A safety protection system and method for a moving vehicle

Abstract

The embodiment of the present invention discloses a safety protection system and method for a moving vehicle. The system includes: an environmental data acquisition unit, a driving data acquisition unit, a decision unit and an execution unit; the environmental data acquisition unit is connected in communication with the decision unit, used to collect environmental data of the moving vehicle, and send the environmental data to the decision unit; the driving data acquisition unit is connected in communication with the decision unit, used to collect driving data of the moving vehicle, and send the driving data to the decision unit; the decision unit is connected in communication with the execution unit, used to determine the current operating state of the moving vehicle according to the environmental data and the driving data; the execution unit is used to generate a control instruction for the moving vehicle according to the current motion state of the moving vehicle. The embodiment of the present invention can effectively determine the operating state of the moving vehicle by combining the environmental data of the moving vehicle and its own driving data, thereby effectively improving the operating safety of the moving vehicle.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of unmanned driving technology, and in particular to a safety protection system and method for a moving vehicle. Background Art

[0002] With the rapid development and increasing maturity of driverless technology, the perception layer, decision layer, control layer and execution layer contained in driverless technology have become hot research directions in the industry. There are more and more studies on technical solutions for the control-by-wire chassis system that supports driverless vehicles, and various research results have also emerged. Among them, the control-by-wire chassis system of driverless vehicles can effectively realize the safe operation protection of the driving vehicle and avoid accidents. In the prior art, the corresponding environmental detection units (such as sensors) are deployed in the system to realize the detection of its operating data, thereby ensuring the driving safety of the vehicle.

[0003] The drawback of the above solution is that the environmental detection unit installed in the above system can only collect data during the operation process, and it is difficult to effectively collect the vehicle's own data, which makes the vehicle in the process of driving there is a greater risk. Summary of the invention

[0004] The embodiments of the present application provide a safety protection system and method for a moving vehicle, which can effectively determine the operating status of the moving vehicle by combining the environmental data of the moving vehicle and its own driving data, thereby effectively improving the operating safety of the moving vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a safety protection for a moving vehicle, comprising: an environment data collection unit, a driving data collection unit, a decision unit, and an execution unit;

[0006] The environmental data collection unit is in communication with the decision-making unit and is used to collect environmental data of the traveling vehicle and send the environmental data to the decision-making unit;

[0007] The driving data collection unit is in communication with the decision unit and is used to collect driving data of the vehicle and send the driving data to the decision unit;

[0008] The decision unit is in communication with the execution unit and is used to determine the current running state of the driving vehicle according to the environmental data and the driving data;

[0009] The execution unit is used to generate a control instruction for the moving vehicle according to the current motion state of the moving vehicle.

[0010] Optionally, the environmental data acquisition unit includes a camera, a laser radar and a millimeter wave radar;

[0011] The camera is used to collect at least one of the road fence identification, human and vehicle information, and obstacle information of the moving vehicle during operation;

[0012] The laser radar is used to collect at least one of the information of people and vehicles and obstacle information of the moving vehicle during operation;

[0013] The millimeter wave radar is used to collect at least one of the information about people and vehicles and obstacle information of the moving vehicle.

[0014] Optionally, the number of the cameras is two, and they are respectively installed inside the windshield of the moving vehicle and on the rear bumper of the moving vehicle; the number of the laser radars is four, and they are respectively installed on the front bumper, rear bumper, left side area and right side area of ​​the moving vehicle; the number of the millimeter-wave radars is four, and they are respectively installed above the four laser radars.

[0015] Optionally, the driving data acquisition unit includes a steering angle sensor, a wheel speed sensor, a tire temperature and pressure sensor, and a vehicle status sensor;

[0016] The rotation angle sensor is used to collect the front axle rotation angle of the moving vehicle;

[0017] The wheel speed sensor is used to collect the left front wheel speed and the right front wheel speed of the moving vehicle;

[0018] The tire temperature and pressure sensors are used to collect tire temperature and tire pressure of a moving vehicle;

[0019] The vehicle status sensor is used to collect at least one of the vehicle speed, engine speed and water temperature of the moving vehicle.

[0020] Optionally, the decision unit includes: a priority determination component, a safe operation value determination component and an operation status determination component;

[0021] The priority determination component is in communication with the safe operation value determination component, and is used to determine the priority of the environmental data according to a pre-configured preset mode priority rule and a pre-configured content priority rule, and to determine the priority of the driving data according to a pre-configured preset security priority rule and a pre-configured data priority rule; and to send the priority of the environmental data and the priority of the driving data to the safe operation value determination component;

[0022] The safe operation value determination component is in communication with the operation state determination component, and is used to determine the safe operation value of the driving vehicle according to the priority of the environmental data and the priority of the driving data; and send the safe operation value of the driving vehicle to the operation state determination component;

[0023] The operating state determination component is used to determine the current operating state of the traveling vehicle according to the safe operating value.

[0024] Optionally, the priority determination component is specifically used to:

[0025] Classifying the environmental data according to a pre-configured preset mode priority rule and a pre-configured content priority rule to obtain a mode priority classification result and a content priority classification result; and determining the priority of the environmental data according to the mode priority classification result and the content priority classification result;

[0026] The driving data is classified according to pre-configured preset safety priority rules and preset data priority rules to obtain safety priority classification results and pre-data priority classification results; and the priority of the driving data is determined according to the safety priority classification results and the pre-data priority classification results.

[0027] Optionally, it also includes: a brightness value acquisition unit and a rule adjustment unit;

[0028] The brightness value acquisition unit is in communication with the rule adjustment unit, and is used to acquire the light brightness value of the moving vehicle during operation, and send the light brightness value to the rule adjustment unit;

[0029] The rule adjustment unit is used to adjust the preset mode priority rule according to the light brightness value, obtain the adjusted preset mode priority rule, and send the adjusted preset mode priority rule to the priority determination component.

[0030] In a second aspect, an embodiment of the present invention further provides a safety protection method for a moving vehicle, comprising:

[0031] Acquiring environmental data and driving data of a moving vehicle; wherein the environmental data includes at least one of road fence markings, human and vehicle information, and obstacle information; and the driving data includes at least one of front axle angle, left front wheel speed, right front wheel speed, tire temperature, tire pressure, vehicle speed, engine speed, and water temperature;

[0032] The current running state of the driving vehicle is determined according to the environmental data and the driving data, and the current running state is sent to an execution unit, which generates a control instruction for the driving vehicle according to the current motion state of the driving vehicle.

[0033] Optionally, determining the current running state of the driving vehicle according to the environmental data and the driving data includes:

[0034] Classifying the environmental data according to a preset mode priority rule and a preset content priority rule respectively to obtain a mode priority classification result and a content priority classification result; and determining the priority of the environmental data according to a multiplication value of the mode priority classification result and the content priority classification result;

[0035] Classifying the driving data according to a preset safety priority rule and a preset data priority rule to obtain a safety priority classification result and a data priority classification result; and determining the priority of the driving data according to a multiplication value of the safety priority classification result and the data priority classification result;

[0036] determining a safe operation value of the driving vehicle according to the priority of the environmental data and the priority of the driving data;

[0037] determining a current operating state of the traveling vehicle according to the safe operating value;

[0038] Among them, the preset mode priority rule is that the priority levels of cameras, lidars and millimeter-wave radars decrease in sequence; the preset content priority rule is that the priority levels of human and vehicle information, obstacle information and road fence signs decrease in sequence.

[0039] Optionally, the method further includes:

[0040] Obtain the light brightness value of the moving vehicle during operation;

[0041] According to the light brightness value, the preset mode priority rule is adjusted to obtain an adjusted preset mode priority rule.

[0042] The embodiment of the present invention can collect environmental data and driving data of a moving vehicle through an environmental data collection unit and a driving data collection unit respectively, so that a decision unit can determine the current operating state of the moving vehicle, and an execution unit can generate a control instruction based on the current operating state of the moving vehicle to control the operation of the moving vehicle; the operating state of the moving vehicle can be effectively determined by combining the environmental data of the moving vehicle and its own driving data, thereby effectively improving the operating safety of the moving vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0043] Figure 1 is a schematic structural diagram of a safety protection system for a moving vehicle in Embodiment 1 of the present invention;

[0044] Figure 2 is a schematic structural diagram of a safety protection system for a moving vehicle in a second embodiment of the present invention;

[0045] Figure 3 is a schematic flow chart of a safety protection method for a moving vehicle in Embodiment 3 of the present invention;

[0046] Figure 4 is a schematic diagram of the structure of a data acquisition unit in Embodiment 3 of the present invention;

[0047] Figure 5 This is a diagram showing the priority rules of environmental data in Example 3 of the present invention. DETAILED DESCRIPTION

[0048] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0049] Embodiment 1

[0050] Figure 1 1 is a schematic diagram of the structure of the safety protection system for a moving vehicle in the first embodiment of the present invention. This embodiment is applicable to the case where a moving vehicle is unmanned and its running safety is effectively protected; the safety protection system for a moving vehicle includes: an environmental data acquisition unit 1, a driving data acquisition unit 2, a decision unit 3 and an execution unit 4.

[0051] The environmental data collection unit 1 is connected to the decision-making unit 3 for collecting environmental data of the driving vehicle and sending the environmental data to the decision-making unit 3;

[0052] The driving data collection unit 2 is connected to the decision-making unit 3 for collecting driving data of the vehicle and sending the driving data to the decision-making unit 3;

[0053] The decision unit 3 is in communication with the execution unit 4 and is used to determine the current running state of the driving vehicle according to the environmental data and the driving data;

[0054] The execution unit 4 is used to generate a control instruction for the moving vehicle according to the current motion state of the moving vehicle.

[0055] In this embodiment, the environmental data acquisition unit 1 can be installed around the body of the moving vehicle to realize the function of collecting external data of the moving vehicle; the moving vehicle is a mobile vehicle with an unmanned driving function; the environmental data can be the vehicle's external data during normal operation of the moving vehicle, and may include road information or relevant information of equipment deployed on the road, such as road fence signs, human and vehicle information or obstacle information; among them, the human and vehicle information is the information of pedestrians or other moving vehicles in all directions of the moving vehicle; the obstacle information is the information of abnormal objects appearing on the driving road of the moving vehicle, such as the volume and moving speed of sliding stones.

[0056] The driving data acquisition unit 2 can be built into the interior of the driving vehicle to detect the internal operating data of the driving vehicle; the driving data can be the vehicle's own operating data during the operation of the driving vehicle, such as the front axle angle, left front wheel speed, right front wheel speed, tire temperature, tire pressure, vehicle speed, engine speed or water temperature; among them, the front axle angle can reflect the vehicle steering of the driving vehicle; the left front wheel speed and the right front wheel speed can effectively feedback the vehicle status, such as whether the vehicle moves stably, unstably or the tire slips; the tire temperature and tire pressure can be used as reference data for tire failure risks to ensure the safe operation of the driving vehicle.

[0057] The decision unit 3 of the moving vehicle determines the current operating state of the moving vehicle through the environmental data sent by the environmental data acquisition unit 1 and the driving data sent by the driving data unit 2; wherein the current operating state of the moving vehicle may include parking, lane changing, and deceleration, etc.; illustratively, if the environmental data shows that there is currently an obstacle, the decision unit 3 can determine that the current operating state of the moving vehicle is lane changing or deceleration based on the environmental data; if the driving data shows that the tire temperature and tire pressure of the moving vehicle are high, the decision unit 3 can determine that the current operating state of the moving vehicle may be deceleration or parking based on the driving data; so that the execution unit 4 can generate a control instruction for the moving vehicle according to the current operating state of the moving vehicle to control the safe operation of the moving vehicle.

[0058] The embodiment of the present invention can collect environmental data and driving data of a moving vehicle through an environmental data collection unit and a driving data collection unit respectively, so that a decision unit can determine the current operating state of the moving vehicle, and an execution unit can generate a control instruction based on the current operating state of the moving vehicle to control the operation of the moving vehicle; the operating state can be effectively determined by combining the environmental data of the moving vehicle and its own driving data, thereby effectively improving the operating safety of the moving vehicle.

[0059] Embodiment 2

[0060] Figure 2 It is a structural diagram of the safety monitoring system of a moving vehicle in the second embodiment of the present invention. The technical solution of this embodiment is further refined on the basis of the above technical solution, and the safety protection system of the moving vehicle includes: an environmental data acquisition unit 1, a driving data acquisition unit 2, a decision unit 3 and an execution unit 4, a brightness value acquisition unit 5 and a rule adjustment unit 6; wherein the environmental data acquisition unit 1 includes a camera 11, a laser radar 12 and a millimeter wave radar 13; the driving data acquisition unit 2 includes a steering angle sensor 21, a wheel speed sensor 22, a tire temperature and pressure sensor 23 and a vehicle status sensor 24; the decision unit 3 includes a priority determination component 31, a safe operation value determination component 32 and an operation status determination component 33.

[0061] In this embodiment, the camera 11 is used to collect at least one of the road fence signs, human and vehicle information, and obstacle information of the moving vehicle during operation; the laser radar 12 is used to collect at least one of the human and vehicle information and obstacle information of the moving vehicle during operation; the millimeter wave radar 13 is used to collect at least one of the human and vehicle information and obstacle information of the moving vehicle during movement. Among them, the acquisition conditions of the camera 11, the laser radar 12, and the millimeter wave radar 13 are different. The data quality collected by the camera 11 and the laser radar 12 in an environment with sufficient light is better, and the data quality collected by the millimeter wave radar 13 in an environment with insufficient light is better; the road fence signs are obtained by identifying and detecting the fence signs on both sides of the road through the full or partial shape recognition of the fence and the color contrast recognition of the sign pole body; the human and vehicle information and obstacle information are obtained through feature recognition. This embodiment can realize the complete collection of the driving vehicle environment data through multiple environmental data acquisition units 1, thereby improving the integrity of the driving vehicle environment data.

[0062] In this embodiment, there are two cameras 11, which are respectively installed inside the windshield of the moving vehicle and the rear bumper of the moving vehicle; there are four laser radars 12, which are respectively installed on the front bumper, rear bumper, left side area and right side area of ​​the moving vehicle; there are four millimeter wave radars 13, which are respectively installed above the four laser radars 12. In this embodiment, the camera 11, the laser radar 12 and the millimeter wave radar 13 are respectively arranged at different positions to avoid the influence of each other in the collection process, thereby improving the collection efficiency of environmental data.

[0063] In this embodiment, the steering angle sensor 21 is used to collect the steering angle of the front axle of the moving vehicle; the wheel speed sensor 22 is used to collect the left front wheel speed and the right front wheel speed of the moving vehicle; the tire temperature and tire pressure sensor 23 is used to collect the tire temperature and tire pressure of the moving vehicle; the vehicle state sensor 24 is used to collect at least one of the vehicle speed, engine speed and water temperature of the moving vehicle. Among them, the steering angle of the front axle collected by the steering angle sensor 21 can be used as feedback to realize the closed-loop control of the vehicle steering; the wheel speed sensor 22 is used to detect the left front wheel and the right front wheel, as feedback to realize the closed-loop motion control, and at the same time can maintain the body state, such as stable movement, unstable movement or vehicle slippage; the tire temperature and tire pressure sensor 23 can be used to detect the tire temperature and tire pressure to avoid the safety risks caused by tire failure; the vehicle state sensor 24 can be used to feedback the real-time state of the moving vehicle. This embodiment can effectively realize the real-time monitoring of the body state of the moving vehicle by setting multiple sensors inside the vehicle to detect the driving data of the moving vehicle.

[0064] In this embodiment, the priority determination component 31 is connected in communication with the safe operation value determination component 32, and is used to determine the priority of the environmental data according to the pre-configured preset mode priority rule and the preset content priority rule, and to determine the priority of the driving data according to the pre-configured preset safety priority rule and the preset data priority rule; and send the priority of the environmental data and the priority of the driving data to the safe operation value determination component 32; the safe operation value determination component 32 is connected in communication with the running state determination component 33, and is used to determine the safe operation value of the driving vehicle according to the priority of the environmental data and the priority of the driving data; and send the safe operation value of the driving vehicle to the running state determination component 33; the running state determination component 33 is used to determine the current running state of the driving vehicle according to the safe operation value. Among them, the preset mode priority rule and the preset content priority rule are pre-configured in the decision unit 3; the preset mode priority rule is that the priority levels of the camera, laser radar and millimeter wave radar are reduced in sequence; the preset content priority rule is that the priority levels of human and vehicle information, obstacle information and road fence signs are reduced in sequence. The preset mode priority rules and the preset content priority rules are priority rules of different dimensions. The environmental data is classified according to the rules of different dimensions to obtain the classification results of the rules of different dimensions to determine the priority of the driving data; the preset safety priority rules can be priority division according to the importance of the built-in components of the driving vehicle.

[0065] The safe operation value of the driving vehicle is the detection value of the running state of the driving vehicle. When the decision unit 3 detects that the detection value exceeds the detection value threshold, the running state of the driving vehicle needs to be adjusted to ensure the driving safety of the driving vehicle. This embodiment combines multiple acquisition units and multiple sensors to judge and update the current running state in the unmanned vehicle in real time, realizes the effective integration of internal and external information of the vehicle, so as to protect the driving vehicle safely, and improves the safety and logic of the system.

[0066] In this embodiment, the priority determination component 31 is specifically used for:

[0067] Classify the environmental data according to the pre-configured preset mode priority rules and preset content priority rules respectively, and obtain the mode priority classification results and content priority classification results; and determine the priority of the environmental data according to the mode priority classification results and the content priority classification results; classify the driving data according to the pre-configured preset safety priority rules and preset data priority rules respectively, and obtain the safety priority classification results and the pre-data priority classification results; and determine the priority of the driving data according to the safety priority classification results and the pre-data priority classification results. Among them, the priority of the environmental data can be determined according to the multiplication value of the mode priority classification results and the content priority classification results; determining the priority of the environmental data according to the multiplication value of the mode priority classification results and the content priority classification results may include: extracting the minimum multiplication value from the multiplication value of the detection mode priority classification results and the content priority classification results, and detecting whether the multiplication value is unique; if so, using the multiplication value as the priority of the environmental data; if not, determining the priority of the environmental data based on the priority of the detection mode priority classification results and the content priority classification results; it should be noted that in this embodiment, the smaller the multiplication value of the classification results is, the higher the priority is. This embodiment determines the priority of data through classification results of different dimensional priorities, which can effectively avoid the problem of errors in determining priority based on a single classification result, thereby improving the efficiency of determining data priority.

[0068] In this embodiment, the brightness value acquisition unit 5 is connected to the rule adjustment unit 6 for acquiring the light brightness value of the driving vehicle during operation and sending the light brightness value to the rule adjustment unit 6; the rule adjustment unit 6 is used to adjust the preset mode priority rule according to the light brightness value, obtain the adjusted preset mode priority rule, and send the adjusted preset mode priority rule to the priority determination component 31. Among them, since the environmental data acquisition unit 1 for collecting environmental data will bring a certain acquisition error based on the light in the driving environment; illustratively, in an environment with insufficient light, the data acquisition efficiency of the millimeter wave radar 13 is high, and the data acquisition efficiency of the camera 11 and the laser radar 12 is low; in an environment with sufficient light, the data acquisition efficiency of the camera 11 and the laser radar 12 is high, but the data acquisition efficiency of the millimeter wave radar 13 is low. In order to avoid the judgment accuracy of the driving environment on the vehicle state, it is necessary to adjust the preset mode priority rule in real time according to the light brightness value of the driving environment. Taking the light brightness value lower than the brightness value threshold as an example, the preset mode priority rule (for example, camera> laser radar> millimeter wave radar) is adjusted to obtain the adjusted preset mode priority rule (for example, millimeter wave radar> camera> laser radar). This embodiment collects light brightness values ​​during driving to adjust the preset mode priority rules, which can improve the accuracy of the running status of the driving vehicle.

[0069] Embodiment 3

[0070] Figure 3 1 is a flow chart of a safety protection method for a moving vehicle in a fourth embodiment of the present invention. This embodiment is applicable to a situation where a moving vehicle is unmanned and its running safety is effectively monitored. Specifically, it includes the following steps:

[0071] S310, obtaining environmental data and driving data of the moving vehicle; wherein the environmental data includes at least one of road fence signs, human and vehicle information, and obstacle information; and the driving data includes at least one of front axle angle, left front wheel speed, right front wheel speed, tire temperature, tire pressure, vehicle speed, engine speed, and water temperature.

[0072] In this embodiment, the moving vehicle is a mobile vehicle with an unmanned driving function; the environmental data may be the vehicle external data of the moving vehicle during normal operation, and may include road information or relevant information of equipment deployed on the road, such as road fence signs, human and vehicle information or obstacle information; wherein the human and vehicle information is the information of pedestrians or other moving vehicles in all directions of the moving vehicle; the obstacle information is the information of abnormal objects appearing on the driving road of the moving vehicle, such as the volume and moving speed of falling stones.

[0073] Driving data may be the vehicle's own operating data during operation, such as front axle angle, left front wheel speed, right front wheel speed, tire temperature, tire pressure, vehicle speed, engine speed or water temperature; among them, the front axle angle can reflect the steering of the vehicle; the left front wheel speed and the right front wheel speed can effectively feedback the vehicle status, such as whether the vehicle moves stably, unstably or the tires slip; the tire temperature and tire pressure can be used as reference data for tire failure risks to ensure the safe operation of the vehicle.

[0074] The environmental data can be collected by the data collection unit installed on the moving vehicle. For details, please refer to Figure 4 , Figure 4 It is a structural diagram of a data acquisition unit; the data acquisition unit may include a camera, a laser radar and a millimeter-wave radar; specifically, in a well-lit environment, the cameras installed at the front and rear ends of a moving vehicle collect road fence signs, human and vehicle information and obstacle information in front and behind the moving vehicle; wherein, the road fence signs are obtained by identifying and detecting the fence signs on both sides of the road through full or partial shape recognition of the fence and color contrast recognition of the sign pole body; the human and vehicle information and obstacle information are obtained through feature recognition.

[0075] Laser radar can scan the driving environment of a moving vehicle to obtain information about people, vehicles and obstacles; in low light conditions, millimeter wave radar can effectively collect information about people, vehicles and obstacles. The collection of driving data can be achieved through sensors installed inside the moving vehicle, such as a steering angle sensor that can collect the steering angle of the front axle of the moving vehicle; a wheel speed sensor that can collect the front wheel speed of the moving vehicle; a tire temperature and pressure sensor that can collect the tire temperature and tire pressure of the moving vehicle; and a vehicle status sensor that can collect the speed, engine speed or water temperature of the moving vehicle.

[0076] S320, determining the current running state of the driving vehicle according to the environmental data and the driving data, and sending the current running state to the execution unit, which generates a control instruction for the driving vehicle according to the current motion state of the driving vehicle.

[0077] In this embodiment, the decision unit of the moving vehicle determines the current operating state of the moving vehicle through the environmental data and driving data sent by the data acquisition unit; wherein the current operating state of the moving vehicle may include parking, lane changing, and deceleration, etc.; illustratively, if the environmental data shows that there is an obstacle, the decision unit can determine that the current operating state of the moving vehicle is lane changing or deceleration based on the environmental data; if the driving data shows that the tire temperature and tire pressure of the moving vehicle are high, the decision unit can determine that the current operating state of the moving vehicle may be deceleration or parking based on the driving data. This embodiment can effectively determine the current safe and effective response measures of the moving vehicle through the environmental data and driving data of the moving vehicle, thereby effectively protecting the driving safety of the unmanned vehicle.

[0078] The embodiment of the present invention obtains environmental data and driving data of a moving vehicle; wherein the environmental data includes at least one of road fence signs, human and vehicle information, and obstacle information; the driving data includes at least one of the front axle angle, left front wheel speed, right front wheel speed, tire temperature, tire pressure, vehicle speed, engine speed, and water temperature; according to the environmental data and driving data, the current operating state of the moving vehicle is determined, and the current operating state is sent to the execution unit, which generates a control instruction for the moving vehicle according to the current motion state of the moving vehicle. The embodiment of the present invention can effectively determine the operating state of the moving vehicle by combining the environmental data of the moving vehicle and its own driving data, thereby effectively improving the operating safety of the moving vehicle.

[0079] Based on the above embodiment, optionally, determining the current running state of the driving vehicle according to the environmental data and the driving data includes:

[0080] Classify the environmental data according to the preset mode priority rule and the preset content priority rule respectively to obtain a mode priority classification result and a content priority classification result; and determine the priority of the environmental data according to the multiplication value of the mode priority classification result and the content priority classification result;

[0081] Classifying the driving data according to the preset safety priority rule and the preset data priority rule respectively to obtain a safety priority classification result and a data priority classification result; and determining the priority of the driving data according to the multiplication value of the safety priority classification result and the data priority classification result;

[0082] Determine the safe operation value of the driving vehicle according to the priority of the environmental data and the priority of the driving data;

[0083] determining a current operating state of the moving vehicle according to the safe operating value;

[0084] Among them, the preset mode priority rule is that the priority levels of cameras, lidars and millimeter-wave radars decrease in sequence; the preset content priority rule is that the priority levels of human and vehicle information, obstacle information and road fence signs decrease in sequence.

[0085] In this embodiment, the preset mode priority rule and the preset content priority rule are priority rules of different dimensions. The environmental data are classified according to the rules of different dimensions to obtain the classification results of the rules of different dimensions to determine the priority of the driving data; the preset mode priority rule can be divided into: camera (priority 1), laser radar (priority 2) and millimeter wave radar (priority 3); the preset content priority rule can be divided into: human and vehicle information (priority 1), obstacle information (priority 2) and road fence identification (priority 3); the priority rules can be found in Figure 5 , Figure 5 A diagram showing the priority rules for environment data.

[0086] Among them, determining the priority of environmental data according to the multiplication value of the mode priority classification result and the content priority classification result may include: extracting the smallest multiplication value from the multiplication values ​​of the detection mode priority classification result and the content priority classification result, and detecting whether the multiplication value is unique; if so, using the multiplication value as the priority of the environmental data; if not, determining the priority of the environmental data based on the priority of the detection mode priority classification result and the content priority classification result.

[0087] The preset safety priority rule may be to prioritize the internal components of the vehicle according to their importance, and may be divided into emergency stop (priority 1), slow return (priority 2) and warning (priority 3); wherein the internal components may include the front axle, tire or steering wheel, etc. The preset data priority rule may be to classify the sensor data according to the size of the preset data threshold, and may be divided into: severe (priority 1), general (priority 2) and normal (priority 3).

[0088] It should be noted that, in this embodiment, the smaller the multiplication value of the classification results is, the higher the priority is.

[0089] Determine the safe operation value of the driving vehicle according to the priority of the environmental data and the priority of the driving data;

[0090] determining a current operating state of the moving vehicle according to the safe operating value;

[0091] In this embodiment, the safe operation value of the driving vehicle is the detection value of the running state of the driving vehicle. When the detection value exceeds the detection value threshold, it means that the running state of the driving vehicle needs to be adjusted to ensure the driving safety of the driving vehicle. This embodiment combines multiple acquisition units and multiple sensors to judge and update the current running state in the unmanned vehicle in real time, realizes the effective integration of internal and external information of the vehicle, so as to protect the driving vehicle safely, and improves the safety and logic of the system.

[0092] Based on the above embodiment, optionally, the method of this embodiment further includes:

[0093] Obtain the light brightness value of the moving vehicle during operation;

[0094] According to the light brightness value, the preset mode priority rule is adjusted to obtain the adjusted preset mode priority rule.

[0095] In this embodiment, the data acquisition unit that collects environmental data will bring certain acquisition errors based on the light in the driving environment; illustratively, in an environment with insufficient light, the data acquisition efficiency of the millimeter-wave radar is higher, and the data acquisition efficiency of the camera and the laser radar is lower; in an environment with sufficient light, the data acquisition efficiency of the camera and the laser radar is higher, but the data acquisition efficiency of the millimeter-wave radar is lower. In order to avoid the driving environment from affecting the judgment accuracy of the vehicle state, it is necessary to adjust the preset mode priority rules in real time according to the light brightness value of the driving environment. Taking the light brightness value being lower than the brightness value threshold as an example, the preset mode priority rules (for example, camera>laser radar>millimeter-wave radar) are adjusted to obtain the adjusted preset mode priority rules (for example, millimeter-wave radar>camera>laser radar). This embodiment collects the light brightness value during driving to adjust the preset mode priority rules, which can improve the accuracy of the running state of the driving vehicle.

[0096] Note that the above are only preferred embodiments of the present invention and the technical principles used. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments and substitutions can be made by those skilled in the art without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in more detail through the above embodiments, the present invention is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims

1. A safety protection system for a moving vehicle, characterized in that: include: Environmental data collection unit, driving data collection unit, decision-making unit and execution unit; The environmental data collection unit is in communication with the decision-making unit and is used to collect environmental data of the traveling vehicle and send the environmental data to the decision-making unit; The driving data collection unit is in communication with the decision unit and is used to collect driving data of the vehicle and send the driving data to the decision unit; The decision unit is in communication with the execution unit and is used to determine the current running state of the driving vehicle according to the environmental data and the driving data; The execution unit is used to generate a control instruction for the moving vehicle according to the current motion state of the moving vehicle; Wherein, the decision unit includes: a priority determination component, a safe operation value determination component and an operation status determination component; The priority determination component is in communication with the safe operation value determination component, and is used to determine the priority of the environmental data according to a pre-configured preset mode priority rule and a pre-configured content priority rule, and to determine the priority of the driving data according to a pre-configured preset security priority rule and a pre-configured data priority rule; and to send the priority of the environmental data and the priority of the driving data to the safe operation value determination component; The safe operation value determination component is in communication with the operation state determination component, and is used to determine the safe operation value of the driving vehicle according to the priority of the environmental data and the priority of the driving data; and send the safe operation value of the driving vehicle to the operation state determination component; The operating state determination component is used to determine the current operating state of the traveling vehicle according to the safe operating value; Among them, the preset mode priority rule is that the priority levels of cameras, lidars and millimeter-wave radars decrease in sequence; the preset content priority rule is that the priority levels of human and vehicle information, obstacle information and road fence signs decrease in sequence; the preset safety priority rule is to prioritize according to the importance of built-in components of the moving vehicle.

2. The system according to claim 1, characterized in that The environmental data acquisition unit includes a camera, a laser radar and a millimeter wave radar; The camera is used to collect at least one of the road fence identification, human and vehicle information, and obstacle information of the moving vehicle during operation; The laser radar is used to collect at least one of the information of people and vehicles and obstacle information of the moving vehicle during operation; The millimeter wave radar is used to collect at least one of the information about people and vehicles and obstacle information of the moving vehicle.

3. The system according to claim 2, characterized in that There are two cameras, which are respectively installed inside the windshield of the moving vehicle and on the rear bumper of the moving vehicle; there are four laser radars, which are respectively installed on the front bumper, rear bumper, left side area and right side area of ​​the moving vehicle; there are four millimeter-wave radars, which are respectively installed above the four laser radars.

4. The system according to claim 1, characterized in that The driving data acquisition unit includes a steering angle sensor, a wheel speed sensor, a tire temperature and pressure sensor, and a vehicle status sensor; The rotation angle sensor is used to collect the front axle rotation angle of the moving vehicle; The wheel speed sensor is used to collect the left front wheel speed and the right front wheel speed of the moving vehicle; The tire temperature and pressure sensors are used to collect tire temperature and tire pressure of a moving vehicle; The vehicle status sensor is used to collect at least one of the vehicle speed, engine speed and water temperature of the moving vehicle.

5. The system according to claim 1, characterized in that The priority determination component is specifically used to: Classifying the environmental data according to the pre-configured preset mode priority rule and the preset content priority rule to obtain a mode priority classification result and a content priority classification result; and determining the priority of the environmental data according to the pattern priority classification result and the content priority classification result; Classifying the driving data according to the pre-configured preset safety priority rules and the preset data priority rules respectively, to obtain a safety priority classification result and a preset data priority classification result; The priority of the driving data is determined according to the safety priority classification result and the pre-data priority classification result.

6. The system according to claim 5, characterized in that Also includes: Brightness value acquisition unit and rule adjustment unit; The brightness value acquisition unit is in communication with the rule adjustment unit, and is used to acquire the light brightness value of the moving vehicle during operation, and send the light brightness value to the rule adjustment unit; The rule adjustment unit is used to adjust the preset mode priority rule according to the light brightness value, obtain the adjusted preset mode priority rule, and send the adjusted preset mode priority rule to the priority determination component.

7. A safety protection method for a moving vehicle, characterized in that: include: Acquiring environmental data and driving data of a moving vehicle; wherein the environmental data includes at least one of road fence markings, human and vehicle information, and obstacle information; and the driving data includes at least one of front axle angle, left front wheel speed, right front wheel speed, tire temperature, tire pressure, vehicle speed, engine speed, and water temperature; Determine the current running state of the driving vehicle according to the environmental data and the driving data, and send the current running state to an execution unit, and the execution unit generates a control instruction for the driving vehicle according to the current motion state of the driving vehicle; Wherein, the method further comprises: Determine the priority of the environmental data according to a pre-configured preset mode priority rule and a pre-configured content priority rule, and determine the priority of the driving data according to a pre-configured preset safety priority rule and a pre-configured data priority rule; Determine the safe operation value of the driving vehicle according to the priority of the environmental data and the priority of the driving data; determining a current operating state of the moving vehicle according to the safe operating value; Among them, the preset mode priority rule is that the priority levels of cameras, lidars and millimeter-wave radars decrease in sequence; the preset content priority rule is that the priority levels of human and vehicle information, obstacle information and road fence signs decrease in sequence; the preset safety priority rule is to prioritize according to the importance of built-in components of the moving vehicle.

8. The method according to claim 7, characterized in that Determining a current running state of the traveling vehicle according to the environmental data and the traveling data includes: Classifying the environmental data according to a preset mode priority rule and a preset content priority rule respectively to obtain a mode priority classification result and a content priority classification result; and determining the priority of the environmental data according to a multiplication value of the mode priority classification result and the content priority classification result; The driving data is classified according to a preset safety priority rule and a preset data priority rule to obtain a safety priority classification result and a data priority classification result; and the priority of the driving data is determined according to the multiplication value of the safety priority classification result and the data priority classification result.

9. The method according to claim 8, characterized in that The method further comprises: Obtain the light brightness value of the moving vehicle during operation; According to the light brightness value, the preset mode priority rule is adjusted to obtain an adjusted preset mode priority rule.

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