CN114248802A - Method and device for improving safety of unmanned vehicle and storage medium - Google Patents
Method and device for improving safety of unmanned vehicle and storage medium Download PDFInfo
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- CN114248802A CN114248802A CN202111265302.8A CN202111265302A CN114248802A CN 114248802 A CN114248802 A CN 114248802A CN 202111265302 A CN202111265302 A CN 202111265302A CN 114248802 A CN114248802 A CN 114248802A
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- 238000000034 method Methods 0.000 title claims abstract description 15
- 238000012545 processing Methods 0.000 claims abstract description 37
- 238000013480 data collection Methods 0.000 claims abstract description 18
- 238000004891 communication Methods 0.000 claims description 3
- 238000004590 computer program Methods 0.000 claims description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 206010039203 Road traffic accident Diseases 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Classifications
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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
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking systems
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
-
- 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
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo or light sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B60W2420/408—
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/802—Longitudinal distance
Abstract
The invention discloses a method, a device and a storage medium for improving the safety of an unmanned automobile, wherein the device comprises a data collection system, a data processing system and a safety execution system; the method comprises the steps that a data collection system collects the speed of the vehicle when the vehicle moves forwards or backwards, the distance between the vehicle and an obstacle behind the vehicle in front of the vehicle and the current position of the unmanned vehicle; the data processing system calculates and judges whether the unmanned vehicle runs the red light or not and whether warning, deceleration, emergency braking or taking over driving is needed or not; the safety execution system directly controls a steering system, a braking system and a throttle system of the automobile when the driving is required to be taken over. In this application was independent of unmanned automobile's automatic driving system, establish a security guarantee device of independent operation, this safety device obtains data from basic sensor, differentiatees unmanned automobile's operation security, if unmanned automobile the driving safety problem appears, will take over the vehicle rapidly, realizes safely keeping to the side and parks, and then guarantees unmanned automobile's security.
Description
Technical Field
The invention relates to the technical field of unmanned vehicles, in particular to a method, a device and a storage medium for improving the safety of an unmanned vehicle.
Background
The system safety of the unmanned automobile is the most important link in the unmanned automobile technology, and if the safety cannot be ensured, the unmanned automobile cannot be used for getting on the road. The automatic driving system of the unmanned automobile is a very complex system, and for the complex system, defects exist or faults occur in the using process, which is almost inevitable, so if the faults occur, traffic accidents are possibly caused, and how to ensure the safe operation or safe parking of the unmanned automobile under the condition that the main automatic driving system suddenly fails is an indispensable technical link.
Disclosure of Invention
The invention provides a method, a device and a storage medium for improving the safety of an unmanned automobile, which effectively solve the problem of driving safety of the unmanned automobile.
In order to achieve the purpose, the invention adopts the following technical scheme:
a device for improving the safety of an unmanned automobile is completely independent of a main automatic driving system, is matched with a steering system, a braking system and a throttle system of the unmanned automobile for use, and comprises a data collecting system, a data processing system and a safety execution system;
the data collection system is used for collecting the speed of the vehicle when the vehicle advances or backs, the distance between the vehicle and obstacles in front of the vehicle and behind the vehicle, and the current position information of the unmanned vehicle;
the input end of the data processing system is connected with the data collecting system, and the output end of the data processing system is connected with the safety execution system, the steering system, the braking system and the accelerator system of the unmanned automobile, and is used for calculating and judging whether the unmanned automobile runs a red light or not and whether warning, deceleration, emergency braking or taking over driving is needed or not;
the safety execution system is connected with a steering system, a braking system and an accelerator system of the unmanned automobile and used for receiving the processing result of the data processing system and directly controlling the steering system, the braking system and the accelerator system of the automobile when the unmanned automobile needs to take over driving.
Preferably, the data collection system includes, but is not limited to, a speed sensor, a millimeter wave radar, an encoder, a camera, and a positioning device mounted on the unmanned vehicle.
Preferably, the data processing system comprises a computer device installed in the unmanned vehicle, and the computer device comprises a processor, a user interface, a memory and a network adapter which are connected with each other through a communication bus.
Preferably, the secure execution system includes a secure execution controller.
A method of improving safety of an unmanned vehicle, comprising:
the data collection system collects the forward speed U1 of the vehicle, the distance L1 between the vehicle and the front obstacle, the speed U2 when the vehicle is reversed, the distance L2 between the vehicle and the rear obstacle, and the speed limit Um of the driving road section;
the data processing system calculates T1-L1/U1, T2-L2/U2, and presets T0 as a warning threshold, when T1 is smaller than T0, the unmanned automobile can possibly collide with a front obstacle, a warning signal is sent out, and the unmanned automobile needs emergency braking or deceleration; the preset Tm is an accident threshold value, when T1 is smaller than Tm, the unmanned automobile is in a dangerous condition, when the unmanned automobile actually runs, T1 is smaller than the Tm threshold value or T2 is smaller than the Tm threshold value, the safety execution system takes over the driving authority and implements braking;
the data collection system collects the current real-time speed U of the vehicle;
the data processing system calculates that when U is larger than Um, the unmanned safety device sends out warning, and when U is larger than Um again, the safety execution system takes over driving authority;
the data collection system collects signal lamp information when passing through an intersection with a traffic signal lamp and position information of a vehicle;
the data processing system compares and judges whether the red light running condition occurs or not, and if the red light running condition occurs in the unmanned automobile, the safety execution system takes over the driving authority;
and the safety execution system receives the processing result of the data processing system, takes over the driving authority when needed, and directly controls a steering system, a braking system and a throttle system of the automobile.
A storage medium having stored thereon a computer program which, when being executed by a processor, carries out the steps of the method for improving the safety of an unmanned vehicle as claimed in claim 5.
Due to the structure, the invention has the advantages that:
independent of the main automatic driving system of the unmanned automobile, an independently operating safety guarantee device is established, the safety guarantee device obtains data from a basic sensor, the operation safety of the unmanned automobile is judged, if the unmanned automobile has driving safety problems, the safety guarantee device can quickly take over the automobile, safe parking close to the side is achieved, and the safety of the unmanned automobile is further guaranteed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below.
Fig. 1 is a schematic block diagram of a device for improving safety of an unmanned vehicle according to the present invention.
Detailed Description
The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1, the present embodiment provides an apparatus for improving the safety of an unmanned vehicle, which is used in cooperation with a steering system 150, a braking system 140 and a throttle system 160 of the unmanned vehicle, and comprises a data collection system 120, a data processing system and a safety execution system 130.
The data collection system 120 is used to collect the speed of the vehicle in forward direction, the distance to the front obstacle, the speed when the vehicle is reversing, the distance to the rear obstacle, and the speed limit of the driving section. And collects signal light information when passing through an intersection with traffic signal lights, and position information of vehicles.
The input end of the data processing system is connected with the data collecting system, and the output end of the data processing system is connected with the safety execution system 130, the steering system 150, the braking system 140 and the accelerator system 160 of the unmanned vehicle, and the data processing system is used for calculating and judging whether the unmanned vehicle runs a red light or not and whether warning, deceleration, emergency braking or taking over driving is needed or not.
The safety execution system is connected with a steering system 150, a braking system 140 and an accelerator system 160 of the unmanned automobile, and is used for receiving the processing result of the data processing system and directly controlling the steering system, the braking system and the accelerator system of the automobile when the driving is required to be taken over.
In the present embodiment, the data collection system 120 includes, but is not limited to, a speed sensor 121 installed on the unmanned vehicle, a millimeter wave radar 123, an encoder 124, a camera 125, and a positioning device (GPS positioning or beidou positioning may be adopted) 126.
In this embodiment, the data processing system includes a computer device 102 installed in the unmanned vehicle, the computer device 102 including, but not limited to, one or more processors or processing units 106, a system memory 107, and a bus 108 connecting the various system components (including the system memory 107 and the processing unit 106). Bus 108 represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures. By way of example, such architectures include, but are not limited to, industry standard architecture bus, micro channel architecture bus, enhanced ISA bus, video electronics standards Association local bus, and peripheral component interconnect bus. Memory 107 may include computer system readable media in the form of volatile memory, such as random access memory 103 and/or cache memory 101. The computer device 102 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 109 may be used to read from and write to a non-removable, nonvolatile magnetic media with a set (at least one) of program modules 112, such program modules 112 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, stored in, for example, memory 107, each of which or some combination of which may comprise an implementation of a network environment. Program modules 112 generally perform the functions and/or methods of the embodiments described herein, and computer device 102 may also communicate with one or more external devices 104 (e.g., keyboard, pointing device, display, etc.), with one or more devices that enable a user to interact with the computer system/server, and/or with any devices (e.g., network card, modem, etc.) that enable the computer system/server to communicate with one or more other computing devices. Such communication may be through an input/output (I/O) interface 105. Also, the computer device 102 may communicate with one or more networks (e.g., a local area network, a wide area network, and/or a public network, such as the Internet) through the network adapter 110. As shown, network adapter 110 communicates with the other modules of computer device 102 via bus 108. It should be appreciated that although not shown in the figures, other hardware and/or software modules may be used in conjunction with the computer device 102, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
In this embodiment, the secure execution system 130 includes a secure execution controller.
In the present embodiment, the prior art can be applied to all the electric elements, circuits and modules.
The embodiment also provides a method for improving the safety of the unmanned automobile, which comprises the following steps:
the data collection system collects the forward speed U1 of the vehicle, the distance L1 between the vehicle and the front obstacle, the speed U2 when the vehicle is reversed, the distance L2 between the vehicle and the rear obstacle, and the speed limit Um of the driving road section;
the data processing system calculates T1-L1/U1, T2-L2/U2, and preset T0 is a warning threshold value, when T1 < T0 appears, the unmanned automobile can generate a potential obstacle before collision, a warning signal is sent, and the unmanned automobile needs emergency braking or deceleration. Tm is an accident threshold, when T1 is smaller than Tm, the unmanned vehicle is in a dangerous condition, two thresholds of T0 and Tm are preset in the unmanned system in advance, when the unmanned vehicle actually runs, T1 is smaller than the Tm threshold or T2 is smaller than the Tm threshold, which indicates that errors occur in the unmanned system or a sensor, and a safety driving device of the unmanned vehicle has to take over driving authority to implement braking.
The data collection system collects the current real-time speed U of the vehicle;
and the data processing system calculates that when U is more than Um, the unmanned safety device sends out a warning, and when U is more than Um, the unmanned safety device has to take over driving when errors occur in a main unmanned system or a sensor and the like.
The data processing system compares and judges whether the red light running condition appears, if the red light running condition appears in the unmanned automobile, the situation shows that the main unmanned system or the sensor and the like have errors, and the unmanned safety device must take over driving.
The present embodiment also provides a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of a method of improving the safety of an unmanned vehicle as described above.
The above is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and various modifications and changes will occur to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides an improve device of unmanned vehicles security, is totally independent of main autopilot system, uses with the steering system, braking system and the throttle system cooperation of unmanned vehicles which characterized in that: the system comprises a data collection system, a data processing system and a safety execution system;
the data collection system is used for collecting the speed of the vehicle when the vehicle advances or backs, the distance between the vehicle and obstacles in front of the vehicle and behind the vehicle, and the current position information of the unmanned vehicle;
the input end of the data processing system is connected with the data collecting system, and the output end of the data processing system is connected with the safety execution system, the steering system, the braking system and the accelerator system of the unmanned automobile, and is used for calculating and judging whether the unmanned automobile runs a red light or not and whether warning, deceleration, emergency braking or taking over driving is needed or not;
the safety execution system is connected with a steering system, a braking system and an accelerator system of the unmanned automobile and used for receiving the processing result of the data processing system and directly controlling the steering system, the braking system and the accelerator system of the automobile when the unmanned automobile needs to take over driving.
2. The apparatus for improving the safety of an unmanned vehicle according to claim 1, wherein: the data collection system comprises a speed sensor, a millimeter wave radar, an encoder, a camera and a positioning device which are installed on the unmanned automobile.
3. The apparatus for improving the safety of an unmanned vehicle according to claim 1, wherein: the data processing system comprises a computer device installed in the unmanned vehicle, the computer device comprising a processor, a user interface, a memory, and a network adapter interconnected by a communication bus.
4. The apparatus for improving the safety of an unmanned vehicle according to claim 1, wherein: the secure execution system includes a secure execution controller.
5. The method of any one of claims 1 to 4, wherein: the method comprises the following steps:
the data collection system collects the forward speed U1 of the vehicle, the distance L1 between the vehicle and the front obstacle, the speed U2 when the vehicle is reversed, the distance L2 between the vehicle and the rear obstacle, and the speed limit Um of the driving road section;
the data processing system calculates T1-L1/U1, T2-L2/U2, and presets T0 as a warning threshold, when T1 is smaller than T0, the unmanned automobile can possibly collide with a front obstacle, a warning signal is sent out, and the unmanned automobile needs emergency braking or deceleration; the preset Tm is an accident threshold value, when T1 is smaller than Tm, the unmanned automobile is in a dangerous condition, when the unmanned automobile actually runs, T1 is smaller than the Tm threshold value or T2 is smaller than the Tm threshold value, the safety execution system takes over the driving authority and implements braking;
the data collection system collects the current real-time speed U of the vehicle;
the data processing system calculates that when U is larger than Um, the unmanned safety device sends out warning, and when U is larger than Um again, the safety execution system takes over driving authority;
the data collection system collects signal lamp information when passing through an intersection with a traffic signal lamp and position information of a vehicle;
the data processing system compares and judges whether the red light running condition occurs or not, and if the red light running condition occurs in the unmanned automobile, the safety execution system takes over the driving authority;
and the safety execution system receives the processing result of the data processing system, takes over the driving authority when needed, and directly controls a steering system, a braking system and a throttle system of the automobile.
6. A storage medium having a computer program stored thereon, which program, when being executed by a processor, is adapted to carry out the steps of the method for improving the safety of an unmanned vehicle as claimed in claim 5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111265302.8A CN114248802A (en) | 2021-10-28 | 2021-10-28 | Method and device for improving safety of unmanned vehicle and storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111265302.8A CN114248802A (en) | 2021-10-28 | 2021-10-28 | Method and device for improving safety of unmanned vehicle and storage medium |
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| CN114248802A true CN114248802A (en) | 2022-03-29 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115022837A (en) * | 2022-05-31 | 2022-09-06 | 重庆邮电大学 | Automatic driving automobile control method and system with unmanned aerial vehicle as aerial base station |
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2021
- 2021-10-28 CN CN202111265302.8A patent/CN114248802A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115022837A (en) * | 2022-05-31 | 2022-09-06 | 重庆邮电大学 | Automatic driving automobile control method and system with unmanned aerial vehicle as aerial base station |
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