Intelligent driving emergency stop control method, device, equipment and readable storage medium

Abstract

The present application relates to an intelligent driving emergency stop control method, device, equipment and readable storage medium, and relates to the field of intelligent driving automobile technology, including controlling the powertrain to stop outputting power and controlling the braking system to perform emergency braking when an emergency stop signal is received from a switch module fixed on the vehicle, wherein the emergency stop signal is an emergency stop request signal sent by a remote control terminal or an emergency stop request signal generated by a manually controlled switch module; obtaining the real-time speed of the vehicle, and determining whether the real-time speed is zero; if the real-time speed is zero, controlling the vehicle to be in a parking state and a locked state. Through the present application, during the intelligent driving debugging and operation of an unmanned vehicle, in the face of an emergency, the vehicle can be emergency stopped and parked by manually tapping the switch module on the vehicle or sending an emergency stop request signal to the switch module through a remote control and a remote control console, and the vehicle can be locked in time to avoid the occurrence of safety accidents.

Description

Technical Field

[0001] The present application relates to the field of intelligent driving vehicle technology, and in particular to an intelligent driving emergency stop control method, device, equipment and readable storage medium. Background Art

[0002] With the advancement of science and technology and the continuous improvement of people's living standards, autonomous driving technology is gradually becoming part of people's lives. Autonomous driving is a key application of mobile outdoor robots in the transportation sector, requiring the integration of multiple advanced technologies such as computing, communications, positioning, recognition, machine vision, and artificial intelligence. Therefore, an autonomous vehicle system is a comprehensive system that integrates environmental awareness, planning and decision-making, and multi-stage assisted driving.

[0003] However, as autonomous vehicles are still in the developmental stage, and autonomous container trucks in particular, certain technical limitations remain. For example, during the commissioning phase, autonomous vehicles are primarily controlled by remote controls, which can often fail, preventing the vehicle from making an emergency stop and potentially leading to accidents. Furthermore, during the operational phase, pedestrians or other vehicles can appear in front of an autonomous vehicle, preventing it from making an emergency stop and causing accidents. Summary of the Invention

[0004] The present application provides an intelligent driving emergency stop control method, device, equipment and readable storage medium to solve the problem in the related art that safety accidents occur due to the inability of unmanned vehicles to make emergency stops in the face of emergencies.

[0005] In a first aspect, a smart driving emergency stop control method is provided, comprising the following steps:

[0006] When receiving an emergency stop signal sent by a switch module fixed on the vehicle, the powertrain is controlled to stop outputting power and the braking system is controlled to apply emergency braking. The emergency stop signal is an emergency stop request signal sent by a remote control terminal or an emergency stop request signal generated by a manually controlled switch module;

[0007] Obtaining the real-time speed of the vehicle and determining whether the real-time speed is zero;

[0008] If the real-time vehicle speed is zero, the vehicle is controlled to be in a parking state and a locked state.

[0009] In some embodiments, the switch module includes a first emergency stop switch and a second emergency stop switch, wherein the first emergency stop switch is fixed at the front of the vehicle, and the second emergency stop switch is fixed at the rear of the vehicle.

[0010] In some embodiments, controlling the vehicle to be in a parked state and a locked state includes:

[0011] When it is detected that the emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a locked state to prohibit the vehicle from moving forward and backward;

[0012] When it is detected that the emergency stop signal is the emergency stop signal sent by the first emergency stop switch, the vehicle is controlled to be in a forward locking state to prohibit the vehicle from moving forward;

[0013] When it is detected that the emergency stop signal is the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a rearward locking state to prohibit the vehicle from moving backward.

[0014] In some embodiments, after the step of controlling the vehicle to be in a parking state and a locked state if the real-time vehicle speed is zero, the method further includes:

[0015] Determining whether a new emergency stop signal sent by the switch module is received;

[0016] If a new emergency stop signal is received from the switch module, the vehicle lock is released;

[0017] If no new emergency stop signal is received from the switch module, the vehicle remains in the locked state.

[0018] In some embodiments, if a new emergency stop signal sent by the switch module is received, unlocking the vehicle includes:

[0019] When a new emergency stop signal sent by the switch module is received, determining whether the new emergency stop signal is an emergency stop signal sent by the first emergency stop switch and / or the second emergency stop switch;

[0020] When the new emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, unlocking the vehicle so that the vehicle can move forward and backward;

[0021] When the new emergency stop signal is the emergency stop signal sent by the first emergency stop switch, releasing the forward lock of the vehicle so that the vehicle can move forward;

[0022] When the new emergency stop signal is the emergency stop signal sent by the second emergency stop switch, the rearward locking of the vehicle is released so that the vehicle can move backward.

[0023] In some embodiments, the switch module includes four emergency stop switches, two of which are fixed at the front of the vehicle, and the other two are fixed at the rear of the vehicle.

[0024] In a second aspect, an intelligent driving emergency stop control device is provided, comprising a switch module, a judgment module and a control module;

[0025] The switch module is used to convert the emergency stop request signal sent by the remote control terminal or the emergency stop request signal generated by the manual control switch module into an emergency stop signal, and send the emergency stop signal to the control module;

[0026] The control module is used to control the powertrain to stop outputting power and control the brake system to perform emergency braking when receiving an emergency stop signal sent by a switch module fixed on the vehicle;

[0027] The judgment module is used to obtain the real-time speed of the vehicle and judge whether the real-time speed is zero;

[0028] The control module is further configured to control the vehicle to be in a parking state and a locked state if the real-time vehicle speed is zero.

[0029] In some embodiments, the switch module includes a first emergency stop switch and a second emergency stop switch, wherein the first emergency stop switch is fixed at the front of the vehicle, and the second emergency stop switch is fixed at the rear of the vehicle.

[0030] In a third aspect, an intelligent driving emergency stop control device is provided, comprising: a memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the aforementioned intelligent driving emergency stop control method.

[0031] In a fourth aspect, a computer-readable storage medium is provided, which stores a computer program. When the computer program is executed by a processor, the aforementioned intelligent driving emergency stop control method is implemented.

[0032] The present application provides an intelligent driving emergency stop control method, device, equipment and readable storage medium, including controlling the powertrain to stop outputting power and controlling the braking system to perform emergency braking when receiving an emergency stop signal sent by a switch module fixed on the vehicle, wherein the emergency stop signal is an emergency stop request signal sent by a remote control terminal or an emergency stop request signal generated by a manually controlled switch module; obtaining the real-time speed of the vehicle and determining whether the real-time speed is zero; if the real-time speed is zero, controlling the vehicle to be in a parking state and a locked state. Through the present application, during the intelligent driving debugging and operation of an unmanned vehicle, in the face of an emergency, the vehicle can be emergency stopped and parked by manually tapping the switch module on the vehicle, and the vehicle can be locked in time to avoid accidents caused by failure of the remote control; and during operation, when a pedestrian or vehicle suddenly appears in front of the vehicle through remote monitoring, an emergency stop request signal can be sent to the switch module through the remote control or remote console to achieve emergency stopping and parking of the vehicle, and the vehicle can be locked in time to avoid the occurrence of collision accidents. In addition, the present application only requires adding a switch module to the vehicle and implementing the emergency stop function through the vehicle controller, which has a simple structure and low cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0034] Figure 1 A flow chart of an intelligent driving emergency stop control method provided in an embodiment of the present application;

[0035] Figure 2 A schematic diagram of a specific flow chart of the intelligent driving emergency stop control method provided in an embodiment of the present application;

[0036] Figure 3 A schematic diagram of the layout of the switch module provided in an embodiment of the present application;

[0037] Figure 4 A schematic diagram of the structure of an intelligent driving emergency stop control device provided in an embodiment of the present application;

[0038] Figure 5 A schematic structural diagram of an intelligent driving emergency stop control device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] To make the purpose, technical solutions, and advantages of the embodiments of this application more clear, the technical solutions in the embodiments of this application will be clearly and completely described below in conjunction with the drawings in the embodiments of this application. Obviously, the described embodiments are part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0040] The embodiments of the present application provide an intelligent driving emergency stop control method, device, equipment and readable storage medium, which can solve the problem in the related art that safety accidents occur because unmanned vehicles are unable to stop urgently in the face of emergencies.

[0041] To achieve the above objectives, the overall idea of this application is as follows:

[0042] An intelligent driving emergency stop control method, the method comprising the following steps:

[0043] Step S10: When an emergency stop signal is received from a switch module fixed on the vehicle, the powertrain is controlled to stop outputting power and the brake system is controlled to perform emergency braking. The emergency stop signal is an emergency stop request signal sent by a remote control terminal or an emergency stop request signal generated by a manually controlled switch module.

[0044] Step S20: obtaining the real-time speed of the vehicle and determining whether the real-time speed is zero;

[0045] Step S30: If the real-time vehicle speed is zero, the vehicle is controlled to be in a parking state and a locked state.

[0046] See also Figure 1 and Figure 2 As shown, the embodiment of the present application provides an intelligent driving emergency stop control method, comprising the following steps:

[0047] Step S10: When an emergency stop signal is received from a switch module fixed on the vehicle, the powertrain is controlled to stop outputting power and the brake system is controlled to perform emergency braking. The emergency stop signal is an emergency stop request signal sent by a remote control terminal or an emergency stop request signal generated by a manually controlled switch module.

[0048] For example, it should be understood that the switch module in this embodiment is composed of a switch element, a signal receiver and a processing submodule; wherein the switch element is used for manual control, that is, the opening and closing of the switch element can be controlled by manually tapping, and the electrical signal generated by the opening and closing of the switch element will be transmitted to the processing submodule as an emergency stop request signal, so that the processing submodule generates an emergency stop signal; the processing submodule is not only used to convert the electrical signal generated by the switch element into an emergency stop signal, but also when the emergency stop request signal sent by the remote control terminal (such as a remote remote controller, a remote remote controller, etc.) is received through the signal receiver, the emergency stop request signal will also be converted into an emergency stop signal. Therefore, during the intelligent driving debugging and operation of the unmanned vehicle, when facing an emergency, an emergency stop signal can be generated by manually tapping the switch module on the vehicle, and during operation, when a pedestrian or vehicle suddenly appears in front of the vehicle through remote monitoring, an emergency stop request signal can also be sent to the switch module through the remote control or remote console, thereby generating an emergency stop signal to indicate that an emergency situation exists and an emergency stop is required.

[0049] It should be noted that the switch element can be a push button switch, a tap switch, a touch switch, etc. The specific type of switch used as the switch element can be determined according to actual needs and is not limited here.

[0050] It is understood that the switch module can be installed at any location within the vehicle, such as the front or rear, based on actual needs and not limited here. Furthermore, the switch module can be connected to the HCU (Hybrid Control Unit) via a CAN (Controller Area Network) line, allowing the HCU to determine whether the vehicle is facing an emergency situation requiring an emergency stop based on whether it receives an emergency stop signal transmitted by the switch module, and then automatically control the vehicle's powertrain to stop power output and the braking system to perform emergency braking.

[0051] Specifically, when the vehicle controller HCU detects the emergency stop signal sent by the switch module, it can determine that the vehicle is facing an emergency and needs to be stopped urgently. At this time, a power stop output command can be issued to the vehicle powertrain, and an emergency braking command can be issued to the braking system at the same time, so that the vehicle can stop power output and emergency braking. The driving power output can be stopped and the emergency braking can be stopped in the shortest time, thereby effectively reducing the possibility of safety accidents.

[0052] Furthermore, the switch module includes a first emergency stop switch and a second emergency stop switch, wherein the first emergency stop switch is fixed at the front of the vehicle and the second emergency stop switch is fixed at the rear of the vehicle. Preferably, the switch module includes four emergency stop switches, wherein two of the emergency stop switches are fixed at the front of the vehicle and the other two are fixed at the rear of the vehicle.

[0053] For example, it is understandable that when a vehicle faces an emergency, it should be parked as quickly as possible, which means that multiple locations are required to trigger parking operations. Therefore, in order to trigger parking operations as quickly as possible, emergency stop switches can be installed on the front, rear, and middle of the vehicle, so that on-site personnel can immediately touch the emergency stop switch at the location closest to their location, and then trigger the generation of an emergency stop signal by opening and closing the emergency stop switch. In order to further reduce the time to trigger the parking operation and achieve more accurate vehicle locking operations, this embodiment can install an emergency stop switch on each side of the front, rear, and middle of the vehicle, for example, see Figure 3 As shown, emergency stop switches 1 and 2 are arranged at the front of the vehicle, and emergency stop switches 3 and 4 are arranged at the rear of the vehicle to facilitate operation by on-site personnel.

[0054] Step S20: obtaining the real-time speed of the vehicle and determining whether the real-time speed is zero;

[0055] For example, in this embodiment, after the vehicle controller (HCU) controls the powertrain to stop outputting drive power and the braking system to perform emergency braking, it is necessary to detect the vehicle's real-time speed and determine whether the vehicle has stopped based on whether the real-time speed is zero. If the real-time speed is zero, it indicates that the vehicle is already in a stopped state, i.e., the vehicle has stopped. If the real-time speed is not zero, it indicates that the vehicle is not in a stopped state, i.e., the vehicle has not stopped, and it is necessary to continue controlling the braking system to perform emergency braking to bring the vehicle to a stop.

[0056] Step S30: If the real-time vehicle speed is zero, the vehicle is controlled to be in a parking state and a locked state.

[0057] For example, it is understood that when the real-time vehicle speed drops to zero, indicating that the vehicle is parked, the HCU will issue an electronic parking command to activate the electronic parking system, thereby parking the vehicle. This prevents the vehicle from rolling on a slope and keeps it stationary, thus avoiding accidents. The vehicle is also locked, preventing further movement to prevent further danger.

[0058] Furthermore, controlling the vehicle to be in a parking state and a locked state includes:

[0059] When it is detected that the emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a locked state to prohibit the vehicle from moving forward and backward;

[0060] When it is detected that the emergency stop signal is the emergency stop signal sent by the first emergency stop switch, the vehicle is controlled to be in a forward locking state to prohibit the vehicle from moving forward;

[0061] When it is detected that the emergency stop signal is the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a rearward locking state to prohibit the vehicle from moving backward.

[0062] For example, in this embodiment, the vehicle controller HCU can determine whether the vehicle encountered an emergency in the forward direction, the reverse direction, or both directions simultaneously through the emergency stop signal. If the vehicle controller HCU determines that only emergency stop switch 1 or emergency stop switch 2 is triggered, or both emergency stop switches 1 and 2 are triggered simultaneously, it indicates that the vehicle encountered an emergency in the forward direction, and the vehicle will be locked in the forward direction, that is, the forward gear of the vehicle will be disabled to prohibit the vehicle from moving forward. If the vehicle controller HCU determines that only emergency stop switch 3 or emergency stop switch 4 is triggered, or both emergency stop switches 3 and 4 are triggered simultaneously, it indicates that the vehicle encountered an emergency in the reverse direction, and the vehicle will be locked in the reverse direction, that is, the reverse gear of the vehicle will be disabled to prohibit the vehicle from moving backward.

[0063] If the vehicle controller HCU determines that emergency stop switch 1 and emergency stop switch 3 are triggered at the same time, or emergency stop switch 1 and emergency stop switch 4 are triggered at the same time, or emergency stop switch 2 and emergency stop switch 3 are triggered at the same time, or emergency stop switch 2 and emergency stop switch 4 are triggered at the same time, or all emergency stop switches are triggered at the same time, that is, as long as at least one emergency stop switch in the forward direction and at least one emergency stop switch in the reverse direction are triggered at the same time, it means that the vehicle has encountered an emergency in both the forward and reverse directions. At this time, the vehicle's forward and reverse directions are both locked, that is, the vehicle's forward gear and reverse gear are both controlled to be invalid, so as to prohibit the vehicle from moving forward and backward.

[0064] Furthermore, after the step of controlling the vehicle to be in a parking state and a locked state if the real-time vehicle speed is zero, the method further includes:

[0065] Determining whether a new emergency stop signal sent by the switch module is received;

[0066] If a new emergency stop signal is received from the switch module, the vehicle lock is released;

[0067] If no new emergency stop signal is received from the switch module, the vehicle remains in the locked state.

[0068] For example, in this embodiment, when the vehicle is locked, it is further determined whether the emergency situation has been resolved. Specifically, after the vehicle is locked, the vehicle will continue to monitor for new emergency stop signals to determine whether the emergency situation has been resolved. If no new emergency stop signal is received, the emergency situation has not been resolved and the vehicle lock must remain in place to prevent the vehicle from moving. If a new emergency stop signal is received, the emergency situation has been resolved and the vehicle lock can be released, allowing the vehicle to travel in the direction that resolves the emergency situation.

[0069] For example, after analyzing the on-site environment, the on-site personnel believe that the current emergency situation has been resolved. At this time, they can tap any emergency stop switch to unlock it to inform the vehicle controller HCU that the current emergency situation has been resolved, and the vehicle controller HCU will automatically unlock the vehicle, and the vehicle will resume the state of being allowed to drive; similarly, when the staff believe that the current emergency situation has been resolved after remote monitoring and analysis, they can send an emergency stop request signal to any emergency stop switch through the remote remote control or remote console. The emergency stop switch that receives the emergency stop request signal converts it into an emergency stop signal and sends it to the vehicle controller HCU to inform the vehicle controller HCU that the current emergency situation has been resolved, and the vehicle controller HCU will automatically unlock the vehicle, and the vehicle will resume the state of being allowed to drive; before the emergency stop switch is manually unlocked, the vehicle is not allowed to move and will continue to be locked.

[0070] Furthermore, if a new emergency stop signal sent by the switch module is received, the vehicle lock is released, including:

[0071] When a new emergency stop signal sent by the switch module is received, determining whether the new emergency stop signal is an emergency stop signal sent by the first emergency stop switch and / or the second emergency stop switch;

[0072] When the new emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, unlocking the vehicle so that the vehicle can move forward and backward;

[0073] When the new emergency stop signal is the emergency stop signal sent by the first emergency stop switch, releasing the forward lock of the vehicle so that the vehicle can move forward;

[0074] When the new emergency stop signal is the emergency stop signal sent by the second emergency stop switch, the rearward locking of the vehicle is released so that the vehicle can move backward.

[0075] For example, in this embodiment, in order to better control the vehicle's movement direction, the vehicle's movement direction is restricted based on whether the emergency stop switches at different locations send emergency stop signals. Specifically, after the vehicle is locked, if the vehicle controller (HCU) receives only emergency stop signals from emergency stop switches 1 and 2, it indicates that the emergency situation encountered by the vehicle in the forward direction has been resolved. At this time, the forward lock of the vehicle can be released, that is, the forward gear function can be restored to allow the vehicle to move forward. If the vehicle controller (HCU) receives only emergency stop signals from emergency stop switches 3 and 4, it indicates that the emergency situation encountered by the vehicle in the rearward direction has been resolved. At this time, the rearward lock of the vehicle can be released, that is, the reverse gear function can be restored to allow the vehicle to move backward. If the vehicle controller (HCU) receives emergency stop signals from emergency stop switches 1 to 4, it indicates that the emergency situation encountered by the vehicle in both the forward and rearward directions has been resolved. At this time, the forward and rearward locks of the vehicle can be released, that is, the forward and reverse gear functions can be restored to allow the vehicle to move forward and backward.

[0076] It can be understood that as long as one of the emergency stop switches in the forward direction does not send an emergency stop signal, it means that the emergency situation encountered by the vehicle in the forward direction has not been resolved. At this time, it is necessary to continue to control the forward lock of the vehicle to prohibit the vehicle from moving forward; similarly, as long as one of the emergency stop switches in the rear direction does not send an emergency stop signal, it means that the emergency situation encountered by the vehicle in the rear direction has not been resolved. At this time, it is necessary to continue to control the rear lock of the vehicle to prohibit the vehicle from moving backward.

[0077] It can be seen that through this application, in the process of intelligent driving debugging and operation of unmanned vehicles, when facing sudden dangerous situations, the vehicle can be automatically controlled for emergency stopping and parking by manually tapping the switch module on the vehicle, and the vehicle can be locked in time to limit the direction of movement of the vehicle, thereby avoiding accidents involving personnel or vehicles due to failure of the remote control; and in the operation process, when a pedestrian or vehicle suddenly appears in front of the vehicle through remote monitoring, an emergency stop request signal can be sent to the switch module through the remote control or remote console to achieve automatic control of emergency stopping and parking of the vehicle, and the vehicle can be locked in time to limit the direction of movement of the vehicle, thereby avoiding the occurrence of collision accidents. In addition, this application only needs to add an emergency stop switch to the whole vehicle to connect with the whole vehicle controller HCU, and then the whole vehicle controller HCU performs logical control on the service brake system, parking brake and powertrain system to achieve the emergency stop function. It is not only simple in structure and low in cost, but also effectively improves safety and user value.

[0078] In summary, the present application can not only receive remote emergency stop requests, but also realize the emergency stop function through manual switch operation on the actual vehicle, that is, through a simple switch operation, the driving power output can be stopped and the emergency brake can be stopped in the shortest time, and the parking function can be started after the vehicle stops. Before the emergency stop switch is manually unlocked, the vehicle is locked through the automatic control logic of the vehicle controller HCU, that is, the vehicle is not allowed to move to avoid danger again.

[0079] See also Figure 4 As shown, the embodiment of the present application also provides an intelligent driving emergency stop control device, including a switch module, a judgment module and a control module;

[0080] The switch module is used to convert the emergency stop request signal sent by the remote control terminal or the emergency stop request signal generated by the manual control switch module into an emergency stop signal, and send the emergency stop signal to the control module;

[0081] The control module is used to control the powertrain to stop outputting power and control the brake system to perform emergency braking when receiving an emergency stop signal sent by a switch module fixed on the vehicle;

[0082] The judgment module is used to obtain the real-time speed of the vehicle and judge whether the real-time speed is zero;

[0083] The control module is further configured to control the vehicle to be in a parking state and a locked state if the real-time vehicle speed is zero.

[0084] Furthermore, the switch module includes a first emergency stop switch and a second emergency stop switch, the first emergency stop switch is fixed at the front of the vehicle, and the second emergency stop switch is fixed at the rear of the vehicle.

[0085] Furthermore, the control module is specifically configured to:

[0086] When it is detected that the emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a locked state to prohibit the vehicle from moving forward and backward;

[0087] When it is detected that the emergency stop signal is the emergency stop signal sent by the first emergency stop switch, the vehicle is controlled to be in a forward locking state to prohibit the vehicle from moving forward;

[0088] When it is detected that the emergency stop signal is the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a rearward locking state to prohibit the vehicle from moving backward.

[0089] Furthermore, the judgment module is further configured to judge whether a new emergency stop signal sent by the switch module is received;

[0090] The control module is further configured to release the vehicle lock if a new emergency stop signal is received from the switch module; and to keep the vehicle locked if no new emergency stop signal is received from the switch module.

[0091] Furthermore, the judgment module is further configured to, when receiving a new emergency stop signal sent by the switch module, determine whether the new emergency stop signal is an emergency stop signal sent by the first emergency stop switch and / or the second emergency stop switch;

[0092] The control module is specifically further used to release the vehicle lock when the new emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, so that the vehicle can move forward and backward; when the new emergency stop signal is the emergency stop signal sent by the first emergency stop switch, release the vehicle forward lock to allow the vehicle to move forward; when the new emergency stop signal is the emergency stop signal sent by the second emergency stop switch, release the vehicle backward lock to allow the vehicle to move backward.

[0093] Furthermore, the switch module includes four emergency stop switches, two of which are fixed at the front of the vehicle, and the other two are fixed at the rear of the vehicle.

[0094] It should be noted that those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working processes of the above-described devices and modules can refer to the corresponding processes in the aforementioned intelligent driving emergency stop control method embodiment, and will not be repeated here.

[0095] The intelligent driving emergency stop control device provided in the above embodiment can be implemented in the form of a computer program. The computer program can be used in Figure 5 The intelligent driving emergency stop control device is shown running.

[0096] An embodiment of the present application also provides an intelligent driving emergency stop control device, comprising: a memory, a processor, and a network interface connected via a system bus, wherein at least one instruction is stored in the memory, and at least one instruction is loaded and executed by the processor to implement all or part of the steps of the aforementioned intelligent driving emergency stop control method.

[0097] Among them, the network interface is used for network communication, such as sending assigned tasks, etc. Those skilled in the art will understand that Figure 5 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than shown in the figure, or combine certain components, or have a different component arrangement.

[0098] The processor may be a CPU, other general-purpose processors, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. A general-purpose processor may be a microprocessor, or any conventional processor. The processor is the control center of a computer device, connecting various parts of the entire computer device using various interfaces and lines.

[0099] The memory can be used to store computer programs and / or modules. The processor implements various functions of the computer device by running or executing the computer programs and / or modules stored in the memory, and calling the data stored in the memory. The memory can mainly include a program storage area and a data storage area. The program storage area can store an operating system, at least one application required for a function (such as a video playback function, an image playback function, etc.), etc.; the data storage area can store data created based on the use of the mobile phone (such as video data, image data, etc.). In addition, the memory can include high-speed random access memory and non-volatile memory, such as a hard disk, internal memory, a plug-in hard disk, a smart memory card (SmartMedia Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage device.

[0100] An embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, all or part of the steps of the aforementioned intelligent driving emergency stop control method are implemented.

[0101] The embodiments of the present application implement all or part of the aforementioned processes, and may also be completed by instructing related hardware through a computer program. The computer program may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of each of the above methods may be implemented. Among them, the computer program includes computer program code, and the computer program code may be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may include: any entity or device capable of carrying computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electric carrier signal, telecommunication signal and software distribution medium, etc. It should be noted that the content contained in the computer-readable medium may be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media do not include electric carrier signals and telecommunication signals.

[0102] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, servers, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage and optical storage, etc.) containing computer-usable program code.

[0103] 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 system 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 system. 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 system comprising the element.

[0104] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0105] The foregoing is merely a list of specific embodiments of the present application, intended to enable those skilled in the art to understand or implement the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is intended to conform to the broadest scope consistent with the principles and novel features of the present application.

Claims

1. An intelligent driving emergency stop control method, characterized in that: The following steps are involved: When receiving an emergency stop signal sent by a switch module fixed on the vehicle, the powertrain is controlled to stop outputting power and the braking system is controlled to apply emergency braking. The emergency stop signal is an emergency stop request signal sent by a remote control terminal or an emergency stop request signal generated by a manually controlled switch module; Obtaining the real-time speed of the vehicle and determining whether the real-time speed is zero; If the real-time vehicle speed is zero, the vehicle is controlled to be in a parking state and a locked state; Among them, the switch module consists of a switch component, a signal receiver and a processing submodule. The switch component is used for manual control, and the electrical signal generated by the opening and closing of the switch component is transmitted to the processing submodule as an emergency stop request signal. The processing submodule is used to convert the emergency stop request signal generated by the switch component into an emergency stop signal or receive the emergency stop request signal sent by the remote control terminal through the signal receiver and convert it into an emergency stop signal; The switch module includes a first emergency stop switch and a second emergency stop switch, wherein the first emergency stop switch is fixed at the front of the vehicle and the second emergency stop switch is fixed at the rear of the vehicle; The controlling the vehicle to be in a parking state and a locked state includes: When it is detected that the emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a locked state to prohibit the vehicle from moving forward and backward; When it is detected that the emergency stop signal is the emergency stop signal sent by the first emergency stop switch, the vehicle is controlled to be in a forward locking state to prohibit the vehicle from moving forward; When it is detected that the emergency stop signal is the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a rearward locking state to prohibit the vehicle from moving backward.

2. The intelligent driving emergency stop control method according to claim 1, characterized in that: After the step of controlling the vehicle to be in a parking state and a locked state if the real-time vehicle speed is zero, the method further includes: Determining whether a new emergency stop signal sent by the switch module is received; If a new emergency stop signal is received from the switch module, the vehicle lock is released; If no new emergency stop signal is received from the switch module, the vehicle remains in the locked state.

3. The intelligent driving emergency stop control method according to claim 2, characterized in that: If a new emergency stop signal sent by the switch module is received, unlocking the vehicle includes: When a new emergency stop signal sent by the switch module is received, determining whether the new emergency stop signal is an emergency stop signal sent by the first emergency stop switch and / or the second emergency stop switch; When the new emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, unlocking the vehicle so that the vehicle can move forward and backward; When the new emergency stop signal is the emergency stop signal sent by the first emergency stop switch, releasing the forward lock of the vehicle so that the vehicle can move forward; When the new emergency stop signal is the emergency stop signal sent by the second emergency stop switch, the rearward locking of the vehicle is released so that the vehicle can move backward.

4. The intelligent driving emergency stop control method according to claim 1, characterized in that: The switch module includes four emergency stop switches, two of which are fixed at the front of the vehicle, and the other two are fixed at the rear of the vehicle.

5. An intelligent driving emergency stop control device, characterized by: It includes a switch module, a judgment module and a control module; The switch module is used to convert the emergency stop request signal sent by the remote control terminal or the emergency stop request signal generated by the manual control switch module into an emergency stop signal, and send the emergency stop signal to the control module; The control module is used to control the powertrain to stop outputting power and control the brake system to perform emergency braking when receiving an emergency stop signal sent by a switch module fixed on the vehicle; The judgment module is used to obtain the real-time speed of the vehicle and judge whether the real-time speed is zero; The control module is further configured to control the vehicle to be in a parking state and a locked state if the real-time vehicle speed is zero; Among them, the switch module consists of a switch component, a signal receiver and a processing submodule. The switch component is used for manual control, and the electrical signal generated by the opening and closing of the switch component is transmitted to the processing submodule as an emergency stop request signal. The processing submodule is used to convert the emergency stop request signal generated by the switch component into an emergency stop signal or receive the emergency stop request signal sent by the remote control terminal through the signal receiver and convert it into an emergency stop signal; The switch module includes a first emergency stop switch and a second emergency stop switch, wherein the first emergency stop switch is fixed at the front of the vehicle and the second emergency stop switch is fixed at the rear of the vehicle; The control module is specifically used for: When it is detected that the emergency stop signal includes the emergency stop signal sent by the first emergency stop switch and the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a locked state to prohibit the vehicle from moving forward and backward; When it is detected that the emergency stop signal is the emergency stop signal sent by the first emergency stop switch, the vehicle is controlled to be in a forward locking state to prohibit the vehicle from moving forward; When it is detected that the emergency stop signal is the emergency stop signal sent by the second emergency stop switch, the vehicle is controlled to be in a rearward locking state to prohibit the vehicle from moving backward.

6. An intelligent driving emergency stop control device, characterized in that: include: A memory and a processor, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the intelligent driving emergency stop control method according to any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the intelligent driving emergency stop control method according to any one of claims 1 to 4 is implemented.

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