CN115092123A - Automatic driving safety position parking system and method - Google Patents
Automatic driving safety position parking system and method Download PDFInfo
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- CN115092123A CN115092123A CN202210736360.2A CN202210736360A CN115092123A CN 115092123 A CN115092123 A CN 115092123A CN 202210736360 A CN202210736360 A CN 202210736360A CN 115092123 A CN115092123 A CN 115092123A
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- 230000004927 fusion Effects 0.000 claims description 4
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
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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
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Abstract
The invention discloses a parking system and a method at an automatic driving safety position, wherein the system comprises an automatic driving control unit, a vehicle body control unit, a chassis control unit, a man-machine interaction unit, a power control unit, a sensing positioning unit and a driver monitoring unit, and the method comprises the following steps: judging whether the automatic driving safety position parking system is in a normal working state or not and whether the automatic driving function of the vehicle is started or not: judging whether a condition of parking at a safe position is met; judging the current position of the vehicle, and confirming a safe parking position; planning a vehicle driving path; controlling the vehicle to run to a safe parking position according to the planned path and then park; exiting the autopilot function and ending. The invention can stop the vehicle at the safe parking position closest to the system or hardware when the system or hardware fails or the driver is in fatigue driving, thereby avoiding the secondary accident risk caused by the vehicle parking beside the side or the vehicle parking in the lane.
Description
Technical Field
The invention relates to the technical field of automatic vehicle driving control, in particular to a parking system and a parking method for an automatic driving safety position.
Background
The automatic driving automobile is characterized in that under the condition that no driver exists, state data of the automatic driving automobile and the external environment are collected through a sensor, and are analyzed and processed through a positioning module, a sensing module and a decision planning module of a computing platform, and then a control instruction is sent to a chassis of the automobile through a control module to be controlled, so that the automobile is driven automatically according to a planned path. The stable and reliable automatic driving automobile can greatly change the trip or logistics mode of human beings, reduce traffic accidents, improve the logistics efficiency, save the labor cost and enable the human beings to freely enjoy various life and entertainment services during the trip.
However, with the development of automatic driving technology, the use scenario is becoming more and more complicated, and accidents of automatic driving also come up endlessly. One of the important factors is that there is no relative safety measure to ensure the safety of the driver when the system and hardware fail or the driver becomes tired. In view of the above circumstances, the main measure in the industry is to park along the side or in the lane.
As disclosed in the patent application with application No. CN201910162649.6, an automatic driving control method, device and system are disclosed, the system comprising: the system comprises a sensor system, a computer system and an industrial personal computer system, wherein the sensor system is used for acquiring state data of a vehicle and surrounding environment, the computer system is used for generating first driving path planning information and second driving path planning information according to the state data of the vehicle and the surrounding environment, the first driving path planning information is used for generating control messages and is sent to a vehicle chassis system to control the motion of the vehicle, and the second driving path planning information is used for being provided for the industrial personal computer system in real time; and the industrial personal computer system is used for storing second driving path planning information provided by the computer system, monitoring the running state of the computer system, and controlling the vehicle to stop by using the second driving path planning information and state data of the vehicle and the surrounding environment transmitted by the sensor system when the computer system is abnormal. However, there is a certain risk in parking beside the vehicle or in the lane, and a secondary accident may occur greatly.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problems to be solved by the invention are as follows: how to provide an automatic driving safe position parking system and method which can stop a vehicle at a safe parking position closest to the system or hardware when the system or hardware fails or a driver is tired to drive, and further avoid the risk of secondary accidents caused by the vehicle parking beside the vehicle or the vehicle parking in the road.
In order to solve the technical problem, the invention adopts the following technical scheme:
an automated driving safety position parking system comprising:
the automatic driving control unit comprises an automatic driving controller and an automatic driving redundancy controller, wherein the automatic driving controller and the automatic driving redundancy controller are used for controlling the driving and parking processes of the vehicle, and the automatic driving controller and the automatic driving redundancy controller are mutually redundant;
the automobile body control unit comprises an automobile body controller and an automobile lamp controller, wherein the automobile body controller is used for controlling an automobile door, an automobile window, a seat, an automobile lamp, tire pressure and a gateway, the automobile lamp controller is used for controlling the automobile lamp, and the automobile body controller and the automobile lamp controller are used for carrying out redundant control on the automobile lamp;
the chassis control unit comprises a chassis controller and a chassis redundancy controller, wherein the chassis controller and the chassis redundancy controller are both used for controlling the braking and steering of a vehicle, and are redundant with each other;
the system comprises a human-computer interaction unit, a display unit and a display unit, wherein the human-computer interaction unit comprises a human-computer interaction controller, the human-computer interaction controller is used for controlling an instrument, a car machine and a sound, and the human-computer interaction controller is powered by a double power supply;
the power control unit comprises a power controller and a power redundancy controller, wherein the power controller and the power redundancy controller are both used for controlling the motor and adopt double power supplies for power supply;
the sensing positioning unit comprises a camera module, a millimeter radar wave module, a laser radar module, a navigation positioning module and a navigation redundancy positioning module, wherein the camera module is used for acquiring environmental information around the vehicle, the millimeter radar wave module and the laser radar module are mutually redundant, the navigation positioning module is used for outputting the position, the route, the road condition and the weather information of the vehicle, and the navigation positioning module is mutually redundant with the navigation redundancy positioning module.
The automatic driving safety position parking method comprises the following steps:
step 1) judging whether the automatic driving safety position parking system is in a normal working state or not and whether an automatic driving function of a vehicle is started or not, if so, executing the step 2), and if not, executing the step 7);
step 2) whether the condition of entering a safe position for parking is met, if so, executing step 4), and if not, executing step 3);
step 3) returning to execute the step 2);
step 4), the sensing and positioning unit judges the current position of the vehicle and confirms a safe parking position closest to the current position of the vehicle;
step 5), the automatic driving control unit plans a vehicle driving path according to the current position of the vehicle and the nearest safe parking position;
step 6), the automatic driving control unit controls the vehicle to run to a safe parking position according to the planned path and then park;
step 7) exits the autopilot function and ends.
Preferably, the system also comprises a driver monitoring unit, wherein the driver monitoring unit is used for judging the driving state of the driver according to the expression and behavior of the driver;
in step 2), the condition for entering the safe position for parking includes: when a driver is in a driving position, the driver monitoring unit judges the driving state of the driver according to the expression and the behavior of the driver, if the driving state of the driver is a fatigue driving state, the driver is prompted to keep attention and take over the vehicle through instrument display and voice, if the duration time of the fatigue driving state of the driver reaches the set time, the vehicle is not taken over, and the automatic driving safety position parking system has no other faults, the condition of entering a safety position parking is met at the moment.
Preferably, in step 2), the condition for entering the safe-position parking further includes: the camera module, the millimeter radar wave module, the laser radar module, the navigation positioning module and the navigation redundancy positioning module in the sensing positioning unit monitor the self fault state, if any one of the camera module, the millimeter radar wave module and the laser radar module is shielded or fails to cause the abnormal use of the automatic driving function, firstly, the driver is prompted to take over the vehicle through instrument display and voice, if the driver does not take over the vehicle or the dangerous condition exists in the front of the vehicle running in the set time, and the automatic driving safety position parking system has no other faults, then the condition of entering the safety position parking is met at the moment.
Preferably, in step 2), the condition for entering the parking in the safe position further includes: if the single-point failure exists in the automatic driving controller or the automatic driving redundant controller, firstly, a driver is prompted to take over the vehicle through instrument display and voice, and if the driver does not take over the vehicle in the set time and the automatic driving safe position parking system has no other faults, the condition of entering the safe position parking is met at the moment.
Preferably, in step 2), the condition for entering the parking in the safe position further includes: when one or only one of the power controller and the power redundancy controller has a fault, firstly, a driver is prompted to take over the vehicle through instrument display and voice, and if the driver does not take over the vehicle at the set time and the automatic driving safety position parking system has no other faults, the condition of entering the safety position parking is met at the moment.
Preferably, in step 2), the condition for entering the parking in the safe position further includes: when one or only one of the chassis controller and the chassis redundant controller fails to control the brake of the vehicle, firstly, the driver is prompted to take over the vehicle through instrument display and voice, and if the driver does not take over the vehicle in the set time and the automatic driving safe position parking system has no other failures, the condition of entering the safe position parking is met at the moment.
Preferably, in step 2), the condition for entering the parking in the safe position further includes: when one or only one of the chassis controller and the chassis redundant controller fails to control the steering of the vehicle, firstly, a driver is prompted to take over the vehicle through instrument display and voice, and if the driver does not take over the vehicle in a set time and the automatic driving safe position parking system has no other failures, the condition of entering a safe position parking is met.
Preferably, in step 4), the navigation positioning module or the navigation redundancy positioning module judges the current position of the vehicle based on the navigation information, and if the current position of the vehicle is a sharp turn, a falling stone, a large slope, a fast speed and a road condition without an emergency lane, the navigation positioning module or the navigation redundancy positioning module confirms a safe parking position closest to the current position of the vehicle based on the map information.
Preferably, in step 5), the automatic driving control unit senses and fuses road conditions around the vehicle based on the environmental information around the vehicle, which is acquired by the camera module, the millimeter radar wave module and the laser radar module, and plans a driving path of the vehicle based on a safe parking position and a sensing and fusing result.
Preferably, in step 6), the automatic driving control unit displays on the instrument through the human-computer interaction unit in the safe parking process so as to remind a driver that the vehicle is safely parked at present, and meanwhile, the vehicle body control unit lights the double-flash indicator lamp so as to warn surrounding vehicles of danger.
Compared with the prior art, the automatic driving control unit, the vehicle body control unit, the chassis control unit, the human-computer interaction unit, the power control unit and the sensing positioning unit all adopt redundancy control, the reliability of the whole system is improved through the redundancy control, and meanwhile, when the system fails and meets the condition of entering a safe position for parking, a safe parking position with the nearest distance can be determined according to the current position of the vehicle, and then the driving path of the vehicle is planned, so that the vehicle automatically drives to the safe parking position, and the problem of secondary accident risk caused by the fact that the vehicle parks beside or in the lane is avoided. Meanwhile, the scheme can also ensure that the vehicle is stopped at a safe position in time when each controller, sensor and actuator in the system are in an available state according to different road conditions, environments, weather and terrains, and safety measures are executed to ensure the safety of a driver.
Drawings
FIG. 1 is a system block diagram of an automatic driving safety position parking system of the present invention;
FIG. 2 is a diagram of a sensor locating unit on a vehicle in an automatic driving safety position parking system according to the present invention;
FIG. 3 is a flowchart illustrating the method for determining a parking condition for entering a safety position in an automatic driving safety position parking method according to the present invention;
FIG. 4 is a flowchart of the method for automatically driving a vehicle to a safe parking position according to the present invention.
Detailed Description
The invention will be further explained with reference to the drawings and the embodiments.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the present invention, presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be obtained by a person skilled in the art without inventive step based on the embodiments of the present invention, are within the scope of protection of the present invention.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures. In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance. Furthermore, the terms "horizontal", "vertical" and the like do not imply that the components are required to be absolutely horizontal or pendant, but rather may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined. In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1, an automatic driving safety position parking system includes:
the automatic driving control unit comprises an automatic driving controller and an automatic driving redundancy controller, wherein the automatic driving controller and the automatic driving redundancy controller are both used for controlling the driving and parking processes of a vehicle, the automatic driving controller and the automatic driving redundancy controller are mutually redundant, and the automatic driving control unit adopts a full-redundancy design scheme and comprises chip redundancy, power redundancy and function redundancy and is used as a main controller for parking at a safe position.
The automobile body control unit, automobile body control unit include automobile body controller and car light controller, and automobile body controller is used for controlling door, door window, seat, car light, tire pressure and gateway, and car light controller controls the car light, and automobile body controller and car light controller carry out redundant control to the car light, and automobile body control unit adopts dual power supply to insert.
The chassis control unit comprises a chassis controller and a chassis redundancy controller, the chassis controller and the chassis redundancy controller are both used for controlling the braking and steering of the vehicle, and the chassis controller and the chassis redundancy controller are mutually redundant.
The man-machine interaction unit comprises a man-machine interaction controller, the man-machine interaction controller is used for controlling the instrument, the car machine and the sound, and the man-machine interaction controller is powered by double power supplies, so that one path of power can be normally supplied when the other path of power fails.
The power control unit comprises a power controller and a power redundancy controller, the power controller and the power redundancy controller are both used for controlling the motor, and the power controller and the power redundancy controller are both powered by double power supplies.
The sensing and positioning unit comprises a camera module, a millimeter radar wave module, a laser radar module, a navigation positioning module and a navigation redundancy positioning module, wherein the camera module, the millimeter radar wave module and the laser radar module are all used for acquiring environmental information around the vehicle, and the camera module, the millimeter radar wave module and the laser radar module are redundant mutually, namely single-point failure can be sensed by other sensors in a short-time replacement manner; the navigation positioning module and the navigation redundancy positioning module are used for outputting the position, the route, the road condition and the weather information of the vehicle, and the navigation positioning module and the navigation redundancy positioning module are redundant with each other. Specifically, the camera module includes a plurality of cameras, 360 covers the peripheral region of vehicle, output lane line, the target, traffic sign etc, the distribution of a plurality of cameras on the vehicle is shown as figure 2, millimeter radar wave module includes a plurality of millimeter wave radars, make millimeter wave radar can cover 360 all regions around the vehicle, also can output the guardrail, millimeter wave radar distributes on the vehicle as shown in figure 2, the laser radar module includes a plurality of laser radar, mainly consider that city operating mode provides accurate target, lane line information, laser radar distributes on the vehicle as shown in figure 2, navigation orientation module and navigation redundancy orientation module all include GPS and on-vehicle navigation, provide accurate vehicle position, the route, road conditions, information such as weather, its distribution is also shown in figure 2.
As shown in fig. 3 and 4, an automatic driving safety position parking method using the automatic driving safety position parking system includes the following steps:
step 1) judging whether the automatic driving safety position parking system is in a normal working state or not and whether the automatic driving function of the vehicle is started or not, if so, executing the step 2), otherwise, executing the step 7);
step 2) whether the condition of entering a safe position for parking is met, if so, executing step 4), and if not, executing step 3);
step 3) returning to execute the step 2);
step 4), the sensing and positioning unit judges the current position of the vehicle and confirms a safe parking position closest to the current position of the vehicle;
step 5), planning a vehicle driving path by the automatic driving control unit according to the current position of the vehicle and the nearest safe parking position;
step 6), the automatic driving control unit controls the vehicle to run to a safe parking position according to the planned path and then park;
step 7) exits the autopilot function and ends.
In the embodiment, the system further comprises a driver monitoring unit, wherein the driver monitoring unit is used for judging the driving state of the driver according to the expression and the behavior of the driver;
in step 2), the condition for entering the safe position for parking includes: when a driver is in a driving position, the driver monitoring unit judges the driving state of the driver according to the expression and the behavior of the driver, if the driving state of the driver is a fatigue driving state (such as actions of yawning, eye closing and the like), the driver is prompted to keep attention and take over the vehicle through instrument display and voice, if the duration time of the fatigue driving state of the driver reaches a set time (such as 5 s), the vehicle is not taken over, and the automatic driving safety position parking system has no other faults (the system is quitted when other faults exist), the condition of entering a safety position parking is met at the moment.
In this embodiment, in step 2), the condition for entering the parking in the safe position further includes: the camera module, the millimeter radar wave module, the laser radar module, the navigation positioning module and the navigation redundancy positioning module in the sensing positioning unit monitor the self fault state, if any one of the camera module, the millimeter radar wave module and the laser radar module is shielded or fails to cause that the automatic driving function cannot be normally used (sensing is redundancy design, if the redundancy scheme sensor fails at the same time, the system is directly quitted), firstly, a driver is prompted to take over the vehicle through instrument display and voice, if the driver does not take over the vehicle or the vehicle runs ahead at the set time, and the automatic driving safety position parking system has no other faults (the system is quitted when other faults exist), then the condition of entering the safety position parking is met at the moment.
In this embodiment, in step 2), the condition for entering the safe-position parking further includes: the automatic driving controller is designed in a redundancy mode and comprises chip design redundancy, system function redundancy and power redundancy, if the automatic driving controller or the automatic driving redundancy controller has single-point failure, a driver is firstly prompted to take over a vehicle through instrument display and voice, if the driver does not take over the vehicle at set time, and the automatic driving safety position parking system has no other faults (if other faults exist, the system quits), the condition of entering the safety position parking is met at the moment.
In this embodiment, in step 2), the condition for entering the parking in the safe position further includes: when one or only one of the power controller and the power redundancy controller has a fault, firstly, a driver is prompted to take over the vehicle through instrument display and voice, if the driver does not take over the vehicle in the set time and the automatic driving safety position parking system has no other faults (the system is quitted when other faults exist), the condition of entering the safety position parking is met at the moment.
In this embodiment, in step 2), the condition for entering the parking in the safe position further includes: when one or only one of the chassis controller and the chassis redundancy controller fails to control the braking of the vehicle, firstly, the driver is prompted through instrument display and voice to take over the vehicle, and if the driver does not take over the vehicle at the set time and the automatic driving safe position parking system has no other failure, the condition of entering the safe position parking is met.
In this embodiment, in step 2), the condition for entering the parking in the safe position further includes: when one or only one of the chassis controller and the chassis redundancy controller fails to control the steering of the vehicle, firstly, the driver is prompted through instrument display and voice to take over the vehicle, and if the driver does not take over the vehicle at the set time and the automatic driving safe position parking system has no other faults, the condition of entering the safe position parking is met.
In this embodiment, in step 4), the navigation positioning module or the navigation redundancy positioning module determines the current location of the vehicle based on the navigation information (the navigation positioning is designed according to full redundancy), and if the current location of the vehicle is a road condition with a sharp turn, a rockfall, a large slope, a fast vehicle speed and no emergency lane (specifically, a dangerous road condition defined by a law is taken as the standard), the navigation positioning module or the navigation redundancy positioning module determines a safe parking position closest to the current location of the vehicle based on the map information.
In this embodiment, in step 5), the automatic driving control unit performs sensing fusion on road conditions around the vehicle based on the environmental information around the vehicle acquired by the camera module, the millimeter radar wave module, and the laser radar module, and performs planning on a vehicle driving path based on the safe parking position and the sensing fusion result.
In this embodiment, in step 6), the automatic driving control unit shows on the instrument through the human-computer interaction unit at the safety parking in-process to remind the driver at present to park safely, light two flashing indicator lamps through automobile body control unit simultaneously, in order to carry out danger warning to peripheral vehicle, the parking is accomplished the back and is pulled the hand brake and light two flashing.
Compared with the prior art, the automatic driving control unit, the vehicle body control unit, the chassis control unit, the human-computer interaction unit, the power control unit and the sensing positioning unit all adopt redundancy control, the reliability of the whole system is improved through the redundancy control, and meanwhile, when the system breaks down and meets the condition of entering a safe position for parking, a safe parking position closest to the current position of the vehicle can be determined according to the current position of the vehicle, and then the driving path of the vehicle is planned, so that the vehicle automatically drives to the safe parking position, and the problem of secondary accident risk caused by parking close to the side of the vehicle or parking in a lane is avoided. Meanwhile, the scheme can also ensure that the vehicle is stopped at a safe position in time when each controller, sensor and actuator in the system are in an available state according to different road conditions, environments, weather and terrains, and safety measures are executed to ensure the safety of a driver.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and those skilled in the art should understand that modifications or equivalent substitutions can be made on the technical solutions of the present invention without departing from the spirit and scope of the technical solutions, and all that should be covered by the claims of the present invention.
Claims (10)
1. An automated driving safety position parking system, comprising:
the automatic driving control unit comprises an automatic driving controller and an automatic driving redundancy controller, wherein the automatic driving controller and the automatic driving redundancy controller are used for controlling the driving and parking processes of the vehicle, and the automatic driving controller and the automatic driving redundancy controller are mutually redundant;
the automobile body control unit comprises an automobile body controller and an automobile lamp controller, wherein the automobile body controller is used for controlling an automobile door, an automobile window, a seat, an automobile lamp, tire pressure and a gateway, the automobile lamp controller is used for controlling the automobile lamp, and the automobile body controller and the automobile lamp controller are used for performing redundant control on the automobile lamp;
the chassis control unit comprises a chassis controller and a chassis redundancy controller, wherein the chassis controller and the chassis redundancy controller are both used for controlling the braking and steering of a vehicle, and are redundant with each other;
the system comprises a man-machine interaction unit, a display unit and a display unit, wherein the man-machine interaction unit comprises a man-machine interaction controller, the man-machine interaction controller is used for controlling an instrument, a car machine and a sound, and the man-machine interaction controller is powered by a double power supply;
the power control unit comprises a power controller and a power redundancy controller, the power controller and the power redundancy controller are both used for controlling the motor, and the power controller and the power redundancy controller are both powered by double power supplies;
the sensing and positioning unit comprises a camera module, a millimeter radar wave module, a laser radar module, a navigation and positioning module and a navigation redundancy positioning module, wherein the camera module, the millimeter radar wave module and the laser radar module are all used for acquiring environmental information around a vehicle, the camera module, the millimeter radar wave module and the laser radar module are mutually redundant, the navigation and positioning module and the navigation redundancy positioning module are used for outputting position, route, road condition and weather information of the vehicle, and the navigation and positioning module and the navigation redundancy positioning module are mutually redundant.
2. An automatic driving safety position parking method using the automatic driving safety position parking system according to claim 1, comprising the steps of:
step 1) judging whether the automatic driving safety position parking system is in a normal working state or not and whether an automatic driving function of a vehicle is started or not, if so, executing the step 2), and if not, executing the step 7);
step 2) whether a condition of entering a safe position for parking is met, if so, executing step 4), and if not, executing step 3);
step 3) returning to execute the step 2);
step 4), the sensing and positioning unit judges the current position of the vehicle and confirms a safe parking position closest to the current position of the vehicle;
step 5), the automatic driving control unit plans a vehicle driving path according to the current position of the vehicle and the nearest safe parking position;
step 6), the automatic driving control unit controls the vehicle to run to a safe parking position according to the planned path and then park;
and 7) exiting the automatic driving function and ending.
3. The automated driving safety position parking method according to claim 2, further comprising a driver monitoring unit for determining a driver driving state according to driver expression and behavior;
in step 2), the condition for entering the safe position for parking includes: when a driver is in a driving position, the driver monitoring unit judges the driving state of the driver according to the expression and the behavior of the driver, if the driving state of the driver is a fatigue driving state, the driver is prompted to keep attention and take over the vehicle through instrument display and voice, if the duration time of the fatigue driving state of the driver reaches the set time, the vehicle is not taken over, and the automatic driving safety position parking system has no other faults, the condition of entering a safety position parking is met at the moment.
4. The automated driving safety position parking method according to claim 2, wherein the condition for entering the safety position parking in step 2) further comprises: the camera module among the sensing positioning unit millimeter radar wave module laser radar module navigation positioning module with navigation redundancy positioning module monitors self fault state, if camera module millimeter radar wave module with any one appears sheltering from or the trouble leads to the unable normal use of autopilot function, then at first carries out the vehicle takeover through instrument display and voice prompt driver, if the driver does not take over the vehicle or there is the dangerous condition in the place ahead vehicle traveling in the settlement time, and autopilot safe position parking system does not have other troubles, then satisfies the condition that gets into safe position and parks this moment.
5. The automated driving safety position parking method according to claim 2, wherein the condition of entering the safety position parking in step 2) further comprises: if the single-point failure exists in the automatic driving controller or the automatic driving redundant controller, firstly, a driver is prompted to take over the vehicle through instrument display and voice, and if the driver does not take over the vehicle in the set time and the automatic driving safe position parking system has no other faults, the condition of entering the safe position parking is met at the moment.
6. The automated driving safety position parking method according to claim 2, wherein the condition for entering the safety position parking in step 2) further comprises: when one or only one of the power controller and the power redundancy controller fails, firstly, a driver is prompted through instrument display and voice to take over the vehicle, and if the driver does not take over the vehicle at set time and the automatic driving safety position parking system has no other failure, the condition of entering a safety position to park is met at the moment.
7. The automated driving safety position parking method according to claim 2, wherein the condition for entering the safety position parking in step 2) further comprises: when one or only one of the chassis controller and the chassis redundant controller fails to control the brake of the vehicle, firstly, the driver is prompted to take over the vehicle through instrument display and voice, and if the driver does not take over the vehicle in the set time and the automatic driving safe position parking system has no other failures, the condition of entering the safe position parking is met at the moment.
8. The automated driving safety position parking system and method according to claim 2, wherein the condition of entering the safety position parking in step 2) further comprises: when one or only one of the chassis controller and the chassis redundant controller fails to control the steering of the vehicle, firstly, a driver is prompted to take over the vehicle through instrument display and voice, and if the driver does not take over the vehicle in a set time and the automatic driving safe position parking system has no other failures, the condition of entering a safe position parking is met.
9. The automatic driving safety position parking system and method according to claim 2, wherein in step 4), the navigation positioning module or the navigation redundancy positioning module judges the current position of the vehicle based on the navigation information, and if the current position of the vehicle is a sharp turn, a falling stone, a large ramp, a road condition with fast speed and no emergency lane, the navigation positioning module or the navigation redundancy positioning module confirms a safety parking position closest to the current position of the vehicle based on the map information.
10. The automatic driving safety position parking system and method according to claim 2, wherein in step 5), the automatic driving control unit performs sensing fusion on the road condition around the vehicle based on the environmental information around the vehicle obtained by the camera module, the millimeter radar wave module and the laser radar module, and performs planning of the driving path of the vehicle based on the safety parking position and the sensing fusion result.
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| CN202210736360.2A CN115092123A (en) | 2022-06-27 | 2022-06-27 | Automatic driving safety position parking system and method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115798080A (en) * | 2023-02-02 | 2023-03-14 | 江苏天一航空工业股份有限公司 | Method for testing cooperative exit mechanism of civil aviation airport vehicle and road |
| CN116039620A (en) * | 2022-12-05 | 2023-05-02 | 北京斯年智驾科技有限公司 | Safe redundant processing system based on automatic driving perception |
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2022
- 2022-06-27 CN CN202210736360.2A patent/CN115092123A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116039620A (en) * | 2022-12-05 | 2023-05-02 | 北京斯年智驾科技有限公司 | Safe redundant processing system based on automatic driving perception |
| CN116039620B (en) * | 2022-12-05 | 2024-04-19 | 北京斯年智驾科技有限公司 | Safe redundant processing system based on automatic driving perception |
| CN115798080A (en) * | 2023-02-02 | 2023-03-14 | 江苏天一航空工业股份有限公司 | Method for testing cooperative exit mechanism of civil aviation airport vehicle and road |
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