CN113696903A - Vehicle control method and device, electronic equipment and storage medium - Google Patents
Vehicle control method and device, electronic equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/021—Means for detecting failure or malfunction
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
- B60W2050/0215—Sensor drifts or sensor failures
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Abstract
The application provides a vehicle control method, a vehicle control device, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring vehicle condition information of a current vehicle; judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information; and when the automatic driving system is abnormal, controlling the current vehicle to adopt emergency braking. According to the method provided by the scheme, the automatic driving system is monitored safely, and emergency treatment measures are taken under the condition that the automatic driving system is abnormal, so that driving accidents caused by the abnormality of the automatic driving system are avoided, and the driving safety of the automatic driving vehicle is ensured.
Description
Technical Field
The present disclosure relates to the field of automatic driving technologies, and in particular, to a vehicle control method and apparatus, an electronic device, and a storage medium.
Background
With the continuous development of the automatic driving technology, the automatic driving technology has been widely applied in the automobile manufacturing industry. How to ensure the safety of safe driving is always a hot research content.
In the prior art, a vehicle with an automatic driving function is generally provided with various sensors, which are mainly used for sensing an external driving environment, and when an obstacle appears within a safety definition range, the current vehicle is controlled to be safely braked and stopped so as not to avoid vehicle collision.
However, when the vehicle is in the automatic driving mode, if it is determined whether emergency braking is performed only according to the detected obstacle in the current driving environment, it is inevitable that a false alarm or a false alarm is generated, and thus the driving safety of the automatic driving vehicle cannot be ensured.
Disclosure of Invention
The application provides a vehicle control method, a vehicle control device, electronic equipment and a storage medium, which are used for overcoming the defects that the driving safety of an automatic driving vehicle cannot be guaranteed in the prior art and the like.
A first aspect of the present application provides a vehicle control method including:
acquiring vehicle condition information of a current vehicle;
judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information;
and when the automatic driving system is abnormal, controlling the current vehicle to adopt emergency braking.
Optionally, the vehicle condition information includes at least one of vehicle controller state information, vehicle communication module state information, automatic driving decision module state information, external sensor state information, and a vehicle safety monitoring result.
Optionally, before controlling the current vehicle to take emergency braking, the method further comprises:
acquiring the driving information of the current vehicle;
and determining the target braking force required by the emergency braking of the current vehicle according to the running information.
Optionally, the driving information at least includes a current vehicle speed and a current acceleration.
Optionally, the determining, according to the driving information, a target braking force required by the emergency braking of the current vehicle includes:
acquiring a preset braking force determination model;
the running information is input to the braking force determination model to determine a target braking force required for emergency braking of the current vehicle using the braking force determination module.
Optionally, the controlling the current vehicle to take emergency braking includes:
filtering the target braking force to obtain a filtered target braking force;
and carrying out emergency braking on the current vehicle according to the filtered target braking force.
Optionally, the method further includes:
monitoring a heartbeat signal of a vehicle controller of the current vehicle;
and when the heartbeat signal of the vehicle controller is abnormal or interrupted, controlling the current vehicle to adopt emergency braking.
A second aspect of the present application provides a vehicle control apparatus comprising:
the acquisition module is used for acquiring the vehicle condition information of the current vehicle;
the judging module is used for judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information;
and the control module is used for controlling the current vehicle to adopt emergency braking when the automatic driving system is abnormal.
Optionally, the vehicle condition information includes at least one of vehicle controller state information, vehicle communication module state information, automatic driving decision module state information, external sensor state information, and a vehicle safety monitoring result.
Optionally, the control module is further configured to:
acquiring the driving information of the current vehicle;
and determining the target braking force required by the emergency braking of the current vehicle according to the running information.
Optionally, the driving information at least includes a current vehicle speed and a current acceleration.
Optionally, the control module is specifically configured to:
acquiring a preset braking force determination model;
the running information is input to the braking force determination model to determine a target braking force required for emergency braking of the current vehicle using the braking force determination module.
Optionally, the control module is specifically configured to:
filtering the target braking force to obtain a filtered target braking force;
and carrying out emergency braking on the current vehicle according to the filtered target braking force.
Optionally, the apparatus further comprises:
the monitoring module is used for monitoring a heartbeat signal of a vehicle controller of the current vehicle; and when the heartbeat signal of the vehicle controller is abnormal or interrupted, controlling the current vehicle to adopt emergency braking.
A third aspect of the present application provides an electronic device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executes computer-executable instructions stored by the memory to cause the at least one processor to perform the method as set forth in the first aspect above and in various possible designs of the first aspect.
A fourth aspect of the present application provides a computer-readable storage medium having stored thereon computer-executable instructions that, when executed by a processor, implement a method as set forth in the first aspect and various possible designs of the first aspect.
This application technical scheme has following advantage:
the application provides a vehicle control method, a vehicle control device, an electronic device and a storage medium, wherein the method comprises the following steps: acquiring vehicle condition information of a current vehicle; judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information; and when the automatic driving system is abnormal, controlling the current vehicle to adopt emergency braking. According to the method provided by the scheme, the automatic driving system is monitored safely, and emergency treatment measures are taken under the condition that the automatic driving system is abnormal, so that driving accidents caused by the abnormality of the automatic driving system are avoided, and the driving safety of the automatic driving vehicle is ensured.
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In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art according to these drawings.
FIG. 1 is a schematic diagram of an autonomous vehicle on which an embodiment of the present application is based;
FIG. 2 is a schematic flow chart of a vehicle control method provided by an embodiment of the present application;
fig. 3 is a schematic structural diagram of a vehicle control device provided in an embodiment of the present application;
fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
With the above figures, there are shown specific embodiments of the present application, which will be described in more detail below. These drawings and written description are not intended to limit the scope of the disclosed concepts in any way, but rather to illustrate the concepts of the disclosure to those skilled in the art by reference to specific embodiments.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. In the description of the following examples, "plurality" means two or more unless specifically limited otherwise.
In the prior art, a vehicle with an automatic driving function is generally provided with various sensors, which are mainly used for sensing an external driving environment, and when an obstacle appears within a safety definition range, the current vehicle is controlled to be safely braked and stopped so as not to avoid vehicle collision. However, when the vehicle is in the automatic driving mode, if it is determined whether emergency braking is performed only according to the detected obstacle in the current driving environment, it is inevitable that a false alarm or a false alarm is generated, and thus the driving safety of the automatic driving vehicle cannot be ensured.
In order to solve the above problems, in the vehicle control method, the vehicle control apparatus, the electronic device, and the storage medium provided by the embodiment of the present application, vehicle condition information of a current vehicle is acquired; judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information; and when the automatic driving system is abnormal, controlling the current vehicle to adopt emergency braking. The automatic driving system is safely monitored, and emergency treatment measures are taken under the condition that the automatic driving system is abnormal, so that driving accidents caused by the abnormality of the automatic driving system are avoided, and the driving safety of the automatic driving vehicle is ensured.
The following several specific embodiments may be combined with each other, and details of the same or similar concepts or processes may not be repeated in some embodiments. Embodiments of the present invention will be described below with reference to the accompanying drawings.
First, a structure of an autonomous vehicle according to the present application will be described:
the vehicle control method and device, the electronic device and the storage medium are suitable for safety control of the automatic driving vehicle. As shown in fig. 1, the structural schematic diagram of an autonomous vehicle according to an embodiment of the present application mainly includes an autonomous driving system, a data acquisition device, and a vehicle control device. Specifically, a data acquisition device is used for acquiring some safety indexes of the automatic driving system and sending the acquired data to a vehicle control device, the vehicle control device judges whether the automatic driving system is abnormal or not according to the acquired data, and emergency treatment measures are taken for the automatic driving vehicle under the condition that the automatic driving system is abnormal.
The embodiment of the application provides a vehicle control method which is used for carrying out safety control on an automatic driving vehicle. The execution subject of the embodiment of the application is an electronic device, such as an electronic device which can be used for controlling a vehicle, such as an on-board controller, an ECU, and an MCU.
As shown in fig. 2, a schematic flowchart of a vehicle control method provided in an embodiment of the present application is shown, where the method includes:
Specifically, the current vehicle condition information may be acquired by using a data acquisition device such as a data acquisition circuit or a data sensor, which is capable of acquiring vehicle condition information, where the vehicle condition information mainly includes a safety index of an automatic driving system, and specifically may be vehicle related system state information.
The vehicle condition information comprises at least one of vehicle controller state information, vehicle communication module state information, automatic driving decision module state information, external sensor state information and a vehicle safety monitoring result.
It should be noted that Vehicle Control Unit (VCU) status information represents the security of the current vehicle VCU; the state information of the vehicle communication module represents the connection condition of each communication link, for example, when the link between the external sensor and the automatic driving decision module is disconnected, the state information of the vehicle communication module is abnormal; when the state information of the automatic driving decision module is abnormal, the driving strategy of the automatic driving system is wrong; the external sensor mainly comprises a speedometer, a camera, a radar and the like, and when the state information of the external sensor is abnormal, the obstacle detection result of the external sensor is unreliable; the whole vehicle safety monitoring result at least comprises an engine safety monitoring result, a safety monitoring result of vehicle hardware equipment related to an automatic driving system and the like. The vehicle condition information can be reported in a safety monitoring signal, a safety check error signal and other modes.
Specifically, in the running process of the vehicle, if any vehicle condition information is abnormal, the current automatic driving system can be determined to be unreliable, and if the vehicle continues to run based on the automatic driving system, the running accident of the vehicle can be caused.
And step 203, controlling the current vehicle to adopt emergency braking when the automatic driving system is abnormal.
Specifically, in order to avoid an accident of the current vehicle due to an abnormality of the automatic driving system, the current vehicle may be controlled to take an emergency brake and exit from a safe driving state in case of the abnormality of the automatic driving system.
On the basis of the above embodiment, in order to further ensure the driving safety of the vehicle, as an implementable manner, in an embodiment, before controlling the current vehicle to take the emergency braking, the method further includes:
Wherein the running information includes at least a current vehicle speed and a current acceleration.
Specifically, before emergency braking is applied to the current vehicle, in order to avoid that the current vehicle cannot be braked emergently because the braking force is too small, a target braking force required for emergency braking of the current vehicle can be determined according to state signals such as the current vehicle speed and the current acceleration of the current vehicle, and the target braking force can be output.
Specifically, in one embodiment, in order to ensure the accuracy of the target braking force determination result, a preset braking force determination model may be obtained; the running information is input to the braking force determination model to determine a target braking force required for emergency braking of the current vehicle using the braking force determination module.
It should be noted that the braking force determination model used in the embodiment of the present application may be specifically constructed according to relevant experimental data, that is, known various driving information and corresponding ideal braking force may be used as model training samples, and the braking force determination model may be trained by using the training samples.
Specifically, the current driving information may be input to a braking force determination model, which first determines a corresponding ideal braking force according to the received driving information, then determines a corresponding braking force compensation amount according to the attribute information of the current vehicle, the driving environment information, and the like, and finally determines a final target braking force according to the ideal braking force and the braking force compensation amount corresponding to the current driving information.
Furthermore, corresponding braking force control information can be generated according to the target braking force, and a braking force control signal is output to a corresponding whole vehicle actuator, so that the whole vehicle actuator is utilized to realize the safety control of the vehicle.
Further, in an embodiment, in order to enable the current vehicle speed to be reduced smoothly and finally brake safely and reliably, filtering processing can be performed on the target braking force to obtain a filtered target braking force; and carrying out emergency braking on the current vehicle according to the filtered target braking force.
Specifically, the current emergency braking of the vehicle can be controlled based on the PID, and when the target braking force is output, a filtering function based on the PID algorithm performs certain filtering processing on the target braking force, so that the filtered target braking force does not affect the running stability of the vehicle.
When the vehicle speed and the acceleration are high, the vehicle can be braked and stopped in the fastest time and the safest mode by properly increasing the braking force.
Further, in an embodiment, after the current vehicle is controlled to perform emergency braking, the vehicle speed and the vehicle state signal of the current vehicle may be obtained, and whether the current vehicle has completed safety braking is determined according to the vehicle speed and the vehicle state signal of the current vehicle, and a corresponding determination result is output. And after the current vehicle has finished the safety and stopped stopping, can send emergency treatment and accomplish signal marker bit.
For example, if the current vehicle speed BCS _ VehSpd is equal to 0 and the vehicle state signal ESC _ vhclstandstalstal is equal to standstilll, it indicates that the current vehicle has completed the safe braking.
On the basis of the above embodiments, in order to further ensure the driving safety of the vehicle, as an implementable manner, in an embodiment, the method further includes:
step 401, monitoring a heartbeat signal of a vehicle controller of a current vehicle;
and step 402, when the heartbeat signal of the vehicle controller is abnormal or interrupted, controlling the current vehicle to adopt emergency braking.
It should be noted that the vehicle controller may specifically refer to an execution subject of the vehicle control method provided in the embodiment of the present application, and may also be an automatic driving controller, such as an MCU.
Specifically, whether abnormal power failure or the like occurs in the vehicle controller is judged by monitoring a heartbeat signal of the vehicle controller of the current vehicle. For example, when the heartbeat signal of the vehicle controller is abnormal, it may be determined that the vehicle controller has failed, and when the heartbeat signal of the vehicle controller is interrupted, it may be determined that the vehicle controller has abnormally powered off. Since the reliability of the vehicle controller determines the reliability of the execution result of the vehicle control method provided by the embodiment of the application, even the vehicle control method provided by the embodiment of the application cannot be executed, when the heartbeat signal of the vehicle controller is abnormal or interrupted, the current vehicle can be directly controlled to adopt emergency braking.
Further, in an embodiment, when the current vehicle is controlled to adopt emergency braking, the alarm information of the current vehicle may be reported, specifically, the alarm information may be reported in a manner of a warning lamp or a warning sound, etc., so as to remind a driver that the current vehicle has exited the automatic driving state.
According to the vehicle control method provided by the embodiment of the application, the vehicle condition information of the current vehicle is acquired; judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information; and when the automatic driving system is abnormal, controlling the current vehicle to adopt emergency braking. The automatic driving system is safely monitored, and emergency treatment measures are taken under the condition that the automatic driving system is abnormal, so that driving accidents caused by the abnormality of the automatic driving system are avoided, and the driving safety of the automatic driving vehicle is ensured. And the safety state of the current vehicle is judged according to various vehicle condition information, so that the reliability of an abnormal detection result is further improved, an effective closed loop is formed by judging whether emergency treatment is finished and feeding back an emergency treatment measure finishing signal, and the reliability and the safety of the automatic driving vehicle in the driving process are ensured.
The embodiment of the application provides a vehicle control device which is used for executing the vehicle control method provided by the embodiment.
Fig. 3 is a schematic structural diagram of a vehicle control device according to an embodiment of the present application. The vehicle control apparatus 30 includes an acquisition module 301, a determination module 302, and a control module 303.
The acquisition module is used for acquiring the vehicle condition information of the current vehicle; the judging module is used for judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information; and the control module is used for controlling the current vehicle to adopt emergency braking when the automatic driving system is abnormal.
Specifically, in one embodiment, the vehicle condition information includes at least one of vehicle controller status information, vehicle communication module status information, automatic driving decision module status information, external sensor status information, and vehicle safety monitoring results.
Specifically, in an embodiment, the control module is further configured to:
acquiring the driving information of the current vehicle;
and determining the target braking force required by the emergency braking of the current vehicle according to the running information.
Specifically, in one embodiment, the travel information includes at least a current vehicle speed and a current acceleration.
Specifically, in an embodiment, the control module is specifically configured to:
acquiring a preset braking force determination model;
the running information is input to the braking force determination model to determine a target braking force required for emergency braking of the current vehicle using the braking force determination module.
Specifically, in an embodiment, the control module is specifically configured to:
filtering the target braking force to obtain the filtered target braking force;
and carrying out emergency braking on the current vehicle according to the filtered target braking force.
Specifically, in one embodiment, the apparatus further comprises:
the monitoring module is used for monitoring a heartbeat signal of a vehicle controller of the current vehicle; and when the heartbeat signal of the vehicle controller is abnormal or interrupted, controlling the current vehicle to adopt emergency braking.
With regard to the vehicle control apparatus in the present embodiment, the specific manner in which the respective modules perform operations has been described in detail in the embodiment related to the method, and will not be elaborated here.
The vehicle control device provided by the embodiment of the application is used for executing the vehicle control method provided by the embodiment, the implementation mode and the principle are the same, and the description is omitted.
The embodiment of the application provides electronic equipment for executing the vehicle control method provided by the embodiment.
Fig. 4 is a schematic structural diagram of an electronic device according to an embodiment of the present application. The electronic device 40 includes: at least one processor 41 and memory 42;
the memory stores computer-executable instructions; the at least one processor executes computer-executable instructions stored by the memory, causing the at least one processor to perform the vehicle control method provided by the above embodiments.
The electronic device provided by the embodiment of the application is used for executing the vehicle control method provided by the embodiment, the implementation manner and the principle are the same, and the description is omitted.
The embodiment of the application provides a computer-readable storage medium, wherein a computer executing instruction is stored in the computer-readable storage medium, and when a processor executes the computer executing instruction, the vehicle control method provided by any one of the above embodiments is implemented.
The storage medium containing the computer executable instructions according to the embodiment of the present application may be used to store the computer executable instructions of the vehicle control method provided in the foregoing embodiment, and the implementation manner and the principle thereof are the same and will not be described again.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) or a processor (processor) to execute some steps of the methods according to the embodiments of the present application. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
It is obvious to those skilled in the art that, for convenience and simplicity of description, the foregoing division of the functional modules is merely used as an example, and in practical applications, the above function distribution may be performed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to perform all or part of the above described functions. For the specific working process of the device described above, reference may be made to the corresponding process in the foregoing method embodiment, which is not described herein again.
Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should 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 or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. A vehicle control method characterized by comprising:
acquiring vehicle condition information of a current vehicle;
judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information;
and when the automatic driving system is abnormal, controlling the current vehicle to adopt emergency braking.
2. The method of claim 1, wherein the vehicle condition information includes at least one of vehicle control unit status information, vehicle communication module status information, autonomous driving decision module status information, external sensor status information, and vehicle safety monitoring results.
3. The method of claim 1, wherein prior to controlling the current vehicle to assume emergency braking, the method further comprises:
acquiring the driving information of the current vehicle;
and determining the target braking force required by the emergency braking of the current vehicle according to the running information.
4. The method according to claim 3, characterized in that the driving information comprises at least a current vehicle speed and a current acceleration.
5. The method according to claim 3, wherein the determining a target braking force required for emergency braking of the current vehicle according to the travel information includes:
acquiring a preset braking force determination model;
the running information is input to the braking force determination model to determine a target braking force required for emergency braking of the current vehicle using the braking force determination module.
6. The method of claim 3, wherein the controlling the current vehicle to assume emergency braking comprises:
filtering the target braking force to obtain a filtered target braking force;
and carrying out emergency braking on the current vehicle according to the filtered target braking force.
7. The method of claim 1, further comprising:
monitoring a heartbeat signal of a vehicle controller of the current vehicle;
and when the heartbeat signal of the vehicle controller is abnormal or interrupted, controlling the current vehicle to adopt emergency braking.
8. A vehicle control apparatus characterized by comprising:
the acquisition module is used for acquiring the vehicle condition information of the current vehicle;
the judging module is used for judging whether an automatic driving system of the current vehicle is abnormal or not according to the vehicle condition information;
and the control module is used for controlling the current vehicle to adopt emergency braking when the automatic driving system is abnormal.
9. An electronic device, comprising: at least one processor and memory;
the memory stores computer-executable instructions;
the at least one processor executing the computer-executable instructions stored by the memory causes the at least one processor to perform the method of any of claims 1-7.
10. A computer-readable storage medium having computer-executable instructions stored thereon which, when executed by a processor, implement the method of any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111143897.XA CN113696903A (en) | 2021-09-28 | 2021-09-28 | Vehicle control method and device, electronic equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111143897.XA CN113696903A (en) | 2021-09-28 | 2021-09-28 | Vehicle control method and device, electronic equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
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| CN113696903A true CN113696903A (en) | 2021-11-26 |
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| CN202111143897.XA Pending CN113696903A (en) | 2021-09-28 | 2021-09-28 | Vehicle control method and device, electronic equipment and storage medium |
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