CN114987555A - Method and device for determining longitudinal abnormal state of automatic driving, electronic equipment and medium - Google Patents
Method and device for determining longitudinal abnormal state of automatic driving, electronic equipment and medium Download PDFInfo
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- CN114987555A CN114987555A CN202210764391.9A CN202210764391A CN114987555A CN 114987555 A CN114987555 A CN 114987555A CN 202210764391 A CN202210764391 A CN 202210764391A CN 114987555 A CN114987555 A CN 114987555A
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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
- B60W60/0018—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions
- B60W60/00186—Planning or execution of driving tasks specially adapted for safety by employing degraded modes, e.g. reducing speed, in response to suboptimal conditions related to the vehicle
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
- B60W2520/105—Longitudinal acceleration
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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
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Abstract
The invention provides a method, a device, electronic equipment and a medium for determining an automatic driving longitudinal abnormal state, wherein the method comprises the steps of obtaining the longitudinal speed of a vehicle, the actual acceleration, the fastest reaction time of the vehicle brake, the longitudinal speed of a front vehicle and the longitudinal relative distance between the target vehicle and the front vehicle, determining the minimum safe distance of the vehicle, carrying out brake deceleration check on the target vehicle if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the front vehicle and the actual acceleration is less than or equal to zero to obtain a brake deceleration check result, carrying out drive torque check on the target vehicle if the minimum safe distance of the vehicle is less than the longitudinal relative distance of the front vehicle to obtain a drive torque check result, determining the automatic driving longitudinal abnormal state of the target vehicle based on the brake deceleration result or the drive torque result, and providing a mode capable of accurately and efficiently realizing the determination of the automatic driving longitudinal abnormal state, the driving safety of the vehicle is improved, and the avoidance of collision is further realized.
Description
Technical Field
The embodiment of the application relates to the technical field of intelligent driving, in particular to a method and a device for determining a longitudinal abnormal state of automatic driving, electronic equipment and a medium.
Background
The functional safety is used as a part of an automatic driving system and is responsible for timely and accurately detecting system failure or system faults and sending out corresponding instructions to enable the whole vehicle to enter a safe and controllable mode, so that vehicle collision and casualties are avoided. With the arrival of high-level automatic driving, the code amount reaches millions or even hundreds of millions, the complexity of the system is continuously improved, and the risk of failure or fault of the system function is increased. Therefore, in order to accommodate the evolving needs of the autopilot system, the functional safety itself must evolve iteratively.
The longitudinal planning and control system is used as an interactive part of an automatic driving system for controlling a driving and braking system of the whole vehicle, determines whether the vehicle is accelerated or decelerated, and has the most direct influence on collision. Therefore, the design of the functional safety mechanism of the longitudinal system is the last effective means for avoiding collision of the whole automatic driving functional safety system. Therefore, it is desirable to provide a method for determining the abnormal state in the longitudinal direction of the automatic driving, which can be accurately and efficiently implemented.
Disclosure of Invention
In view of the above-mentioned shortcomings of the prior art, the present invention provides a method, an apparatus, an electronic device and a medium for determining an abnormal longitudinal driving state, so as to solve the above technical problems.
The invention provides a method for determining an automatic driving longitudinal abnormal state, which comprises the following steps:
acquiring the longitudinal speed and the actual acceleration of the vehicle of a target vehicle, the fastest reaction time of braking of the vehicle, the longitudinal speed of a front vehicle and the longitudinal relative distance between the target vehicle and the front vehicle;
determining the minimum safety distance of the vehicle according to the longitudinal speed of the vehicle, the actual acceleration, the fastest response time of the vehicle braking and the longitudinal speed of the front vehicle;
if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the front vehicle and the actual acceleration is less than or equal to zero, performing braking deceleration verification on the target vehicle to obtain a braking deceleration verification result;
if the minimum safe distance of the vehicle is smaller than the longitudinal relative distance of the front vehicle, carrying out drive torque verification on the target vehicle to obtain a drive torque verification result;
an autonomous driving longitudinal abnormal state of the target vehicle is determined based on the braking deceleration result or the driving torque result.
In an embodiment of the present invention, the brake deceleration verification of the target vehicle, and the obtaining of the brake deceleration verification result includes:
acquiring deceleration verification parameters, wherein the deceleration verification parameters comprise at least one of rear vehicle longitudinal speed and rear vehicle longitudinal relative distance of a rear vehicle, a plurality of historical accelerations of the target vehicle in a first preset time period, and actual deceleration of the target vehicle;
determining the emergency braking distance of the rear vehicle according to the longitudinal speed of the rear vehicle, determining the upper limit of deceleration based on the emergency braking distance of the rear vehicle, the longitudinal relative distance of the rear vehicle, the longitudinal speed of the vehicle and the preset upper limit of deceleration, and determining the upper limit of deceleration verification result according to the upper limit of deceleration and the requested acceleration;
determining a deceleration degree change rate verification result according to the multiple historical request accelerations and a preset acceleration rising slope upper limit;
determining a deceleration deviation checking result according to the actual deceleration, the requested acceleration and a preset deceleration deviation upper limit;
and determining a braking deceleration verification result based on at least one of the deceleration upper limit verification result, the deceleration degree change rate verification result and the deceleration deviation verification result.
In an embodiment of the present invention, the performing the driving torque calibration on the target vehicle to obtain the driving torque calibration result includes:
acquiring the curvature and the gradient of a curve of a current road, a plurality of historical torques of a target vehicle in a second preset time period, the requested torque of the target vehicle, the estimated mass of the whole vehicle and the wheel end friction resistance;
determining a driving torque upper limit checking result according to the curvature of the curve, the requested torque and a preset torque upper limit;
determining a driving torque change rate verification result according to the plurality of historical torques and a preset torque rising slope upper limit;
determining an actual driving torque according to the estimated mass of the whole vehicle, the friction resistance of a wheel end, the gradient and the actual acceleration, and determining a driving torque deviation checking result based on the actual driving torque, the requested torque and a preset expected torque deviation;
determining a driving torque verification result based on at least one of the driving torque upper limit verification result, the driving torque change rate verification result and the driving torque deviation verification result.
In an embodiment of the present invention, determining the minimum safe distance of the vehicle according to the longitudinal speed of the vehicle, the actual acceleration, the fastest response time of the vehicle braking, and the longitudinal speed of the preceding vehicle includes:
determining the driving distance before the vehicle braking system is not reacted according to the actual acceleration, the fastest reaction time of the vehicle braking and the longitudinal speed of the vehicle;
determining the minimum braking distance of the vehicle according to the actual acceleration, the fastest response time of the vehicle braking, the longitudinal speed of the vehicle and the preset braking distance of the vehicle;
determining the minimum braking distance of the front vehicle according to the longitudinal speed of the front vehicle and the preset braking distance of the front vehicle;
and determining the minimum safety distance based on the running distance, the minimum braking distance of the vehicle and the minimum braking distance of the front vehicle.
In an embodiment of the present invention, if the actual acceleration is greater than zero and the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the preceding vehicle, it is determined that the automatic driving longitudinal abnormal state of the target vehicle is abnormal.
In an embodiment of the present invention, before determining the minimum safe distance of the vehicle according to the longitudinal speed of the vehicle, the actual acceleration, the fastest response time of the vehicle braking, and the longitudinal speed of the preceding vehicle, the method further includes:
acquiring a vehicle running scene of a target vehicle, and determining a preset upper speed limit according to the vehicle running scene and a preset scene limit rule;
and if the longitudinal speed of the vehicle is greater than the preset upper speed limit, determining that the automatic driving longitudinal abnormal state of the target vehicle is abnormal.
In one embodiment of the present invention, after determining the autonomous driving longitudinal abnormal state of the target vehicle based on the braking deceleration result or the driving torque result, the method further includes:
and if the automatic driving longitudinal abnormal state of the target vehicle is abnormal, executing a preset safety processing plan, wherein the preset safety processing plan comprises at least one of the following steps of sending alarm information, prompting the target vehicle to be taken over manually, limiting the maximum speed of the target vehicle and controlling the target vehicle to stop safely.
The invention provides an automatic driving longitudinal abnormal state determining device, which comprises:
the acquisition module is used for acquiring the longitudinal speed and the actual acceleration of the vehicle of the target vehicle, the fastest reaction time of braking of the vehicle, the longitudinal speed of a front vehicle of the front vehicle and the longitudinal relative distance between the target vehicle and the front vehicle;
the vehicle minimum safe distance determining module is used for determining the minimum safe distance of the vehicle according to the longitudinal speed of the vehicle, the actual acceleration, the fastest braking response time of the vehicle and the longitudinal speed of the front vehicle;
the braking deceleration verification result determining module is used for performing braking deceleration verification on the target vehicle to obtain a braking deceleration verification result if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the front vehicle and the actual acceleration is less than or equal to zero;
the driving torque verification result determining module is used for verifying the driving torque of the target vehicle to obtain a driving torque verification result if the minimum safe distance of the vehicle is smaller than the longitudinal relative distance of the front vehicle;
an autonomous driving longitudinal abnormal state determination module for determining an autonomous driving longitudinal abnormal state of the target vehicle based on the braking deceleration result or the driving torque result.
The invention provides an electronic device, comprising:
one or more processors;
storage means for storing one or more programs which, when executed by the one or more processors, cause the electronic device to implement the method as in any one of the above embodiments.
The present invention provides a computer readable storage medium having stored thereon computer readable instructions which, when executed by a processor of a computer, cause the computer to perform the method of any of the above embodiments.
The invention has the beneficial effects that: the method comprises the steps of obtaining the longitudinal speed of a vehicle, the actual acceleration, the fastest reaction time of the braking of the vehicle, the longitudinal speed of a front vehicle and the longitudinal relative distance between the target vehicle and the front vehicle, determining the minimum safe distance of the vehicle, carrying out braking and deceleration verification on the target vehicle if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the front vehicle and the actual acceleration is less than or equal to zero, obtaining a braking and deceleration verification result, carrying out driving torque verification on the target vehicle if the minimum safe distance of the vehicle is less than the longitudinal relative distance of the front vehicle, obtaining a driving torque verification result, determining the automatic driving longitudinal abnormal state of the target vehicle based on the braking and deceleration result or the driving torque result, and providing a mode capable of accurately and efficiently realizing the determination of the automatic driving longitudinal abnormal state, the driving safety of the vehicle is improved, and the avoidance of collision is further realized.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and together with the description, serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic illustration of an intersection shown in an exemplary embodiment of the present application;
FIG. 2 is a flow chart illustrating a method of determining an autonomous driving longitudinal abnormal state in accordance with an exemplary embodiment of the present application;
FIG. 3 is a detailed flow chart of a method of determining an automatic driving longitudinal abnormal state according to another exemplary embodiment of the present application;
fig. 4 is a block diagram showing an automatic driving longitudinal abnormal state determination apparatus according to an exemplary embodiment of the present application;
FIG. 5 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application.
Detailed Description
Other advantages and effects of the present invention will become apparent to those skilled in the art from the disclosure herein, wherein the embodiments of the present invention are described in detail with reference to the accompanying drawings and preferred embodiments. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be understood that the preferred embodiments are illustrative of the invention only and are not limiting upon the scope of the invention.
It should be noted that the drawings provided in the following embodiments are only for illustrating the basic idea of the present invention, and the components related to the present invention are only shown in the drawings rather than drawn according to the number, shape and size of the components in actual implementation, and the type, quantity and proportion of the components in actual implementation may be changed freely, and the layout of the components may be more complicated.
In the following description, numerous details are set forth to provide a more thorough explanation of embodiments of the present invention, however, it will be apparent to one skilled in the art that embodiments of the present invention may be practiced without these specific details, and in other embodiments, well-known structures and devices are shown in block diagram form, rather than in detail, in order to avoid obscuring embodiments of the present invention.
Referring to fig. 1, fig. 1 is a schematic view of an implementation environment of an automatic driving longitudinal abnormal state determination method according to an exemplary embodiment of the present application. As shown in fig. 1, an exemplary automatic driving longitudinal abnormal state determination system includes at least one of a server 101 and a client 102, wherein the server 101 may include a server operating independently, a distributed server, or a server cluster composed of a plurality of servers. The server 101 may include a network communication unit, a processor, a memory, and the like. The server 101 may be used to execute the simulation testing method provided by the present embodiment. The client 102 may include a physical device of a type such as a smart phone, a desktop computer, a tablet computer, a notebook computer, a digital assistant, a smart wearable device, etc., or may include software running in the physical device, such as a web page provided to the user by some service providers, or may be an application provided to the user by some service providers, such as the client 102 may be configured to present an observation result to the user in response to a trigger operation of the user 103. Of course, the system may also include only a client provided with corresponding modules to execute the automatic driving longitudinal abnormal state determination method in the embodiment described below. Wherein the client includes, but is not limited to, the vehicle-mounted terminal of the target vehicle.
The functional safety is used as a part of an automatic driving system and is responsible for timely and accurately detecting system failure or system faults and sending out corresponding instructions to enable the whole vehicle to enter a safe and controllable mode, so that vehicle collision and casualties are avoided. With the arrival of high-level automatic driving, the code amount reaches millions or even hundreds of millions, the complexity of the system is continuously improved, and the risk of failure or fault of the system function is increased. Therefore, in order to accommodate the evolving needs of the autopilot system, the functional safety itself must evolve iteratively.
The longitudinal planning and control system is used as an interactive part of an automatic driving system for controlling a driving and braking system of the whole vehicle, determines whether the vehicle is accelerated or decelerated, and has the most direct influence on collision. Therefore, designing the function safety mechanism of the longitudinal system is the last effective means for avoiding collision of the whole automatic driving function safety system. Therefore, it is desirable to provide a method for determining the abnormal state in the longitudinal direction of the automatic driving, which can be accurately and efficiently implemented. To solve these problems, embodiments of the present application respectively propose an automatic driving longitudinal abnormal state determination method, an automatic driving longitudinal abnormal state determination apparatus, an electronic device, a computer-readable storage medium, and a computer program product, which will be described in detail below.
Referring to fig. 2, fig. 2 is a flowchart illustrating an automatic driving longitudinal abnormal state determination method according to an exemplary embodiment of the present application. The method may be applied to at least one of the server or the vehicle shown in fig. 1.
As shown in fig. 2, in an exemplary embodiment, the method for determining the abnormal longitudinal driving state in the automatic driving includes at least steps S201 to S205, which are described in detail as follows:
step S201, acquiring the longitudinal speed and the actual acceleration of the vehicle of the target vehicle, the fastest reaction time of braking of the vehicle, the longitudinal speed of the front vehicle, and the longitudinal relative distance between the target vehicle and the front vehicle.
The longitudinal speed of the vehicle, the actual acceleration, the fastest reaction time of braking of the vehicle, the longitudinal speed of the vehicle ahead of the vehicle, and the longitudinal relative distance between the target vehicle and the vehicle ahead of the vehicle may be obtained through a sensing device of the target vehicle, or may be obtained through other manners known by those skilled in the art, which is not limited herein.
And step S202, determining the minimum safe distance of the vehicle according to the longitudinal speed of the vehicle, the actual acceleration, the fastest response time of the vehicle brake and the longitudinal speed of the front vehicle.
In one embodiment, determining the minimum safe distance of the vehicle according to the longitudinal speed of the vehicle, the actual acceleration, the fastest reaction time of braking of the vehicle and the longitudinal speed of the front vehicle comprises:
determining the driving distance before the vehicle braking system is not reacted according to the actual acceleration, the fastest reaction time of the vehicle braking and the longitudinal speed of the vehicle;
determining the minimum braking distance of the vehicle according to the actual acceleration, the fastest response time of the vehicle braking, the longitudinal speed of the vehicle and the preset braking distance of the vehicle;
determining the minimum braking distance of the front vehicle according to the longitudinal speed of the front vehicle and the preset braking distance of the front vehicle;
and determining the minimum safe distance based on the driving distance, the minimum braking distance of the vehicle and the minimum braking distance of the front vehicle.
The minimum safe distance is the minimum following distance that the target vehicle and the front vehicle do not have rear-end collision after the front vehicle is emergently braked.
An exemplary minimum safe distance determination is as follows:
S min ＝S 1 +S 2 -S 3 in the formula (1),
wherein S is min Is the minimum safe distance; s 1 The distance of the vehicle before the brake system of the vehicle is not reacted; s. the 2 Minimum braking distance of the vehicle based on vehicle speed (V) 0 + a × t) is obtained by looking up a preset table; s 3 Based on the vehicle speed V for the minimum braking distance of the front vehicle 1 Looking up a table to obtain; v 0 The longitudinal speed of the vehicle, a is the actual acceleration, t is the fastest response time of the brake system, V 1 Is the front vehicle longitudinal speed.
The preset tables may be set up for different target types, such as trucks, motorcycles, etc., by a person skilled in the art, for different vehicle speeds (V) 0 The + a x t) value is set to a corresponding value. And a preset vehicle braking distance is set, when a certain first preset condition is reached, the minimum braking distance of the vehicle is the preset vehicle braking distance, and correspondingly, when a certain second preset condition is reached, the minimum braking distance of the front vehicle is the preset front vehicle braking distance.
One exemplary way of determining the actual acceleration may be via the target vehicle's chassis controller signal, or via other means known to those skilled in the art. When the vehicle is in a braking deceleration state, or when the acceleration is a negative value, the requested acceleration in the present embodiment may also be referred to as a requested deceleration, and the actual acceleration may also be referred to as an actual deceleration.
After step S202 is completed, a check mode arbitration is performed according to the obtained minimum safe distance and the actual acceleration, for example, the longitudinal relative distance of the leading vehicle is compared with the minimum safe distance. Wherein S1 long Is the longitudinal relative distance of the front vehicle, S min Is the minimum safe distance. The method comprises the following steps: if the longitudinal relative distance is smaller than the minimum safe distance and the acceleration is larger than 0, there is a risk of collision and it is necessary to enter a safe state (it is determined that the autonomous driving longitudinal abnormal state of the target vehicle is abnormal). And step two: and if the longitudinal relative distance is less than the minimum safety distance and the acceleration is not more than 0, entering brake deceleration verification. ③: and if the longitudinal relative distance is larger than the minimum safety distance, entering the drive torque verification. An exemplary comparison is as follows:
①S1 long ＜S min the | | a > 0 formula (5),
②S1 long ＜S min the formula (6) is less than or equal to | a,
③S 1long ≥S min equation (7).
Step S203, if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the front vehicle and the actual acceleration is less than or equal to zero, performing braking deceleration verification on the target vehicle to obtain a braking deceleration verification result.
In one embodiment, the brake deceleration verification of the target vehicle, and the obtaining of the brake deceleration verification result includes:
acquiring deceleration verification parameters, wherein the deceleration verification parameters comprise at least one of rear vehicle longitudinal speed and rear vehicle longitudinal relative distance of a rear vehicle, a plurality of historical accelerations (historical request accelerations) of the target vehicle in a first preset time period, and actual deceleration of the target vehicle;
determining the emergency braking distance of the rear vehicle according to the longitudinal speed of the rear vehicle, determining the upper limit of deceleration based on the emergency braking distance of the rear vehicle, the longitudinal relative distance of the rear vehicle, the longitudinal speed of the vehicle and the preset upper limit of deceleration, and determining the upper limit of deceleration verification result according to the upper limit of deceleration and the requested acceleration;
determining a deceleration degree change rate verification result according to a plurality of historical request accelerations and a preset acceleration rising slope upper limit;
determining a deceleration deviation checking result according to the actual deceleration, the requested acceleration and a preset deceleration deviation upper limit;
and determining a braking deceleration verification result based on at least one of the deceleration upper limit verification result, the deceleration degree change rate verification result and the deceleration deviation verification result.
The braking deceleration verification comprises at least one of deceleration upper limit verification, deceleration degree change rate verification and deceleration deviation verification.
One exemplary deceleration upper limit check is as follows:
calculating the deceleration upper limit a max The upper limit of deceleration refers to the maximum deceleration that can be executed to prevent a rear-end collision. If the requested deceleration is greater than the upper deceleration limit, the safe state is entered (the autonomous driving longitudinal abnormal state of the target vehicle is determined to be abnormal). Wherein S 4 The emergency braking distance of the rear vehicle comprises the driving distance in the response time of a braking system and is based on the longitudinal speed V of the rear vehicle 2 Looking up a table to obtain, and setting different tables (similar to the preset tables and not repeated herein) for different types of vehicles; s2 long Is a longitudinal relative distance from the rear of the rear vehicle, S 5 Maximum braking distance of front vehicle, V 0 Is the speed of the vehicle, a max As upper limit of deceleration, a req The deceleration is requested (i.e., acceleration is requested, and since the acceleration is negative at this time, it may be referred to as deceleration request).
S 5 ＝S 4 -S 2 long The compound has the formula (9),
a req ＞a max formula (11).
An exemplary manner of deceleration rate change verification is as follows:
calculating the deceleration change rate K1 req And if the change rate is larger than the upper limit of the preset acceleration rising slope, entering a safe state (determining that the automatic driving longitudinal abnormal state of the target vehicle is abnormal). Wherein t1 s Calculating a window for the first slope, K1 req To request the deceleration rate of change, K1 max The upper limit of the acceleration rising slope is preset and is determined by the maximum acceleration rising slope of the deceleration of the longitudinal control system.
f(t)＝a req In the formula (12),
K1 req ＞K1 max formula (14).
The first slope calculation window is a first preset time period.
One exemplary way of deceleration deviation checking is as follows:
the deviation Δ a of the actual deceleration from the desired deceleration is calculated. If the deviation is greater than the threshold value delta a max Then the safe state is entered (the autonomous driving longitudinal abnormal state of the target vehicle is determined to be abnormal). Wherein a is actual For actual deceleration, input from chassis controller, a req To request deceleration, Δ a max Is the deceleration deviation upper limit.
Δa＝a actual -a req In the formula (15),
Δa＞Δa max equation (16).
In one embodiment, determining the braking deceleration verification result based on at least one of the deceleration upper limit verification result, the deceleration change rate verification result, and the deceleration deviation verification result includes:
and if at least one of the deceleration upper limit verification result, the deceleration change rate verification result and the deceleration deviation verification result is abnormal, the braking deceleration verification result is abnormal, namely the automatic driving longitudinal abnormal state is abnormal.
And S204, if the minimum safe distance of the vehicle is smaller than the longitudinal relative distance of the front vehicle, carrying out drive torque verification on the target vehicle to obtain a drive torque verification result.
In one embodiment, the driving torque verification of the target vehicle, and obtaining the driving torque verification result includes:
acquiring the curvature and the gradient of a curve of a current road, a plurality of historical torques of a target vehicle in a second preset time period, the requested torque of the target vehicle, the estimated mass of the whole vehicle and the wheel end friction resistance;
determining a driving torque upper limit check result according to the curvature of the curve, the requested torque and a preset torque upper limit;
determining a driving torque change rate verification result according to the plurality of historical torques and a preset torque rising slope upper limit;
determining an actual driving torque according to the estimated mass of the whole vehicle, the friction resistance of a wheel end, the gradient and the actual acceleration, and determining a driving torque deviation checking result based on the actual driving torque, the requested torque and a preset expected torque deviation;
determining a driving torque verification result based on at least one of the driving torque upper limit verification result, the driving torque change rate verification result and the driving torque deviation verification result.
The driving torque verification comprises at least one of driving torque upper limit verification, driving torque change rate verification and driving torque deviation verification.
In one embodiment, determining the driving torque verification result based on at least one of the driving torque upper limit verification result, the driving torque change rate verification result, and the driving torque deviation verification result includes:
and if at least one of the driving torque upper limit verification result, the driving torque change rate verification result and the driving torque deviation verification result is abnormal, the driving torque verification result is abnormal, namely the automatic driving longitudinal abnormal state is abnormal.
In one embodiment, the upper drive torque limit is verified as follows:
calculating an upper limit T of the drive torque max . Refers to the upper limit of the driving torque under different curve curvatures according to the different curve curvatures K curve A look-up table (or other means known to those skilled in the art). If the torque T is requested req Greater than the upper limit of torque T max Then, the safety state is entered (the automatic driving longitudinal abnormal state is abnormal).
T req ＞T max Equation (18).
In one embodiment, the drive torque rate of change is verified as follows:
calculating a rate of change of drive torque K req And if the change rate is greater than the upper limit of the preset torque rising slope, entering a safe state (the longitudinal abnormal state of the automatic driving is abnormal). Wherein t2 s Calculating a window for the second slope, K2 req For rate of change of drive torque, K2 max The upper limit of the torque rising slope is preset and is determined by the maximum rising slope of the driving torque of the longitudinal control system.
f(t)＝T req In the formula (19),
K2 req ＞K2 max equation (21).
Wherein the second slope calculation window is a second preset time period. The first preset time period and the second preset time period may be the same time period or different time periods.
In one embodiment, the drive torque bias is verified as follows:
the deviation deltat of the actual driving torque from the desired driving torque is calculated. If the deviation is greater than the threshold value Delta T max Then, the safety state is entered (the automatic driving longitudinal abnormal state is abnormal). Wherein T is actual M is estimated mass of the whole vehicle, F' is wheel end friction resistance, a grade Is the slope and a is the actual acceleration.
ΔT＝T actual -T req In the formula (22),
T actual ＝m*a+F′+m*a grade in the formula (23),
ΔT＞ΔT max equation (24).
In step S205, the autonomous driving longitudinal abnormal state of the target vehicle is determined based on the braking deceleration result or the driving torque result.
If the braking deceleration result or the driving torque result is abnormal, the automatic driving longitudinal abnormal state is abnormal.
In one embodiment, if the actual acceleration is greater than zero and the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the preceding vehicle, it is determined that the automatic driving longitudinal abnormal state of the target vehicle is abnormal.
In one embodiment, before determining the minimum safe distance of the vehicle according to the longitudinal speed of the vehicle, the actual acceleration, the fastest reaction time of braking of the vehicle and the longitudinal speed of the front vehicle, the method further comprises:
acquiring a vehicle running scene of a target vehicle, and determining a preset upper speed limit according to the vehicle running scene and a preset scene limit rule;
and if the longitudinal speed of the vehicle is greater than the preset upper speed limit, determining that the automatic driving longitudinal abnormal state of the target vehicle is abnormal.
For example, different upper passing speed limits are set based on different scenes, such as curves, ramps, tunnels, toll stations and the like, and if the actual vehicle speed is greater than the upper vehicle speed limit, a safe state is entered (the automatic driving longitudinal abnormal state is abnormal).
In one embodiment, after determining the autonomous driving longitudinal abnormal state of the target vehicle based on the braking deceleration result or the driving torque result, the method further includes:
and if the automatic driving longitudinal abnormal state of the target vehicle is abnormal, executing a preset safety processing plan, wherein the preset safety processing plan comprises at least one of the following steps of sending alarm information, prompting the target vehicle to be taken over manually, limiting the maximum speed of the target vehicle and controlling the target vehicle to stop safely.
For example, different safety handling actions are performed based on different fault severity levels. The HMI sends out an alarm slightly to prompt the driver to take over; limiting the maximum vehicle speed under the ordinary condition, and entering a limp mode; and if the emergency stop mode is serious, the emergency stop mode is directly entered.
The method for determining an automatic driving longitudinal abnormal state provided in the foregoing embodiment determines the minimum safe distance of the vehicle by obtaining the longitudinal speed of the vehicle, the actual acceleration, the fastest response time of the vehicle braking, the longitudinal speed of the front vehicle, and the longitudinal relative distance between the target vehicle and the front vehicle, performs braking deceleration verification on the target vehicle if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the front vehicle and the actual acceleration is less than or equal to zero, obtains a braking deceleration verification result, performs driving torque verification on the target vehicle if the minimum safe distance of the vehicle is less than the longitudinal relative distance of the front vehicle, obtains a driving torque verification result, determines the automatic driving longitudinal abnormal state of the target vehicle based on the braking deceleration result or the driving torque result, and provides a way for accurately and efficiently determining the automatic driving longitudinal abnormal state, the driving safety of the vehicle is improved, and the avoidance of collision is further realized.
And the longitudinal regulation and control system achieves the ASIL D function safety level capability through a longitudinal function safety mechanism. The method provided by the embodiment is suitable for an automatic driving system, and can fully receive the environmental information, so that the system can find out the failure or fault of the longitudinal regulation and control function in time in multiple scenes, and enter a safe state to avoid collision. In the safety monitoring mechanism of the method provided by the embodiment, subjective calibration is less, the designed characteristic signal can obviously distinguish a normal state from a fault state, and the influence on driving experience due to fault touch is avoided.
A specific example is provided below to further exemplarily explain the automatic driving longitudinal abnormal state determination method provided in the foregoing embodiment, referring to fig. 3, fig. 3 is a schematic flow chart of a specific automatic driving longitudinal abnormal state determination method provided in an exemplary embodiment of the present application, and as shown in fig. 3, the following monitoring mechanism is set: distance monitoring, vehicle speed monitoring, drive torque monitoring, brake deceleration monitoring, and a method of determining an autonomous driving longitudinal abnormal state, and entering a safe state when abnormal. Wherein:
(1) the distance monitoring is used for monitoring the relative longitudinal distance with a front target, and when the distance is smaller than the minimum safe distance, if the vehicle (target vehicle) is still in an acceleration mode, the vehicle should enter a safe state to prevent collision. The minimum safe distance is the minimum following distance at which no rear-end collision occurs after the front object (the front vehicle) is braked suddenly. In the embodiment of the present application, the front vehicle may be a preceding vehicle belonging to the same lane as the target vehicle, and the rear vehicle may be a following vehicle belonging to the same lane as the target vehicle.
(2) The vehicle speed monitoring is used for monitoring the vehicle speed of the vehicle, and when the vehicle speed exceeds the maximum safe vehicle speed in a special scene, the vehicle should enter a safe state to prevent danger. The maximum safe vehicle speed refers to the maximum vehicle speed which can guarantee that the vehicle is not dangerous according to the self performance of the vehicle or the road limit when the vehicle is in a curve, a ramp, a tunnel and other special scenes.
(3) The driving monitoring is used for monitoring the driving torque, the driving torque change rate and the difference between the expected driving torque and the actual driving torque, and preventing the occurrence of collision caused by faults such as overlarge acceleration, too fast acceleration, unexpected acceleration response and the like.
(4) The braking deceleration monitoring is used for monitoring the size of the braking deceleration, the change rate of the deceleration, the difference between the expected deceleration and the actual deceleration, and preventing the collision caused by faults such as overlarge deceleration, too fast deceleration, unexpected deceleration response and the like.
(5) The safety state refers to the state that the system carries out emergency treatment on dangers after the vehicle fails or breaks down. According to the danger level of different faults, the safety states mainly include: alarm take-over, deceleration limping and emergency stop.
For example, the information such as target information sensed by the target vehicle environment, lane line information, map information, navigation information, vehicle speed information of a chassis controller, deceleration information, acceleration information, decision instructions sent by a regulation and control system and the like can be received; using the above information, a characteristic signal (at least one of a deceleration upper limit check result, a deceleration change rate check result, a deceleration deviation check result, a drive torque upper limit check result, a drive torque change rate check result, a drive torque deviation check result, and the like) for determining a failure is calculated; designing the sequence of judgment according to the mutual influence relation among the faults; and finally, judging the fault by using the characteristic signal, if the judgment result is failure (abnormal), entering a safety state, and if the judgment result is normal, finishing the judgment.
With continued reference to fig. 3, the method includes determining whether longitudinal control of the target vehicle is activated, calculating a minimum safe distance of the target vehicle if the longitudinal control is activated, and ending the process if the longitudinal control is not activated. And comparing the minimum safety distance (the safety distance in the graph) with the actual distance after obtaining the minimum safety distance, respectively calculating the torque upper limit, the torque change rate and the torque deviation if the actual distance is greater than the safety distance, and determining whether to enter a safety state based on whether the torque is greater than the upper limit, whether the change rate is greater than a threshold and whether the deviation is greater than the threshold. Similarly, if the actual distance is less than or equal to the safe distance, the deceleration deviation, the deceleration upper limit, and the deviation of the torque are calculated, and whether to enter the safe state is determined according to whether the deceleration deviation is greater than the threshold, whether the deceleration is greater than the upper limit, and whether the deviation is greater than the threshold.
Fig. 4 is a block diagram of an automatic driving longitudinal abnormal state determination device shown in an exemplary embodiment of the present application. The apparatus may be applied to the implementation environment shown in fig. 1. The apparatus may also be applied to other exemplary implementation environments, and is specifically configured in other devices, and the embodiment does not limit the implementation environment to which the apparatus is applied.
As shown in fig. 4, the exemplary autonomous driving longitudinal abnormal state determining apparatus 400 includes:
an obtaining module 401, configured to obtain a longitudinal speed of a host vehicle, an actual acceleration, a fastest response time of a brake of the host vehicle, a longitudinal speed of a front vehicle of the front vehicle, and a longitudinal relative distance between the target vehicle and the front vehicle;
a vehicle minimum safe distance determining module 402, configured to determine a vehicle minimum safe distance according to a vehicle longitudinal speed, an actual acceleration, a vehicle braking fastest response time, and a vehicle longitudinal speed before;
a braking deceleration verification result determining module 403, configured to perform braking deceleration verification on the target vehicle to obtain a braking deceleration verification result if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the preceding vehicle and the actual acceleration is less than or equal to zero;
a driving torque verification result determining module 404, configured to perform driving torque verification on the target vehicle to obtain a driving torque verification result if the minimum safe distance of the vehicle is smaller than the longitudinal relative distance of the preceding vehicle;
an autonomous driving longitudinal abnormal state determination module 405 for determining an autonomous driving longitudinal abnormal state of the target vehicle based on the braking deceleration result or the driving torque result.
It should be noted that the apparatus provided in the foregoing embodiment and the method for determining an automatic driving longitudinal abnormal state provided in the foregoing embodiment in fig. 2 belong to the same concept, and specific ways of performing operations by the respective modules and units have been described in detail in the method embodiment, and are not described again here. In practical applications of the apparatus provided in the foregoing embodiment, the foregoing function allocation may be completed by different function modules according to needs, that is, the internal structure of the apparatus is divided into different function modules to complete all or part of the functions described above, which is not limited herein.
An embodiment of the present application further provides an electronic device, including: one or more processors; the storage device is used for storing one or more programs, and when the one or more programs are executed by one or more processors, the electronic equipment is enabled to realize the automatic driving longitudinal abnormal state determination method provided in the above embodiments.
FIG. 5 illustrates a schematic structural diagram of a computer system suitable for use in implementing the electronic device of an embodiment of the present application. It should be noted that the computer system 500 of the electronic device shown in fig. 5 is only an example, and should not bring any limitation to the functions and the application scope of the embodiments of the present application.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU) 1501 which can perform various appropriate actions and processes, such as executing the methods in the above-described embodiments, according to a program stored in a Read-Only Memory (ROM) 502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other through a bus 504. An Input/Output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output section 507 including a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, a speaker, and the like; a storage portion 508 including a hard disk and the like; and a communication section 509 including a Network interface card such as a LAN (Local Area Network) card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. A drive 510 is also connected to the I/O interface 505 as needed. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to embodiments of the application, the processes described above with reference to the flow diagrams may be implemented as computer software programs. For example, embodiments of the present application include a computer program product comprising a computer program embodied on a computer readable medium, the computer program comprising a computer program for performing the method illustrated by the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program executes various functions defined in the system of the present application when executed by a Central Processing Unit (CPU) 501.
It should be noted that the computer readable medium shown in the embodiments of the present application may be a computer readable signal medium or a computer readable storage medium or any combination of the two. The computer readable storage medium may be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an Erasable Programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present application, a computer-readable signal medium may comprise a propagated data signal with a computer-readable computer program embodied therein, either in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program embodied on the computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present application. Each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present application may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
Another aspect of the present application also provides a computer-readable storage medium on which a computer program is stored, which computer program, when executed by a processor, implements the automatic driving longitudinal abnormal state determining method as described above. The computer-readable storage medium may be included in the electronic device described in the above embodiment, or may exist separately without being incorporated in the electronic device.
Another aspect of the application also provides a computer program product or computer program comprising computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the automatic driving longitudinal abnormal state determination method provided in the above-described embodiments.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which can be made by those skilled in the art without departing from the spirit and technical spirit of the present invention be covered by the claims of the present invention.
Claims (10)
1. An automatic driving longitudinal abnormal state determination method characterized by comprising:
acquiring the longitudinal speed and the actual acceleration of a vehicle of a target vehicle, the fastest response time of braking of the vehicle, the longitudinal speed of a front vehicle and the longitudinal relative distance between the target vehicle and the front vehicle;
determining the minimum safety distance of the vehicle according to the longitudinal speed of the vehicle, the actual acceleration, the fastest response time of the vehicle brake and the longitudinal speed of the front vehicle;
if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the front vehicle and the actual acceleration is less than or equal to zero, performing braking deceleration verification on the target vehicle to obtain a braking deceleration verification result;
if the minimum safe distance of the vehicle is smaller than the longitudinal relative distance of the front vehicle, carrying out drive torque verification on the target vehicle to obtain a drive torque verification result;
determining an autonomous driving longitudinal abnormal state of the target vehicle based on the braking deceleration result or the driving torque result.
2. The method of determining an autonomous driving longitudinal abnormal state according to claim 1, wherein performing a brake deceleration verification on the target vehicle, and obtaining a brake deceleration verification result comprises:
acquiring deceleration verification parameters, wherein the deceleration verification parameters comprise at least one of rear vehicle longitudinal speed and rear vehicle longitudinal relative distance of a rear vehicle, a plurality of historical accelerations of the target vehicle in a first preset time period, and actual deceleration of the target vehicle;
determining a rear vehicle emergency braking distance according to the rear vehicle longitudinal speed, determining a deceleration upper limit based on the rear vehicle emergency braking distance, the rear vehicle longitudinal relative distance, the vehicle longitudinal speed and a preset deceleration upper limit, and determining a deceleration upper limit checking result according to the deceleration upper limit and a requested acceleration;
determining a deceleration degree change rate verification result according to a plurality of historical request accelerations and a preset acceleration rising slope upper limit;
determining a deceleration deviation checking result according to the actual deceleration, the requested acceleration and a preset deceleration deviation upper limit;
and determining a braking deceleration verification result based on at least one of the deceleration upper limit verification result, the deceleration change rate verification result and the deceleration deviation verification result.
3. The autonomous-driving longitudinal abnormal state determining method according to claim 1, wherein performing a driving torque verification on the target vehicle, and obtaining a driving torque verification result comprises:
acquiring the curvature and the gradient of a curve of a current road, a plurality of historical torques of the target vehicle in a second preset time period, and the requested torque, the estimated mass of the whole vehicle and the wheel end friction resistance of the target vehicle;
determining a driving torque upper limit checking result according to the curve curvature, the request torque and a preset torque upper limit;
determining a driving torque change rate verification result according to the plurality of historical torques and a preset torque rising slope upper limit;
determining an actual driving torque according to the estimated mass of the whole vehicle, the wheel end friction resistance, the gradient and the actual acceleration, and determining a driving torque deviation checking result based on the actual driving torque, the requested torque and a preset expected torque deviation;
determining a driving torque verification result based on at least one of the driving torque upper limit verification result, the driving torque change rate verification result, and the driving torque deviation verification result.
4. The automatic driving longitudinal abnormal state determination method of any one of claims 1 to 3, wherein determining a vehicle minimum safe distance from the vehicle longitudinal speed, the actual acceleration, the vehicle brake fastest reaction time, and the preceding vehicle longitudinal speed comprises:
determining the driving distance before the vehicle braking system is not reacted according to the actual acceleration, the vehicle braking fastest reaction time and the vehicle longitudinal speed;
determining the minimum braking distance of the vehicle according to the actual acceleration, the fastest response time of the vehicle braking, the longitudinal speed of the vehicle and the preset braking distance of the vehicle;
determining the minimum braking distance of the front vehicle according to the longitudinal speed of the front vehicle and the preset braking distance of the front vehicle;
and determining the minimum safe distance based on the driving distance, the minimum braking distance of the vehicle and the minimum braking distance of the front vehicle.
5. The automatic driving longitudinal abnormal state determination method according to any one of claims 1 to 3,
and if the actual acceleration is larger than zero and the minimum safe distance of the vehicle is larger than the longitudinal relative distance of the front vehicle, determining that the automatic driving longitudinal abnormal state of the target vehicle is abnormal.
6. The automatic driving longitudinal abnormal state determining method of any one of claims 1 to 3, wherein before determining the vehicle minimum safe distance based on the vehicle longitudinal speed, the actual acceleration, the vehicle brake fastest reaction time, and the preceding vehicle longitudinal speed, the method further comprises:
acquiring a vehicle running scene of the target vehicle, and determining a preset upper speed limit according to the vehicle running scene and a preset scene limit rule;
and if the longitudinal speed of the vehicle is greater than the preset upper speed limit, determining that the automatic driving longitudinal abnormal state of the target vehicle is abnormal.
7. The autonomous-driving longitudinal abnormal state determining method according to any one of claims 1 to 3, wherein after determining the autonomous-driving longitudinal abnormal state of the target vehicle based on the result of the brake deceleration or the result of the driving torque, the method further comprises:
and if the automatic driving longitudinal abnormal state of the target vehicle is abnormal, executing a preset safety processing plan, wherein the preset safety processing plan comprises at least one of the following, and the preset safety processing plan is used for sending alarm information, prompting manual taking over of the target vehicle, limiting the maximum vehicle speed of the target vehicle and controlling the target vehicle to safely stop.
8. An automatic driving longitudinal abnormal state determination device characterized by comprising:
the device comprises an acquisition module, a judgment module and a control module, wherein the acquisition module is used for acquiring the longitudinal speed and the actual acceleration of a vehicle of a target vehicle, the fastest reaction time of braking of the vehicle, the longitudinal speed of a front vehicle and the longitudinal relative distance between the target vehicle and the front vehicle;
the vehicle minimum safe distance determining module is used for determining the vehicle minimum safe distance according to the vehicle longitudinal speed, the actual acceleration, the vehicle braking fastest reaction time and the front vehicle longitudinal speed;
a braking deceleration verification result determining module, configured to perform braking deceleration verification on the target vehicle to obtain a braking deceleration verification result, if the minimum safe distance of the vehicle is greater than the longitudinal relative distance of the leading vehicle and the actual acceleration is less than or equal to zero;
the driving torque verification result determining module is used for verifying the driving torque of the target vehicle to obtain a driving torque verification result if the minimum safe distance of the vehicle is smaller than the longitudinal relative distance of the front vehicle;
an autonomous driving longitudinal abnormal state determination module to determine an autonomous driving longitudinal abnormal state of the target vehicle based on the braking deceleration result or the driving torque result.
9. An electronic device, comprising:
one or more processors;
a storage device to store one or more programs, when the one or more programs are executed by the one or more processors
When executed, cause the electronic device to implement the method of any of claims 1-7.
10. A computer-readable storage medium having stored thereon computer-readable instructions which, when executed by a processor of a computer, cause the computer to perform the method of any one of claims 1 to 7.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749960A (en) * | 2023-08-18 | 2023-09-15 | 新石器慧通（北京）科技有限公司 | Control method, device, equipment and storage medium for automatic driving vehicle |
| CN117968935A (en) * | 2024-03-29 | 2024-05-03 | 长城汽车股份有限公司 | Automatic driving torque verification method, automatic driving monitoring system, vehicle and medium |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116749960A (en) * | 2023-08-18 | 2023-09-15 | 新石器慧通（北京）科技有限公司 | Control method, device, equipment and storage medium for automatic driving vehicle |
| CN116749960B (en) * | 2023-08-18 | 2023-11-21 | 新石器慧通（北京）科技有限公司 | Control method, device, equipment and storage medium for automatic driving vehicle |
| CN117968935A (en) * | 2024-03-29 | 2024-05-03 | 长城汽车股份有限公司 | Automatic driving torque verification method, automatic driving monitoring system, vehicle and medium |
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