Emergency response system and emergency response method for autonomous driving vehicles based on trajectory self-checking

Abstract

The present invention relates to an emergency system and an emergency method based on trajectory self-checking of an autonomous driving vehicle. The emergency system comprises: an information acquisition unit configured to acquire the actual driving trajectory of the vehicle during the driving process; a judgment unit configured to calculate the cumulative trajectory deviation based on the current actual driving trajectory of the vehicle and the planned trajectory, and compare the cumulative trajectory deviation with the threshold; an execution unit configured to perform an emergency operation in response to the cumulative trajectory deviation being greater than the threshold. The emergency system and emergency method according to the present invention can perform emergency operations based on the trajectory deviation of the vehicle during driving, so as to discover problems with the vehicle early so as to carry out maintenance in advance, thereby reducing safety accidents caused by vehicle failures.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving vehicles, and more specifically, to an emergency system and an emergency method for autonomous driving vehicles based on trajectory self-checking. Background Art

[0002] There are some potential problems that may occur when an autonomous vehicle is driving, such as problems caused by wheels, tires or central control systems that are not easy to detect. Although these problems are not easy to detect, they may endanger the safe driving of the autonomous vehicle. Therefore, how the autonomous vehicle detects and responds to these problems is related to the driving safety of the autonomous vehicle.

[0003] Therefore, there is a need for an emergency system and emergency method for an autonomous driving vehicle based on trajectory self-checking during driving. Summary of the invention

[0004] One purpose of the present invention is to provide an emergency system and an emergency method for an autonomous driving vehicle based on self-checking of trajectory deviations that occur during driving.

[0005] According to a first aspect of the present invention, there is provided an emergency system for an autonomous driving vehicle based on trajectory self-checking, the emergency system comprising:

[0006] An information acquisition unit is configured to acquire an actual driving trajectory of the vehicle during the driving process of the vehicle;

[0007] A judgment unit, configured to calculate a cumulative trajectory deviation based on the actual driving trajectory and the planned trajectory of the current vehicle, and compare the cumulative trajectory deviation with a threshold;

[0008] The execution unit is configured to execute an emergency operation in response to the accumulated trajectory deviation level being greater than a threshold value.

[0009] According to an embodiment of the present invention, the information acquisition unit includes any one or a combination of any two or more of the following devices installed on the current vehicle: a camera, a laser radar, a millimeter wave radar, and an ultrasonic sensor.

[0010] According to an embodiment of the present invention, the information acquisition unit is configured to acquire information through a vehicle-to-everything communication device or a highly automated driving map.

[0011] According to an embodiment of the present invention, the actual driving trajectory of the current vehicle includes a trajectory of the position of the current vehicle relative to a reference mark, for example, a trajectory of the position of the current vehicle relative to a lane mark.

[0012] According to an embodiment of the present invention, the position of the current vehicle relative to the lane marking is obtained by detecting the actual distance between the edge of the current vehicle and the lane marking.

[0013] According to an embodiment of the present invention, the calculation of the actual driving trajectory of the current vehicle is based on the relative position of a vehicle reference point (eg, a rear axle midpoint) and the reference marker during the driving process of the current vehicle.

[0014] According to an embodiment of the present invention, the planned trajectory includes a predicted driving trajectory of the current vehicle obtained based on global navigation satellite system positioning information and a navigation path of the current vehicle.

[0015] According to an embodiment of the present invention, the accumulated trajectory deviation includes the accumulated difference between the planned trajectory and the actual driving trajectory over a distance, such as 1 km.

[0016] According to an embodiment of the present invention, the emergency operation includes outputting a signal indicating that the self-test result is abnormal.

[0017] According to an embodiment of the present invention, the outputting of the signal indicating that the self-test result is abnormal includes sending a visual or auditory warning to the occupants in the current vehicle.

[0018] According to an embodiment of the present invention, the emergency operation includes reducing the current speed of the vehicle to a speed interval or stopping driving, or driving to a target parking position.

[0019] According to a second aspect of the present invention, there is provided an autonomous driving vehicle comprising an emergency system according to the first aspect of the present invention.

[0020] According to a third aspect of the present invention, there is provided an emergency response method for an autonomous driving vehicle based on trajectory self-checking, the method comprising:

[0021] Acquiring the actual driving trajectory of the current vehicle during the driving process of the current vehicle;

[0022] Calculating a cumulative trajectory deviation based on the actual driving trajectory and the planned trajectory of the current vehicle, and comparing the cumulative trajectory deviation with a threshold;

[0023] In response to the accumulated trajectory deviation being greater than the threshold, an emergency operation is performed.

[0024] According to an embodiment of the present invention, the actual driving trajectory of the current vehicle is obtained by installing any one or a combination of any two or more of the following devices on the current vehicle: a camera, a laser radar, a millimeter-wave radar, and an ultrasonic sensor.

[0025] According to an embodiment of the present invention, the actual driving trajectory of the current vehicle is obtained from a vehicle-to-everything communication device or a highly automated driving map.

[0026] According to an embodiment of the present invention, the actual driving trajectory of the current vehicle includes a trajectory of the position of the current vehicle relative to a reference mark, for example, a trajectory of the position of the current vehicle relative to a lane mark.

[0027] According to an embodiment of the present invention, the position of the current vehicle relative to the lane marking is obtained by detecting the actual distance between the edge of the current vehicle and the lane marking.

[0028] According to an embodiment of the present invention, the calculation of the actual driving trajectory of the current vehicle is based on the relative position of a vehicle reference point (eg, a rear axle midpoint) and the reference marker during the driving process of the current vehicle.

[0029] According to an embodiment of the present invention, the planned trajectory includes a predicted driving trajectory of the current vehicle obtained based on global navigation satellite system positioning information and a navigation path of the current vehicle.

[0030] According to an embodiment of the present invention, the accumulated trajectory deviation includes the accumulated difference between the planned trajectory and the actual driving trajectory over a distance, such as 1 km.

[0031] According to an embodiment of the present invention, the emergency operation includes outputting a signal indicating that the self-test result is abnormal.

[0032] According to an embodiment of the present invention, the outputting of the signal indicating that the self-test result is abnormal includes sending a visual or auditory warning to the occupants in the current vehicle.

[0033] According to an embodiment of the present invention, the emergency operation includes reducing the current speed of the vehicle to a speed interval or stopping driving, or driving to a target parking position.

[0034] According to a fourth aspect of the present invention, there is provided a computer readable storage medium having stored thereon a computer program, which when executed by a processor implements the steps of the method according to the third aspect of the present invention.

[0035] Therefore, compared with the prior art, the emergency system and emergency method according to the present invention can perform emergency operations based on the trajectory deviation of the vehicle during driving, and detect problems with the vehicle early for maintenance, thereby reducing safety accidents caused by vehicle failures. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The present invention may be better understood from the following description of specific embodiments of the present invention in conjunction with the accompanying drawings, wherein like reference numerals indicate identical or functionally similar elements.

[0037] Figure 1A schematic diagram of a system according to an embodiment of the present invention is shown.

[0038] Figure 2 A schematic diagram of an application scenario of a system according to an embodiment of the present invention is shown.

[0039] Figure 3 A flowchart of a method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0040] Hereinafter, embodiments of the present invention are described with reference to the accompanying drawings. The following detailed description and the accompanying drawings are used to exemplarily illustrate the principles of the present invention, and the present invention is not limited to the preferred embodiments described. The scope of the present invention is defined by the claims. The present invention is now described in detail with reference to exemplary embodiments, and some embodiments are illustrated in the accompanying drawings. The following description is made with reference to the accompanying drawings, and unless otherwise indicated, the same reference numerals in different drawings represent the same or similar elements. The schemes described in the following exemplary embodiments do not represent all schemes of the present invention. On the contrary, these schemes are merely examples of systems and methods of various aspects of the present invention involved in the appended claims.

[0041] The emergency system according to the present invention can perform emergency operations based on the trajectory deviation of the autonomous driving vehicle during driving to detect problems with the vehicle as early as possible. Therefore, the emergency system can be installed on or applied to a vehicle. The vehicle can be an internal combustion engine vehicle with an internal combustion engine as a driving source, an electric vehicle or a fuel cell vehicle with an electric motor as a driving source, a hybrid vehicle with the above two as driving sources, or a vehicle with other driving sources.

[0042] The autonomous driving vehicles mentioned in this article include fully autonomous driving vehicles and vehicles with autonomous driving modes. The autonomous driving vehicles to which the present invention is applicable have the following basic features: for example, such vehicles are equipped with a variety of sensors or positioning devices, such as cameras, laser radars, millimeter wave radars, ultrasonic sensors, vehicle-to-everything communications (V2X) devices, highly automated driving (HAD) maps, etc. These sensors can detect the environment around the vehicle, such as surrounding objects, obstacles, infrastructure, etc.; These vehicles can detect the current vehicle position through the global navigation satellite system (GNSS) and one or a combination of sensor detection results and highly automated driving maps; These vehicles can obtain navigation paths through online servers; These vehicles can plan the intended route based on perception and position results; Such vehicles can also send control signals to the power system, steering system, gear transmission system, etc. based on the planned route.

[0043] Figure 11 shows a schematic diagram of an emergency system 100 according to an embodiment of the present invention. Figure 1 As shown, the emergency system 100 includes an information acquisition unit 110 , a judgment unit 120 and an execution unit 130 .

[0044] exist Figure 1 In the process of vehicle driving, the information acquisition unit 110 is configured to acquire the actual driving trajectory of the vehicle. The current actual driving trajectory of the vehicle includes the trajectory of the position of the current vehicle relative to the reference mark, such as the trajectory of the position of the current vehicle relative to the lane mark. The position of the current vehicle relative to the lane mark is obtained by detecting the actual distance between the edge of the current vehicle and the lane mark. The calculation of the actual driving trajectory of the current vehicle can be based on the relative position of the vehicle reference point (such as the midpoint of the rear axle) and the reference mark during the driving of the current vehicle. The so-called vehicle reference point can actually be an optional reference point, which can be but not necessarily be at the center of the vehicle or on the center axis. The selection of the reference point is to facilitate the comparison of the actual driving trajectory of the current vehicle with the planned trajectory. Those skilled in the art can understand that the reference point can be any point on the vehicle, but preferably at the center of the vehicle or on the center axis.

[0045] The information acquisition unit includes any one or any combination of the following devices installed on the current vehicle: a camera device, a laser radar, a millimeter wave radar, and an ultrasonic sensor, and the installation position can be any position around the current vehicle. For example, a camera device installed in front of, behind, or on the side of the current vehicle continuously records the driving trajectory of the current vehicle.

[0046] The information acquisition unit may also be configured to acquire the driving trajectory of the current vehicle through a vehicle-to-everything communication device or a highly automated driving map. The road facilities and / or the surrounding vehicles are provided with any one or any combination of the following devices: a camera device, a laser radar, a millimeter-wave radar, and an ultrasonic sensor. For example, the road facilities or the surrounding vehicles may detect the driving trajectory of the current vehicle externally, and the information acquisition unit acquires the driving trajectory of the current vehicle from the road facilities and / or the surrounding vehicles. The road facilities or the surrounding vehicles may also transmit the communication signal to the online server through the communication device, and the online server sends the information by integrating multiple road facilities and / or surrounding vehicles to give the driving trajectory of the current vehicle, and the information acquisition unit acquires the driving trajectory of the current vehicle from the online server through the communication device. The information acquisition unit acquires highly automated driving map data from the online server through the communication device. The communication device may send or receive information through a mobile network, Wi-Fi, or Bluetooth.

[0047] exist Figure 1In the example, the judgment unit 120 is configured to calculate the cumulative trajectory deviation based on the actual driving trajectory and the planned trajectory of the current vehicle, and compare the cumulative trajectory deviation with the threshold value. The planned trajectory includes the predicted driving trajectory of the current vehicle obtained based on the global navigation satellite system positioning information and the navigation path of the current vehicle. During the actual driving process, the deviation of the actual driving trajectory of the current vehicle from the planned trajectory is accumulated, and the cumulative trajectory deviation includes the cumulative difference between the planned trajectory and the actual driving trajectory over a distance, such as 1km. If the cumulative difference of the tested distance is greater than the threshold, a self-test abnormality signal is output. If the cumulative difference of the tested distance is less than or equal to the threshold, it means that the vehicle is normal and can be monitored periodically after a period of time to continuously ensure vehicle safety. The threshold can be obtained or adjusted based on testing or experience, and its specific value can be increased or decreased according to the degree of strictness, for example, it can be set to no more than 1 meter over 1km.

[0048] exist Figure 1 In the embodiment, the execution unit 130 is configured to perform an emergency operation in response to the accumulated trajectory deviation level being greater than a threshold value. The emergency operation may include outputting a signal indicating that the self-test result is abnormal; or may include sending a visual or auditory warning to the occupants in the current vehicle. In one embodiment, the execution unit 130 may include any one or a combination of any number selected from the following: an in-vehicle display, a mobile device display, an augmented reality display (e.g., smart glasses), and a speaker. Preferably, the emergency operation includes reducing the speed of the current vehicle to a speed interval or stopping driving, or driving to a target parking position. For example, the autonomous driving vehicle reduces the current vehicle to a speed interval or stops driving by automatically controlling the brakes, the engine, and the motor. Alternatively, the autonomous driving vehicle may determine a target parking position (e.g., parking on the side of the road or parking in an emergency lane) and automatically control the steering to the target parking position. In the process of driving to the target parking position, the camera device installed on the current vehicle is used to check the movement of the autonomous driving vehicle to the target parking position from the front, rear, and side; if the movement of the autonomous driving vehicle is not enough to make it reach the target parking position, the steering angle is repeatedly increased. After the autonomous driving vehicle arrives at the target parking location, the passengers in the vehicle can be asked to get off first. The autonomous driving vehicle automatically sets the navigation destination as the vehicle maintenance point and then drives automatically to the vehicle maintenance point.

[0049] refer to Figure 2 , which shows an application example of an emergency system and an emergency method according to an embodiment of the present invention. Figure 2In the method, after starting the measurement, the current vehicle first obtains the predicted driving trajectory of the current vehicle based on the global navigation satellite system positioning information and the navigation path, and then the current vehicle drives and measures the actual driving trajectory of the current vehicle over a distance; then, the actual driving trajectory is compared with the predicted driving trajectory to obtain the value of the trajectory deviation.

[0050] The above describes that the emergency system is installed on a vehicle or applied to an autonomous vehicle. The present invention relates to an autonomous vehicle, the vehicle comprising the emergency system described above. However, those skilled in the art will appreciate that the emergency system may also be installed on a mobile device or applied to a mobile device in the form of an application or application software (APP).

[0051] Hereinafter, an emergency method according to an embodiment of the present invention will be described with reference to the accompanying drawings. Figure 3 1 is a flow chart showing an emergency method S100 according to an embodiment of the present invention. The emergency method S100 is executed by the emergency system 100 described above.

[0052] like Figure 3 As shown, in step S110, the actual driving trajectory of the current vehicle is obtained during the driving process of the current vehicle. The information acquisition can be performed by including any one or any combination of the following devices selected from the group consisting of: a camera, a laser radar, a millimeter wave radar, and an ultrasonic sensor installed on the current vehicle. For example, the installation position can be any position around the current vehicle. For example, a camera installed in front of, behind, or on the side of the current vehicle continuously records the driving trajectory of the current vehicle. The information acquisition can also include obtaining the driving trajectory of the current vehicle through a vehicle-to-everything communication device or a highly automated driving map. Any one or any combination of the following devices selected from the group consisting of: a camera, a laser radar, a millimeter wave radar, and an ultrasonic sensor are provided on the road facilities and / or the surrounding vehicles. For example, the road facilities or the surrounding vehicles can detect the driving trajectory of the current vehicle externally, and obtain the driving trajectory of the current vehicle from the road facilities and / or the surrounding vehicles. The road facilities or the surrounding vehicles can also transmit the communication signal to the online server through the communication device, and the online server gives the driving trajectory of the current vehicle by integrating the information sent by multiple road facilities and / or surrounding vehicles, and obtains the driving trajectory of the current vehicle from the online server through the communication device. The highly automated driving map data can be obtained from the online server via a communication device, which can send or receive information via a mobile network, Wi-Fi, or Bluetooth.

[0053] In step S120, the cumulative trajectory deviation is calculated based on the actual driving trajectory and the planned trajectory of the current vehicle, and the size of the cumulative trajectory deviation is compared with the threshold. The planned trajectory includes the predicted driving trajectory of the current vehicle obtained based on the global navigation satellite system positioning information and the navigation path of the current vehicle. During the actual driving process, the deviation between the actual driving trajectory of the current vehicle and the planned trajectory is accumulated, and the cumulative trajectory deviation includes the cumulative difference between the planned trajectory and the actual driving trajectory over a distance, such as 1km. If the cumulative difference of the tested distance is greater than the threshold, a self-test abnormality signal is output. If the cumulative difference of the tested distance is not greater than the threshold, it means that the vehicle is normal and can be monitored periodically after a period of time to continuously ensure vehicle safety. The threshold can be obtained or adjusted based on testing or experience, and its specific value can be increased or decreased according to the degree of strictness, for example, it can be set to no more than 1 meter over 1km.

[0054] In step S130, in response to the cumulative trajectory deviation being greater than the threshold, an emergency operation is performed. The emergency operation may include outputting a signal indicating that the self-test result is abnormal; or may include sending a visual or auditory warning to the occupants in the current vehicle. In one embodiment, the emergency operation may be performed by any one or a combination of any number selected from the following: an in-vehicle display, a mobile device display, an augmented reality display (e.g., smart glasses), and a speaker. Preferably, the emergency operation includes reducing the speed of the current vehicle to a speed interval or stopping driving, or driving to a target parking position. For example, the autonomous driving vehicle reduces the current vehicle to a speed interval or stops driving by automatically controlling the brakes, the engine, and the motor. Alternatively, the autonomous driving vehicle may determine a target parking position (e.g., parking on the side of the road or parking in an emergency lane) and automatically control steering to the target parking position. In the process of driving to the target parking position, the camera device installed on the current vehicle is used to check the movement of the autonomous driving vehicle to the target parking position from the front, rear, and side; if the movement of the autonomous driving vehicle is not enough to make it reach the target parking position, the steering angle is repeatedly increased. After the autonomous driving vehicle arrives at the target parking location, the passengers in the vehicle can be asked to get off first. The autonomous driving vehicle automatically sets the navigation destination as the vehicle maintenance point and then drives automatically to the vehicle maintenance point.

[0055] Those skilled in the art should understand that the division and order of the steps in the emergency method of the present invention are merely illustrative and not restrictive, and those skilled in the art may make deletions, additions, substitutions, modifications and changes without departing from the spirit and scope of the present invention as described in the attached claims and their equivalent technical solutions.

[0056] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0057] Although the present invention has been described in conjunction with the embodiments, it should be understood by those skilled in the art that the above description and the accompanying drawings are only exemplary and non-restrictive, and the present invention is not limited to the disclosed embodiments. Various modifications and variations are possible without departing from the spirit of the present invention.

Claims

1. An emergency system for an autonomous driving vehicle based on trajectory self-checking, characterized in that: The emergency system comprises: An information acquisition unit is configured to acquire the actual driving trajectory of the current vehicle during the driving process of the vehicle; A judgment unit, configured to calculate a cumulative trajectory deviation based on the actual driving trajectory and the planned trajectory of the current vehicle, and compare the cumulative trajectory deviation with a threshold; an execution unit, configured to execute an emergency operation in response to the accumulated trajectory deviation being greater than the threshold, The planned trajectory includes a predicted driving trajectory of the current vehicle obtained based on the global navigation satellite system positioning information and the navigation path of the current vehicle, The accumulated trajectory deviation includes the accumulated difference between the planned trajectory and the actual driving trajectory over a distance, and The actual driving trajectory of the current vehicle includes the trajectory of the position of the current vehicle relative to the reference mark.

2. The emergency system according to claim 1, characterized in that: The information acquisition unit includes any one or any combination of the following installed on the current vehicle: a camera device, a lidar, a millimeter-wave radar, an ultrasonic sensor; or the information acquisition unit is configured to acquire information through a vehicle-to-everything communication device or a highly automated driving map.

3. The emergency system according to claim 1, characterized in that: The current actual driving trajectory of the vehicle further includes a trajectory of the current vehicle's position relative to a lane marking.

4. The emergency system according to claim 1 or 2, characterized in that: The emergency operation includes any one or any combination of the following: outputting a signal indicating an abnormal self-test result; sending a visual or auditory warning to the occupants of the current vehicle; reducing the speed of the current vehicle to a speed range or stopping driving; driving to a target parking position.

5. An autonomous driving vehicle, characterized in that: It comprises an emergency system according to any one of claims 1-4.

6. An emergency method for an autonomous driving vehicle based on trajectory self-checking, characterized in that: The method comprises, Acquiring the actual driving trajectory of the current vehicle during the driving process of the current vehicle; Calculating a cumulative trajectory deviation based on the actual driving trajectory and the planned trajectory of the current vehicle, and comparing the cumulative trajectory deviation with a threshold; In response to the accumulated trajectory deviation being greater than the threshold, performing an emergency operation, The planned trajectory includes a predicted driving trajectory of the current vehicle obtained based on the global navigation satellite system positioning information and the navigation path of the current vehicle, The accumulated trajectory deviation includes the accumulated difference between the planned trajectory and the actual driving trajectory over a distance, and The actual driving trajectory of the current vehicle includes the trajectory of the position of the current vehicle relative to the reference mark.

7. The method according to claim 6, characterized in that The actual driving trajectory of the current vehicle is obtained by installing any one or a combination of the following on the current vehicle: a camera device, a lidar, a millimeter-wave radar, an ultrasonic sensor; or obtained from a vehicle-to-everything communication device or a highly automated driving map.

8. The method according to claim 6, characterized in that The current actual driving trajectory of the vehicle further includes a trajectory of the current vehicle's position relative to a lane marking.

9. The method according to claim 6 or 7, characterized in that: The emergency operation includes any one or any combination of the following: outputting a signal indicating an abnormal self-test result; sending a visual or auditory warning to the occupants of the current vehicle; reducing the speed of the current vehicle to a speed range; stopping driving or driving to a target parking position.

10. A computer-readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the steps of the method according to any one of claims 6 to 9.

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