working state of the main control driving module is normal, so as to automatically drive and control the target vehicle according to the main control driving strategy;

the single sensing device is a visual sensing device and is used for acquiring the driving environment in a first space range;

the multi-perception device comprises at least one type of radar perception device and at least one type of visual perception device, and is used for acquiring the driving environment in a second space range;

wherein the multi-perception device does not include the single perception device, the second spatial extent being greater than the first spatial extent;

the first space range is a range formed by fanning out specific degrees to two sides by taking the target vehicle as a center and taking the running direction of the target vehicle as a center, the visual perception equipment corresponding to the single perception equipment is positioned on the target vehicle, and the visual perception equipment is provided with an independent power supply;

The second space range is formed by fanning out specific degrees to two sides by taking the target vehicle as a center and taking the running direction of the target vehicle as a center, at least one type of radar sensing equipment and at least one type of visual sensing equipment are respectively positioned at different positions of the target vehicle, and the superposition detection range determines the second space range;

the single sensing device is different from the multi-sensing device in operation principle.

2. The system of claim 1, further comprising: a switching module;

the switching module is in communication connection with the standby driving module and the main control driving module and is used for acquiring the working state of the main control driving module; outputting the standby driving strategy to the control system under the condition that the working state of the main control driving module is abnormal; and under the condition that the working state of the main control driving module is normal, outputting the main control driving strategy to the control system.

3. The system of claim 2, wherein the switching module is further configured to:

under the condition that the working state of the main control driving module is abnormal, generating a manual takeover indicating signal and a speed reduction control signal;

The manual take-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the deceleration control signal is used for controlling the target vehicle to run at a deceleration until the user takes over driving.

4. The system of claim 2, wherein the switching module is further configured to:

under the condition that the working state of the main control driving module is abnormal, the working state of the standby driving module is obtained;

under the condition that the working state of the standby driving module is abnormal, a manual takeover indicating signal and an automatic parking control signal are generated;

the manual takeover indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the automatic parking control signal is used for controlling the target vehicle to enter an automatic parking mode until the user takes over driving.

5. An autopilot method, characterized by being applied to an autopilot system, comprising:

detecting the driving environment of the target vehicle through single sensing equipment in the standby driving module to obtain a first environment sensing result;

generating a standby driving strategy according to the first environment sensing result through the standby driving module;

Outputting the standby driving strategy to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, so as to automatically drive and control the target vehicle according to the standby driving strategy;

wherein the single sensing device is not present in the main control driving module;

the first environment sensing result is sent to a fusion algorithm submodule of the main control driving module through the standby driving module;

wherein, the master control driving module includes: the system comprises a multi-perception device, a fusion algorithm sub-module and a main control decision sub-module;

the first environment sensing result is received through the main control driving module, and the driving environment is detected through the multi-sensing device to obtain a second environment sensing result;

the first environment sensing result and the second environment sensing result are fused through the main control driving module, and a fusion result is obtained;

generating a master control driving strategy according to the fusion result;

outputting the master control driving strategy to the control system under the condition that the working state of the master control driving module is normal, so as to automatically drive and control the target vehicle according to the master control driving strategy;

The single sensing device is a visual sensing device and is used for acquiring the driving environment in a first space range; the multi-perception device comprises at least one type of radar perception device and at least one type of visual perception device, and is used for acquiring the driving environment in a second space range; wherein the multi-perception device does not include the single perception device, the second spatial extent being greater than the first spatial extent;

the first space range is a range formed by fanning out specific degrees to two sides by taking the target vehicle as a center and taking the running direction of the target vehicle as a center, the visual perception equipment corresponding to the single perception equipment is positioned on the target vehicle, and the visual perception equipment is provided with an independent power supply;

the second space range is formed by fanning out specific degrees to two sides by taking the target vehicle as a center and taking the running direction of the target vehicle as a center, at least one type of radar sensing equipment and at least one type of visual sensing equipment are respectively positioned at different positions of the target vehicle, and the superposition detection range determines the second space range;

the single sensing device is different from the multi-sensing device in operation principle.

6. The method as recited in claim 5, further comprising:

acquiring the working state of the master control driving module through a switching module;

the control system that outputs the backup driving strategy to the target vehicle includes:

outputting the standby driving strategy to the control system through the switching module;

the outputting the master driving strategy to the control system includes:

and outputting the master control driving strategy to the control system through the switching module.

7. The method of claim 6, further comprising, after the obtaining, by the switching module, the operating state of the master driving module:

under the condition that the working state of the main control driving module is abnormal, generating a manual takeover indicating signal and a deceleration control signal through the switching module;

the manual take-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the deceleration control signal is used for controlling the target vehicle to run at a deceleration until the user takes over driving.

8. The method of claim 6, further comprising, after the obtaining, by the switching module, the operating state of the master driving module:

Under the condition that the working state of the main control driving module is abnormal, the working state of the standby driving module is obtained through the switching module;

under the condition that the working state of the standby driving module is abnormal, a manual takeover indicating signal and an automatic parking control signal are generated through the switching module;

the manual takeover indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the automatic parking control signal is used for controlling the target vehicle to enter an automatic parking mode until the user takes over driving.

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