Autonomous driving control methods, systems, electronic devices, and vehicles

Abstract

An autonomous driving control method, system, electronic device, and vehicle are disclosed. The method is used for at least one of multiple redundant autonomous driving controllers distributed in a vehicle, each autonomous driving controller being connected to an actuator. The method includes: obtaining an activation request and entering an activation transition state; performing a first judgment on whether the states of all other autonomous driving controllers are in the activation transition state; based on the positive result of the first judgment, issuing an instruction to activate the actuator on its own side; performing a second judgment on whether feedback is received, the feedback including that the actuators on all sides have been successfully activated within a preset time; based on the positive result of the second judgment, entering an autonomous driving activation state; based on the negative result of the second judgment, entering an end-transition state. A safe exit method for abnormal activation of the autonomous driving mode in a redundant system is disclosed, avoiding the risk of coexistence of autonomous driving mode and driver control mode.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to an autonomous driving control method, system, electronic device, and vehicle. Background Technology

[0002] With the development of autonomous driving technology, safety has become an increasingly important issue. To achieve higher levels of functional safety, Level 3 and above autonomous vehicles typically require redundancy in their autonomous driving controllers and actuators.

[0003] With the introduction of redundant backup systems, system complexity increases, necessitating synchronization strategies between the primary and redundant systems, as well as handling methods for anomalies. For instance, when a driver activates the autonomous driving system, some actuators may fail to activate due to an anomaly, preventing the corresponding autonomous driving controller from entering autonomous driving mode. These actuators remain under driver control, while other actuators activate normally, and their corresponding controllers have entered autonomous driving mode. This situation, where the driver and controller's judgments and intentions regarding the surrounding environment differ, is highly dangerous. Therefore, in such cases, it is necessary to exit autonomous driving mode within the FTTI (Fault Tolerant Time Interval) to ensure system mode consistency and vehicle safety. Summary of the Invention

[0004] To address the problems existing in the prior art, the present invention provides an autonomous driving control method, system, electronic device, and storage medium.

[0005] In a first aspect, the present invention provides an automatic driving control method, the method being used for at least one of a plurality of redundant automatic driving controllers distributed in a vehicle, each automatic driving controller being correspondingly connected to an actuator, the method comprising:

[0006] Receive activation request and enter activation transition state;

[0007] The first determination is made to determine whether the states of all other autonomous driving controllers are in an active transition state.

[0008] Based on the positive result of the first judgment, an instruction to activate the actuator on this side is issued;

[0009] The second determination is whether feedback has been received, and the feedback includes that the actuators on all sides have been successfully activated within a preset time.

[0010] Based on a positive result from the second judgment, the system enters the autonomous driving activation state; based on a negative result from the second judgment, the system enters the end transition state.

[0011] According to an autonomous driving control method provided by the present invention, obtaining an activation request and entering an activation transition state includes:

[0012] The third judgment determines whether the process is in a ready state;

[0013] Based on the positive result of the third judgment, after obtaining the activation request, the system enters the activation transition state.

[0014] According to an automatic driving control method provided by the present invention, entering an end transition state includes:

[0015] Record the reason why the feedback was not received;

[0016] Issue a command to deactivate the actuator on this side.

[0017] According to an automatic driving control method provided by the present invention, entering an end transition state further includes:

[0018] Obtain feedback indicating that the actuator on this side has successfully exited activation;

[0019] Based on the feedback of successfully exiting activation, the system enters the ready state.

[0020] In a second aspect, the present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the autonomous driving control method as described in any of the preceding claims.

[0021] Thirdly, the present invention also provides an automatic driving control system, the system comprising:

[0022] Multiple autonomous driving controllers are interconnected and encapsulated in the same processing module;

[0023] Multiple actuators, each of which is connected to a corresponding autonomous driving controller;

[0024] in,

[0025] The actuator receives activation or deactivation instructions from the corresponding autonomous driving controller and sends its own status to the corresponding autonomous driving controller.

[0026] The autonomous driving controller sends its own state and the state of the corresponding actuator to other autonomous driving controllers, and the autonomous driving controller is configured to perform any of the methods described in the first aspect.

[0027] Fourthly, the present invention also provides a vehicle including the autonomous driving system described in the third aspect.

[0028] According to a vehicle provided by the present invention, the number of the automatic driving controllers is two.

[0029] Fifthly, the present invention also provides an automatic driving control system, the system being used for at least one of a plurality of redundant automatic driving controllers distributed in a vehicle, each automatic driving controller being correspondingly connected to an actuator, the system comprising:

[0030] The acquisition module acquires the activation request and enters the activation transition state;

[0031] The first judgment module performs a first judgment on whether the states of all other autonomous driving controllers are in an active transition state.

[0032] The instruction module issues an instruction to activate the executor on its own side based on the positive result of the first judgment.

[0033] The second judgment module performs a second judgment on whether feedback has been obtained. The feedback includes that the actuators on all sides have been successfully activated within a preset time.

[0034] The activation module enters the autonomous driving activation state based on the positive result of the second judgment, and enters the end transition state based on the negative result of the second judgment.

[0035] In a sixth aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the autonomous driving control method as described in any of the preceding claims.

[0036] The present invention provides an autonomous driving control method, system, electronic device, and vehicle, and discloses a safe exit method when the autonomous driving mode is abnormally activated in a redundant system, thereby avoiding the risk of coexistence of autonomous driving mode and driver control mode. Attached Figure Description

[0037] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0038] Figure 1 A flowchart illustrating an autonomous driving control method provided by the present invention;

[0039] Figure 2 This invention provides a schematic diagram of the state transition of a dual-redundant system.

[0040] Figure 3 A schematic diagram of an autonomous driving control system structure provided by the present invention;

[0041] Figure 4 A schematic diagram of the physical structure of an electronic device provided by the present invention;

[0042] Figure 5 This is a schematic diagram of the structure of an automatic driving controller and actuator disclosed in this invention. Detailed Implementation

[0043] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0044] The autonomous driving control method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0045] Figure 1 This is a flowchart illustrating an autonomous driving control method provided by the present invention, as shown below. Figure 1 As shown, the present invention provides an autonomous driving control method, which is used for at least one of a plurality of redundant autonomous driving controllers distributed in a vehicle, each of which is connected to an actuator. The method may include the following steps.

[0046] It should be noted that existing redundant systems often employ a master-slave architecture to reduce the complexity of system synchronization and state switching. However, when the master fails, the slave can only possess some of the master's functions, or only monitor the master in application. In a master-master architecture, both sides can operate independently, each with greater independence and freedom. This also means that if the two sides are not synchronized when working together, safety issues can arise. This invention utilizes multiple redundant autonomous driving controllers on multiple sides to form a hot backup for the autonomous driving system, with any two controllers operating in a master-master configuration.

[0047] Preferably, in this embodiment, the autonomous driving controller includes an ADCU (Automated Driving Control Unit).

[0048] Preferably, the vehicle includes vehicles, ships, aircraft, drones, etc.

[0049] Furthermore, in this embodiment, the autonomous driving controller is installed in a vehicle with autonomous driving capabilities, and the vehicle has two autonomous driving controllers on both sides that serve as hot backups for each other.

[0050] S100: Obtain activation request and enter activation transition state.

[0051] Optionally, an activation request is obtained, and an activation transition state is entered, including:

[0052] The third judgment determines whether the process is in a ready state;

[0053] Based on the positive result of the third judgment, after obtaining the activation request, the system enters the activation transition state.

[0054] It should be noted that activation requests can be external requests from the driver or internal requests from the autonomous driving system. The driver can initiate an activation request when they need to engage autonomous driving, and the autonomous driving system can also issue such a request when it detects the need to activate autonomous driving. The ready state refers to whether the autonomous driving controller is in a state where it can enter the activation transition state. For example, if the autonomous driving controller is in another non-ready state, it will not enter the activation transition state. Furthermore, for the autonomous driving system of this invention, activation requests are sent simultaneously to all autonomous driving controllers, and each autonomous driving controller executes step S100.

[0055] S200, the first determination is made as to whether the states of all other automatic driving controllers are in an active transition state.

[0056] It should be noted that if an autonomous driving controller fails to enter the activation transition state, it indicates that there is an abnormality in the synchronization of the states of each autonomous driving controller. Therefore, the activation of autonomous driving should be terminated to prevent potential safety risks.

[0057] S300: Based on the positive result of the first judgment, issue a command to activate the actuator on this side.

[0058] It should be noted that while the local autopilot controller issues a command to activate the actuator on its side, the autopilot controllers on other sides issue commands to activate the corresponding actuators.

[0059] Preferably, the actuator includes various controllers for controlling the movement of the vehicle. Taking a vehicle as an example, the actuator includes the chassis's brake controller, steering controller, etc.

[0060] S400, perform a second judgment on whether feedback has been received. The feedback includes that the actuators on all sides have been successfully activated within a preset time.

[0061] Preferably, the local autonomous driving controller obtains feedback on whether the local actuator has been successfully activated directly from the local actuator, and indirectly obtains feedback on whether the actuator corresponding to the autonomous driving controller has been successfully activated from the autonomous driving controllers on other sides.

[0062] S500: Based on the positive result of the second judgment, enter the autonomous driving activation state; based on the negative result of the second judgment, enter the end transition state.

[0063] Optionally, entering the end transition state includes:

[0064] Record the reasons for not receiving feedback;

[0065] Issue a command to deactivate the actuator on this side.

[0066] Optionally, entering the end transition state also includes:

[0067] Receive feedback indicating that the executor on this side has successfully exited activation;

[0068] Based on the feedback of successfully exiting activation, enter the ready state.

[0069] Preferably, Figure 2 This invention provides a schematic diagram of the state transition of a two-sided redundant system, as shown below. Figure 2 As shown, the initial state of both the first and second autopilot controllers is S1 (ready state). When both the first and second autopilot controllers simultaneously receive an activation request for autopilot, i.e., condition T1 (receiving activation request) is met, both sides enter S2 (activation transition state). After confirming through internal communication that the other autopilot controller has entered S2, the first and second autopilot controllers respectively issue activation requests to their respective actuators. In S2, the first and second autopilot controllers start timing and obtain the state of the other actuator through internal communication, determining whether condition T2 (both actuators corresponding to the first and second autopilot controllers are successfully activated) or condition T3 (the actuator corresponding to the first or second autopilot controller fails to activate or activates in time) is met. Examples of such conditions are listed below:

[0070] (1) When both actuators on both sides respond successfully, i.e., when condition T2 is met, the first and second automatic driving controllers enter S3 (automatic driving activation state).

[0071] (2) When either the first or second automatic driving controller fails to activate due to an abnormality, or the activation timeout occurs, i.e., condition T3 is met, then enter S4 (end transition state).

[0072] In S4, the reason for activation failure is recorded, and an exit activation request is sent to the actuator on this side. After the actuator exits activation, that is, the T4 condition (the actuator corresponding to the automatic driving controller exits activation) is met, the process returns to S1.

[0073] This embodiment discloses a safe exit method when the automatic driving mode is abnormally activated in a redundant system, avoiding the risk of coexistence of automatic driving mode and driver control mode.

[0074] The autonomous driving control system provided by the present invention is described below. The autonomous driving control system described below can be referred to in correspondence with the autonomous driving control method described above.

[0075] Figure 3 A schematic diagram of an autonomous driving control system structure provided by the present invention is shown below. Figure 3 As shown, the present invention also provides an automatic driving control system, which is used for at least one of a plurality of redundant automatic driving controllers distributed in a vehicle, each automatic driving controller being connected to an actuator. The system includes:

[0076] The module retrieves the activation request and enters the activation transition state.

[0077] The first judgment module performs a first judgment on whether the states of all other autonomous driving controllers are in an active transition state.

[0078] The instruction module issues an instruction to activate the executor on its own side based on the positive result of the first judgment.

[0079] The second judgment module performs a second judgment to determine whether feedback has been received. The feedback includes that the executors on all sides have been successfully activated within a preset time.

[0080] The activation module enters the autonomous driving activation state based on the positive result of the second judgment, and enters the end transition state based on the negative result of the second judgment.

[0081] This embodiment discloses a safe exit method when the automatic driving mode is abnormally activated in a redundant system, avoiding the risk of coexistence of automatic driving mode and driver control mode.

[0082] Figure 4 A schematic diagram of the physical structure of an electronic device provided by the present invention, such as... Figure 4 As shown, the electronic device may include: a processor 410, a communication interface 420, a memory 430, and a communication bus 440, wherein the processor 410, the communication interface 420, and the memory 430 communicate with each other through the communication bus 440. The processor 410 can call logical instructions in the memory 430 to execute an autonomous driving control method. This method is used for at least one of multiple redundant autonomous driving controllers distributed in the vehicle, each autonomous driving controller having a corresponding actuator connected to it. The method includes:

[0083] Receive activation request and enter activation transition state;

[0084] The first determination is made to determine whether the states of all other autonomous driving controllers are in an active transition state.

[0085] Based on the positive result of the first judgment, an instruction to activate the actuator on this side is issued;

[0086] The second determination is whether feedback has been received, and the feedback includes that the actuators on all sides have been successfully activated within a preset time.

[0087] Based on a positive result from the second judgment, the system enters the autonomous driving activation state; based on a negative result from the second judgment, the system enters the end transition state.

[0088] Furthermore, the logical instructions in the aforementioned memory 430 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0089] On the other hand, the present invention also provides an autonomous driving control system, the system comprising:

[0090] Multiple autonomous driving controllers are interconnected and encapsulated in the same processing module;

[0091] Multiple actuators, each connected to a corresponding autonomous driving controller;

[0092] in,

[0093] The actuator receives activation or deactivation instructions from the corresponding autonomous driving controller and sends its own status to the corresponding autonomous driving controller.

[0094] The autonomous driving controller sends its own state and the state of the corresponding actuator to other autonomous driving controllers, which are configured to execute any of the aforementioned autonomous driving control methods.

[0095] The present invention also provides a vehicle including the aforementioned autonomous driving system comprising a plurality of autonomous driving controllers.

[0096] Optionally, the number of autonomous driving controllers is two.

[0097] Preferably, the two autonomous driving controllers are housed in the same box-shaped main body, and the modular design facilitates replacement during design, installation, maintenance or upgrade.

[0098] Preferably, Figure 5 This is a schematic diagram of the structure of an automatic driving controller and actuator disclosed in this invention, as shown below. Figure 5 As shown, the autonomous driving controllers communicate with each other using the CAN FD (CAN with Flexible Data rate) protocol, and the autonomous driving controllers communicate with their corresponding actuators using the CAN protocol.

[0099] This embodiment provides a connection architecture for an autonomous driving controller and actuator, which solves the asynchrony problem caused by communication latency and the sequential operation scheduling of the two autonomous driving controllers.

[0100] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the automatic driving control method provided by the above methods, the method being used for at least one of a plurality of redundant automatic driving controllers distributed in a vehicle, each automatic driving controller being correspondingly connected to an actuator, the method comprising:

[0101] Receive activation request and enter activation transition state;

[0102] The first determination is made to determine whether the states of all other autonomous driving controllers are in an active transition state.

[0103] Based on the positive result of the first judgment, an instruction to activate the actuator on this side is issued;

[0104] The second determination is whether feedback has been received, and the feedback includes that the actuators on all sides have been successfully activated within a preset time.

[0105] Based on a positive result from the second judgment, the system enters the autonomous driving activation state; based on a negative result from the second judgment, the system enters the end transition state.

[0106] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the aforementioned autonomous driving control methods. The methods are used for at least one of a plurality of redundant autonomous driving controllers distributed in a vehicle, each autonomous driving controller being correspondingly connected to an actuator. The methods include:

[0107] Receive activation request and enter activation transition state;

[0108] The first determination is made to determine whether the states of all other autonomous driving controllers are in an active transition state.

[0109] Based on the positive result of the first judgment, an instruction to activate the actuator on this side is issued;

[0110] The second determination is whether feedback has been received, and the feedback includes that the actuators on all sides have been successfully activated within a preset time.

[0111] Based on a positive result from the second judgment, the system enters the autonomous driving activation state; based on a negative result from the second judgment, the system enters the end transition state.

[0112] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0113] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0114] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic driving control method, characterized in that, The method is used for at least one of multiple redundant autonomous driving controllers distributed in a vehicle based on a master-master architecture, each autonomous driving controller being connected to an actuator. The method includes: Receive activation request and enter activation transition state; The system performs a first determination by internal communication to determine whether the state of all other autonomous driving controllers is an active transition state, and starts timing after the first determination is positive. Based on the positive result of the first judgment, the system synchronously issues a command to activate the actuator on this side with the other side's automatic driving controller; The second determination of whether feedback has been received includes confirmation information obtained directly from the actuator on this side and indirectly from the autonomous driving controller on other sides, indicating that the actuators on all sides have been successfully activated within a preset time based on the timing. Based on the positive result of the second judgment, enter the autonomous driving activation state; based on the negative result of the second judgment, enter the end transition state. Among them, multiple redundant autonomous driving controllers on multiple sides constitute the hot backup of the autonomous driving system, and there is a master-master architecture between any two autonomous driving controllers. Upon receiving the activation request, the user enters the activation transition state, which includes: The third judgment determines whether the process is in a ready state; Based on the positive result of the third judgment, after obtaining the activation request, it enters the activation transition state; Entering the end transition state includes: Record the reason why the feedback was not received; Issue a command to deactivate the actuator on this side; Entering the end transition state also includes: Obtain feedback indicating that the actuator on this side has successfully exited activation; Based on the feedback of successfully exiting activation, the system enters the ready state.

2. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the autonomous driving control method as described in claim 1.

3. An automatic driving control system, characterized in that, The system includes: Multiple autonomous driving controllers are interconnected and encapsulated in the same processing module; Multiple actuators, each of which is connected to a corresponding autonomous driving controller; in, The actuator receives activation or deactivation instructions from the corresponding autonomous driving controller and sends its own status to the corresponding autonomous driving controller. The autonomous driving controller sends its own state and the state of the corresponding actuator to other autonomous driving controllers, and the autonomous driving controller is configured to execute the method of claim 1.

4. A vehicle, characterized in that, Including the autonomous driving system as described in claim 3.

5. The vehicle according to claim 4, characterized in that, The number of autonomous driving controllers is two.

6. An automatic driving control system, characterized in that, The system is used to distribute at least one of multiple redundant autonomous driving controllers based on a master-master architecture within a vehicle, with each autonomous driving controller correspondingly connected to an actuator. The system includes: The acquisition module acquires the activation request and enters the activation transition state; The first judgment module performs a first judgment through internal communication to determine whether the states of all other autonomous driving controllers are in an active transition state, and starts timing after the first judgment is positive. The instruction module, based on the positive result of the first judgment, synchronously issues an instruction to activate the actuator on its own side to the autonomous driving controller on other sides; The second judgment module performs a second judgment on whether feedback has been obtained. The feedback includes confirmation information obtained directly from the actuator on this side and indirectly from the autonomous driving controller on other sides, indicating that the actuators on all sides have been successfully activated within a preset time based on the timing. The activation module enters the autonomous driving activation state based on the positive result of the second judgment, and enters the end transition state based on the negative result of the second judgment. Among them, multiple redundant autonomous driving controllers on multiple sides constitute the hot backup of the autonomous driving system, and there is a master-master architecture between any two autonomous driving controllers. The acquisition module performs a third judgment to determine whether it is in a ready state; based on the positive result of the third judgment, after acquiring the activation request, it enters the activation transition state; The activation module records the reason for not receiving the feedback; and issues an instruction to deactivate the actuator on its side. The activation module receives feedback that the actuator on its side has successfully exited activation; based on the feedback of successful exit from activation, it enters the ready state.

7. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the automatic driving control method as described in claim 1.

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