Self-driving vehicle, control method thereof, storage medium and computer device

Abstract

The application provides an automatic driving vehicle, a control method, a storage medium and a computer device. The method integrates the control right of power-on and power-off into the cloud, and indicates the automatic driving vehicle whether to power on and power off by the cloud. The automatic driving vehicle adopts a top-down structure in the power-on and power-off process, that is, the vehicle body controller with the highest control right starts first, and then the industrial personal computer and the automatic driving system in the lower layer of the vehicle body controller are started in turn, so that the upper layer is started before the lower layer, and the progress of the power-on process can be controlled by the upper layer which is started first. In the power-off process, the automatic driving system in the lowermost layer starts to close, and then gradually closes layer by layer, so that the lower layer is closed before the upper layer, and the progress of the power-off process can be controlled by the upper layer which is not closed. The method does not need manual participation in the power-on and power-off process, and ensures that the whole process of power-on and power-off at the vehicle end is unmanned. In addition, each link of the power-on and power-off process has a rollback space, so that the original state can be restored when an abnormality occurs in an intermediate link.

Description

Technical Field

[0001] The present application relates to the field of autonomous driving technology, and in particular to an autonomous driving vehicle and its control method, storage medium, and computer equipment. Background Art

[0002] With the rapid development of autonomous driving technology, more and more autonomous vehicles are operating on urban roads. Autonomous vehicles are powered on and off by remote control, and then powered off and on after their operation. However, most high-level autonomous vehicles currently operating in cities still rely on manual intervention at many stages of the vehicle's deployment and retrieval process, making full autonomous driving impossible. Summary of the Invention

[0003] The purpose of this application is to solve at least one of the above-mentioned technical defects, especially the technical defect in the prior art that frame switching of three-dimensional scenes is prone to freezes.

[0004] In a first aspect, the present application provides a method for controlling an autonomous vehicle. The autonomous vehicle includes a communication terminal, a gateway, a body controller, and an industrial computer. The communication terminal is respectively connected to the cloud and the gateway, the body controller and the industrial computer are respectively connected to the gateway, and the industrial computer is configured with an autonomous driving system. The control method includes:

[0005] The communication terminal responds to the power-on command sent by the cloud and sends a first start signal to the vehicle body controller through the gateway;

[0006] After the vehicle body controller is awakened, it sends a second start signal to the industrial computer through the gateway;

[0007] The industrial computer starts up in response to the second start signal, determines whether the autonomous driving vehicle satisfies a first self-test condition, and starts the autonomous driving system if the first self-test condition is satisfied, thereby completing a power-on process of the autonomous driving vehicle;

[0008] After the autonomous driving vehicle is powered on, the communication terminal sends a first shutdown signal to the vehicle body controller via the gateway in response to a power-off instruction sent from the cloud;

[0009] The vehicle body controller responds to the first shutdown signal and sends a second shutdown signal to the industrial computer through the gateway;

[0010] The industrial computer determines, in response to the second shutdown signal, whether the autonomous driving vehicle satisfies a second self-checking condition, and shuts down the autonomous driving system if the second self-checking condition is satisfied;

[0011] After the autonomous driving system is shut down, the industrial computer sends a shutdown completion signal to the vehicle body controller through the gateway and then shuts down;

[0012] The body controller responds to the shutdown completion signal and shuts down after waiting for a preset delay time to complete the power-off process of the autonomous driving vehicle.

[0013] In one embodiment, determining whether the autonomous driving vehicle satisfies a first self-check condition includes:

[0014] The autonomous driving vehicle is determined to have met the first self-check condition when the autonomous driving vehicle meets all first self-check items. The first self-check items include:

[0015] The autonomous driving system is in normal state;

[0016] No autonomous driving tasks are assigned to the autonomous driving system;

[0017] The speed of the autonomous vehicle is zero;

[0018] The gear of the autonomous vehicle is neutral or park;

[0019] The doors of the autonomous vehicle are all closed.

[0020] In one embodiment, after determining whether the autonomous driving vehicle meets the first self-check condition, the method further includes:

[0021] The autonomous driving system determines the first self-check item that is not met by the autonomous driving vehicle as the first abnormal item, and the industrial computer forwards the first abnormal item to the cloud through the gateway and the communication terminal in sequence.

[0022] In one embodiment, determining whether the autonomous driving vehicle satisfies the second self-check condition includes:

[0023] The autonomous driving vehicle satisfies the second self-check condition when the autonomous driving vehicle satisfies all of the following second self-check items:

[0024] The autonomous vehicle is within the preset vehicle collection range and remains stationary for longer than a preset time threshold;

[0025] The current time is within the preset vehicle collection time period;

[0026] The autonomous vehicle is in parking gear and the parking brake is engaged;

[0027] The doors of the autonomous vehicle are all closed.

[0028] In one embodiment, after determining whether the autonomous driving vehicle meets the second self-check condition, the method further includes:

[0029] The autonomous driving system determines the second self-test item that is not met by the autonomous driving vehicle as the second abnormal item, and the industrial computer forwards the second abnormal item to the cloud through the gateway and the communication terminal in sequence.

[0030] In one embodiment, the cloud includes an autonomous driving cloud and a vehicle cloud, the autonomous driving cloud is communicatively connected to the vehicle cloud, and the vehicle cloud is communicatively connected to the communication terminal; the autonomous driving cloud is used to forward the power-on command to the communication terminal through the vehicle cloud.

[0031] In one embodiment, the autonomous driving cloud is used to forward the power-off instruction to the communication terminal through the vehicle cloud when the position of the autonomous driving vehicle is within a preset vehicle collection range and the current time is within a preset vehicle collection time period.

[0032] On the second aspect, the present application provides an autonomous driving vehicle, including a communication terminal, a gateway, a body controller and an industrial computer. The communication terminal is respectively connected to the cloud and the gateway, the body controller and the industrial computer are respectively connected to the gateway, and the industrial computer is configured with an autonomous driving system. The autonomous driving vehicle is used to perform power on and off processes according to the autonomous driving vehicle control method in any of the above embodiments.

[0033] In a third aspect, the present application provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the autonomous driving vehicle control method in any of the above embodiments.

[0034] In a fourth aspect, the present application provides a computer device comprising: one or more processors, and a memory; the memory stores computer-readable instructions, which, when executed by one or more processors, execute the steps of the autonomous driving vehicle control method in any of the above embodiments.

[0035] It can be seen from the above technical solutions that the embodiments of the present application have the following advantages:

[0036] Power on and off control is integrated into the cloud, which instructs the autonomous vehicle on and off. The power on and off process for autonomous vehicles adopts a top-down architecture. The vehicle body controller, with the highest control authority, initiates startup, followed by the industrial computer and autonomous driving system below it. This ensures that upper layers start before lower layers, allowing the power on process to be controlled by the first layer that starts up. During the power off process, the autonomous driving system at the lowest level initiates shutdown, proceeding layer by layer upwards. This ensures that lower layers shut down before upper layers, allowing the remaining upper layers to control the power off process. This method centrally controls power on and off from the cloud, eliminating the need for vehicle-side requests and facilitating unified management. Autonomous vehicles eliminate the need for human intervention during the power on and off process, ensuring an unmanned on-board power on and off process. Furthermore, each step in the power on and off process includes fallback functionality to prevent failures in any intermediate steps from preventing recovery to the original state. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 paying any creative labor.

[0038] Figure 1 This is an application scenario diagram of the automatic driving system control method provided in an embodiment of the present application;

[0039] Figure 2 A flowchart of an automatic driving system control method provided in an embodiment of the present application;

[0040] Figure 3 This is a diagram of the internal structure of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0041] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only 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.

[0042] This application provides a method for controlling an autonomous vehicle. Figure 1 , the autonomous driving vehicle 10 includes a communication terminal 11, a gateway 13, a body controller 15 and an industrial computer 17. It can be understood that the communication terminal 11 is the terminal for data interaction between the autonomous driving vehicle 10 and the cloud 30, and all data of the autonomous driving vehicle 10 needs to be transmitted between the communication terminal 10 and the cloud 30. The communication terminal 10 generally needs to be registered and backed up in the cloud 30 before it has the authority to interact with data. The body controller 15 is the main controller of each electronic device in the autonomous driving vehicle 10. The industrial computer 17 is a computer device equipped with an autonomous driving system. The provider of autonomous driving services integrates autonomous driving-related models, algorithms, etc. into the industrial computer 17. The industrial computer 17 obtains the data required for autonomous driving from the sensors of the autonomous driving vehicle, and then the industrial computer 17 sends control signals to the driving module in the autonomous driving vehicle to realize autonomous driving. The gateway 13 is the data transfer center of each controller in the autonomous driving vehicle. The communication terminal 11, the body controller 15 and the industrial computer 17 can transfer data through the gateway 13. Please refer to Figure 2 , the control method applied to the autonomous driving vehicle includes steps S202 to S216.

[0043] S202 , the communication terminal sends a first start signal to the vehicle body controller through the gateway in response to the power-on command sent by the cloud.

[0044] It is understood that the power-on control structure in the embodiments of the present application adopts a top-down control structure, that is, the cloud instructs the autonomous driving vehicle to start powering on. Among them, the cloud can send a power-on instruction to the communication terminal of the autonomous driving vehicle when the autonomous driving vehicle needs to start operating. For example, in some scenarios, the autonomous driving vehicle operates at a fixed time period. The cloud can be set to send a power-on instruction to the communication terminal of each autonomous driving vehicle selected as a dispatch target before the arrival of the preset operating period.

[0045] The first activation signal is used to awaken the body controller from a dormant state. In some embodiments, if the communication terminal enters a dormant state after the autonomous vehicle is powered off, the power-on command may awaken the communication terminal from the dormant state and instruct the communication terminal to awaken the body controller. In some embodiments, if other electronic devices in the autonomous vehicle remain off after powering off, and the communication terminal remains in a standby state, the communication terminal, upon receiving the power-on command, directly transmits the first activation signal to the body controller via the gateway.

[0046] S204: After the vehicle body controller is awakened, it sends a second start signal to the industrial computer through the gateway.

[0047] It's understandable that since the body controller is the master controller for all controllers in an autonomous vehicle, after the vehicle is powered off, all controllers may enter a dormant state. Upon receiving the first start signal, the body controller awakens. At this point, the body controller should forward the first start signal to all dormant controllers via the gateway, awakening them all. For energy conservation purposes, the industrial computer equipped with the autonomous driving system is disconnected from power after powering off. The second start signal instructs the industrial computer to reconnect its power supply to start it up. In some autonomous vehicles, the industrial computer is a sub-device controlled by a domain controller. In this case, the second start signal must be forwarded by the domain controller before being transmitted to the industrial computer.

[0048] S206, the industrial computer starts in response to the second start signal, and determines whether the autonomous driving vehicle meets the first self-test condition, and starts the autonomous driving system if the first self-test condition is met to complete the power-on process of the autonomous driving vehicle.

[0049] The industrial computer is started under the indication of the second starting signal. At this time, since the automatic driving vehicle needs to perform an automatic driving operation task after being powered on, the first self-checking condition is used to determine whether the automatic driving vehicle has the condition of going out for operation. Only when the automatic driving vehicle meets the first self-checking condition, the automatic driving system configured in the industrial computer can be started, and the control right of the vehicle is handed over to the automatic driving system. Therefore, after the industrial computer is started, it is necessary to determine whether the current state of the automatic driving vehicle meets the first self-checking condition. After the industrial computer determines that the automatic driving vehicle meets the first self-checking condition, the automatic driving system can be started, and the whole power-on process is ended. At the end of the power-on process, the communication terminal can feed back the completion of power-on to the cloud. In addition, during the whole power-on process, since the wake-up and start are performed from top to bottom in turn, when there is a problem with any lower electronic device, since the upper electronic device still exists, the whole process can be controlled, such as re-sending the same signal, or performing abnormality elimination according to the error feedback, so that the whole power-on process will not be stuck at a certain link and cannot be rolled back or advanced.

[0050] S208, after the automatic driving vehicle is powered on, the communication terminal responds to the power-off instruction sent by the cloud, and sends a first closing signal to the body controller through the gateway.

[0051] It can be understood that the automatic driving vehicle can go out for operation after being powered on, and the cloud can issue an automatic driving task to the automatic driving system. When the operation is over, the power-off of the automatic driving vehicle is also controlled by the cloud. For example, in some scenarios, the automatic driving vehicle operates in a fixed time period and has a fixed parking place, and the cloud can communicate with the communication terminal to obtain the position of the automatic driving vehicle. When the position of the automatic driving vehicle is within the preset parking range and the current time is within the preset parking time period, the power-off instruction is sent to the communication terminal.

[0052] The first closing signal is used to instruct the body controller to start the power-off process. Specifically, the power-on process is started in the order of the body controller, the industrial computer and the automatic driving system, and the power-off process should be closed in the reverse order. This can ensure that the upper controller remains open before the lower controller is closed, so that the whole power-off process will not be stuck at a certain link and cannot be rolled back or advanced.

[0053] S210, the body controller responds to the first closing signal and sends a second closing signal to the industrial computer through the gateway.

[0054] It is understood that the body controller does not shut down directly after receiving the first shutdown signal. Instead, it must ensure that all underlying industrial computers are shut down before shutting down. Therefore, the body controller instructs the industrial computers to shut down via the second shutdown signal. Furthermore, after receiving the first shutdown signal, the body controller can also forward the second shutdown signal to controllers other than the industrial computer to instruct them to shut down.

[0055] S212, the industrial computer responds to the second shutdown signal, determines whether the automatic driving vehicle meets the second self-test condition, and shuts down the automatic driving system if the second self-test condition is met.

[0056] It is understandable that since the autonomous vehicle only needs to be powered off after its operation has concluded, the second self-check condition is used to determine whether the autonomous vehicle meets the conditions for safe closure. Only when the autonomous vehicle meets the second self-check condition can the autonomous driving system configured in the industrial computer be shut down. Therefore, before shutting down the power, the industrial computer needs to determine whether the autonomous vehicle's current state meets the second self-check condition. Once the industrial computer determines that the autonomous vehicle meets the second self-check condition, it can shut down the autonomous driving system.

[0057] S214, after the automatic driving system is shut down, the industrial computer sends a shutdown completion signal to the vehicle body controller through the gateway and then shuts down.

[0058] It is understandable that after the autonomous driving system is turned off, the industrial computer can also turn off the power. Before turning off the power, the industrial computer notifies the body controller through a shutdown completion signal that the industrial computer and the autonomous driving system have been turned off.

[0059] S216, the body controller responds to the shutdown completion signal and shuts down after waiting for a preset delay time to complete the power-off process of the autonomous driving vehicle.

[0060] When the body controller receives the shutdown completion signal, it determines that the underlying industrial computer has shut down, and the body controller is ready for shutdown. However, since the body controller is the master controller for all controllers, controllers other than the industrial computer may report an abnormality during the shutdown process, interrupting the shutdown process. Therefore, the body controller waits for a preset delay. If any controllers other than the industrial computer report an abnormality during the preset delay, the power-off process is terminated. If the body controller does not receive any abnormality feedback, it also shuts down, completing the power-off process. At the end of the power-off process, a communication terminal can be used to notify the cloud of the completion of the power-off process.

[0061] Based on the autonomous vehicle control method of this embodiment, power-on and power-off control is integrated into the cloud, which instructs the autonomous vehicle on and off. The autonomous vehicle adopts a top-down approach during power-on and power-off. The vehicle body controller, with the highest control authority, initiates startup, followed by the industrial computer and autonomous driving system below it. This ensures that the upper layers start before the lower layers, allowing the upper layer that starts first to control the power-on process. During power-off, the lowest-level autonomous driving system initiates shutdown, proceeding layer by layer upwards, ensuring that the lower layers shut down before the upper layers, allowing the upper layers that remain open to control the power-off process. This method centrally controls power-on and power-off from the cloud, eliminating the need for vehicle-side requests and facilitating unified management. Autonomous vehicles eliminate the need for human intervention during power-on and power-off, ensuring an unmanned process. Furthermore, each step in the power-on and power-off process provides fallback functionality to prevent failures in any intermediate steps from preventing recovery to the original state.

[0062] In one embodiment, determining whether the autonomous driving vehicle satisfies a first self-check condition includes:

[0063] If the autonomous driving vehicle meets all the first self-check items, it is determined that the autonomous driving vehicle meets the first self-check condition. The first self-check items are necessary to ensure vehicle safety. In addition to the first self-check items listed below, you can continue to add them as needed. The first self-check items may include:

[0064] (1) The automatic driving system is in normal state.

[0065] That is, the automatic driving system is in a normal state without any abnormalities and can operate normally.

[0066] (2) No autonomous driving task is assigned to the autonomous driving system.

[0067] If an autonomous driving task is assigned to the system, the vehicle will begin moving as soon as the system is enabled, potentially posing a safety risk. Therefore, ensure that no autonomous driving tasks are assigned to the system before powering on.

[0068] (3) The speed of the autonomous vehicle is zero.

[0069] That is, the autonomous driving vehicle should be kept stationary when powered on.

[0070] (4) The gear position of the autonomous vehicle is neutral or park.

[0071] When an autonomous vehicle is in park, the vehicle stops, and when it is in neutral, the vehicle idles. Starting the autonomous vehicle in these two gears can avoid safety risks that may be caused by the vehicle being in a non-stationary state.

[0072] (5) The doors of the autonomous vehicle are all in the closed state.

[0073] If an autonomous vehicle moves with its doors open, it poses a safety risk to passengers and surrounding vehicles. Therefore, if the autonomous system is to be activated, all doors must be closed.

[0074] In one embodiment, after determining whether the autonomous driving vehicle meets the first self-test condition, it also includes: the autonomous driving system determines the first self-test item that the autonomous driving vehicle does not meet as a first abnormal item, and the industrial computer forwards the first abnormal item to the cloud through the gateway and the communication terminal in sequence.

[0075] It is understood that if any of the first self-check items are not met, the abnormal situation should be reported to the cloud, so that the management personnel can issue corresponding processing instructions based on the first abnormal item and conduct abnormality investigation. For example, if the first abnormal item is that the vehicle speed is not zero, the cloud can issue a braking instruction to the autonomous vehicle to eliminate the first abnormal item.

[0076] In one embodiment, the second self-check item is a necessary check item added to ensure vehicle safety. In addition to the second self-check items listed below, further check items can be added as needed. The second self-check items may include:

[0077] (1) The autonomous vehicle is located within the preset vehicle collection range and remains stationary for a period exceeding a preset time threshold.

[0078] It's understood that autonomous vehicles typically park within designated parking spaces. The preset parking range is defined by the area centered on that space, taking into account positioning system errors. When the autonomous vehicle is within the preset parking range, it is considered to have reached the preset parking position. To mitigate misjudgments caused by errors, in addition to reaching the preset parking range, the autonomous vehicle must also remain within the range for a predetermined period of time to ensure that it has indeed reached the designated location.

[0079] (2) The current time is within the preset vehicle collection time period.

[0080] The preset vehicle collection time period is the time period when the operation of the autonomous driving vehicle ends. All autonomous driving vehicles should return to the designated location for collection during this period.

[0081] (3) The gear position of the autonomous vehicle is in parking position and the parking brake is in the applied position.

[0082] If an autonomous vehicle needs to be shut down and powered off, it should remain in the parking gear, and the handbrake should be engaged to prevent the vehicle from rolling.

[0083] (4) The doors of the autonomous vehicle are all in the closed state.

[0084] After the vehicle is parked and powered off, all doors must be closed to ensure the safety inside the vehicle.

[0085] In one embodiment, after determining whether the autonomous driving vehicle meets the second self-test condition, it also includes: the autonomous driving system determines the second self-test item that the autonomous driving vehicle does not meet as a second abnormal item, and the industrial computer forwards the second abnormal item to the cloud through the gateway and the communication terminal in sequence.

[0086] It is understood that if any of the second self-check items are not met, the abnormal situation should be reported to the cloud, so that the management personnel can issue corresponding processing instructions based on the second abnormality item and conduct abnormality investigation. For example, if the second abnormality item is that the parking brake is not applied, the cloud can issue a parking brake action instruction to the autonomous vehicle to eliminate the second abnormality item.

[0087] In one embodiment, the cloud includes an autonomous driving cloud and a vehicle cloud. The autonomous driving cloud is communicatively connected to the vehicle cloud, and the vehicle cloud is communicatively connected to the communication terminal. It is understandable that many autonomous driving vehicles are currently developed by autonomous driving service providers, while the entire vehicle is developed by the automaker. Therefore, there will be an autonomous driving cloud and a vehicle cloud. Autonomous driving service providers need to go through the automaker to exchange data with autonomous driving vehicles, and the operation of autonomous driving vehicles can be managed by the autonomous driving service provider. In other words, when the autonomous driving vehicle needs to be powered on, the autonomous driving cloud must forward the power-on command to the communication terminal through the vehicle cloud.

[0088] In one embodiment, the autonomous driving cloud is used to forward the power-off instruction to the communication terminal through the vehicle cloud when the position of the autonomous driving vehicle is within a preset vehicle collection range and the current time is within a preset vehicle collection time period.

[0089] As you can understand, the autonomous driving system will feed the vehicle's location in real time to both the vehicle cloud and the autonomous driving cloud. The autonomous driving cloud will make a preliminary determination based on the vehicle's location and the current time whether the vehicle should power down, and will forward the power-down instruction to the communication terminal via the vehicle cloud.

[0090] See also Figure 1 The present application provides an autonomous driving vehicle 10 including a communication terminal 11, a gateway 13, a body controller 15, and an industrial computer 17. The communication terminal 11 is respectively connected to a cloud 30 and the gateway 13, the body controller 15 and the industrial computer 17 are respectively connected to the gateway 13, and the industrial computer 17 is configured with an autonomous driving system. The autonomous driving vehicle 10 is configured to perform power on and off according to the autonomous driving vehicle control method of any of the above embodiments.

[0091] The present application provides a storage medium storing computer-readable instructions. When the computer-readable instructions are executed by one or more processors, the one or more processors execute the steps of the autonomous driving vehicle control method in any of the above embodiments.

[0092] The present application provides a computer device comprising: one or more processors, and a memory; the memory stores computer-readable instructions, which, when executed by one or more processors, execute the steps of the autonomous driving vehicle control method in any of the above embodiments.

[0093] Schematically, as Figure 3 As shown, Figure 3 This is a schematic diagram of the internal structure of a computer device provided in an embodiment of the present application. The computer device 300 can be provided as a server. Figure 3 Computer device 300 includes a processing component 302, which further includes one or more processors, and a memory resource represented by memory 301 for storing instructions executable by processing component 302, such as an application. The application stored in memory 301 may include one or more modules, each corresponding to a set of instructions. In addition, processing component 302 is configured to execute the instructions to perform the steps of the autonomous vehicle control method of any of the above embodiments.

[0094] The computer device 300 may further include a power supply component 303 configured to perform power management of the computer device 300, a wired or wireless network interface 304 configured to connect the computer device 300 to a network, and an input / output (I / O) interface 305. The computer device 300 may operate based on an operating system stored in the memory 301, such as Windows Server™, Mac OS X™, Unix™, Linux™, Free BSD™, or the like.

[0095] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device 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 device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0096] The various embodiments described in this specification are presented for the purpose of illustration and description. Each of the embodiments described in this specification can be implemented alone or in combination with others. The same, similar or identical components shown in different embodiments are identified by the same reference numerals and will not be described repeatedly.

[0097] The above description presents the disclosed embodiments in sufficient detail to enable those skilled in the art to make and use it. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein can be applied to other embodiments without departing from the spirit or scope of the application. Therefore, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for controlling an autonomous vehicle, characterized in that: An autonomous driving vehicle includes a communication terminal, a gateway, a body controller, and an industrial computer. The communication terminal is respectively connected to the cloud and the gateway, the body controller and the industrial computer are respectively connected to the gateway, and the industrial computer is configured with an autonomous driving system. The control method includes: The communication terminal sends a first start signal to the vehicle body controller through the gateway in response to the power-on instruction sent by the cloud; After the vehicle body controller is started, a second start signal is sent to the industrial computer through the gateway; The industrial computer starts up in response to the second start signal, determines whether the autonomous driving vehicle satisfies a first self-test condition, and starts up the autonomous driving system if the first self-test condition is satisfied, thereby completing a power-on process of the autonomous driving vehicle; After the autonomous driving vehicle is powered on, the communication terminal sends a first shutdown signal to the vehicle body controller through the gateway in response to a power-off instruction sent by the cloud; The vehicle body controller sends a second shutdown signal to the industrial computer through the gateway in response to the first shutdown signal; The industrial computer determines, in response to the second shutdown signal, whether the autonomous driving vehicle satisfies a second self-test condition, and shuts down the autonomous driving system if the second self-test condition is satisfied; After the automatic driving system is shut down, the industrial computer sends a shutdown completion signal to the vehicle body controller through the gateway and then shuts down; The body controller responds to the shutdown completion signal and shuts down after waiting for a preset delay time to complete the power-off process of the autonomous driving vehicle; wherein, if the body controller receives abnormal information feedback from a controller other than the industrial computer during the waiting process, the power-off process is terminated.

2. The method according to claim 1, characterized in that Determining whether the autonomous driving vehicle meets the first self-check condition includes: The autonomous driving vehicle is determined to meet the first self-check condition if the autonomous driving vehicle meets all first self-check items, where the first self-check items include: The autonomous driving system is in a normal state; No autonomous driving task is assigned to the autonomous driving system; The speed of the autonomous vehicle is zero; The gear position of the autonomous driving vehicle is neutral or parking; The doors of the autonomous driving vehicle are all in a closed state.

3. The method according to claim 2, characterized in that After determining whether the autonomous driving vehicle meets the first self-check condition, the method further includes: The autonomous driving system determines the first self-check item that is not met by the autonomous driving vehicle as a first abnormal item, and the industrial computer forwards the first abnormal item to the cloud through the gateway and the communication terminal in sequence.

4. The method according to claim 1, wherein Determining whether the autonomous driving vehicle satisfies a second self-check condition includes: The autonomous driving vehicle is determined to meet the second self-check condition if the autonomous driving vehicle meets all of the following second self-check items: The position of the autonomous driving vehicle is within a preset vehicle collection range and remains stationary for a period exceeding a preset time threshold; The current time is within the preset vehicle collection time period; The gear position of the autonomous driving vehicle is the parking gear and the parking brake is in the applied state; The doors of the autonomous driving vehicle are all in a closed state.

5. The method according to claim 4, characterized in that After determining whether the autonomous driving vehicle meets the second self-check condition, the method further includes: The autonomous driving system determines the second self-check item that is not met by the autonomous driving vehicle as a second abnormal item, and the industrial computer forwards the second abnormal item to the cloud through the gateway and the communication terminal in sequence.

6. The method according to claim 1, characterized in that The cloud includes an autonomous driving cloud and a vehicle cloud. The autonomous driving cloud is communicatively connected to the vehicle cloud, and the vehicle cloud is communicatively connected to the communication terminal. The autonomous driving cloud is used to forward the power-on instruction to the communication terminal through the vehicle cloud.

7. The method according to claim 6, characterized in that The autonomous driving cloud is used to forward the power-off instruction to the communication terminal through the vehicle cloud when the position of the autonomous driving vehicle is within a preset vehicle collection range and the current time is within a preset vehicle collection time period.

8. An autonomous driving vehicle, characterized in that: It includes a communication terminal, a gateway, a body controller and an industrial computer. The communication terminal is respectively connected to the cloud and the gateway, the body controller and the industrial computer are respectively connected to the gateway, and the industrial computer is configured with an automatic driving system. The automatic driving vehicle is used to perform power on and off processes according to the automatic driving vehicle control method according to any one of claims 1-7.

9. A storage medium, characterized in that: The storage medium stores computer-readable instructions, which, when executed by one or more processors, cause the one or more processors to perform the steps of the automatic driving vehicle control method as described in any one of claims 1 to 7.

10. A computer device, characterized in that: include: One or more processors, and a memory; the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the one or more processors, the steps of the autonomous driving vehicle control method as described in any one of claims 1 to 7 are performed.

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