Control system and control method for intelligent connected vehicles

Abstract

The present invention belongs to the field of autonomous driving and specifically discloses a control system, control method, vehicle-mounted equipment, and storage medium for intelligent connected vehicles. The control system includes: a sensor group for obtaining sensor information; a perception and positioning module for obtaining perception information and positioning information based on the sensor information; a planning and control module for determining vehicle planning and control information based on the perception information and positioning information; a safety control module for determining vehicle safety control information based on the perception information and positioning information; a function evaluation module for determining a vehicle status evaluation result; a risk evaluation module for determining a risk evaluation result; a logic arbitration module for arbitrating the vehicle planning and control information and the vehicle safety control information and determining vehicle execution information; and an execution module for controlling vehicle driving based on the vehicle execution information. This control method can reduce the driving risks of intelligent connected vehicles.

Description

Technical Field

[0001] The present invention relates to the field of intelligent vehicle technology, and in particular to a control system and a control method for an intelligent connected vehicle. Background Art

[0002] With the continuous development of intelligent connected vehicle technology, these vehicles are gradually transitioning from intelligent-agent-assisted driving to intelligent-agent-independent driving. Furthermore, as intelligent connected vehicles become increasingly intelligent, they are becoming significantly different from traditional vehicles. For example, high-level intelligent connected vehicles are completely independent of driver control and require independent judgment and downgrade when a malfunction occurs. Furthermore, significant differences in driving style between intelligent connected vehicles and human drivers are crucial, and this high level of intelligence carries with it increased driving risks. Therefore, the safety of high-level intelligent connected vehicles is crucial to their success.

[0003] The control systems of most intelligent connected vehicles are still developed based on the control systems of traditional vehicles. Due to the overly simple control system architecture and the overly rigid redundant control, drivers or supervisors are required to assist in control or even take over. As a result, the intelligent body cannot make good self-decisions, supervision, fault diagnosis and avoid driving risks during driving.

[0004] Therefore, the current control system architecture cannot meet the independent driving requirements of high-level intelligent connected vehicles. How to develop a reliable control system architecture based on the driving characteristics and driving conditions of high-level intelligent connected vehicles has become a key technical issue that needs to be solved urgently. Summary of the Invention

[0005] To this end, the present invention provides a control system and a control method for an intelligent connected vehicle to solve the problem in the prior art that the control system architecture is simple and the redundant control is too rigid, which leads to the inability to meet the safety requirements of the intelligent connected vehicle.

[0006] In order to achieve the above objectives, the present invention provides a control system for an intelligent connected vehicle in a first aspect, the control system comprising:

[0007] A sensor group for obtaining sensing information;

[0008] A sensing and positioning module, configured to obtain sensing information and positioning information based on the sensing information;

[0009] a planning and control module, configured to determine vehicle planning and control information based on the perception information and positioning information, a vehicle state assessment result, and a risk assessment result, wherein the vehicle state assessment result is generated by the function assessment module and the risk assessment result is generated by the risk assessment module;

[0010] A safety control module, configured to determine vehicle safety control information based on the perception information and positioning information, the vehicle state assessment result, and the risk assessment result;

[0011] a function evaluation module, configured to determine a vehicle status evaluation result based on status information of the sensor group, the perception and positioning module, the planning and control module, the safety control module, and the execution module;

[0012] a risk assessment module, configured to obtain a risk assessment result based on the sensing information, the positioning information, the status and planning information of the planning control module, and the status and safety planning information of the safety control module;

[0013] a logic arbitration module, configured to arbitrate the vehicle planning control information and the vehicle safety control information based on the states of the function assessment module and the risk assessment module, the vehicle state assessment result, and the risk assessment result to obtain vehicle execution information;

[0014] An execution module is used to control the vehicle driving based on the vehicle execution information.

[0015] To achieve the above objectives, the second aspect of the present invention provides a control method for an intelligent connected vehicle. The method is based on the control system provided in an embodiment of the present invention and includes:

[0016] Acquiring sensor information;

[0017] Obtaining perception information and positioning information based on the sensing information;

[0018] Determining vehicle planning and control information based on the perception information, positioning information, vehicle status assessment results, and risk assessment results;

[0019] Determining vehicle safety control information based on the perception information, positioning information, vehicle status assessment results, and risk assessment results;

[0020] Obtaining a vehicle status assessment result based on the vehicle's own status information;

[0021] Determining a risk assessment result based on the sensor information, the positioning information, the vehicle planning control information, and the vehicle safety control information;

[0022] arbitrating the vehicle planning control information and the vehicle safety control information according to the working status of the function evaluation module and the working status of the risk evaluation module, and determining vehicle execution information;

[0023] The vehicle execution information is executed.

[0024] In order to achieve the above-mentioned object, the present invention provides a vehicle-mounted device in a third aspect, comprising: a processor, a memory, and a communication interface, wherein the communication interface is data-connected between the processor and the memory;

[0025] The processor is configured to execute the steps of the control method provided in the embodiment of the present invention by calling the program or instruction stored in the memory.

[0026] In order to achieve the above-mentioned purpose, the fourth aspect of the present invention provides a non-transitory computer-readable storage medium, which stores a program or instruction, and the program or instruction enables a computer to execute the steps of the control method provided by an embodiment of the present invention.

[0027] The control system for intelligent connected vehicles provided by the present invention comprises a planning control module that determines vehicle planning control information based on perception information and positioning information, a safety control module that determines vehicle safety control information based on perception information and positioning information, a function evaluation module that determines a vehicle status evaluation result, a risk evaluation module that determines a risk evaluation result, and a logic arbitration module that arbitrates the vehicle planning control information and the vehicle safety control information based on the working status of the function evaluation module and the working status of the risk evaluation module, and determines the vehicle execution information, so that the vehicle execution information is more accurate, thereby reducing the driving risk of the intelligent connected vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention, but do not constitute a limitation of the present invention.

[0029] Figure 1 An overall architecture diagram of an intelligent connected vehicle provided by an embodiment of the present invention;

[0030] Figure 2 An exemplary block diagram of a control system for an intelligent connected vehicle provided by an embodiment of the present invention;

[0031] Figure 3 This embodiment also provides a flow chart of a control method for an intelligent connected vehicle;

[0032] Figure 4 This is a schematic structural diagram of a vehicle-mounted device provided in this embodiment. DETAILED DESCRIPTION

[0033] The following describes the specific embodiments of the present invention in detail with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0034] In response to the problem that the safety architecture of intelligent connected vehicles still uses the safety architecture of traditional vehicles, resulting in poor safety of intelligent connected vehicles, this embodiment provides a control system and control method for intelligent connected vehicles. Vehicle control instructions are determined based on status assessment results, risk assessment results, vehicle planning control information and vehicle safety control information, thereby improving the accuracy of vehicle control instructions and thus improving the safety of intelligent connected vehicles.

[0035] Figure 1 This is an overall architecture diagram of an intelligent connected vehicle provided in this embodiment. Figure 1 As shown, the intelligent connected vehicle includes a sensor group 10, an intelligent driving system 20, a vehicle execution system 30 and a cloud server 40, and the intelligent driving system 20 can communicate with the cloud server 40.

[0036] The sensor group 10 is used to obtain sensor information and includes, but is not limited to, at least one of a camera, a laser radar, a millimeter-wave radar, a global positioning system (GPS), a pressure sensor, an IMU, an angle sensor, and a speed sensor.

[0037] The intelligent driving system is used to receive sensing information from the sensor group and generate execution information based on the sensing information.

[0038] The vehicle execution system is used to receive execution information and control vehicle movement accordingly. In some embodiments, the vehicle execution system includes, but is not limited to, a steering system, a braking system, and a drive system. These systems are well-established in the automotive field and will not be described in detail here.

[0039] The cloud server communicates with the intelligent driving system to coordinate and manage intelligent connected vehicles. In some embodiments, the cloud server can be used to interact with one or more intelligent connected vehicles to coordinate and manage the scheduling of multiple intelligent connected vehicles. In some embodiments, the vehicle control system 20 communicates wirelessly with the cloud server via a wireless communication network (including but not limited to GPRS, Zigbee, Wi-Fi, 3G, 4G, 5G, and other wireless communication networks).

[0040] In some embodiments, the cloud server is established by a vehicle service provider and provides cloud storage and cloud computing capabilities. In some embodiments, a vehicle-side file is created on the cloud server. In some embodiments, the vehicle-side file stores various information uploaded by the vehicle control system 20. In some embodiments, the cloud server can synchronize driving data generated by the vehicle in real time.

[0041] In some embodiments, the cloud server may include a data warehouse and a data processing platform. The data warehouse stores vehicle-side profiles created by the cloud server. In some embodiments, the data warehouse may collect data from various source business systems and process it on the data processing platform for vehicle-side use.

[0042] In some embodiments, the cloud server can be a single server or a server group. The server group can be centralized or distributed. Distributed servers facilitate task distribution and optimization across multiple distributed servers, overcoming the resource constraints and response bottlenecks of traditional centralized servers. In some embodiments, the cloud server can be local or remote.

[0043] In some embodiments, the cloud server can be used to obtain information from a road side unit (RSU) and an intelligent connected vehicle, and can send information to the intelligent connected vehicle. In some embodiments, the cloud server can send detection information corresponding to the intelligent connected vehicle in the road side unit to the intelligent connected vehicle based on the information of the intelligent connected vehicle.

[0044] In some embodiments, the intelligent connected vehicle may further include a vehicle CAN bus, which connects the vehicle control system 20 and the vehicle execution system 30. Information exchange between the intelligent driving system 10 and the vehicle's underlying execution system is transmitted via the vehicle CAN bus.

[0045] In some embodiments, intelligent connected vehicles can be controlled by a driver in manual driving mode or by the vehicle control system 20 in an unmanned driving mode. In manual driving mode, the driver controls the vehicle by operating a device that controls the vehicle's movement. The device may include, but is not limited to, a brake pedal, a steering wheel, and an accelerator pedal. The device that controls the vehicle's movement may directly operate the vehicle's underlying execution system to control the vehicle's movement.

[0046] In some embodiments, the intelligent connected vehicle may also be an unmanned vehicle, and the driving control of the vehicle is performed by the intelligent control system 20 outputting control instructions and executed by the vehicle execution system 30.

[0047] Figure 2 An exemplary block diagram of a control system for an intelligent connected vehicle provided by an embodiment of the present invention. In some embodiments, the control system can implement Figure 1 Some functions of the intelligent control system 20 are used to control the driving of intelligent connected vehicles.

[0048] like Figure 2As shown, the control system for intelligent connected vehicles can be divided into a sensing receiving module 201, a perception and positioning module 202, a planning and control module 203, a safety control module 204, a function evaluation module 205, a risk evaluation module 206, a logic arbitration module 207, an execution module 208 and some other units that can be used for intelligent connected vehicles.

[0049] The sensor receiving module 201 is used to receive sensor information from the sensor group and transmit this information to the perception and positioning module 202, the planning and control module 203, the safety control module 204, the function assessment module 205, and the risk assessment module 206. The sensor group includes, but is not limited to, one or more of a camera, a lidar, a millimeter-wave radar, a pressure sensor, an IMU, an angle sensor, a speed sensor, etc.; the sensor information includes environmental information and vehicle status information. Environmental information includes obstacles, pedestrians, surrounding vehicles, drivable areas, road markings, etc. Vehicle status information includes vehicle speed, front wheel deflection angle, acceleration, deceleration, steering wheel angle, brake, throttle, and other status.

[0050] In some embodiments, the sensor group can also monitor its own state information and send the state information to the function evaluation module 205 through the sensor receiving module 201. The state information includes the working state of each sensor in the sensor group.

[0051] The sensing and positioning module 202 is configured to determine sensing information and positioning information based on the sensing information. The sensing and positioning module 202 further senses its own state and transmits the state information to the planning control module 203, the security control module 204, the function evaluation module 205, and the risk evaluation module 206.

[0052] In some embodiments, the sensing and positioning module 202 includes a sensing unit 2021 and a positioning unit 2022. The sensing unit 2021 obtains sensing information. Specifically, the sensing unit 2021 is configured to sense the vehicle's state and the external environment based on the sensor information to obtain sensing information. In some embodiments, the sensing information includes vehicle state information, such as vehicle speed, vehicle acceleration, and the operating status of vehicle hardware. In some embodiments, the sensing information also includes external environment information, such as the vehicle's drivable area, obstacles, and pedestrians and other vehicles around the vehicle.

[0053] In some embodiments, the positioning unit 2022 is configured to obtain the vehicle's location information based on the sensor information to obtain positioning information. In some embodiments, the positioning unit 2022 obtains the vehicle's location information based on GPS, IMU, or a positioning module. In some embodiments, positioning information can also be obtained through visual sensors, laser radar, or the like, such as through V-SLAM or Lidar-SLAM.

[0054] The planning control module 203 determines the vehicle planning control information based on the perception information and positioning information. The vehicle planning control information is generated based on driving comfort, timeliness, and applicability. In some embodiments, the planning control module may further combine at least one of V2X data, high-precision maps, and other data to perform path planning and decision-making. In some embodiments, the planning control module also receives vehicle status assessment results and / or risk assessment results to determine the vehicle planning control information, and determines the vehicle planning control information based on the perception information, positioning information, vehicle status assessment results, and risk assessment results.

[0055] In some embodiments, the vehicle planning control information includes vehicle speed, front wheel angle, acceleration, deceleration, steering wheel angle, brake, throttle and other control information.

[0056] In some embodiments, the planning control module 203 includes a planning unit 2031 and a planning motion control unit 2032. The planning unit 2031 is used to generate planning information. In some embodiments, the planning unit generates planning information based on the perception and positioning information generated by the perception module and the positioning module. The planning unit can also generate planning information in combination with at least one of V2X data, high-precision maps and other data. In some embodiments, the planning information includes but is not limited to: expected path, behavior (for example, including but not limited to following a vehicle, overtaking, parking, detouring, etc.), vehicle heading, vehicle speed, expected acceleration of the vehicle, expected steering wheel angle, etc. In some embodiments, the planning unit receives planning information from the vehicle status assessment results and / or risk assessment results. The planning unit performs planning based on passenger comfort, wherein the passenger comfort includes driving comfort, driving timeliness, driving suitability, etc. The planning unit transmits the generated plan and decision to the planning motion control unit.

[0057] In some embodiments, the planning unit 2031 transmits the obtained planning information and the performance of the planning unit 2031 to the planning motion control unit 2032 .

[0058] The planning motion control unit 2032 is used to determine the vehicle planning control information based on the planning information. The vehicle planning control information refers to the execution information of the vehicle's underlying control system. In some embodiments, the planning motion control unit sends the vehicle control information so that the vehicle's underlying execution system controls the vehicle to drive along the desired path, such as by controlling the steering wheel, brakes, and accelerator to control the vehicle laterally and longitudinally. For example, the planned maximum acceleration does not exceed 5m / s 2 , the maximum steering angle does not exceed 15°.

[0059] The safety control module 204 is configured to generate vehicle safety control information based on the perception information and positioning information. The vehicle safety control information is generated based on driving safety, stability, and collision consequences. In some embodiments, the safety control module further determines the vehicle safety control information based on vehicle status assessment results and risk assessment results. Specifically, the safety control information is determined based on the perception information, positioning information, vehicle status assessment results, and risk assessment results, providing highly reliable control decisions for intelligent connected vehicles.

[0060] In some embodiments, the safety control module 204 includes a planning unit 2041 and a safety behavior control unit 2042. Among them, the planning unit 2041 is used to generate safety planning information. In some embodiments, the planning unit 2041 generates safety planning information based on the perception and positioning information generated by the perception module and the positioning module. The planning unit 2041 can also generate safety planning information in combination with at least one of V2X data, high-precision maps and other data. In some embodiments, the safety planning information includes but is not limited to: behavior (for example, including but not limited to following a vehicle, overtaking, parking, detouring, etc.), vehicle heading, vehicle speed, expected acceleration of the vehicle, expected steering wheel angle, etc. In some embodiments, the safety planning unit receives safety planning information from the vehicle status assessment results and / or risk assessment results. The safety planning unit performs driving planning for the vehicle based on driving safety, stability and collision consequences. The safety planning unit transmits the generated plan and decision to the planning motion control unit.

[0061] The safety behavior control unit 2042 is configured to determine vehicle safety control information based on the safety planning information. Safety planning control information refers to the execution information of the vehicle's underlying control system. In some embodiments, the safety behavior control unit issues vehicle control information so that the vehicle's underlying execution system controls the vehicle to travel along the desired path, such as by controlling the steering wheel, brakes, and accelerator to control the vehicle laterally and longitudinally. In some embodiments, when generating vehicle safety control information, the vehicle safety planning information considers, but is not limited to, safety factors such as the vehicle's slip rate, yaw angle, and roll angle. For example, the vehicle's slip rate is limited to 20%, and the vehicle's yaw and roll angles are kept within a safe range.

[0062] Functional evaluation module 205 is used to generate a vehicle status assessment result. Functional evaluation module 205 monitors the operating status of sensor group 201, perception and positioning module 202, planning and control module 203, safety control module 204, and execution module 208 in real time, determines a first monitoring result, and evaluates the functions of the aforementioned functional modules based on the first monitoring result to obtain a vehicle status assessment result. The first monitoring result includes, but is not limited to, software and hardware fault monitoring and functional failure monitoring results.

[0063] In some embodiments, the function assessment module 205 monitors the status of the sensor group 201, the perception and positioning module 202, the planning and control module 203, the safety control module 204, and the execution module 208 in real time to obtain a first monitoring result. Based on the first monitoring result, the function assessment module 205 performs a graded assessment of the severity of damage to the aforementioned modules to obtain a vehicle status assessment result. In some embodiments, the first monitoring result includes, but is not limited to, software and hardware fault monitoring and functional failure monitoring results.

[0064] In some embodiments, the function evaluation module 205 includes a function monitoring unit 2051 and a function evaluation unit 2052. The function monitoring unit is configured to generate first monitoring information. The first monitoring information includes software and hardware fault monitoring information and functional failure detection information for the functional module. The functional module includes a sensor group 201, a perception and positioning module 202, a planning and control module 203, a security control module 204, a function evaluation module 205, and an execution module 208.

[0065] In some embodiments, the function monitoring unit includes a fault monitoring subunit 301 and a function monitoring subunit 302. The fault monitoring subunit 301 is used to monitor the status of the sensor group 201, the perception and positioning module 202, the planning and control module 203, the safety control module 204, the function evaluation module 205, and the execution module 208 in real time to obtain corresponding fault monitoring information. The function monitoring subunit 302 is used to monitor the status of the sensor group 201, the perception and positioning module 202, the planning and control module 203, the safety control module 204, the function evaluation module 205, and the execution module 208 in real time to determine whether they have failed.

[0066] The function evaluation unit 2052 is used to determine the vehicle status evaluation result. In some embodiments, the function evaluation unit 2052 is used to evaluate the safety of the vehicle itself based on the first monitoring result and determine the vehicle status evaluation result. In some embodiments, the function evaluation unit 2052 sends the vehicle status evaluation result to the planning control module 203 and the safety control module 204. In some embodiments, when the vehicle status evaluation result determined by the function evaluation unit 2052 changes, the planning control module 203 modifies the vehicle planning control information based on the vehicle status evaluation result. In some embodiments, the safety control module 204 modifies the vehicle safety control information based on the vehicle status evaluation result.

[0067] The risk assessment module 206 is configured to determine a risk assessment result. In some embodiments, the risk assessment module 206 is configured to obtain a risk assessment result based on the sensor information and the positioning information, the status and planning information of the planning control module, and the status and safety planning information of the security control module.

[0068] In some embodiments, the risk assessment module 206 includes a risk monitoring unit and a risk assessment unit. In some embodiments, the risk monitoring unit determines risk monitoring information based on the sensor information and positioning information. The risk monitoring information includes, but is not limited to, collision monitoring information and feasible domain monitoring information. In some embodiments, the risk assessment module may utilize sensors independent of the sensing and positioning module to ensure the independence of risk assessment.

[0069] After determining the risk monitoring information, the risk monitoring unit sends the risk monitoring information to the risk assessment unit.

[0070] The risk monitoring unit includes a feasible domain monitoring subunit 401 and a collision monitoring subunit 402. The feasible domain monitoring subunit 401 is used to monitor the environment within the feasible domain to obtain feasible domain monitoring information and status information of the feasible domain monitoring subunit. In some embodiments, the collision monitoring subunit 402 is used to monitor the environment around the vehicle body to obtain collision monitoring information and the working status of the collision monitoring subunit. In some embodiments, the collision monitoring information can be obtained based on sensor information, positioning information and real-time monitoring of the surrounding environment. In some embodiments, the collision monitoring information is obtained directly through independent sensors. In some embodiments, the feasible domain monitoring information includes but is not limited to factors such as weather, speed, pedestrians / animals, etc.

[0071] The risk assessment unit 2062 is configured to determine a risk assessment result based on the risk monitoring information, the vehicle planning and control information, and the vehicle safety control information. In some embodiments, the risk assessment unit further determines the risk assessment result based on the operating status of the risk monitoring unit, the planning unit, and the safety planning unit.

[0072] In some embodiments, the risk assessment unit 2402 can also assess the overall risk in the vehicle based on information such as vehicle speed, driving style, weather, and road complexity to determine the risk assessment results. In some embodiments, the risk assessment unit 2062 sends the risk assessment results to the planning unit 2031, the safety planning unit 2041, and the logic arbitration module 207. Among them, the planning control module 203 modifies the vehicle planning control information based on the risk assessment results. The safety control module 204 modifies the vehicle safety control information based on the risk assessment results. For example, when the risk assessment result is a level 2 risk level, the minimum speed needs to be limited to meet timeliness. The planning control module 203 and the safety control module 204 can modify the vehicle planning control information and the safety control information accordingly, limit the minimum speed to 90km / h, and modify the vehicle planning control information and the vehicle safety control information accordingly based on the minimum speed.

[0073] In some embodiments, the planning control module 203 and the safety control module 204 may further limit a maximum steering angle, such as limiting the maximum steering angle to 15°, and modify the vehicle planning control information and the vehicle safety control information based on the maximum steering angle.

[0074] The logic arbitration module 207 is used to determine vehicle execution information. The logic arbitration module determines the vehicle execution information based on the vehicle planning control information and the safety control information. In some embodiments, the logic arbitration module further determines the vehicle execution information based on the operating status of the function assessment module and the operating status of the risk assessment module.

[0075] For example, if the risk level in the risk assessment results is low, the logic arbitration module 207 may determine that the planning control information is execution information; if the risk level is high, the safety control information may be determined as execution information. If the risk level threatens vehicle safety or passenger safety, the vehicle may be decelerated or stopped as quickly as possible. If a functional module failure or malfunction is detected in the functional assessment results, the vehicle may be controlled to decelerate or stop.

[0076] In some embodiments, when the risk level of the intelligent connected vehicle is low, such as the risk level is lower than level 2, the logic arbitration module 207 can select the vehicle planning control information. In some embodiments, when the risk level of the intelligent connected vehicle is high, such as the risk level is level 4, the logic arbitration module 207 can select the vehicle safety control information. In some embodiments, when the intelligent connected vehicle has a higher risk, such as the risk level is above level 5, the logic arbitration module 207 can choose to temporarily maintain the vehicle speed and seek an opportunity to stop temporarily; or it can choose to reduce the vehicle speed and seek an opportunity to stop temporarily. In some embodiments, when the intelligent connected vehicle has a higher risk, such as the risk level is above level 5, the logic arbitration module 207 can choose to decelerate at the maximum deceleration, such as 12.5m / S 2 The deceleration rate is reduced.

[0077] The execution module 208 is configured to control vehicle travel based on the vehicle execution information. In some embodiments, the execution module 208 receives the vehicle execution information from the logic arbitration module 207 and controls vehicle travel based on the vehicle execution information. In some embodiments, the execution module 208 includes, but is not limited to, the chassis, steering system, powertrain, braking system, and other vehicle hardware. In some embodiments, the execution module parses the vehicle execution information and sends matching execution signals to each piece of vehicle hardware. The execution module can also monitor its own operating status and transmit this status to the function evaluation module.

[0078] It should be noted that all modules involved in this embodiment are logical modules. In actual applications, a logical unit can be a physical unit, a part of a physical unit, or a combination of multiple physical units. In addition, to highlight the innovations of the present invention, this embodiment does not include units that are not closely related to solving the technical problems proposed by the present invention. However, this does not mean that other units do not exist in this embodiment.

[0079] Figure 3 This embodiment also provides a flowchart of a control method for an intelligent connected vehicle. This control method is implemented by the control system provided in this embodiment, and the specific structure of the control system is not described here. In some embodiments, the control method provided in this embodiment can be applied to intelligent connected autonomous vehicles.

[0080] like Figure 3 As shown, the control method for an intelligent connected vehicle may include the following steps:

[0081] 301, acquiring sensor information.

[0082] Sensor information is acquired by the sensor array and transmitted to the intelligent control system via the sensor receiving module. This information includes environmental information and vehicle status information. Environmental information includes obstacles, pedestrians, surrounding vehicles, drivable areas, and road markings. Vehicle status information includes speed, front wheel deflection angle, acceleration, deceleration, steering wheel angle, brake, and throttle status.

[0083] In some embodiments, the sensor group also monitors its own state information and transmits the state information to the intelligent control system via the sensor receiving module, wherein the state information includes the working state of each sensor in the sensor group.

[0084] 302. Obtain perception information and positioning information based on the sensing information.

[0085] The perception information includes vehicle status information, such as vehicle speed, vehicle acceleration, and the operating status of vehicle hardware. In some embodiments, the perception information also includes external environment information, such as the vehicle's drivable area, obstacles, pedestrians, and other vehicles around the vehicle.

[0086] The positioning information is based on GPS, IMU, identification positioning module, etc. to obtain the vehicle's location information. In some embodiments, the positioning information can also be obtained through visual sensors, laser radar, etc., for example, through V-SLAM, Lidar-SLAM, etc.

[0087] 303. Determine vehicle planning control information based on the perception information and positioning information.

[0088] Among them, vehicle planning control information includes vehicle speed, front wheel angle, acceleration, deceleration, steering wheel angle, brake, throttle and other control information.

[0089] In some embodiments, vehicle planning control information is determined based on the perception information, positioning information, vehicle status assessment results, and risk assessment results.

[0090] Specifically, the perception information, positioning information, vehicle status assessment results and risk assessment results are received; planning information is determined based on the perception information, positioning information, vehicle status assessment results and risk assessment results; and the planning information is parsed to obtain vehicle planning control information.

[0091] 304. Determine vehicle safety control information based on the perception information and positioning information.

[0092] The safety planning information is information generated based on the perception information and positioning information. The safety planning information is information generated based on the perception information and positioning information, and further combined with at least one of V2X data, high-precision maps, and other data.

[0093] In some embodiments, vehicle safety control information is determined based on the perception information, positioning information, vehicle status assessment results, and risk assessment results.

[0094] Specifically, the perception information, positioning information, vehicle status assessment results and risk assessment results are received; safety planning information is determined based on the perception information, positioning information, vehicle status assessment results and risk assessment results; and the safety planning information is parsed to obtain vehicle safety control information.

[0095] 305 , determining a risk assessment result based on the sensing information, the positioning information, the vehicle planning control information, and the vehicle safety control information.

[0096] In some embodiments, a risk assessment result is determined based on the sensor information, the positioning information, the operating status and planning information of the planning and control module, and the operating status and safety planning information of the safety control module. In some embodiments, the risk assessment module monitors the driving environment of the intelligent connected vehicle and assesses the risk of the intelligent connected vehicle based on the sensor information, the positioning information, the status and planning information of the planning and control module, and the status and safety planning information of the safety control module. In some embodiments, the risk assessment result includes one to six levels, with different levels indicating different degrees of risk.

[0097] In some embodiments, the risk assessment result is determined by the following steps: receiving the sensor information and the positioning information, and determining the risk monitoring information based on the sensor information and the positioning information; determining the risk assessment result based on the risk monitoring information and the vehicle planning control information and the vehicle safety control information. Specifically, receiving the status and planning information of the planning control module, as well as the status and safety planning information of the safety control module; monitoring the environment within the feasible domain to obtain feasible domain monitoring information and status information; monitoring the environment around the vehicle body to obtain collision monitoring information and status information; and obtaining the risk assessment result based on the sensor information, positioning information, the status and planning information of the planning control module, the status and safety planning information of the safety control module, the feasible domain monitoring information and status information, and the collision monitoring information and status information.

[0098] In some embodiments, when obtaining feasible domain monitoring information, at least one of factors such as weather conditions, vehicle speed, and pedestrians / animals may be considered. In some embodiments, when obtaining risk assessment results, at least one of factors such as the vehicle's current speed, driving style, planning information, safety planning information, risk monitoring information, and feasible domain monitoring information may be comprehensively considered.

[0099] In some embodiments, the risk assessment results are transmitted to the security control module, the planning control module, and the logic arbitration module.

[0100] 306 , obtaining a vehicle state evaluation result based on the vehicle's own state information.

[0101] In some embodiments, status information of the sensor group, perception and positioning module, planning and control module, safety control module and execution module is received; based on the status information, the working status of the sensor group, perception and positioning module, planning and control module, safety control module and execution module is obtained; and a vehicle status assessment result is determined based on the working status of the sensor group, perception and positioning module, planning and control module, safety control module, function assessment module and execution module.

[0102] 307 , based on the risk assessment results, the vehicle status assessment results, the vehicle planning control information, and the vehicle safety control information, arbitration is performed to determine the vehicle execution information.

[0103] In some embodiments, the vehicle planning control information and the vehicle safety control information are arbitrated according to the working status of the function assessment module, the working status of the risk assessment module, the vehicle status assessment result and the risk assessment result to obtain vehicle execution information.

[0104] In some embodiments, the vehicle planning control information and vehicle safety control information are arbitrated based on the risk level and functional damage level in the risk assessment results, and the status of the risk assessment module and the functional assessment module, that is, the logic arbitration module determines that the vehicle execution information is vehicle planning control information or vehicle safety control information.

[0105] 308, controlling the vehicle to travel based on the vehicle execution information. In some embodiments, the execution module executes the execution information arbitrated by the logic arbitration module.

[0106] The steps of the various methods above are divided only for the purpose of clear description. During implementation, they can be combined into one step or some steps can be split and decomposed into multiple steps. As long as they include the same logical relationship, they are all within the scope of protection of this patent. Adding insignificant modifications or introducing insignificant designs to the algorithm or process without changing the core design of the algorithm and process are all within the scope of protection of this patent.

[0107] This embodiment provides a control method for intelligent connected vehicles. The perception and positioning module obtains perception and positioning information based on sensor information. The planning and control module derives vehicle planning and control information based on the perception and positioning information, risk assessment results, and vehicle status assessment results. The safety control module derives vehicle safety control information based on the perception and positioning information, risk assessment results, and vehicle status assessment results. The function assessment module obtains vehicle status assessment results based on the status of each unit. The risk assessment module derives risk assessment results based on feasible domain monitoring information, collision monitoring information, and the status of the planning and control module, planning information, the status of the safety control module, and safety planning information. The logic arbitration module arbitrates vehicle planning and control information and vehicle safety control information based on the risk assessment results and vehicle status assessment results, and sends the arbitration results to the execution module for execution. The planning and control module and the safety control module simultaneously derive decision-making execution information under different driving conditions from both performance and safety perspectives. This not only considers the faults and failures of each unit and module, but also considers driving decision risks, thereby reducing response time. The logic arbitration module arbitrates based on the risk assessment results and performance assessment results, making vehicle execution information more accurate, thereby reducing driving risks for intelligent connected vehicles.

[0108] Figure 4 A schematic diagram of the structure of a vehicle-mounted device provided for this embodiment. The autonomous driving vehicle includes a vehicle-mounted device, which includes at least one processor 401, at least one memory 402, and at least one communication interface 403. The processor 401 and the memory 402 are coupled together through a bus system 404. The communication interface 403 is used for information transmission between external devices. It can be understood that the bus system 404 is used for connection and communication between various components including the processor 401 and the memory 402. In addition to the data bus, the bus system 404 also includes a power bus, a control bus, and a status signal bus. However, for ease of explanation, Figure 4 Various buses are labeled as bus system 404 .

[0109] The memory 402 in this embodiment may be a volatile memory or a nonvolatile memory, or may include both volatile and nonvolatile memories.

[0110] In some embodiments, the memory 402 stores the following elements, executable modules or data structures, or a subset or an extended set thereof: an operating system and application programs.

[0111] The operating system includes various system programs, such as the framework layer, core library layer, and driver layer, which are used to implement various basic services and process hardware-based tasks. The application program includes various application programs, such as media players and browsers, which are used to implement various application services. The program that implements the control method for an intelligent connected vehicle provided in the embodiment of the present disclosure can be included in the application program.

[0112] In this embodiment, the processor 401 calls the program or instructions stored in the memory 402, specifically, the program or instructions stored in the application, and the processor 401 is used to execute the steps of each embodiment of the control system and control method of the intelligent connected vehicle provided by the embodiments of the present disclosure.

[0113] The control system and control method of the intelligent connected vehicle provided in this embodiment can be applied to the processor 401, or implemented by the processor 401. The processor 401 can be an integrated circuit chip with signal processing capabilities. During the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 401 or by instructions in the form of software. The above-mentioned processor 401 can be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc.

[0114] The steps of the intelligent connected vehicle control method provided in this embodiment can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software units within the decoding processor. The software units can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in memory 402, and processor 401 reads the information in memory 402 and, in conjunction with the hardware, completes the steps of the method.

[0115] This embodiment also proposes a non-transitory computer-readable storage medium, which stores programs or instructions. The programs or instructions enable a computer to execute the steps of each embodiment of the control method for an intelligent connected vehicle. To avoid repeated description, they are not repeated here.

[0116] It should be noted that, in this document, the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0117] It will be understood that the above embodiments are merely exemplary embodiments for illustrating the principles of the present invention, and the present invention is not limited thereto. Those skilled in the art will appreciate that various modifications and improvements can be made without departing from the spirit and substance of the present invention, and such modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A control system for an intelligent connected vehicle, characterized in that: The control system includes a sensor group, a perception and positioning module, a planning and control module, a safety control module, a function evaluation module, a risk evaluation module, a logic arbitration module and an execution module; wherein, The sensor group is used to obtain sensing information; A sensing and positioning module, configured to obtain sensing information and positioning information based on the sensing information; A planning and control module, configured to determine vehicle planning and control information based on the perception information and positioning information; a safety control module, configured to determine vehicle safety control information based on the perception information and positioning information; A function evaluation module, used to determine a vehicle status evaluation result; A risk assessment module, configured to determine a risk assessment result, wherein the risk assessment result includes a risk level; The planning control module is configured to limit a minimum speed of the vehicle according to the risk level to meet timeliness requirements, and to modify the vehicle planning control information based on the minimum speed; a logic arbitration module, configured to arbitrate the vehicle planning control information and the vehicle safety control information based on the working status of the function evaluation module and the working status of the risk evaluation module, and determine vehicle execution information; An execution module is used to control the vehicle driving based on the vehicle execution information.

2. The control system according to claim 1, characterized in that: The perception and positioning module includes: a sensing unit, configured to sense the vehicle's own state and the external environment based on the sensing information to obtain the sensing information; A positioning unit is used to obtain the position information of the vehicle based on the sensor information to obtain the positioning information.

3. The control system according to claim 1, characterized in that: include: The planning control module performs driving planning for the vehicle based on driving comfort, timeliness, and applicability; The safety control module performs driving planning for the vehicle based on driving safety, stability and collision consequences.

4. The control system according to claim 1, characterized in that: The planning control module includes a planning unit and a planning motion control unit, wherein: The planning unit is configured to determine planning information based on the perception information, the positioning information, the vehicle state assessment result, and the risk assessment result; A planning motion control unit is used to determine vehicle planning control information based on the planning information.

5. The control system according to claim 1, characterized in that: The safety control module includes: a safety planning unit and a safety behavior control unit, wherein The safety planning unit is used to determine safety planning information based on the perception information, the positioning information, the vehicle status assessment result and the risk assessment result; A safety behavior control unit is used to determine vehicle safety control information based on the safety planning information.

6. The control system according to claim 1, characterized in that: The function evaluation module includes a function monitoring unit and a function evaluation unit, wherein: A function monitoring unit, configured to monitor in real time the working status of the sensor group, the perception and positioning module, the planning and control module, the safety control module, the function evaluation module, and the execution module; The function evaluation unit is used to determine the vehicle status evaluation result based on the working status of each module.

7. The control system according to claim 6, characterized in that: The function monitoring unit comprises: A fault monitoring subunit is used to monitor whether the sensor group, perception and positioning module, planning and control module, safety control module, function evaluation module and execution module have any faults; The function monitoring subunit is used to monitor whether the sensor group, perception and positioning module, planning and control module, safety control module, function evaluation module and execution module have failed.

8. The control system according to claim 1, characterized in that: The risk assessment module includes a risk monitoring unit and a risk assessment unit, wherein: a risk monitoring unit, configured to determine risk monitoring information based on the sensing information and the positioning information; A risk assessment unit is used to determine a risk assessment result based on the risk monitoring information, the vehicle planning control information and the vehicle safety control information.

9. The control system according to claim 8, characterized in that: The risk monitoring unit includes: The feasible domain monitoring subunit is used to monitor the environment within the feasible domain to obtain feasible domain monitoring information and status information of the feasible domain monitoring subunit; The collision monitoring subunit is used to monitor the environment around the vehicle body to obtain collision monitoring information and status information of the collision monitoring subunit.

10. A control method for an intelligent connected vehicle, characterized in that: The method is a control method based on the control system according to any one of claims 1 to 9, comprising: Acquiring sensor information; obtaining perception information and positioning information based on the sensing information; Determining vehicle planning and control information based on the perception information, positioning information, vehicle status assessment results, and risk assessment results; Determining vehicle safety control information based on the perception information, positioning information, vehicle state assessment results, and risk assessment results; Obtaining a vehicle status assessment result based on the vehicle's own status information; Determining a risk assessment result based on the sensor information, the positioning information, the vehicle planning control information, and the vehicle safety control information, wherein the risk assessment result includes a risk level; limiting a minimum speed of the vehicle according to the risk level to meet timeliness requirements, and modifying the vehicle planning control information based on the minimum speed; Arbitrate based on risk assessment results, vehicle status assessment results, vehicle planning control information, and vehicle safety control information to determine vehicle execution information; The vehicle is controlled to travel based on the vehicle execution information.

11. The control method according to claim 10, characterized in that: The determining of vehicle planning control information based on the perception information, positioning information, vehicle state assessment results, and risk assessment results includes: Receiving the perception information, positioning information, vehicle status assessment results, and risk assessment results; Determining planning information based on the perception information, positioning information, vehicle status assessment results, and risk assessment results; The planning information is parsed to obtain vehicle planning control information.

12. The control method according to claim 10, characterized in that: The determining of vehicle safety control information based on the perception information, positioning information, vehicle state assessment results, and risk assessment results includes: Receiving the perception information, positioning information, vehicle status assessment results, and risk assessment results; Determining safety planning information based on the perception information, positioning information, vehicle status assessment results, and risk assessment results; The safety planning information is parsed to obtain vehicle safety control information.

13. The control method according to claim 10, characterized in that: The obtaining of a vehicle state assessment result based on the vehicle state information includes: Receive status information of the sensor group, perception and positioning module, planning and control module, safety control module and execution module; Obtaining the operating status of the sensor group, the perception and positioning module, the planning and control module, the safety control module, and the execution module based on the status information; The vehicle status assessment result is determined according to the working status of the sensor group, the perception and positioning module, the planning and control module, the safety control module, the function assessment module and the execution module.

14. The control method according to claim 10, characterized in that: The determining of a risk assessment result based on the sensing information, the positioning information, the vehicle planning control information, and the vehicle safety control information includes: receiving the sensing information and the positioning information, and determining risk monitoring information based on the sensing information and the positioning information; The risk assessment result is determined based on the risk monitoring information, vehicle planning control information, and vehicle safety control information.

15. A vehicle-mounted device, characterized in that: include: A processor, a memory, and a communication interface, wherein the communication interface is connected to the processor and the memory; The processor is configured to execute the steps of the method according to any one of claims 10 to 14 by calling the program or instructions stored in the memory.

16. A non-transitory computer-readable storage medium, characterized in that The non-transitory computer-readable storage medium stores a program or instruction, which enables a computer to execute the steps of the method according to any one of claims 10 to 14.

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