TWI740395B - Automatic pilot system and method - Google Patents
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本發明之實施例主要係有關於一自動駕駛控制系統技術，特別係有關於在自動駕駛控制系統中配置一控制器，以藉由控制器在自動駕駛模式時，根據故障事件之風險程度，決定是否取代車輛之自動駕駛平台處理故障事件之自動駕駛控制系統技術。The embodiments of the present invention are mainly related to an automatic driving control system technology, especially related to the configuration of a controller in the automatic driving control system, so that when the controller is in the automatic driving mode, it is determined according to the risk level of the failure event Whether to replace the automatic driving platform of the vehicle to deal with the failure event of the automatic driving control system technology.
隨著自動駕駛技術的進步，車輛中會配置一自動駕駛控制電腦，以用來控制車輛在自動駕駛模式時之相關操作。然而，在車輛上的環境常充斥著各種訊號與電磁波干擾，因此即使硬體使用車規或軍規零件且軟體符合相關的設計規範，也是有可能會發生系統失效或故障。當自動駕駛控制電腦發生故障時，將無法有效監控和處理車輛在自動駕駛模式時發生之故障事件，因而造成車輛之駕駛人發生意外之風險提高。With the advancement of automatic driving technology, an automatic driving control computer will be equipped in the vehicle to control the relevant operations of the vehicle in the automatic driving mode. However, the environment on the vehicle is often full of various signals and electromagnetic wave interference. Therefore, even if the hardware uses vehicle-specific or military-specific parts and the software complies with the relevant design specifications, system failures or malfunctions may occur. When the automatic driving control computer fails, it will not be able to effectively monitor and process the failure event that occurs when the vehicle is in the automatic driving mode, thus increasing the risk of accidents for the driver of the vehicle.
有鑑於上述先前技術之問題，本發明之實施例提供了一種自動駕駛控制系統和方法。In view of the above-mentioned problems of the prior art, embodiments of the present invention provide an automatic driving control system and method.
根據本發明之一實施例提供了一種自動駕駛駕控制系統。自動駕駛控制系統包括一 第一電腦、一第二電腦和一控制器。第一電腦根據指令，控制一車輛之軟體和硬體。第二電腦耦接上述第一電腦，且包括一自動駕駛平台，用以控制車輛在一自動駕駛模式時之操作。控制器耦接第一電腦和第二電腦，且監控第一電腦和第二電腦。當在自動駕駛模式發生一故障事件時，控制器會判斷故障事件之一風險程度，以決定是否取代第二電腦處理上述故障事件。According to an embodiment of the present invention, an automatic driving driving control system is provided. The automatic driving control system includes a first computer, a second computer and a controller. The first computer controls the software and hardware of a vehicle according to instructions. The second computer is coupled to the first computer and includes an automatic driving platform for controlling the operation of the vehicle in an automatic driving mode. The controller is coupled to the first computer and the second computer, and monitors the first computer and the second computer. When a failure event occurs in the automatic driving mode, the controller will determine the risk level of one of the failure events to determine whether to replace the second computer to handle the failure event.
在一些實施例中，控制器根據從第一電腦和第二電腦監控到之資訊，判斷故障事件之風險程度。In some embodiments, the controller determines the risk level of the failure event based on the information monitored from the first computer and the second computer.
在一些實施例中，當故障事件係一低風險故障事件時，第二電腦直接處理低風險故障事件。當故障事件係一中風險故障事件或一高風險故障事件時，控制器取代第二電腦，處理中風險故障事件或高風險故障事件。In some embodiments, when the failure event is a low-risk failure event, the second computer directly processes the low-risk failure event. When the failure event is a medium-risk failure event or a high-risk failure event, the controller replaces the second computer to process the medium-risk failure event or the high-risk failure event.
在一些實施例中，自動駕駛控制系統更包括一緊急按鈕。當緊急按鈕被按下時，控制器判斷故障事件係高風險故障事件，且取代第二電腦處理高風險故障事件。In some embodiments, the automatic driving control system further includes an emergency button. When the emergency button is pressed, the controller determines that the failure event is a high-risk failure event, and replaces the second computer to handle the high-risk failure event.
在一些實施例中，自動駕駛控制系統更包括一顯示介面。當故障事件係低風險故障事件時，第二電腦指示顯示介面顯示對應低風險故障事件之指示符號，以及當故障事件係中風險故障事件或高風險故障事件時，控制器指示顯示介面顯示對應上述中風險故障事件或上述高風險故障事件之指示符號。In some embodiments, the automatic driving control system further includes a display interface. When the fault event is a low-risk fault event, the second computer indicator display interface displays the indicator corresponding to the low-risk fault event, and when the fault event is a risky fault event or a high-risk fault event, the controller indicates the display interface to display corresponding to the above Indicator symbol for medium-risk failure events or above-mentioned high-risk failure events.
在一些實施例中，自動駕駛控制系統更包括一警報裝置。當故障事件係低風險故障事件時，第二電腦啟動警報裝置，以及當故障事件係中風險故障事件時，控制器啟動警報裝置。In some embodiments, the automatic driving control system further includes an alarm device. When the failure event is a low-risk failure event, the second computer activates the alarm device, and when the failure event is a risk failure event, the controller activates the alarm device.
在一些實施例中，自動駕駛控制系統更包括一警示裝置。當故障事件係中風險故障事件或高風險故障事件時，控制器啟動警示裝置。In some embodiments, the automatic driving control system further includes a warning device. When the failure event system is a risk failure event or a high risk failure event, the controller activates the warning device.
在一些實施例中，當故障事件係中風險故障事件時，控制器產生一減速指令，以及將減速指令對應之一旗標值設為一設定值。在一些實施例中，當故障事件係高風險故障事件時，控制器產生一緊急煞車指令，以及將緊急煞車指令對應之一旗標值設為一設定值。In some embodiments, when the fault event is a risky fault event, the controller generates a deceleration command and sets a flag value corresponding to the deceleration command to a set value. In some embodiments, when the fault event is a high-risk fault event, the controller generates an emergency braking command, and sets a flag value corresponding to the emergency braking command to a set value.
根據本發明之一實施例提供了一種自動駕駛控制方法。上述自動駕駛控制方法適用一自動駕駛控制系統。上述自動駕駛控制方法之步驟包括，藉由上述自動駕駛控制系統之一控制器監控上述自動駕駛控制系統之一第一電腦和一第二電腦，其中上述第一電腦用以根據指令，控制一車輛之軟體和硬體，以及上述第二電腦包括一自動駕駛平台，用以控制上述車輛在一自動駕駛模式時之操作；以及當在上述自動駕駛模式發生一故障事件時，藉由上述控制器判斷上述故障事件之一風險程度，以決定是否取代上述第二電腦處理上述故障事件。According to an embodiment of the present invention, an automatic driving control method is provided. The above-mentioned automatic driving control method is applicable to an automatic driving control system. The steps of the automatic driving control method include monitoring a first computer and a second computer of the automatic driving control system by a controller of the automatic driving control system, wherein the first computer is used to control a vehicle according to instructions The software and hardware, and the second computer includes an automatic driving platform for controlling the operation of the vehicle in an automatic driving mode; and when a failure event occurs in the automatic driving mode, the controller determines The degree of risk of one of the above-mentioned failure events is used to determine whether to replace the above-mentioned second computer to handle the above-mentioned failure events.
關於本發明其他附加的特徵與優點，此領域之熟習技術人士，在不脫離本發明之精神和範圍內，當可根據本案實施方法中所揭露之自動駕駛控制系統和方法，做些許的更動與潤飾而得到。With regard to other additional features and advantages of the present invention, those skilled in the field, without departing from the spirit and scope of the present invention, can make some changes and changes based on the automatic driving control system and method disclosed in the implementation method of this case. Retouched.
本章節所敘述的是實施本發明之較佳方式，目的在於說明本發明之精神而非用以限定本發明之保護範圍，本發明之保護範圍當視後附之申請專利範圍所界定者為準。The descriptions in this chapter are the preferred ways to implement the present invention. The purpose is to illustrate the spirit of the present invention and not to limit the scope of protection of the present invention. .
第1圖係顯示根據本發明之一實施例所述之一自動駕駛控制系統100之方塊圖。自動駕駛控制系統100可適用於一具有自動駕駛功能之一車輛。如第1圖所示，自動駕駛控制系統100可包括一第一電腦110、一第二電腦120，以及一控制器130。注意地是，在第1圖中所示之方塊圖，僅係為了方便說明本發明之實施例，但本發明並不以第1圖為限。Fig. 1 shows a block diagram of an automatic
根據本發明之實施例，第一電腦110可係一車用電腦。當車輛在一手動駕駛模式時，第一電腦110可用以根據駕駛之操作，控制車輛之硬體裝置(例如：車門、煞車系統、上坡輔助系統、電力控制系統等，但本發明不以此為限)，以及監控車輛之軟體和硬體目前之情況。當車輛在一自動駕駛模式時，第一電腦110可根據第二電腦120或控制器130之指示，控制車輛之硬體裝置，以及提供車輛之軟體和硬體之資訊給第二電腦120和控制器130。According to the embodiment of the present invention, the
根據本發明之實施例，第二電腦120可藉由一車用匯流排，例如：一控制器區域網路匯流排(Controller Area Network Bus，CAN bus)耦接至第一電腦110。第二電腦120可係一自動駕駛控制電腦，其可包括一自動駕駛平台，以控制車輛在自動駕駛模式時之相關操作。當車輛在一自動駕駛模式時，第二電腦120可根據配置在車輛之複數感測裝置(例如：攝影機、紅外線感測器、雷達、定位裝置等，但本發明不以此為限)所提供資訊，規劃車輛之行車路徑和行車速度，並下指令給第一電腦110。此外，當車輛在自動駕駛模式時，第二電腦120可監控第一電腦110。第二電腦120可根據監控第一電腦110時所取得之車輛之軟體和硬體之資訊，判斷車輛是否有故障事件(或故障)發生，並下指令給第一電腦110(例如：車輛是否需要減速，但本發明不以此為限)。在本發明之實施例中，第二電腦120僅用以處理低風險故障事件。底下會有更詳細之說明。According to the embodiment of the present invention, the
根據本發明之實施例，控制器130可藉由一車用匯流排，例如：一控制器區域網路匯流排(CAN bus)，耦接至第一電腦110和第二電腦120。根據本發明之實施例，控制器130可係一整車控制單元(vehicle control unit，VCU)，但本發明不以此為限。當車輛在自動駕駛模式時，控制器130可監控第一電腦110和第二電腦120，以判斷是否有故障事件發生。當有故障事件發生時，控制器130會判斷故障事件之風險程度，以決定是否取代第二電腦120來介入處理發生之故障事件。According to an embodiment of the present invention, the
根據本發明之一實施例，故障事件依風險程度可區分成低風險故障事件、中風險故障事件以及高風險故障事件，但本發明不以此為限。According to an embodiment of the present invention, the failure event can be divided into a low-risk failure event, a medium-risk failure event, and a high-risk failure event according to the degree of risk, but the present invention is not limited to this.
在本發明之實施例中，低風險故障事件可定義為車輛有故障產生，但故障沒有立即的危險性。根據本發明之一實施例，低風險故障事件可分成針對自動駕駛在車輛配置之軟硬體對應之低風險故障事件，以及針對車輛本身就會配置之一般硬體設備對應之低風險事件。針對自動駕駛在車輛配置之軟硬體對應之低風險故障事件可包括控制器區域網路匯流排發生錯誤、定位裝置發生錯誤、儲存之資料是否發生錯誤，但本發明不以此為限。根據本發明之一實施例，針對車輛本身就會配置之一般硬體設備對應之低風險事件可包括緊急煞車系統發生錯誤、上坡輔助系統發生錯誤、電子制動力分配系統發生錯誤、防鎖煞車系統發生錯誤、電子穩定控制系統發生錯誤、循跡控制系統發生錯誤，但本發明不以此為限。根據本發明之一實施例，當控制器130判斷故障事件是低風險故障事件時，控制器130會持續監控第一電腦110和第二電腦120，但不會介入處理低風險故障事件。也就是說，當故障事件是低風險故障事件時，會直接由第二電腦120處理低風險故障事件。In the embodiment of the present invention, a low-risk failure event can be defined as a failure of the vehicle, but the failure has no immediate danger. According to an embodiment of the present invention, low-risk failure events can be divided into low-risk failure events corresponding to the software and hardware configured in the vehicle for automatic driving, and low-risk events corresponding to the general hardware equipment configured in the vehicle itself. The low-risk failure events corresponding to the software and hardware configured in the vehicle for automatic driving may include errors in the controller area network bus, errors in the positioning device, and errors in the stored data, but the present invention is not limited to this. According to an embodiment of the present invention, the low-risk events corresponding to the general hardware equipment that the vehicle is equipped with may include an error in the emergency braking system, an error in the uphill assist system, an error in the electronic brake force distribution system, and an anti-lock brake. An error occurs in the system, an error occurs in the electronic stability control system, and an error occurs in the tracking control system, but the present invention is not limited to this. According to an embodiment of the present invention, when the
根據本發明一實施例，當故障事件是低風險故障事件時，第二電腦120會下指令給第一電腦110，以在車輛之一顯示介面(例如：儀錶板，但本發明不以此為限)顯示目前的低風險故障事件所對應之指示符號或圖樣。根據本發明一實施例，當故障事件是低風險故障事件時，第二電腦120會下指令給第一電腦110，以啟動一警報裝置(例如：發出一短嗶聲，但本發明不以此為限)，以提醒使用者有低風險故障事件發生。根據本發明一實施例，當故障事件是低風險故障事件時，第二電腦120會判斷在一時間範圍內(例如：10秒，但本發明不以此為限)車輛之駕駛是否已將車輛從自動駕駛模式切換為手動駕駛模式。若超過時間範圍車輛之駕駛還未將車輛從自動駕駛模式切換為手動駕駛模式，第二電腦120會下達減速指令給第一電腦110，以讓車輛進行減速(例如：將煞車踏板之深度調深一設定值)。According to an embodiment of the present invention, when the fault event is a low-risk fault event, the
在本發明之實施例中，中風險故障事件可定義為在自動駕駛模式時有故障產生，且須立即下達減速指令，以降低此故障之風險。根據本發明之一實施例，中風險故障事件可包括車輛之電池發生錯誤、車輛之任一車門被打開、以及第一電腦110和第二電腦120之通訊發生中斷，但本發明不以此為限。根據本發明之一實施例，當控制器130判斷故障事件是中風險故障事件時，控制器130會取代第二電腦120，以介入處理車輛所發生之中風險故障事件。在此實施例中，第一電腦110和第二電腦120之通訊發生中斷係表示，控制器130在一既定時間內(例如：100毫秒)未在控制器區域網路匯流排(CAN bus)偵測到第二電腦120發送之指令。In the embodiment of the present invention, a medium-risk failure event can be defined as a failure occurring in the automatic driving mode, and a deceleration command must be issued immediately to reduce the risk of this failure. According to an embodiment of the present invention, the medium-risk failure event may include an error in the battery of the vehicle, the opening of any door of the vehicle, and the interruption of the communication between the
根據本發明一實施例，當故障事件是中風險故障事件時，控制器130會下指令給第一電腦110，以在車輛之一顯示介面(例如：儀錶板，但本發明不以此為限)顯示目前的中風險故障事件所對應之指示符號或圖樣。根據本發明一實施例，當故障事件是中風險故障事件時，第二電腦120會下指令給第一電腦110，以啟動一警報裝置(例如：發出一長嗶聲，但本發明不以此為限)，以提醒使用者有中風險故障事件發生。根據本發明一實施例，當故障事件是中風險故障事件時，控制器130會下指令給第一電腦110，以啟動車輛之一警示裝置(例如：車輛外之警示燈，但本發明不以此為限)。根據本發明一實施例，當控制器130判斷故障事件是中風險故障事件時，控制器130會立即下達減速指令給第一電腦110，以讓車輛減速(例如：將煞車踏板之深度調深一設定值)。根據本發明一實施例，當控制器130下達減速指令給第一電腦110後，控制器130會將一減速指令對應之旗標值設為第一設定值(例如：1或True)。在此實施例中，當車輛在手動駕駛模式或是控制器130未下達減速指令時，減速指令對應之旗標值可設為第二設定值(例如：0或False)。According to an embodiment of the present invention, when the fault event is a medium-risk fault event, the
在本發明之實施例中，高風險故障事件可定義為在自動駕駛模式時有立即的危險，須立即下達緊急煞車指令，以緊急將車輛停住。根據本發明之一實施例，高風險故障事件可包括一緊急按鈕被按下，但本發明不以此為限。也就是說，在自動駕駛模式時，當緊急按鈕被按下時，控制器130會判斷有一高風險故障事件發生。根據本發明之一實施例，當控制器130判斷故障事件是高風險故障事件時，控制器130會取代第二電腦120，以介入處理車輛所發生之高風險故障事件。In the embodiment of the present invention, a high-risk failure event can be defined as an immediate danger in the automatic driving mode, and an emergency braking command must be issued immediately to stop the vehicle urgently. According to an embodiment of the present invention, the high-risk failure event may include an emergency button being pressed, but the present invention is not limited to this. That is, in the automatic driving mode, when the emergency button is pressed, the
根據本發明一實施例，當故障事件是高風險故障事件時，控制器130會下指令給第一電腦110，以在車輛之一顯示介面(例如：儀錶板，但本發明不以此為限)顯示目前的高風險故障事件所對應之指示符號或圖樣。根據本發明一實施例，當故障事件是高風險故障事件時，控制器130會下指令給第一電腦110，以啟動車輛之一警示裝置(例如：車輛外之警示燈，但本發明不以此為限)。根據本發明一實施例，當控制器130判斷故障事件是高風險故障事件時，控制器130會立即下達緊急煞車指令給第一電腦110，以讓車輛進行緊急煞車(例如：啟動一自動緊急煞車系統(Autonomous Emergency Braking System, AEB System)或將煞車踏板之深度調整到最深)。根據本發明一實施例，當控制器130下達緊急煞車指令給第一電腦110後，控制器130會將一緊急煞車指令對應之旗標值設為一第一設定值(例如：1或True)。在此實施例中，當車輛在手動駕駛模式或是控制器130未下達緊急煞車指令時，緊急煞車指令對應之旗標值可設為第二設定值(例如：0或False)。According to an embodiment of the present invention, when the fault event is a high-risk fault event, the
第2圖係根據本發明之一實施例所述之自動駕駛控制方法之流程圖200。自動駕駛控制方法適用自動駕駛控制系統100。如第2圖所示，在步驟S210，藉由自動駕駛控制系統100之一控制器監控自動駕駛控制系統100之一第一電腦和一第二電腦，其中第一電腦可用以根據指令，控制一車輛之軟體和硬體，以及第二電腦可包括一自動駕駛平台，用以控制上述車輛在一自動駕駛模式時之操作。在步驟S220，當在自動駕駛模式發生一故障事件時，藉由控制器判斷故障事件之一風險程度，以決定是否取代第二電腦處理故障事件。Figure 2 is a
根據本發明一實施例，步驟S220更包括，藉由控制器根據從第一電腦和第二電腦監控到之資訊，判斷故障事件之上述風險程度。According to an embodiment of the present invention, step S220 further includes, by the controller, judging the above-mentioned risk level of the failure event based on the information monitored from the first computer and the second computer.
根據本發明一實施例，步驟S220更包括，當故障事件係一低風險故障事件時，藉由第二電腦直接處理低風險故障事件；以及當故障事件係一中風險故障事件或一高風險故障事件時，藉由控制器取代第二電腦，處理中風險故障事件或高風險故障事件。According to an embodiment of the present invention, step S220 further includes, when the failure event is a low-risk failure event, directly processing the low-risk failure event by the second computer; and when the failure event is a medium-risk failure event or a high-risk failure In the event of an event, the controller replaces the second computer to handle medium-risk failure events or high-risk failure events.
根據本發明一實施例，步驟S220更包括，當一緊急按鈕被按下時，藉由控制器判斷故障事件係高風險故障事件，且取代第二電腦處理高風險故障事件。According to an embodiment of the present invention, step S220 further includes, when an emergency button is pressed, the controller determines that the failure event is a high-risk failure event, and replaces the second computer to handle the high-risk failure event.
根據本發明一實施例，步驟S220更包括，當故障事件係低風險故障事件時，藉由第二電腦指示車輛之一顯示介面顯示對應低風險故障事件之指示符號；以及當故障事件係中風險故障事件或高風險故障事件，藉由控制器指示顯示介面顯示對應中風險故障事件或高風險故障事件之指示符號。According to an embodiment of the present invention, step S220 further includes, when the failure event is a low-risk failure event, using the second computer to instruct a display interface of the vehicle to display an indicator corresponding to the low-risk failure event; and when the failure event is a low-risk failure event For failure events or high-risk failure events, the controller indicates and displays the indicator symbols corresponding to the medium-risk failure events or high-risk failure events through the controller's instruction display interface.
根據本發明一實施例，步驟S220更包括，當故障事件係低風險故障事件時，藉由第二電腦啟動車輛之一警報裝置；以及當故障事件係中風險故障事件時，藉由控制器啟動警報裝置。According to an embodiment of the present invention, step S220 further includes, when the failure event is a low-risk failure event, activating one of the alarm devices of the vehicle by the second computer; and when the failure event is a risky failure event, starting by the controller Alarm device.
根據本發明一實施例，步驟S220更包括，當故障事件係中風險故障事件或高風險故障事件，藉由控制器啟動車輛之一警示裝置。According to an embodiment of the present invention, step S220 further includes, when the fault event is a risky fault event or a high-risk fault event, the controller activates one of the warning devices of the vehicle.
根據本發明一實施例，步驟S220更包括，當故障事件係中風險故障事件時，藉由控制器產生一減速指令，以及藉由控制器將減速指令對應之旗標值設為一設定值。According to an embodiment of the present invention, step S220 further includes, when the fault event is a risky fault event, generating a deceleration command by the controller, and setting the flag value corresponding to the deceleration command to a set value by the controller.
根據本發明一實施例，步驟S220更包括，當故障事件係高風險故障事件時，藉由控制器產生一緊急煞車指令，以及藉由控制器將上述緊急煞車指令對應之旗標值設為一設定值。According to an embodiment of the present invention, step S220 further includes, when the fault event is a high-risk fault event, generating an emergency braking command by the controller, and setting the flag value corresponding to the emergency braking command to a value by the controller Set value.
根據本發明提出之自動駕駛控制方法，藉由在自動駕駛控制系統中配置之控制器，可根據故障事件之風險程度去判斷是否取代第二電腦來介入處理故障事件。因此，在本發明提出之自動駕駛控制方法，將可預防以及避免車輛在自動駕駛模式時，第二電腦(自動駕駛控制電腦)發生錯誤而無法有效監控以及處理車輛之故障事件之情況。According to the automatic driving control method proposed in the present invention, the controller configured in the automatic driving control system can determine whether to replace the second computer to intervene in processing the failure event according to the risk level of the failure event. Therefore, the automatic driving control method proposed in the present invention can prevent and avoid the situation where the second computer (automatic driving control computer) makes an error when the vehicle is in the automatic driving mode and cannot effectively monitor and handle the failure event of the vehicle.
本說明書中以及申請專利範圍中的序號，例如「第一」、「第二」等等，僅係為了方便說明，彼此之間並沒有順序上的先後關係。The serial numbers in this specification and in the scope of the patent application, such as "first", "second", etc., are only for convenience of explanation, and there is no sequential relationship between them.
本發明之說明書所揭露之方法和演算法之步驟，可直接透過執行一處理器直接應用在硬體以及軟體模組或兩者之結合上。一軟體模組(包括執行指令和相關數據)和其它數據可儲存在數據記憶體中，像是隨機存取記憶體(RAM)、快閃記憶體(flash memory)、唯讀記憶體(ROM)、可抹除可規化唯讀記憶體(EPROM)、電子可抹除可規劃唯讀記憶體(EEPROM)、暫存器、硬碟、可攜式應碟、光碟唯讀記憶體(CD-ROM)、DVD或在此領域習之技術中任何其它電腦可讀取之儲存媒體格式。一儲存媒體可耦接至一機器裝置，舉例來說，像是電腦/處理器(爲了說明之方便，在本說明書以處理器來表示)，上述處理器可透過來讀取資訊(像是程式碼)，以及寫入資訊至儲存媒體。一儲存媒體可整合一處理器。一特殊應用積體電路(ASIC)包括處理器和儲存媒體。一用戶設備則包括一特殊應用積體電路。換句話說，處理器和儲存媒體以不直接連接用戶設備的方式，包含於用戶設備中。此外，在一些實施例中，任何適合電腦程序之產品包括可讀取之儲存媒體，其中可讀取之儲存媒體包括和一或多個所揭露實施例相關之程式碼。在一些實施例中，電腦程序之產品可包括封裝材料。The steps of the method and algorithm disclosed in the specification of the present invention can be directly applied to hardware and software modules or a combination of the two directly by executing a processor. A software module (including execution commands and related data) and other data can be stored in data memory, such as random access memory (RAM), flash memory (flash memory), and read-only memory (ROM) , Erasable programmable read-only memory (EPROM), electronically erasable programmable read-only memory (EEPROM), scratchpad, hard disk, portable application disc, optical disc read-only memory (CD- ROM), DVD, or any other computer-readable storage media format used in this field. A storage medium can be coupled to a machine device, for example, like a computer/processor (for the convenience of description, it is represented by a processor in this manual), and the processor can read information (such as a program) Code), and write information to the storage medium. A storage medium can integrate a processor. An application-specific integrated circuit (ASIC) includes a processor and a storage medium. A user equipment includes a special application integrated circuit. In other words, the processor and the storage medium are included in the user equipment in a manner that is not directly connected to the user equipment. In addition, in some embodiments, any product suitable for computer programs includes a readable storage medium, where the readable storage medium includes code related to one or more of the disclosed embodiments. In some embodiments, the product of the computer program may include packaging materials.
以上段落使用多種層面描述。顯然的，本文的教示可以多種方式實現，而在範例中揭露之任何特定架構或功能僅為一代表性之狀況。根據本文之教示，任何熟知此技藝之人士應理解在本文揭露之各層面可獨立實作或兩種以上之層面可以合併實作。The above paragraphs use multiple levels of description. Obviously, the teaching of this document can be implemented in a variety of ways, and any specific structure or function disclosed in the example is only a representative situation. According to the teachings in this article, anyone who is familiar with this technique should understand that each level disclosed in this article can be implemented independently or two or more levels can be combined.
雖然本揭露已以實施例揭露如上，然其並非用以限定本揭露，任何熟習此技藝者，在不脫離本揭露之精神和範圍內，當可作些許之更動與潤飾，因此發明之保護範圍當視後附之申請專利範圍所界定者為準。Although this disclosure has been disclosed in the above embodiments, it is not intended to limit the disclosure. Anyone who is familiar with this technique can make some changes and modifications without departing from the spirit and scope of this disclosure. Therefore, the scope of protection of the invention When the scope of the attached patent application is defined, it shall prevail.
100：自動駕駛控制系統 110：第一電腦 120：第二電腦 130：控制器 200：流程圖 S210~S220：步驟 100: Autopilot control system 110: The first computer 120: second computer 130: Controller 200: Flow chart S210~S220: Steps
第1圖係顯示根據本發明之一實施例所述之一自動駕駛控制系統100之方塊圖。
第2圖係根據本發明之一實施例所述之自動駕駛控制方法之流程圖200。
Fig. 1 shows a block diagram of an automatic
100：自動駕駛控制系統 110：第一電腦 120：第二電腦 130：控制器 100: Autopilot control system 110: The first computer 120: second computer 130: Controller
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