CN115465284A

CN115465284A - Automatic driving control device, system, method, vehicle and storage medium

Info

Publication number: CN115465284A
Application number: CN202210966155.5A
Authority: CN
Inventors: 周宏伟; 何文; 花町; 庞迎春; 张琳娜
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2022-08-12
Filing date: 2022-08-12
Publication date: 2022-12-13

Abstract

The application discloses autopilot control device, system, method, vehicle and medium, wherein autopilot control device includes: the system comprises a first driving module, a second driving module and a visual control module, wherein the first driving module and the second driving module mutually monitor the working states of each other and output a first safety command or a transverse and longitudinal control command to a gateway according to the driving module in the failure state when the working state is in the failure state; the vision control module can output a vehicle taking-over instruction to the gateway when the first driving module and the second driving module are both in a failure state; the vision control module can also acquire environmental parameters and send the environmental parameters to the first driving module, and generates a transverse and longitudinal control instruction through the first driving module and the second driving module so as to send the transverse and longitudinal control instruction to the gateway, so that the motion state of the vehicle is controlled. The present application can realize the design of the automatic driving control device with low cost.

Description

Automatic driving control device, system, method, vehicle and storage medium

Technical Field

The present disclosure relates to the field of automatic driving technologies, and in particular, to an automatic driving control apparatus, system, method, vehicle, and storage medium.

Background

In the related art, a fully symmetric redundant design is often adopted for the design of the safety control system for automatic driving, however, the system cost is high. How to reduce the cost of an automatic driving control system while ensuring the realization of safety control under abnormal conditions in the automatic driving process of a vehicle becomes a problem to be solved urgently.

Disclosure of Invention

Provided are an automatic driving control device, system, method, vehicle, and storage medium.

The application provides an automatic driving control device, which comprises a first driving module, a second driving module and a visual monitoring module, wherein the first driving module is used for monitoring the working state of the second driving module and outputting a first safety instruction to a gateway under the condition that the working state of the second driving module is in a failure state; the second driving module is also used for acquiring environmental parameters and outputting an environmental judgment result to the second driving module according to the environmental parameters; the second driving module is used for monitoring the working state of the first driving module and generating a second safety instruction under the condition that the working state of the first driving module is in a failure state; the second driving module is further used for outputting a transverse and longitudinal control instruction to the gateway according to the environment judgment result and/or the second safety instruction; the vision monitoring module is used for monitoring the working states of the first driving control module and the second driving control module and outputting a vehicle taking-over instruction to the gateway under the condition that the first driving control module and the second driving control module are both in a failure state; the visual monitoring module is further configured to output the environmental parameter to the first driving control module and/or the second driving control module.

As such, the autopilot control apparatus provided herein includes a vision monitoring module, a first driving module, and a second driving module. The vision monitoring module is used for acquiring environmental parameters, such as conventional parameters of a workshop distance, an environmental state and the like, and outputting the environmental parameters to at least one of the first driving module and the second driving module. The first driving module can analyze and arrange the acquired environmental parameters to obtain a control state which is required to be executed by the vehicle under the current environment, and generates an environmental judgment result according to the vacant state so as to output the environmental judgment result to the second driving module. The second driving module can convert the acquired environment judgment result into a transverse and longitudinal control instruction for controlling the automatic driving state of the vehicle, and outputs the transverse and longitudinal control instruction to the gateway so as to realize the control of the motion state of the vehicle through the gateway. Meanwhile, the visual monitoring module can also detect the working states of the first driving module and the second driving module, when the first driving module and the second driving module are in failure states at the same time, the automatic driving control device can judge that the first driving module and the second driving module lose control capability of the vehicle at the same time, and form a vehicle take-over instruction according to the visual monitoring module, so that the gateway takes over control of the vehicle through the first safety instruction, and emergency avoidance is achieved. When the working states of the first driving module and the second driving module are different and are in a failure state, the first driving module and the second driving module can inquire the working states of each other through mutual monitoring, and when the first driving module detects that the working state of the second driving module is in the failure state, the first driving module can output a first safety instruction to the gateway. The first safety command comprises environmental parameters near the current vehicle, so that the gateway can acquire the current environment state near the vehicle according to the first safety command and perform corresponding control to enable the vehicle to be in a safe state or avoid danger emergently. Similarly, when the second driving module detects that the working state of the first driving module is in a failure state, the second driving module can generate a second safety command and generate a transverse and longitudinal control command according to the second safety command so as to output the transverse and longitudinal control command to the gateway, and then the gateway can realize the safety control of the vehicle according to the transverse and longitudinal control command. The application provides an automatic driving control device drives the control of the operating condition of module through the vision monitoring module to first drive module and second, can drive the quick order gateway and take over vehicle control under the circumstances that the module became invalid simultaneously at first drive module and second to reduce the safety risk in the at utmost. Through mutual monitoring between first driving module and the second driving module, the automatic driving control device provided by the application can realize redundant design on common hardware architecture, for example, the second driving module is used for processing an environment judgment result output by the first driving module and/or a second safety instruction generated by the second driving module so as to generate a horizontal and vertical control instruction, so that the situation that two symmetrical processing units are needed to respectively process the environment judgment result and the second safety instruction in the traditional redundant design so as to obtain the horizontal and vertical control instruction is avoided, the requirement on hardware is effectively reduced, and the cost is reduced.

In some embodiments, the first driving module comprises:

the sensing fusion unit is used for acquiring the environmental parameters, performing data identification on the environmental parameters, and acquiring and outputting to-be-processed data;

and the planning decision unit is in communication connection with the sensing fusion unit and is used for acquiring the data to be processed to perform control planning, obtaining the environment judgment result and outputting the environment judgment result to the second driving module.

In some embodiments, the first driving module further comprises:

the first monitoring unit is used for monitoring the working state of the second driving module and outputting a first abnormal signal under the condition that the working state of the second driving module is in a failure state;

and the first safety island is used for acquiring and processing the first abnormal signal to obtain the first safety instruction and outputting the first safety instruction to the gateway.

In some embodiments, the first monitoring unit is further configured to determine a data state of the input environmental parameter of the visual monitoring module, and output a sensor fault signal to the first security island when the data state is invalid, so that the first security island outputs a landscape orientation control command to the gateway.

In some embodiments, the second driving module is configured to obtain an environmental parameter; the first monitoring unit is in communication connection with the second driving module, so that the first monitoring unit can acquire the environmental parameters acquired by the second driving module, and compares the environmental parameters acquired by the second driving module with the environmental parameters acquired by the first monitoring unit, so as to judge the data state of the environmental parameters acquired by the first monitoring unit.

In some embodiments, the second driving module comprises:

the second monitoring unit is used for monitoring the working state of the first driving module and outputting a second abnormal signal under the condition that the working state of the first driving module is in a failure state; the second monitoring unit is also used for acquiring environmental parameters;

the second safety island is used for acquiring and processing the second abnormal signal to obtain a second safety instruction and outputting the second safety instruction to the transverse and longitudinal control unit;

and the transverse and longitudinal control unit is used for acquiring the environment judgment result and/or the second safety instruction, performing data processing on the environment judgment result and/or the second safety instruction to obtain a transverse and longitudinal control instruction, and outputting the transverse and longitudinal control instruction to the gateway.

In some embodiments, the second monitoring unit is in communication connection with the first monitoring unit, so that the second monitoring unit can obtain the environmental parameters obtained by the first monitoring unit, and compare the environmental parameters obtained by the first monitoring unit with the environmental parameters obtained by the second monitoring unit, so as to determine the data state of the environmental parameters obtained by the second monitoring unit.

The present application further provides an automatic driving control system, including:

the above-described automatic driving control device;

the gateway is used for acquiring a vehicle taking-over command and/or a first safety command and/or a transverse and longitudinal control command output by the automatic driving control device, and outputting a vehicle braking command according to the vehicle taking-over command and/or the first safety command and/or the transverse and longitudinal control command;

the vehicle control device is used for acquiring the vehicle braking instruction and controlling the vehicle to enter a safe state according to the vehicle braking instruction; the vehicle control device is also used for judging the working state of the gateway and controlling the vehicle to safely stop according to a preset emergency braking instruction under the condition that the working state of the gateway is in a failure state.

Therefore, the automatic driving control system provided by the application has the following beneficial effects: the automatic driving control system provided by the application comprises an automatic driving control device, a gateway and a vehicle control device. The automatic driving control device can acquire environmental parameters and output a vehicle taking-over command, a first safety command and a transverse and longitudinal control command to the gateway according to the working states of a first driving module, a second driving module and a visual monitoring module in the automatic driving control device; the gateway can process any one of the acquired vehicle taking-over command, the first safety command and the transverse and longitudinal control command to generate a vehicle braking command for controlling the motion state of the vehicle; the vehicle control device can correspondingly control the vehicle according to the vehicle braking command so as to enable the vehicle to enter a safe state under the abnormal condition; the vehicle control device can also monitor the working state of the gateway, and when the working state of the gateway is judged to be in a failure state, the automatic driving control system can control the vehicle to safely stop according to a preset emergency braking instruction by the vehicle control device. Through the automatic driving control system, the safety control of the vehicle under the abnormal condition can be guaranteed, meanwhile, the requirements of the existing vehicle control system on basic components are effectively reduced, and further, the cost of the automatic driving control system is effectively reduced.

The application also provides an automatic driving control method, which comprises the following steps:

the data state of the acquired environmental parameters is verified through the first driving module and the second driving module;

when the data state is a normal state, the working states of the first driving module and the second driving module are obtained through mutual monitoring of the first driving module and the second driving module;

when the working state of the first driving module is a failure state, generating a second safety instruction through the second driving module, and generating a transverse and longitudinal control instruction according to the second safety instruction so as to output the transverse and longitudinal control instruction to a gateway;

when the working state of the second driving module is a failure state, generating a first safety instruction through the first driving module, and outputting the first safety instruction to the gateway;

when the working states of the first driving module and the second driving module are not in failure states, acquiring environmental parameters through the first driving module to generate an environmental judgment result, and outputting the environmental judgment result to the second driving module; and processing the environment judgment result through a second driving module to obtain a transverse and longitudinal control instruction, and outputting the transverse and longitudinal control instruction to the gateway.

In certain embodiments, the method further comprises:

the working states of the first driving module and the second driving module are detected through a visual monitoring module, and when the working states of the first driving module and the second driving module are both failure states, a vehicle taking-over instruction is output to the gateway.

The present application further provides a vehicle, comprising: the automatic driving control system comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein the processor executes the program to realize the automatic driving control method.

The present application also provides a computer-readable storage medium having stored thereon a computer program, which is executed by a processor, to implement the above-described automatic driving control method.

Additional aspects and advantages of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description, taken in conjunction with the accompanying drawings, wherein:

FIG. 1 is a schematic diagram of a structural framework of an automatic steering control device according to the present application;

FIG. 2 is a schematic diagram of a structural framework of the automatic steering control device of the present application;

FIG. 3 is a schematic diagram of a structural framework of a vision monitoring module of the automatic driving control device of the present application;

FIG. 4 is a schematic structural framework diagram of the automatic driving control system of the present application;

FIG. 5 is a schematic flow chart of an automatic driving control method according to the present application;

FIG. 6 is a schematic structural frame of the subject vehicle;

description of reference numerals: the system comprises an automatic driving control device 10, a first driving module 11, a second driving module 12, a visual monitoring module 13, a sensing fusion unit 111, a planning decision unit 112, a first monitoring unit 113, a first safety island 114, a second monitoring unit 121, a second safety island 122, a transverse and longitudinal control unit 123, a gateway 20, a vehicle control device 30, a memory 101 and a processor 102.

Detailed Description

The present application is described in detail below, and examples of the present application are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The following description, with reference to the drawings, is exemplary in nature and is intended to be illustrative of the present application and is not to be construed as limiting the present application.

The following describes the automatic driving control apparatus 10, system, method, vehicle, and storage medium of the present application with reference to the drawings. Aiming at the problem that the design cost of an automatic driving control system in the related technology is high, the application provides an automatic driving control device 10, compared with the prior art, the design of the automatic driving control system adopts a redundant system formed by two sets of completely symmetrical control devices to realize the safety control of an automatic driving vehicle in the operation process, the device realizes the redundant design of the automatic driving control device 10 based on the existing basic components in the existing automatic driving system of the vehicle, and based on the design of the application, the interior of the device 10 can be mutually monitored, so that the additional requirements of the automatic driving control system formed by the two sets of symmetrical control devices on the basic components are avoided, and the cost is effectively reduced.

Specifically, fig. 1 is a schematic structural diagram of an automatic driving control device 10 provided in the present application.

As shown in fig. 1, the automatic driving control apparatus 10 includes: the system comprises a first driving module 11, a second driving module 12 and a visual monitoring module 13. The first driving module 11 is configured to monitor a working state of the second driving module 12, and output a first safety instruction to the gateway when the working state of the second driving module 12 is in a failure state. The first driving module 11 is further configured to obtain an environmental parameter, and output an environmental determination result to the second driving module 12 according to the environmental parameter.

The second driving module 12 is configured to monitor a working state of the first driving module 11, and generate a second safety command when the working state of the first driving module 11 is in a failure state. The second driving module 12 is further configured to output a horizontal and vertical control command to the gateway according to the environment determination result and/or the second safety command.

The vision monitoring module 13 is configured to monitor working states of the first driving control module 11 and the second driving control module 12, and output a vehicle take-over command to the gateway when both the first driving control module 11 and the second driving control module 12 are in a failure state. The vision monitoring module 13 is also configured to output the environmental parameter to the first driving control module 11 and/or the second driving control module 12.

The autopilot control apparatus 10 provided in the present application includes a vision monitoring module 13, a first driving module 11, and a second driving module 12. The vision monitoring module 13 is configured to obtain environmental parameters, such as a distance between vehicles and an environmental status, and output the environmental parameters to at least one of the first driving module 11 and the second driving module 12. The first driving module 11 may analyze and collate the acquired environmental parameters to obtain a control state that should be executed for the vehicle in the current environment, and generate an environmental determination result according to the vacant state to output the environmental determination result to the second driving module 12. The second driving module 12 may convert the obtained environment determination result into a horizontal and vertical control instruction for controlling the automatic driving state of the vehicle, and output the horizontal and vertical control instruction to the gateway, so as to control the motion state of the vehicle through the gateway. Meanwhile, the visual monitoring module 13 may also detect the working states of the first driving module 11 and the second driving module 12, and when the first driving module 11 and the second driving module 12 are in a failure state at the same time, the automatic driving control device 10 may determine that the first driving module 11 and the second driving module 12 lose the control capability of the vehicle at the same time, and form a vehicle take-over instruction according to the visual monitoring module 13, so that the gateway takes over the control of the vehicle through the first safety instruction, so as to avoid danger urgently.

When the working states of the first driving module 11 and the second driving module 12 are different and are in a failure state, the first driving module 11 and the second driving module 12 may query the working states of each other by monitoring each other, and when the first driving module 11 detects that the working state of the second driving module 12 is in the failure state, the first driving module 11 may output a first safety instruction to the gateway, where the first safety instruction includes an environmental parameter near the current vehicle, so that the gateway may obtain the environmental state near the current vehicle according to the first safety instruction, and perform corresponding control, so that the vehicle is in a safety state, or avoid danger urgently. Similarly, when the second driving module 12 detects that the working state of the first driving module 11 is in the failure state, the second driving module 12 may generate a second safety command, and generate a horizontal and vertical control command according to the second safety command, so as to output the horizontal and vertical control command to the gateway, thereby enabling the gateway to implement safety control on the vehicle according to the horizontal and vertical control command.

The automatic driving control device 10 provided by the application monitors the working states of the first driving module 11 and the second driving module 12 through the visual monitoring module 13, and can quickly enable the gateway to take over vehicle control under the condition that the first driving module 11 and the second driving module 12 fail simultaneously, so that the safety risk is reduced to the maximum extent; through mutual monitoring between the first driving module 11 and the second driving module 12, the automatic driving control device 10 provided by the present application can implement a redundant design on a common hardware architecture, for example, the second driving module 12 processes an environment judgment result output by the first driving module 11 and/or a second safety instruction generated by the second driving module 12 to generate a horizontal and vertical control instruction, so as to avoid that two symmetrical processing units are required to process the environment judgment result and the second safety instruction respectively to obtain the horizontal and vertical control instruction in the conventional redundant design, thereby effectively reducing the requirement for hardware and reducing the cost.

Specifically, in the case where the operating state of the second driving module 12 is in the failure state, the first safety command output by the first driving module 11 may also be a kind of transverse and longitudinal control command. The working state of the first driving module 11 is a failure state, which may be that the first driving module 11 is in a dead halt state, and the communication state of the first driving module 11 with other modules or devices is abnormal; the specific example that the working state of the second driving module 12 is in the failure state is similar to that of the first driving module 11, and is not described herein again.

After the gateway acquires the first safety command or the transverse and longitudinal control command, the safety state of the vehicle can be evaluated according to the acquired command, and corresponding safety control is performed. Such as: the method comprises the following operations of function degradation, safe parking of the vehicle, safe parking close to the side, taking over alarm, safe parking of a safety area and the like.

Referring to fig. 3, the vision monitoring module 13 includes a first sensor group, and the first sensor group includes a front camera and a front radar. The visual monitoring module 13 can monitor the working states of the first driving module 11 and the second driving module 12 through the front camera, and when the working states of the first driving module 11 and the second driving module 12 are monitored to be in a failure state, the visual monitoring module 13 can execute a preset self-cruise function through a front radar and a first grouping sensor so as to send a vehicle take-over command to the gateway.

Referring to fig. 2, in some embodiments, the present application provides an autopilot control apparatus 10 further comprising: a sensing fusion unit 111 and a planning decision unit 112. The sensing fusion unit 111 is configured to acquire an environmental parameter, perform data identification on the environmental parameter, and obtain and output data to be processed. The planning decision unit 112 is in communication connection with the sensing fusion unit 111, and the planning decision unit 112 is configured to obtain data to be processed for control planning, obtain an environment determination result, and output the environment determination result to the second driving module 12.

The automatic driving device 10 provided by the present application mainly obtains the environmental parameters through the sensing fusion unit 111, and outputs the data to be processed according to the cognition and recognition of the sensing fusion unit 111 on the environmental parameters, so as to plan and make a decision on the data to be processed through the planning decision unit 112, and further generate an environmental judgment result containing path planning information, so that the second driving module 12 obtains the information around the vehicle and the driving path planned by the vehicle in real time during the automatic driving, so as to realize the automatic driving function of the vehicle.

Referring to fig. 2, in some embodiments, the first driving module 11 further includes: a first monitoring unit 113 and a first security island 114. The first monitoring unit 113 is configured to monitor an operating state of the second driving module 12, and output a first abnormal signal when the operating state of the second driving module 12 is in a failure state; the first security island 114 is configured to obtain and process the first exception signal, obtain a first security instruction, and output the first security instruction to the gateway.

The automatic driving control device 10 provided by the present application can monitor the operating state of the second driving module 12 through the first monitoring unit 113. When the second driving module 12 is in the disabled state, the first monitoring unit 113 may generate a first abnormal signal, and activate the first safety island 114 according to the first abnormal signal, so that the first safety island 114 outputs a first safety command according to the first abnormal signal, and causes the gateway to control the vehicle to perform corresponding control according to the first safety command.

Specifically, the first safety island 114 may be a software module, and when the first monitoring unit 113 monitors that the operating state of the second driving module 12 is in the failure state, the first safety island 114 may be called through a first abnormal signal and internal safety communication, so that the first safety island 114 outputs a first safety command to the gateway. The first safety command may be a horizontal/vertical control command in some specific embodiments.

In some embodiments, the first monitoring unit 113 is further configured to determine a data status of the input environmental parameter of the visual monitoring module 13, and output a sensor fault signal to the first security island 114 if the data status is invalid, so that the first security island 114 outputs a horizontal and vertical control command to the gateway.

The automatic driving control device 10 provided in the present application may also compare the environmental parameters obtained by the first monitoring unit 113 and the second driving module 12 through the communication process generated by mutual monitoring between the two modules, so as to monitor whether the working state of the visual monitoring module 13 is normal. Specifically, by comparing the acquired environmental parameters with the environmental parameters acquired by the second driving module 12 through the first monitoring unit 113, the first monitoring unit 113 can evaluate whether the visual monitoring module 13 is faulty or abnormal, and whether the communication channel is normal, so as to determine whether the data state of the acquired environmental parameters is reliable, and further ensure the safety control of the automatic driving control device 10 provided by the present application in the automatic driving process.

Referring to fig. 3, the vision monitoring module 13 may include a first group sensor and a second group sensor. The first grouping sensor can comprise a front camera, a front radar and an angle radar; the second group of sensors may include a panoramic camera, an ultrasonic radar, a DMS (Driver Monitor Status) camera, a high-precision map, and a lidar. The first monitoring unit 113 in the first driving module 11 may verify the environmental parameters transmitted by the first group of sensors and the second group of sensors, and perform horizontal and vertical control according to data output by a group of sensors without faults in the two groups of sensors as the environmental parameters; similarly, the second monitoring unit 121 may operate similarly hereinafter.

The first grouped sensor and the second grouped sensor of the vision monitoring module 13 may output raw data, such as distance parameters collected by an ultrasonic radar, a laser radar, a front radar, and the like, to the first driving module 11 through communication connection of the ethernet; the first grouping sensor and the second grouping sensor CAN also transmit control commands with the first driving module 11 and the second driving module 12 through the CAN bus; the video stream data may also be output to the first driving module 11 through an LVDS (low voltage differential signaling) signal.

Referring to fig. 2, in some embodiments, the second driving module 12 includes: a second monitoring unit 121, a second security island 122, and a horizontal and vertical control unit 123. The second monitoring unit 121 is configured to monitor the operating state of the first driving module 11, and output a second abnormal signal when the operating state of the first driving module 11 is in a failure state; the second monitoring unit 121 is further configured to obtain an environmental parameter; the second security island 122 is configured to acquire and process the second abnormal signal to obtain a second security instruction, and output the second security instruction to the horizontal and vertical control unit 123; the transverse and longitudinal control unit 123 is configured to obtain the environment determination result and/or the second safety instruction, perform data processing on the environment determination result and/or the second safety instruction, obtain a transverse and longitudinal control instruction, and output the transverse and longitudinal control instruction to the gateway.

The automatic driving control device 10 in the present application may monitor the operating state of the first driving module 11 through the second monitoring unit 121 of the second driving module 12, and when the state of the first driving module 11 is in the failure state, output a second abnormal signal to the second security island 122, so that the second security island 122 generates a second security command according to the second abnormal signal, so that the transverse and longitudinal control unit 123 generates a transverse and longitudinal control command according to the second security command, and outputs the transverse and longitudinal control command to the gateway, so that the gateway controls the moving state of the vehicle according to the transverse and longitudinal control command. The second monitoring unit 121 of the present application can also obtain environmental parameters to monitor the working state of the vision monitoring module 13.

Specifically, the second security island 122 may be a software module similar to the first security island 114, and the second monitoring unit 121 calls the second security island 122 through the second exception signal, so that the second security island 122 outputs the second security instruction to the horizontal and vertical control unit 123.

In some embodiments, the second monitoring unit 121 is in communication connection with the first monitoring unit 113, so that the second monitoring unit 121 can acquire the environmental parameters acquired by the first monitoring unit 113, and compare the environmental parameters acquired by the first monitoring unit 113 with the environmental parameters acquired by the second monitoring unit 121, so as to determine the data state of the environmental parameters acquired by the second monitoring unit 121.

The automatic driving control device 10 provided in the present application may also compare the obtained environmental parameters through the communication process generated by the mutual monitoring between the first monitoring unit 113 and the second driving module 12, so as to monitor whether the working state of the visual monitoring module 13 is normal. Specifically, the acquired environmental parameters are compared with the environmental parameters acquired by the first driving module 11 through the second monitoring unit 121, and the second monitoring unit 121 can evaluate whether the visual monitoring module 13 is faulty or abnormal or not and whether the communication channel is normal or not, so as to determine whether the data state of the acquired environmental parameters is reliable or not, and further ensure the safety control of the automatic driving control device 10 provided by the application in the automatic driving process.

Referring to fig. 3, in particular, the vision monitoring module 13 may include a first packet sensor and a second packet sensor. Wherein, can include preceding camera, preceding radar, angle radar in the first packet of sensor. The second sensor group may include a panoramic camera, an ultrasonic radar, a DMS (Driver Monitor Status) camera, a high-precision map, and a laser radar. The second monitoring unit 121 in the second driving module 12 may verify the environmental parameters transmitted by the first group of sensors and the second group of sensors, and perform the longitudinal and transverse control according to the data output by the non-faulty group of sensors in the two groups of sensors as the environmental parameters.

The first driving module 11 of the automatic driving control device 10 of the present application may be an SOC, the second driving module 12 may be an MCU, and the visual monitoring module 13 may be a first grouping sensor and a second grouping sensor.

As shown in fig. 4, the present application provides an automatic driving control system including: an automatic driving control device 10, a gateway 20, and a vehicle control device 30.

The gateway 20 is configured to obtain a vehicle take-over command, a first safety command and/or a transverse and longitudinal control command output by the automatic driving control device 10, and output a vehicle braking command according to the vehicle take-over command, the first safety command and/or the transverse and longitudinal control command.

The vehicle control device 30 is used for acquiring a vehicle braking instruction and controlling the vehicle to enter a safe state according to the vehicle braking instruction; the vehicle control device is also used for judging the working state of the gateway and controlling the vehicle to safely stop according to a preset emergency braking instruction under the condition that the working state of the gateway is in a failure state.

The present application provides an automatic driving control system including an automatic driving control device 10, a gateway 20, and a vehicle control device 30. The automatic driving control device 10 can acquire environmental parameters, and output a vehicle taking-over command, a first safety command and a transverse and longitudinal control command to the gateway 10 according to the working states of a first driving module 11, a second driving module 12 and a visual monitoring module 13 in the automatic driving control device 10; the gateway 10 may perform processing according to at least one of the acquired vehicle take-over command, the first safety command, and the transverse and longitudinal control command to generate a vehicle braking command for controlling a vehicle motion state; the vehicle control device 30 may correspondingly control the vehicle according to the vehicle braking command, so that the vehicle enters a safe state under the abnormal condition; the vehicle control device 30 may also monitor the operating state of the gateway 10, and when it is determined that the operating state of the gateway 10 is in a failure state, the automatic driving control system provided in the present application may control the vehicle to safely stop according to a preset emergency braking instruction by the vehicle control device 30. Through the automatic driving control system, the safety control of the vehicle under the abnormal condition can be ensured, the requirements of the existing vehicle control system on basic components can be effectively reduced, and the cost of the automatic driving control system is further effectively reduced.

As shown in fig. 4, specifically, the vehicle control device 30 includes a vehicle body stabilizing unit, a parking unit, a transmission control unit, a power control unit, a steering control unit, and a human-machine interaction control unit. When the vehicle control device 30 detects that the working state of the gateway 10 is in a failure state, such as forwarding interruption, drop or control bus failure of the gateway 10, the automatic driving control system may call a local safety mechanism to obtain a preset emergency braking instruction by taking a control instruction which cannot be received by the vehicle control device 30 and is output by the gateway 10 as a standard, control the power control unit to interrupt power output, control the vehicle body stabilizing unit to actively brake and retrieve according to real-time data in the vehicle driving process, such as vehicle speed, and the like, control the steering control unit to slowly adjust an angle so as to enable the vehicle to return to be straight, and control the human-computer interaction control unit to actively send a take-over alarm prompt so that a user takes over the vehicle control to realize the emergency control of the vehicle.

After the local safety mechanism is executed, the vehicle still cannot enter a safety state as expected, and the vehicle control device 30 may receive an emergency control instruction through the parking unit, so that the vehicle enters a slow deceleration state, and when the vehicle speed is reduced to a preset threshold, the vehicle is decelerated fully to realize the sudden stop of the vehicle, and the power control unit is controlled to output the terminal power, and the steering control unit is controlled to continue to adjust the driving angle of the vehicle.

The safe state of the vehicle may include operations to degrade the function of the vehicle, take over an alarm, safely park the vehicle, safely park by side, park in a safe area, and the like.

In a third aspect, as shown in fig. 5, an embodiment of the present application provides an automatic driving control method, including:

s1, verifying the data state of the acquired environmental parameters through a first driving module 11 and a second driving module 12;

s2, when the data state is a normal state, the working states of the first driving module 11 and the second driving module 12 are obtained through mutual monitoring of the first driving module 11 and the second driving module 12;

s21, when the working state of the first driving module 11 is a failure state, generating a second safety instruction through the second driving module 12, and generating a transverse and longitudinal control instruction according to the second safety instruction so as to output the transverse and longitudinal control instruction to the gateway 10;

s22, when the working state of the second driving module 12 is a failure state, generating a first safety instruction through the first driving module 11, and outputting the first safety instruction to the gateway 10;

s23, when the working states of the first driving module 11 and the second driving module 12 are not in the failure state, the first driving module 11 obtains the environmental parameters to generate an environmental judgment result, and the environmental judgment result is output to the second driving module 12; the environment determination result is processed by the second driving module 12 to obtain a horizontal and vertical control instruction, and the horizontal and vertical control instruction is output to the gateway 10.

The automatic driving control method provided by the invention can carry out data verification through the environmental parameters acquired by the first driving module 11 and the second driving module 12, analyze and judge the working state of the vision monitoring module 13, and when the data state is a normal state, the method can judge that the vision monitoring module 13 is in the normal working state, and carry out mutual monitoring through the first driving module 11 and the second driving module 12 so as to realize the safety monitoring of the automatic driving control device 10 and acquire the working states of the first driving module 11 and the second driving module 12; when the second driving module 12 monitors that the working state of the first driving module 11 is the failure state, the second driving module 12 may generate a second safety instruction, and convert the second safety instruction into a transverse and longitudinal control instruction to output the transverse and longitudinal control instruction to the gateway 10, so that the gateway 10 controls the vehicle according to the transverse and longitudinal control instruction; or, when the first driving module 11 monitors that the working state of the second driving module 12 is the failure state, the first driving module 11 may generate a first safety instruction, and output the first safety instruction to the gateway 10, so that the gateway 10 controls the vehicle according to the first safety instruction; or, when the working states of the first driving module 11 and the second driving module 12 are not the failure states, the method may control the automatic driving control device 10 to obtain the environmental parameters through the first driving module 11 according to a preset control method, and analyze the environmental parameters to obtain the environmental determination result, so as to output the environmental determination result to the second driving module 12; through the second driving module 12, the method can perform data processing on the environment judgment result to obtain a horizontal and vertical control instruction, and output the horizontal and vertical control instruction to the gateway 10, so that the gateway 10 can control the vehicle.

In some specific embodiments, when the first driving module 11 and the second driving module 12 verify the data state of the environmental parameter and the obtained verification result represents that the data state is abnormal, such as a data error, an abnormal communication channel, and the like, the first grouped sensor and the second grouped sensor of the visual monitoring module 13 are subjected to data analysis to obtain one grouped sensor without the data error, so as to obtain accurate environmental data.

In some specific embodiments, the automatic driving control method provided by the present application further includes: the working states of the first driving module 11 and the second control module 12 are monitored through the visual monitoring module 13, and under the condition that the first driving module 11 and the second driving module 12 are both in a failure state, a vehicle taking-over command is output to the gateway 10.

By the method, the judgment result that the first driving module 11 and the second driving module 12 lose the control capability of the vehicle at the same time can be obtained when the first driving module 11 and the second driving module 12 are in the failure state at the same time, and the vehicle taking-over instruction is formed by the vision monitoring module 13 according to the judgment result, so that the gateway 10 takes over the control of the vehicle through the first safety instruction, the danger is avoided in an emergency, and the reliability of the automatic driving control method is improved.

In certain embodiments, the method further comprises:

and S3, detecting the working states of the first driving module 11 and the second driving module 12 through the visual monitoring module 13, and outputting a vehicle taking-over instruction to the gateway 10 when the working states of the first driving module 11 and the second driving module 12 are both failure states.

According to the automatic driving control method, the working states of the first driving module 11 and the second driving module 12 can be detected through the visual monitoring module 13, so that danger can be quickly avoided when a vehicle enters an emergency. Specifically, the method may send the vehicle take-over instruction to the gateway 10 when both the first driving module 11 and the second driving module 12 are in the failure state, so that the gateway 10 may control the vehicle control device 30 to perform emergency adjustment on the driving state of the vehicle according to the vehicle take-over instruction, so as to implement vehicle risk avoidance, and further improve the safety of the automatic driving method. In some specific embodiments, the method may determine the vehicle condition information through a front camera and a front radar of the visual monitoring module 13, and indirectly determine the working states of the first driving module 11 and the second driving module 12 by detecting whether the vehicle condition information is within a preset danger value range, so as to determine whether the first driving module 11 and the second driving module 12 are in failure, thereby improving the safety of the method.

In a fourth aspect, as shown in fig. 6, an embodiment of the present application provides a vehicle, including: a memory 101, a processor 102 and a computer program stored on the memory 101 and executable on the processor 102, the processor 102 executing the program to implement the automatic driving control method according to any one of the embodiments of the third aspect. The effects that can be achieved by the automatic driving control method provided by the present application are described in detail in the foregoing, and are not described herein again.

The memory 101, the processor 102 and the communication interface provided by the present application can be connected to each other through a bus according to the communication interface and can complete communication with each other. The bus may be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component interconnect) bus, an EISA (Extended Industry Standard Architecture) bus, or the like. The bus may be divided into an address bus, a data bus, a control bus, etc.

Optionally, in a specific implementation, if the memory 101, the processor 102 and the communication interface are integrated on a chip, the memory 101, the processor 102 and the communication interface may complete communication with each other through an internal interface.

The processor 102 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), or one or more Integrated circuits configured to implement embodiments of the present Application.

In a fifth aspect, embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, where the program is executed by a processor 102 to implement an automatic driving control method according to any one of the embodiments of the third aspect of the present application. The effects that can be achieved by the automatic driving control method provided by the present application are described in detail in the foregoing, and are not described herein again.

In the description herein, references to the description of the terms "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example" or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable acts for implementing specific logical functions or steps of the process, and the scope of the preferred embodiments of the present application includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

While the present application has been shown and described above, it is to be understood that the above-described embodiments are illustrative and not restrictive, and that various changes, modifications, substitutions and alterations may be made herein by those of ordinary skill in the art without departing from the scope of the present application.

Claims

1. An automatic driving control device, characterized in that the automatic driving control device comprises a first driving module, a second driving module and a visual monitoring module, wherein,

the first driving module is used for monitoring the working state of the second driving module and outputting a first safety command to the gateway under the condition that the working state of the second driving module is in a failure state; the second driving module is also used for acquiring environmental parameters and outputting an environmental judgment result to the second driving module according to the environmental parameters;

the second driving module is used for monitoring the working state of the first driving module and generating a second safety command under the condition that the working state of the first driving module is in a failure state; the second driving module is further used for outputting a transverse and longitudinal control instruction to the gateway according to the environment judgment result and/or the second safety instruction;

the vision monitoring module is used for monitoring the working states of the first driving control module and the second driving control module and outputting a vehicle taking-over command to the gateway under the condition that the first driving control module and the second driving control module are in a failure state; the visual monitoring module is further configured to output the environmental parameter to the first driving control module and/or the second driving control module.

2. The autopilot control apparatus of claim 1 wherein the first driving module includes:

3. The autopilot control apparatus of claim 1 wherein the first driving module further includes:

4. The autopilot control apparatus of claim 3 wherein the first monitoring unit is further configured to determine a data status of the input environmental parameter of the vision monitoring module, and in the event that the data status is invalid, output a sensor fault signal to the first security island to cause the first security island to output a landscape orientation control command to the gateway.

5. The autopilot control apparatus of claim 4 wherein the second driving module is configured to obtain environmental parameters; the first monitoring unit is in communication connection with the second driving module, so that the first monitoring unit can acquire the environmental parameters acquired by the second driving module, and compares the environmental parameters acquired by the second driving module with the environmental parameters acquired by the first monitoring unit, so as to judge the data state of the environmental parameters acquired by the first monitoring unit.

6. The autopilot control apparatus of claim 5 wherein the second driving module includes:

7. The autopilot control device of claim 6 wherein the second monitoring unit is in communication with the first monitoring unit to enable the second monitoring unit to obtain the environmental parameters obtained by the first monitoring unit and to compare the environmental parameters obtained by the first monitoring unit with the environmental parameters obtained by the second monitoring unit to determine the data status of the environmental parameters obtained by the second monitoring unit.

8. An automatic driving control system, characterized by comprising:

the automatic driving control apparatus of any one of claims 1 to 7;

the gateway is used for acquiring a vehicle taking-over command, a first safety command or a transverse and longitudinal control command output by the automatic driving control device and outputting a vehicle braking command according to the vehicle taking-over command, the first safety command or the transverse and longitudinal control command;

9. An automatic driving control method characterized by comprising:

10. The automatic driving control method according to claim 9, characterized in that the method further comprises:

11. A vehicle, characterized by comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the autopilot control method of claim 9 or 10.

12. A computer-readable storage medium, on which a computer program is stored, characterized in that the program is executed by a processor for implementing an autopilot control method according to claim 9 or 10.