CN117922609A - State machine control method, state machine, vehicle and equipment of automatic driving system - Google Patents
State machine control method, state machine, vehicle and equipment of automatic driving system Download PDFInfo
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Abstract
The application discloses a state machine control method, a state machine, a vehicle and equipment of an automatic driving system. A state machine control method of an autopilot system, comprising: before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready; if the self-checking is successful, jumping to a standby state to receive an operation instruction; and according to the operation instruction and the environment information, performing different state jumping and different automatic driving operation strategy scheduling, wherein the standby state can jump to the checking state and the exiting state, the checking state can jump to the standby state and the handshake state, the handshake state can jump to the operation state and the ending state, the operation state can jump to the handshake state and the ending state, and the ending state can jump to the operation state, the self-checking state and the exiting state. By adopting the method, the running safety, the running efficiency and the resource scheduling of the automatic driving system are improved, and the method has a pushing effect on the automatic driving vehicle.
Description
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a state machine control method, a state machine, a vehicle, and a device for an autopilot system.
Background
The top state scheduling module is a core module in the automatic driving system, and the quality of state scheduling directly influences the safety and the operation efficiency of the automatic driving system. The top state machine is the most upstream module in automatic driving, receives external input (such as instructions of a vehicle machine end, steering wheel key signals, vehicle self states and the like), abstracts and unifies the input of each mode, jumps through the top state machine and issues different tasks to each algorithm module. Most of the existing state machines used for automatic driving implement state jump after receiving the upstream and downstream information, for example, the interior of a planning module is divided into different stages (stages) according to different scenes, different planning tasks (tasks) are scheduled, the state machine is limited to the interior of the module, and the output of the module is generated after the execution is completed.
At present, an experimental vehicle is used for development, focuses on the performance of respective modules, mostly only involves data transmission among the modules, lacks mutual verification among the modules, and if a planning decision module needs to plan based on obstacle and vehicle information given by modules such as perception, map, positioning, prediction and the like, if certain information is missing, decision planning abnormality or failure is caused, a standby scheme is needed for decision planning to cope with abrupt information abnormality, and active exiting function and rechecking cannot be achieved, so that driving efficiency and safety are affected. In addition, the modules lack cooperation, and reasonable allocation of resources cannot be achieved under the condition of no unified scheduling. This also results in the need to fix some scenes to meet the range of operation of the automatic driving, and once the scenes or standards are beyond those specified by people, new scenes need to be developed again, so that the universality is poor, which is a problem to be solved in mass production vehicles and automatic driving vehicles with the level of L4 or more.
Disclosure of Invention
Based on the above, it is necessary to provide a state machine control method, a state machine, a vehicle and a device for an automatic driving system, which can improve the driving safety, the running efficiency and the resource scheduling of the automatic driving system and has a pushing effect on the automatic driving vehicle.
In a first aspect, a state machine control method of an autopilot system is provided, the state machine including an enter state, a self-check state, a standby state, an inspection state, a handshake state, an run state, a terminate state, and an exit state, the state machine control method comprising:
before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
If the self-checking is successful, jumping to a standby state to receive an operation instruction;
according to the operation instruction and the environment information, the jump of different states and the dispatch of different automatic driving operation strategies are carried out,
The standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
In some examples, after the jump to the standby state, according to the operation instruction and the environmental information, the jump of different states and the scheduling of different automatic driving operation strategies are performed, including:
Judging whether an operation instruction is received or not;
if yes, jumping to the checking state to check whether the requirement of automatic driving planning is met or not, and checking whether the vehicle meets the requirement of executing the operation instruction or not;
if the check is successful, the jump is to a handshake state.
In some examples, after jumping to the handshake state, comprising: if the handshake is successful, the operation state is jumped, otherwise, the termination state is jumped.
In some examples, after jumping to the operational state, comprising: and carrying out different algorithm scheduling of different modules in the automatic driving system according to different operation instructions.
In some examples, after jumping to the operational state, further comprising:
Monitoring whether the automatic driving system is abnormal;
If yes, jumping to the termination state;
after the vehicle is stopped or the driver takes over, the vehicle jumps to a self-checking state.
In some examples, when jumping to the standby state, the self-test state, or the termination state, further comprising:
Judging whether an automatic driving exit instruction is received or not;
if so, jumping to the exit state.
In a second aspect, a state machine for an autopilot system is provided, the state machine comprising an enter state, a self-test state, a standby state, an inspection state, a handshake state, an run state, a terminate state, and an exit state, wherein:
before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
If the self-checking is successful, jumping to a standby state to receive an operation instruction;
according to the operation instruction and the environment information, the jump of different states and the dispatch of different automatic driving operation strategies are carried out,
The standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
In a third aspect, there is provided a vehicle comprising: a state machine of an autopilot system according to the second aspect described above.
In a fourth aspect, a computer device is provided, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the state machine control method of the autopilot system of the first aspect and any one of the possible implementations of the first aspect when the program is executed by the processor.
In a fifth aspect, a computer readable storage medium is provided, on which a computer program is stored, which program, when being executed by a processor, implements the steps of the state machine control method of the autopilot system of the first aspect and any one of the possible implementations of the first aspect.
In a sixth aspect, a computer program product is provided, on which a computer program is stored which, when being executed by a processor, implements the steps of the state machine control method of the autopilot system of the first aspect and any one of the possible implementations of the first aspect.
By adopting the embodiment of the application, before the automatic driving system is started, the state machine jumps to the self-checking state after entering the state ready, if the self-checking is successful, the state machine jumps to the standby state to receive the operation instruction, and the jump of different states and the scheduling of different automatic driving operation strategies are carried out according to the operation instruction and the environment information, so that the resource scheduling, the operation efficiency and the driving safety in the automatic driving system are fully considered, and different sensors are started according to different operation instructions and abstract analysis aiming at the resource scheduling to acquire the concerned information, thereby avoiding a large number of redundant calculations. For the operation efficiency, the algorithm modules are still concentrated in the respective fields, the instructions of the listening state machines are managed in a unified manner and are matched with each other, and the situation that solving failure caused by abnormality of upstream and downstream transmission signal flows is blocked and can not jump out is avoided. Aiming at the driving safety, necessary inspection can be carried out before and during the whole automatic driving starting process, reasonable planning is given by the automatic driving to ensure safe stopping or taking over when abnormality occurs, and the situation that the automatic driving suddenly fails or directly exits due to faults on the road is avoided. Furthermore, the driving safety, the running efficiency and the resource scheduling of the automatic driving system are improved, and the automatic driving system has a pushing effect on an automatic driving vehicle.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the detailed description of non-limiting embodiments, made with reference to the accompanying drawings in which:
FIG. 1 is a flow chart of a method for controlling a state machine of an autopilot system according to an embodiment of the present application;
fig. 2 is a state transition schematic diagram of a state machine of an autopilot system according to an embodiment of the present application;
fig. 3 is a block diagram of a computer device according to an embodiment of the present application.
Detailed Description
The present application will be described in further detail with reference to examples and drawings. It is to be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to be limiting. It should be noted that, for convenience of description, only the portions related to the application are shown in the drawings.
It should be noted that, without conflict, the embodiments of the present application, i.e., features of the embodiments, may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
A state machine control method, system, apparatus, and medium of an automatic driving system according to an embodiment of the present application are described in detail below with reference to the accompanying drawings.
The state machine comprises an entering state, a self-checking state, a standby state, a checking state, a handshake state, an operating state, a terminating state and an exiting state.
Fig. 1 is a flowchart of a state machine control method of an autopilot system in accordance with one embodiment of the present application. As shown in fig. 1, a state machine control method of an autopilot system according to an embodiment of the present application includes the steps of:
S101: before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
S102: if the self-checking is successful, jumping to a standby state to receive an operation instruction;
S103: and according to the operation instruction and the environment information, performing different state jump and different automatic driving operation strategy scheduling, wherein the standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
In one embodiment of the present application, after the jump to the standby state, according to the operation instruction and the environmental information, the jump of different states and the dispatch of different autopilot operation strategies are performed, including: judging whether an operation instruction is received or not; if yes, jumping to the checking state to check whether the requirement of automatic driving planning is met or not, and checking whether the vehicle meets the requirement of executing the operation instruction or not; if the check is successful, the jump is to a handshake state.
After jumping to the handshake state, comprising: if the handshake is successful, the operation state is jumped, otherwise, the termination state is jumped.
After jumping to the operational state, comprising: and carrying out different algorithm scheduling of different modules in the automatic driving system according to different operation instructions.
After jumping to the operation state, the method further comprises: monitoring whether the automatic driving system is abnormal; if yes, jumping to the termination state; after the vehicle is stopped or the driver takes over, the vehicle jumps to a self-checking state.
When the jump is to the standby state, the self-checking state or the termination state, the method further comprises the following steps: judging whether an automatic driving exit instruction is received or not; if so, jumping to the exit state.
The state machine control method of the automatic driving system is used as the most upstream module to perform the necessary state check of the vehicle before starting the automatic driving; in the automatic driving operation, according to the operation instruction and environment of a driver, different algorithms of different modules are scheduled by jumping in different states; and when the module data is abnormal after the automatic driving is started, actively exiting the automatic driving and carrying out necessary inspection again to wait for the command to be activated again. The safety of the whole automatic driving system is ensured, and the driving efficiency is considered.
Specifically, as shown in fig. 2, the state machine is divided into 8 states to cope with different working conditions of the automatic driving vehicle and perform necessary inspection of each module, receive information including road environment information from perception, GPS longitude and latitude information of a map, chassis and body information of the vehicle, decision planning information and the like, abstract and unify the obtained information, jump through a top-level state machine, issue different tasks and uniformly schedule each module (the automatic driving common module comprises perception, positioning, map, planning, control, diagnosis and the like).
The OFF state (entering state) is the entering state of the whole automatic driving, and the OFF state is required to be passed when the vehicle is activated for the first time or is powered down for reactivation of the automatic driving, and besides being used as an entrance of the automatic driving, the OFF state can be used for detecting whether the vehicle needs OTA upgrading or calibration of a sensor and a chassis, so that the software version of the automatic driving vehicle is available, and then the next state is entered.
The SELF-CHECK state mainly CHECKs the state of the vehicle, acquires the state of the vehicle body, the state of the chassis, the state of a sensor and the like, CHECKs whether the four doors and two covers of the vehicle, the gear is in the D gear, the EPB is released, the electronic rearview mirror is opened, the steering wheel angle is overlarge, the camera is shielded, the brake is released, the battery electric quantity and other necessary information, if the abnormality exists, the vehicle can directly EXIT from the automatic driving state to the EXIT, a driver is required to manually CHECK the abnormality of the vehicle, and the vehicle enters the next state after the SELF-CHECK is completed and no abnormality exists.
The STANDBY state is the most common state after the vehicle is powered up, and waits for a driver instruction such as: the automatic driving operation of the activation of the steering wheel key or the large screen of the vehicle instrument is realized, the key input abstraction is analyzed into a starting signal of a program, then the next state is entered, and the state is always in a state to be activated when the instruction is not received.
The CHECK state (CHECK state) is a state that must be experienced after the key has activated the corresponding function, and is different from SELF CHECK of the vehicle state, which is a CHECK of the input signal and the state quantity necessary for the automatic driving function. CHECK module can CHECK if the ODD meets the requirement of automatic driving planning, and if the lateral sensor signal is normal, the lane line can be sensed or not according to the input of the driver in the STANDBY state, for example, if the lane keeping is to be activated; it is only necessary to check whether the forward sensor signal is normal or not, and no lane line is required, in order to activate the "adaptive cruise". And according to the corresponding activating instruction, the next state can be entered after the corresponding CHECK is performed.
The HANDSHAKE state (handshake state) is a state of performing a wire control handshake with the chassis, the chassis of the automatic driving vehicle is usually wire controlled, the control right of the vehicle should be given to the driver when the automatic driving is activated, and the automatic driving system can perform the transverse and longitudinal control of the vehicle only when the user confirms the activation, so that the long-term occupation is avoided and the safety is ensured. If the system fails to handshake with the chassis, the chassis is proved to have an abnormal or higher priority task, the state is jumped to TERMINATED, the automatic driving operation is temporarily stopped, and a series of checks are needed to remove faults to be activated again. If the system and the chassis handshake succeed, the control right of the current vehicle is confirmed to be given to the automatic driving system, and the intelligent driving execution ACTIVE stage is entered, and the vehicle can be taken over unless the manual intervention is performed.
The ACTIVE state (running state) is a state in which a large number of algorithms run, and different algorithm scheduling of different modules is performed according to different operation instructions. For example, the ACTIVE is "one-way forward+lane keeping", and for the sensing module, the front long-distance camera, the front middle-distance camera and the laser radar are started to perform a lane line detection algorithm and an obstacle recognition algorithm; the longitude and latitude of the vehicle are required to be sent to the positioning module, and the relative position of the vehicle is calculated; and planning the path and the speed according to the obstacles and the distance in the environment for the planning module to realize cruising and following. For example, an ACTIVE of navigation lane change is needed, and for a perception module, a side backward camera and an angular radar are required to be started for obstacle recognition; calculating a navigation route according to the terminal information for the positioning module; the path and speed plan for the lane change needs to be calculated for the planning module. That is, the ACTIVE phase has strong universality and is a framework capable of meeting different driving requirements.
The TERMINATED state (termination state) is the termination state of the whole automatic driving, and jumps through the real-time result of the diagnosis module, and the aim is to solve the problems that each module can not know the state of other modules in the automatic driving, still operates continuously, a certain link in a signal flow is abnormal, and finally solving fails and can not exit. For example, when a lane line is perceived to be lost, a tunnel is positioned to be lost and an MCU is abnormal, the diagnosis module reports to a downstream planning module of the perception module according to a verification result, planning of emergency side parking is executed, then the whole state machine jumps to TERMINATED from an ACTIVE state until the vehicle is parked in a safe mode or is taken over by a user, the vehicle jumps to self_check from TERMINATED state, secondary SELF-checking of the vehicle is carried out, and if the SELF-checking does not pass, the user is required to manually CHECK the vehicle to start an automatic driving function again.
The EXIT state (EXIT state) is the last state of the state machine, representing that the EXIT is confirmed and the whole automatic driving system is closed, all variables used in the automatic driving algorithm are reset, so that no disorder is generated after the automatic driving algorithm is opened again, the state corresponds to the activation, and the EXIT can be performed after the automatic driving is ended only by really receiving an EXIT instruction of a user, such as a steering wheel key or a switch of a large-screen instrument, namely, the automatic driving algorithm jumps to the EXIT from TERMINATED.
So far, the whole 8 states form a complete and reasonable closed loop, and the whole top-level state machine is formed.
According to the control method of the state machine of the automatic driving system, before the automatic driving system is started, the state machine jumps to the self-checking state after entering the state ready, if the self-checking is successful, the state machine jumps to the standby state to receive the operation instruction, and the jump of different states and the scheduling of different automatic driving operation strategies are carried out according to the operation instruction and the environment information, so that the resource scheduling, the operation efficiency and the driving safety in the automatic driving system are fully considered, and different sensors are started according to different operation instructions and abstract analysis aiming at the resource scheduling to acquire the concerned information, and a large number of redundant calculations are avoided. For the operation efficiency, the algorithm modules are still concentrated in the respective fields, the instructions of the listening state machines are managed in a unified manner and are matched with each other, and the situation that solving failure caused by abnormality of upstream and downstream transmission signal flows is blocked and can not jump out is avoided. Aiming at the driving safety, necessary inspection can be carried out before and during the whole automatic driving starting process, reasonable planning is given by the automatic driving to ensure safe stopping or taking over when abnormality occurs, and the situation that the automatic driving suddenly fails or directly exits due to faults on the road is avoided. Furthermore, the driving safety, the running efficiency and the resource scheduling of the automatic driving system are improved, and the automatic driving system has a pushing effect on an automatic driving vehicle.
A state machine of an autopilot system according to one embodiment of the application includes: including an enter state, a self-check state, a standby state, an inspection state, a handshake state, an operational state, a termination state, and an exit state, wherein:
before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
If the self-checking is successful, jumping to a standby state to receive an operation instruction;
according to the operation instruction and the environment information, the jump of different states and the dispatch of different automatic driving operation strategies are carried out,
The standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
According to the state machine of the automatic driving system, before the automatic driving system is started, after the state machine enters the state ready, the state machine jumps to the self-checking state, if the self-checking is successful, the state machine jumps to the standby state to receive the operation instruction, and according to the operation instruction and the environment information, the jump of different states and the scheduling of different automatic driving operation strategies are carried out, the resource scheduling, the operation efficiency and the driving safety in the automatic driving system are fully considered, and for the resource scheduling, different sensors are started according to different operation instructions and abstract analysis to acquire the concerned information, so that a large number of redundant calculations are avoided. For the operation efficiency, the algorithm modules are still concentrated in the respective fields, the instructions of the listening state machines are managed in a unified manner and are matched with each other, and the situation that solving failure caused by abnormality of upstream and downstream transmission signal flows is blocked and can not jump out is avoided. Aiming at the driving safety, necessary inspection can be carried out before and during the whole automatic driving starting process, reasonable planning is given by the automatic driving to ensure safe stopping or taking over when abnormality occurs, and the situation that the automatic driving suddenly fails or directly exits due to faults on the road is avoided. Furthermore, the driving safety, the running efficiency and the resource scheduling of the automatic driving system are improved, and the automatic driving system has a pushing effect on an automatic driving vehicle.
For specific limitations regarding the state machine of the autopilot system, reference may be made to the above limitations regarding the state machine control method of the autopilot system, which are not described in detail herein. The various modules of the state machine of the autopilot system described above may be implemented in whole or in part by software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory of the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, there is provided a vehicle including: according to the state machine of the automatic driving system, before the automatic driving system is started, the state machine jumps to the self-checking state after entering the state ready, if the self-checking is successful, the state machine jumps to the standby state to receive the operation instruction, and according to the operation instruction and the environment information, the jump of different states and the scheduling of different automatic driving operation strategies are carried out, the resource scheduling, the operation efficiency and the driving safety in the automatic driving system are fully considered, and for the resource scheduling, different sensors are started according to different operation instructions and abstract analyses, the information concerned is acquired, and a large amount of redundant calculation is avoided. For the operation efficiency, the algorithm modules are still concentrated in the respective fields, the instructions of the listening state machines are managed in a unified manner and are matched with each other, and the situation that solving failure caused by abnormality of upstream and downstream transmission signal flows is blocked and can not jump out is avoided. Aiming at the driving safety, necessary inspection can be carried out before and during the whole automatic driving starting process, reasonable planning is given by the automatic driving to ensure safe stopping or taking over when abnormality occurs, and the situation that the automatic driving suddenly fails or directly exits due to faults on the road is avoided. Furthermore, the driving safety, the running efficiency and the resource scheduling of the automatic driving system are improved, and the automatic driving system has a pushing effect on an automatic driving vehicle.
In addition, other structures and functions of the vehicle according to the embodiment of the present application are known to those skilled in the art, and will not be described herein.
In one embodiment, a computer device is provided. Fig. 3 is a block diagram of a computer device according to an embodiment of the present application, and reference is made to fig. 3. The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to realize the embodiment of the state machine control method of the automatic driving system. For example, perform: before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
If the self-checking is successful, jumping to a standby state to receive an operation instruction;
according to the operation instruction and the environment information, the jump of different states and the dispatch of different automatic driving operation strategies are carried out,
The standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the processor realizes the embodiment of the state machine control method of the automatic driving system when executing the computer program. For example, perform: before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
If the self-checking is successful, jumping to a standby state to receive an operation instruction;
according to the operation instruction and the environment information, the jump of different states and the dispatch of different automatic driving operation strategies are carried out,
The standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
Embodiments of the present application provide a computer program product comprising instructions which, when executed, cause a method as described in embodiments of the present application to be performed. For example, various steps of a state machine control method of the autopilot system shown in fig. 1 may be performed, such as: before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
If the self-checking is successful, jumping to a standby state to receive an operation instruction;
according to the operation instruction and the environment information, the jump of different states and the dispatch of different automatic driving operation strategies are carried out,
The standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
Those skilled in the art will appreciate that all or part of the processes in implementing the above embodiments may be implemented by a computer program for instructing relevant hardware, and the computer program may be stored in a non-volatile computer readable storage medium, and the computer program may include processes in the embodiments of the above methods when executed. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, or the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory. By way of illustration, and not limitation, RAM can be in various forms such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), etc.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features of each of the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the claims. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.
Claims (10)
1. A state machine control method of an automatic driving system, wherein the state machine includes an enter state, a self-check state, a standby state, an inspection state, a handshake state, an run state, a terminate state, and an exit state, the state machine control method comprising:
before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
If the self-checking is successful, jumping to a standby state to receive an operation instruction;
according to the operation instruction and the environment information, the jump of different states and the dispatch of different automatic driving operation strategies are carried out,
The standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
2. The state machine control method of an automatic driving system according to claim 1, wherein after jumping to a standby state, performing jumping of different states and scheduling of different automatic driving operation strategies according to the operation instruction and the environmental information, comprising:
Judging whether an operation instruction is received or not;
if yes, jumping to the checking state to check whether the requirement of automatic driving planning is met or not, and checking whether the vehicle meets the requirement of executing the operation instruction or not;
if the check is successful, the jump is to a handshake state.
3. The state machine control method of an automatic driving system according to claim 1 or 2, characterized by comprising, after jumping to the handshake state: if the handshake is successful, the operation state is jumped, otherwise, the termination state is jumped.
4. A state machine control method of an autopilot system according to claim 3, comprising, after jumping to the run state: and carrying out different algorithm scheduling of different modules in the automatic driving system according to different operation instructions.
5. The state machine control method of an autopilot system of claim 4 further comprising, after jumping to the run state:
Monitoring whether the automatic driving system is abnormal;
If yes, jumping to the termination state;
after the vehicle is stopped or the driver takes over, the vehicle jumps to a self-checking state.
6. The state machine control method of an automatic driving system according to claim 1, characterized by further comprising, when jumping to a standby state, a self-check state, or a termination state:
Judging whether an automatic driving exit instruction is received or not;
if so, jumping to the exit state.
7. A state machine of an autopilot system, the state machine comprising an enter state, a self-test state, a standby state, an inspection state, a handshake state, an run state, a terminate state, and an exit state, wherein:
before starting the automatic driving system, the state machine jumps to a self-checking state after entering the state ready;
If the self-checking is successful, jumping to a standby state to receive an operation instruction;
according to the operation instruction and the environment information, the jump of different states and the dispatch of different automatic driving operation strategies are carried out,
The standby state can jump to an inspection state and an exit state, the inspection state can jump to the standby state and a handshake state, the handshake state can jump to an operation state and a termination state, the operation state can jump to the handshake state and the termination state, and the termination state can jump to the operation state, the self-inspection state and the exit state.
8. A vehicle, characterized by comprising: the state machine of an autopilot system of claim 7.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements a state machine control method of an autopilot system according to any one of claims 1-6 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a state machine control method of an autopilot system according to any one of claims 1-6.
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| CN202410033416.7A CN117922609A (en) | 2024-01-09 | 2024-01-09 | State machine control method, state machine, vehicle and equipment of automatic driving system |
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| CN202410033416.7A CN117922609A (en) | 2024-01-09 | 2024-01-09 | State machine control method, state machine, vehicle and equipment of automatic driving system |
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