A vehicle intended function safety verification system, method and electronic device

Abstract

The application discloses a vehicle expected function safety verification system, method and electronic equipment. It relates to the technical field of automatic driving. The system comprises a virtual scene creation module, a virtual navigation module, a domain controller module and an information processing module. The virtual scene creation module is used to create a corresponding first virtual driving scene according to simulation verification requirements and display the first virtual driving scene. The virtual navigation module is used to establish a virtual navigation map according to the first virtual driving scene and the characteristics of a test site. The domain controller module is used to obtain object information and road information outside a vehicle in the first virtual driving scene, generate a planned driving path of the vehicle according to the object information, the road information and the virtual navigation map, and execute corresponding control instructions based on the planned driving path to perform simulation verification of corresponding requirements in the first virtual driving scene. The information processing module is used to obtain vehicle simulation data obtained by the vehicle in the first virtual driving scene during simulation verification, and obtain a simulation result of vehicle expected function safety based on the vehicle simulation data.

Description

Technical Field

[0001] This application relates primarily to the field of autonomous driving technology, and in particular to a vehicle expected function safety verification system, method, and electronic device. Background Technology

[0002] With the development of autonomous driving technology, more and more vehicles in our lives are achieving autonomous driving through the application of autonomous driving technology. Among them, Safety of the Intended Functionality (SOTIF) is indispensable in automotive systems. SOTIF refers to avoiding the risks caused by the limitations of expected functional performance or foreseeable human error in the operation of the vehicle. That is, SOTIF focuses on the performance limitations of the vehicle's electrical system and the hazards caused by human error, rather than the hazards caused by electrical system failure.

[0003] Therefore, to ensure the reliability and safety of autonomous vehicles, verifying the expected functional safety is crucial. Current technologies only test simulation models for expected safety function verification, without integrating actual driver operation with the simulation. Furthermore, existing expected functional safety verification methods cannot meet the needs of verifying various real-world scenarios. Real-world applications require extensive on-road testing, which is costly and offers limited verification opportunities.

[0004] Therefore, how to design a platform that combines virtual simulation with actual driver operation and can perform expected functional safety verification in various scenarios is an urgent problem to be solved. Summary of the Invention

[0005] This application provides a vehicle expected safety function verification system, method, and electronic device to solve the technical problems in the prior art that only simulation model testing is performed for vehicle expected safety function verification, which cannot combine the driver's actual operation with the simulation. Furthermore, in real-world application scenarios, a large number of mileage tests need to be conducted on the road, resulting in high costs and a limited number of verification scenarios.

[0006] In a first aspect, this application provides a vehicle expected function safety verification system, the system comprising: a virtual scene creation module, a domain controller module, a virtual navigation module, and an information processing module;

[0007] The virtual scene creation module is used to create a corresponding first virtual driving scene according to the simulation verification requirements and to display the first virtual driving scene.

[0008] The virtual navigation module is used to create a virtual navigation map based on the first virtual driving scenario and the characteristics of the test site;

[0009] The domain controller module is used to acquire object information and road information outside the vehicle in the first virtual driving scenario, generate a planned driving path for the vehicle based on the object information, the road information and the virtual navigation map, and execute corresponding control commands based on the planned driving path to perform simulation verification of the corresponding requirements in the first virtual driving scenario.

[0010] The information processing module is used to acquire vehicle simulation data obtained from the simulation verification of the vehicle in the first virtual driving scenario, and to obtain the simulation verification result of the expected functional safety of the vehicle based on the vehicle simulation data.

[0011] In one optional implementation, the domain controller is divided into multiple independent modules, and each independent module is controlled to perform corresponding functions in the first virtual driving scenario. The domain controller includes:

[0012] The perception module is used to identify information about objects outside the vehicle and road information;

[0013] The planning module is used to plan the planned driving path of the vehicle based on the object information and road information identified by the perception module;

[0014] The decision module is used to determine the vehicle's decision information based on the planned driving path of the vehicle, wherein the decision information is a control command for the vehicle's operating status.

[0015] The control execution module is used to control the vehicle to execute corresponding instructions based on the decision information.

[0016] In one optional implementation, the virtual scene creation module is further configured to:

[0017] Acquire vehicle driving information, wherein the driving information includes vehicle speed signal, acceleration / deceleration signal and steering angle signal;

[0018] The driving information is converted into changes in lateral and longitudinal distances and vehicle posture offset in the first virtual driving scenario.

[0019] A second virtual driving scenario is generated based on the changes in lateral and longitudinal distances and the vehicle body posture offset.

[0020] In one optional implementation, the virtual navigation module is specifically used for:

[0021] Obtain the site characteristics of the test site;

[0022] A virtual navigation map and the drivable paths of vehicles in the virtual navigation map are constructed based on the site features.

[0023] Based on the virtual navigation map and the drivable path, the domain controller controls the vehicle to drive in the first virtual driving scenario and performs corresponding simulation verification.

[0024] The vehicle expected function safety verification system provided in this application combines the actual operation of the driver to ensure that the virtual scenario is adapted to the actual test site. It can realize the vehicle expected function safety verification in various scenarios. Moreover, the vehicle expected function safety verification system provided in this application has strong versatility and can be applied to various types of vehicles. The final verification results have high authenticity and reliability.

[0025] Secondly, this application provides a method for verifying the expected functional safety of a vehicle, the method comprising:

[0026] Create a corresponding first virtual driving scenario based on the simulation verification requirements, and display the first virtual driving scenario;

[0027] A virtual navigation map is created based on the first virtual driving scenario and the characteristics of the test site;

[0028] In the first virtual driving scenario, acquire object information and road information outside the vehicle, generate a planned driving path for the vehicle based on the object information, the road information and the virtual navigation map, and execute corresponding control commands based on the planned driving path to perform simulation verification of the corresponding requirements in the first virtual driving scenario.

[0029] The vehicle simulation data obtained from the simulation verification of the vehicle in the first virtual driving scenario is acquired, and the simulation verification results of the expected functional safety of the vehicle are obtained based on the vehicle simulation data.

[0030] In one optional implementation, object information and road information outside the vehicle are acquired in a first virtual driving scenario. A planned driving path for the vehicle is generated based on the object information, road information, and a virtual navigation map. Then, corresponding control commands are executed based on the planned driving path to perform simulation verification of the corresponding requirements in the first virtual driving scenario, including:

[0031] Identify external object information and road information;

[0032] The planned driving path of the vehicle is planned based on the object information and the road information;

[0033] The vehicle's decision information is determined based on the planned driving path of the vehicle, wherein the decision information is a control command for the vehicle's operating status.

[0034] Based on the decision information, the vehicle is controlled to execute the corresponding instructions.

[0035] In one optional implementation, after creating and displaying the corresponding first virtual driving scenario according to the simulation verification requirements, the method further includes:

[0036] Acquire driving information from the vehicle, wherein the driving information includes vehicle speed signal, acceleration / deceleration signal and steering angle signal;

[0037] The driving information is converted into changes in lateral and longitudinal distances and vehicle posture offset in the first virtual driving scenario.

[0038] A second virtual driving scenario is generated based on the changes in lateral and longitudinal distances and the vehicle body posture offset.

[0039] In one optional implementation, a virtual navigation map is established based on the first virtual driving scenario and the characteristics of the test site, including:

[0040] Obtain the site characteristics of the test site;

[0041] Based on the site characteristics and the first virtual driving scenario, a virtual navigation map and the vehicle's drivable path in the virtual navigation map are constructed.

[0042] Based on the virtual navigation map and the drivable path, the domain controller controls the vehicle to drive in the first virtual driving scenario and performs corresponding simulation verification.

[0043] Thirdly, this application provides an electronic device, comprising:

[0044] Memory, used to store computer programs;

[0045] When the processor executes the computer program stored in the memory, it implements the steps of the above-described method for verifying the intended functions of a vehicle.

[0046] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method for verifying the intended function safety of a vehicle.

[0047] For the various aspects of the second to fourth aspects mentioned above, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect and the various possible solutions in the first aspect. They will not be repeated here. Attached Figure Description

[0048] Figure 1 An architecture diagram of a vehicle expected function safety verification system provided in this application embodiment;

[0049] Figure 2 This application provides a schematic diagram of a vehicle's expected functional safety verification scenario.

[0050] Figure 3 A flowchart illustrating a method for verifying the expected functions of a vehicle, as provided in this application embodiment;

[0051] Figure 4 This is a schematic diagram of an electronic device structure provided in an embodiment of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the application will be further described in detail 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.

[0053] Furthermore, the term "and / or" in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this article, unless otherwise specified, generally indicates that the preceding and following related objects have an "or" relationship.

[0054] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0055] With the development of autonomous driving technology, more and more vehicles in our lives are achieving autonomous driving through the application of autonomous driving technology. Among them, the expected functional safety (SOTIF) is indispensable in automotive systems. SOTIF refers to avoiding the risks caused by the limitations of expected functional performance or foreseeable human error in the operation of the vehicle. That is, SOTIF focuses on the performance limitations of the vehicle's electrical system and human error, rather than the hazards caused by electrical system failure.

[0056] Therefore, to ensure the reliability and safety of autonomous vehicles, verifying the intended functional safety is crucial. Current technologies only test simulation models for intended functional safety verification, without integrating actual driver operation with the simulation. Furthermore, existing intended functional safety verification methods cannot meet the requirements of various real-world scenarios. Real-world applications require extensive on-road testing, which is costly and offers limited verification opportunities.

[0057] Based on this, the embodiments of this application provide a vehicle expected function safety verification system, which can combine the actual operation of the driver with virtual simulation, thereby meeting the vehicle expected function safety verification in various scenarios, such as scene recognition errors caused by sensor function limitations, decision module errors caused by insufficient deep learning, and false responses of the autonomous driving domain controller to driver misoperation, etc. Moreover, the verification process can include various road conditions and various working conditions, ensuring the authenticity and reliability of simulation verification.

[0058] Before introducing the vehicle expected function safety verification system provided in the embodiments of this application, some concepts mentioned in the embodiments of this application will be briefly introduced first.

[0059] 1. Advanced Driving Assistance System (ADAS) uses various sensors installed on the vehicle (such as millimeter-wave radar, lidar, cameras, and satellite navigation) to sense the surrounding environment at any time while the vehicle is in motion, collect data, identify, detect, and track static and dynamic objects, and combine them with navigation map data to perform system calculations and analysis, thereby allowing the driver to be aware of potential dangers in advance, effectively increasing the comfort and safety of driving.

[0060] 2. The Automated Driving Control Unit (ADCU), as an intelligent computing platform, is designed for L3 / L4 level autonomous driving applications. It can integrate computationally intensive sensor data processing and sensor fusion with control strategy development into a single control unit, and helps to establish a structured and organized vehicle control network.

[0061] 3. Safety of the Intended Functionality (SOTIF) is designed with reference to the international standard for autonomous driving safety, ISO 21448. It is used to control the risks caused by inadequate design and performance limitations of autonomous driving systems within a reasonable and acceptable range, and to take into account the risks caused by functional limitations of the electrical system.

[0062] like Figure 1 The diagram shown is an architectural representation of the vehicle expected function safety verification system provided in this application embodiment. The system includes a virtual scene creation module, a virtual navigation module, a domain controller module, and an information processing module.

[0063] The virtual scene creation module is used to create the corresponding first virtual driving scene according to the simulation verification requirements and to display the first virtual driving scene.

[0064] The virtual navigation module is used to establish a virtual navigation map based on the first virtual driving scenario and the characteristics of the test site;

[0065] The domain controller module is used to acquire external object information and road information in the first virtual driving scenario, generate the planned driving path of the vehicle based on the object information, road information and virtual navigation map, and execute the corresponding control commands based on the planned driving path to perform simulation verification of the corresponding requirements in the first virtual driving scenario.

[0066] The information processing module is used to acquire vehicle simulation data obtained from the simulation verification of the vehicle in the first virtual driving scenario, and to obtain the simulation results of the expected functional safety of the vehicle based on the vehicle simulation data.

[0067] In specific implementation, the virtual scene creation module, domain controller module, virtual navigation module, and information processing module can be individual units or integrated functional modules, and this application embodiment does not impose any restrictions. Furthermore, the various modules included in the system of this application embodiment can have interconnected relationships, such as communication connections and / or electrical connections. Figure 1 The connection relationships mentioned above are represented by connecting lines between the modules.

[0068] Firstly, the vehicle expected function safety verification system provided in this application combines the driver's actual operation in the vehicle with virtual simulation to achieve vehicle expected function safety verification. In other words, in this application embodiment, apart from the actual control and operation of the vehicle, all other scenarios are virtually generated using the vehicle expected function safety verification system provided in this application.

[0069] Furthermore, the main function of the virtual scene creation module is to generate corresponding virtual driving scenarios based on different simulation verification requirements. Specifically, to create and provide the virtual driving scenarios to the driver in this embodiment, the windshield, driver's and passenger's side windows, as well as the rear windows of the driver's and passenger's rear seats, need to be set as electronic windows, such as using LED displays or electronic projection, to present virtual images to the driver instead of the real environment. The driver can perceive the external environment through the electronic windows. For example, daytime, nighttime, rainy / foggy weather scenarios can be displayed through the electronic windows, ensuring that the driver can perceive the real environment through the virtual scene display and can also make appropriate judgments and take appropriate actions in dangerous situations. Furthermore, the left and right rearview mirrors also need to be set as electronic rearview mirrors to show the driver the vehicle's environment, working in conjunction with the advanced driver assistance system to perceive the vehicle's movement and relative position to other vehicles in the virtual driving scenario.

[0070] Furthermore, based on the scenario definitions for different simulation verification needs, corresponding first virtual driving scenarios are created, and these scenarios are displayed to the driver through the aforementioned electronic window design. For example... Figure 2 As shown, for example, when it is necessary to verify the SOTIF requirements of vehicles when pedestrians cross the road, a corresponding virtual driving scenario can be created through the virtual scenario creation module, and the virtual driving scenario can be displayed to the driver through the electronic window.

[0071] In one optional implementation, since the driver's corresponding control actions on the vehicle affect the vehicle's driving path, speed, and body posture, the vehicle's driving information is acquired. In this embodiment, the driving information includes vehicle speed signals, acceleration / deceleration signals, steering angle signals, etc. These signals can be obtained through interfaces including but not limited to OBD. These signals are further converted into changes in lateral and longitudinal distances and body posture offsets in a first virtual driving scenario. The virtual scene creation module processes these changes to generate a second virtual driving scenario and adjusts the virtual scene displayed on the windshield, left and right rearview mirrors, and other electronic windows. The driver can perceive changes in the vehicle's current position and body state through the second virtual driving scenario.

[0072] For example, the driver's corresponding operations on the accelerator pedal, brake pedal, gear shift lever, and steering wheel will affect the virtual driving scenario. Potholes, slopes, vehicle speeds, etc. in the test site will be displayed and fed back in the virtual driving scenario, which improves human-computer interaction and ensures the authenticity and reliability of the simulation verification of each scenario when the driver participates.

[0073] For the virtual navigation module, it can be used to create a virtual navigation map based on the first virtual driving scenario of vehicle simulation verification and the characteristics of the test site. Furthermore, based on the corresponding simulation verification scenario, the autonomous driving domain controller generates corresponding control commands to control the vehicle to perform the corresponding simulation verification in the first virtual driving scenario.

[0074] In one optional implementation, the virtual navigation module first constructs a virtual navigation map and a drivable path for the vehicle within the virtual navigation map, based on the size and characteristics of the test site. The test vehicle first drives within the test site to acquire its specific features, and then the virtual navigation module recreates these features and dimensions at a 1:1 scale. For example, it identifies curves, potholes, and site boundaries. A virtual driving scenario is then constructed based on the test site characteristics. This scenario includes virtual traffic and road conditions, such as traffic signs, various virtual roads, virtual city and highway traffic with a large number of vehicles, and virtual buildings.

[0075] Furthermore, the virtual navigation map is adapted to the actual test site to ensure that the relative deviation between the virtual navigation map and the actual test site is less than 0.5 meters. Sensors are installed at the edge of the test site to issue an alarm to the driver when the vehicle is about to reach the edge of the site, reminding the driver to take over the vehicle. This ensures that the vehicle is conducting virtual simulation verification within a safe area and that there are no safety hazards due to the driver not knowing the vehicle's true location.

[0076] In the virtual navigation module, high driving position accuracy between the vehicle and the test track is required. The vehicle's positioning on the test track and its positioning on the virtual navigation map need to be within an acceptable error range; exceeding this error will render the SOTIF test results unusable. For example, if the vehicle travels 1 meter on the actual test track, but the virtual navigation map shows it has only traveled 0.5 meters, this may result in invalid collision results in the virtual driving scenario. Therefore, the vehicle's actual speed and position need to correspond with appropriate accuracy in the virtual driving scenario. The sensors on the vehicle and the test track require high accuracy and fast response; otherwise, the virtual driving scenario will not match the vehicle's real dynamics, rendering the SOTIF verification results unusable.

[0077] For the domain controller module, the domain controller used in this embodiment is an autonomous driving domain controller. In specific implementations, other domain controllers may also be included, and no specific limitations are made here. The autonomous driving domain controller can perceive object information and road information outside the vehicle in the first virtual driving scenario. For example, it can acquire information about pedestrians, vehicles, or obstacles around the vehicle through its virtual perception module, as well as the current road environment of the vehicle, such as whether the vehicle is at an intersection or on a ramp. Furthermore, it generates a planned driving path for the vehicle based on the object information, road information, and virtual navigation map, and executes corresponding control commands based on the planned driving path.

[0078] In one optional implementation, the autonomous driving domain controller is divided into multiple independent modules, and each independent module is controlled to perform its corresponding function in a first virtual driving scenario. Specifically, the autonomous driving domain controller used in this embodiment is used in a virtual scenario, so it is necessary to divide the autonomous driving domain controller into independent modules so that each independent module has the same functions as the autonomous driving domain controller and can also perform adaptation algorithm adjustments to meet simulation verification requirements.

[0079] The autonomous driving domain controller is divided into a perception module, a planning module, a decision-making module, and a control execution module. The perception module identifies external object and road information; the planning module plans the vehicle's route based on the object and road information identified by the perception module and a virtual navigation map; the decision-making module determines the vehicle's decision information based on the planned route, which includes control commands for the vehicle's operating status, such as whether to execute acceleration / deceleration, overtaking, or lane-changing commands; and the control execution module controls the vehicle to execute the corresponding commands based on the decision information.

[0080] The aforementioned independent modules simplify the implementation of the algorithm processing model of the actual autonomous driving domain controller through calibration or triggering methods. Specifically, the calibration method is mainly used to adjust the response times of related components (such as braking systems, steering systems, and drive systems) that perform control execution differently. For example, braking system A can generate a deceleration of 0.5G in 200ms, while braking system B can generate a deceleration of 0.5G in 300ms. Therefore, the response times can be calibrated within the system, setting the response times of both braking systems A and B to 300ms to compensate for the differences between the systems and achieve compatibility. Furthermore, in the perception module, external objects are perceived and identified using LiDAR or cameras. LiDAR requires 200ms to identify an object, while a camera requires 300ms. Therefore, by calibrating the LiDAR, camera, and other sensors in the perception module, the perception time can be uniformly set to 300ms. Adjusting the calibration quantity allows the vehicle expected function safety verification system provided in this application embodiment to be applicable to simulation verification of various types of vehicles. The trigger module approach refers to the fact that what originally required three handshake request signals to trigger the braking response, in this embodiment of the application, directly uses one signal to produce the same effect. For example, the ACC mode limits the maximum deceleration to 0.4G, and the AEB mode limits the maximum deceleration to 1G. With the trigger module approach, it is only necessary to determine whether the current vehicle is in a safe or dangerous state, and use a general mode to respond to the deceleration command. It can be understood that the trigger module approach simplifies the conditions for the execution of each module.

[0081] For the information processing module, the data obtained from the vehicle simulation verification in the first virtual driving scenario can be analyzed and processed to obtain the simulation verification results of the vehicle's expected functional safety. For example, when verifying the vehicle's SOTIF requirement when a pedestrian crosses the road, the vehicle's speed is preset to 15 km / h, and the pedestrian's speed is set to 2 m / s. At this time, the vehicle travels towards the pedestrian at a speed of 15 km / h. From the vehicle's line of sight, the perception module needs a certain amount of time to identify the pedestrian. The information processing module analyzes whether the vehicle can brake to a stop in time without colliding with the pedestrian under the current vehicle speed and perception time conditions. If the vehicle cannot stop in time under the above conditions, the current simulation verification result is unusable. If the vehicle speed is set to 10 km / h, and the vehicle can stop in time without colliding with the pedestrian, then the current simulation verification result is usable. The simulation verification result indicates that the vehicle is traveling in a pedestrian crossing area, and the vehicle speed is limited to below 10 km / h.

[0082] The vehicle expected function safety verification system provided in this application embodiment can realize the vehicle expected function safety verification in various scenarios. The system has strong versatility and can be applied to the expected function safety verification of various types of vehicles, various road conditions and various working conditions. At the same time, it combines the actual operation of the driver with virtual simulation, which enhances the authenticity and reliability of the simulation verification results.

[0083] Based on the same inventive concept, this application also provides a method for verifying the expected functional safety of a vehicle, such as... Figure 3 As shown, the process of this method is as follows:

[0084] S1. Create the corresponding first virtual driving scenario according to the simulation verification requirements, and display the first virtual driving scenario;

[0085] S2, establish a virtual navigation map based on the first virtual driving scenario and the characteristics of the test site;

[0086] S3: In the first virtual driving scenario, acquire object information and road information outside the vehicle, generate the planned driving path of the vehicle based on the object information, road information and virtual navigation map, and execute the corresponding control commands based on the planned driving path to perform simulation verification of the corresponding requirements in the first virtual driving scenario.

[0087] S4: Obtain vehicle simulation data obtained from the simulation verification of the vehicle in the first virtual driving scenario, and obtain the simulation verification results of the expected functional safety of the vehicle based on the vehicle simulation data.

[0088] In one optional implementation, object information and road information outside the vehicle are acquired in a first virtual driving scenario. A planned driving path for the vehicle is generated based on the object information, road information, and a virtual navigation map. The corresponding control commands are then executed based on the planned driving path to perform simulation verification of the required parameters in the first virtual driving scenario, including:

[0089] Identify external object information and road information;

[0090] The vehicle's planned driving path is planned based on object information and road information;

[0091] The vehicle's decision information is determined based on the vehicle's planned driving path, where the decision information is the control command for the vehicle's operating status.

[0092] The system controls the vehicle to execute corresponding instructions based on decision-making information.

[0093] In one optional implementation, after creating and displaying the corresponding first virtual driving scenario according to the simulation verification requirements, the method further includes:

[0094] Acquire driving information from the vehicle, including vehicle speed signal, acceleration / deceleration signal, and steering angle signal;

[0095] The driving information is converted into changes in the lateral and longitudinal distances of the vehicle and the vehicle posture offset in the first virtual driving scenario.

[0096] A second virtual driving scenario is generated based on the changes in lateral and longitudinal distances and the vehicle body posture offset.

[0097] In one optional implementation, a virtual navigation map is established based on the first virtual driving scenario and the characteristics of the test site, including:

[0098] Obtain the site characteristics of the test site;

[0099] Based on the site characteristics and the first virtual driving scenario, a virtual navigation map and the vehicle's drivable path in the virtual navigation map are constructed.

[0100] Based on the virtual navigation map and drivable paths, the domain controller controls the vehicle to perform corresponding simulation verification in the first virtual driving scenario.

[0101] The implementation principle of the vehicle expected function safety verification method in this application embodiment is similar to that of the aforementioned vehicle expected function safety verification system. For the embodiments of the vehicle expected function safety verification method in this application embodiment, please refer to the description of the embodiments of the aforementioned vehicle expected function safety verification system, which will not be repeated here.

[0102] Based on the same inventive concept, this application also provides an electronic device that can realize the functions of the aforementioned vehicle expected function safety verification method, referring to... Figure 4 As shown, the electronic device includes:

[0103] At least one processor 401 and a memory 402 connected to at least one processor 401. In this embodiment, the specific connection medium between the processor 401 and the memory 402 is not limited. Figure 4 The example shown is the connection between processor 401 and memory 402 via bus 400. Bus 400 is... Figure 4 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The 400 bus can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 4 The term is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, processor 401 can also be called a controller; there is no restriction on the name.

[0104] In this embodiment, memory 402 stores instructions executable by at least one processor 401. By executing the instructions stored in memory 402, at least one processor 401 can perform the vehicle intended functional safety verification method discussed above. Processor 401 can implement... Figure 1 The system shown illustrates the functions of each module.

[0105] The processor 401 is the control center of the device. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 402 and calling data stored in memory 402, the processor can perform various functions and process data, thereby monitoring the device as a whole.

[0106] In one possible design, processor 401 may include one or more processing units. Processor 401 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 401. In some embodiments, processor 401 and memory 402 may be implemented on the same chip; in some embodiments, they may also be implemented separately on separate chips.

[0107] Processor 401 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the vehicle expected functional safety verification method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0108] Memory 402, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 402 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic storage, magnetic disk, optical disk, etc. Memory 402 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 402 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0109] By designing and programming the processor 401, the code corresponding to the vehicle expected functional safety verification method described in the foregoing embodiments can be embedded into the chip, thereby enabling the chip to execute the code during runtime. Figure 2 The steps of the vehicle expected function safety verification method of the illustrated embodiment are described. How to design and program the processor 401 is a technique well known to those skilled in the art and will not be described in detail here.

[0110] Based on the same inventive concept, embodiments of this application also provide a storage medium storing computer instructions that, when executed on a computer, cause the computer to perform the vehicle expected function safety verification method described above.

[0111] In some possible implementations, various aspects of the vehicle expected function safety verification method provided in this application can also be implemented in the form of a program product, which includes program code that, when the program product is run on a device, causes the control device to perform the steps in the vehicle expected function safety verification method according to the various exemplary embodiments of this application described above.

[0112] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0113] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0114] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0115] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0116] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A vehicle expected functional safety verification system, characterized in that, The system includes: a virtual scene creation module, a virtual navigation module, a domain controller module, and an information processing module; The virtual scene creation module is used to create a corresponding first virtual driving scene according to the simulation verification requirements, and to display the first virtual driving scene. The virtual scene creation module is also used to acquire vehicle driving information, including vehicle speed signal, acceleration / deceleration signal and steering angle signal; The driving information is converted into changes in lateral and longitudinal distances and vehicle posture offset in the first virtual driving scenario. Based on the changes in lateral and longitudinal distances and the vehicle body posture offset, a second virtual driving scenario is generated, wherein the second virtual driving scenario is used to enable the driver to perceive the current changes in the vehicle's position and the changes in the vehicle's state. The virtual navigation module is used to create a virtual navigation map based on the first virtual driving scenario and the characteristics of the test site; The domain controller module is used to acquire object information and road information outside the vehicle in the first virtual driving scenario, generate a planned driving path for the vehicle based on the object information, the road information and the virtual navigation map, and execute corresponding control commands based on the planned driving path to perform simulation verification of the corresponding requirements in the first virtual driving scenario. The information processing module is used to acquire vehicle simulation data obtained from the simulation verification of the vehicle in the first virtual driving scenario, and to obtain the simulation verification result of the expected functional safety of the vehicle based on the vehicle simulation data.

2. The system as described in claim 1, wherein the domain controller is divided into multiple independent modules, and each independent module is controlled to perform a corresponding function in the first virtual driving scenario, characterized in that, The domain controller module includes: The perception module is used to identify information about objects outside the vehicle and road information; The planning module is used to plan the planned driving path of the vehicle based on the object information and road information identified by the perception module. The decision module is used to determine the vehicle's decision information based on the planned driving path of the vehicle, wherein the decision information is a control command for the vehicle's operating status. The control execution module is used to control the vehicle to execute corresponding instructions based on the decision information.

3. The system as described in claim 1, characterized in that, The virtual navigation module is specifically used for: Obtain the site characteristics of the test site; A virtual navigation map and the drivable paths of vehicles in the virtual navigation map are constructed based on the site features. Based on the virtual navigation map and the drivable path, the domain controller controls the vehicle to drive in the first virtual driving scenario and performs corresponding simulation verification.

4. A method for verifying the intended functional safety of a vehicle, characterized in that, The method includes: Create a corresponding first virtual driving scenario based on the simulation verification requirements, and display the first virtual driving scenario; Acquire driving information from the vehicle, wherein the driving information includes vehicle speed signal, acceleration / deceleration signal and steering angle signal; The driving information is converted into changes in lateral and longitudinal distances and vehicle posture offset in the first virtual driving scenario. Based on the changes in lateral and longitudinal distances and the vehicle body posture offset, a second virtual driving scenario is generated, wherein the second virtual driving scenario is used to enable the driver to perceive the current changes in the vehicle's position and the changes in the vehicle's state. A virtual navigation map is created based on the first virtual driving scenario and the characteristics of the test site; In the first virtual driving scenario, acquire object information and road information outside the vehicle, generate a planned driving path for the vehicle based on the object information, the road information and the virtual navigation map, and execute corresponding control commands based on the planned driving path to perform simulation verification of the corresponding requirements in the first virtual driving scenario. The vehicle simulation data obtained from the simulation verification of the vehicle in the first virtual driving scenario is acquired, and the simulation verification results of the expected functional safety of the vehicle are obtained based on the vehicle simulation data.

5. The method as described in claim 4, characterized in that, The step of acquiring external object information and road information in the first virtual driving scenario, generating a planned driving path for the vehicle based on the object information, the road information, and the virtual navigation map, and executing corresponding control commands based on the planned driving path to perform simulation verification of the corresponding requirements in the first virtual driving scenario includes: Identify external object information and road information; The planned driving path of the vehicle is planned based on the object information and the road information; The vehicle's decision information is determined based on the planned driving path of the vehicle, wherein the decision information is a control command for the vehicle's operating status. Based on the decision information, the vehicle is controlled to execute the corresponding instructions.

6. The method as described in claim 4, characterized in that, The step of establishing a virtual navigation map based on the first virtual driving scenario and the characteristics of the test site includes: Obtain the site characteristics of the test site; Based on the site characteristics and the first virtual driving scenario, a virtual navigation map and the vehicle's drivable path in the virtual navigation map are constructed. Based on the virtual navigation map and the drivable path, the domain controller controls the vehicle to drive in the first virtual driving scenario and performs corresponding simulation verification.

7. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method steps of any one of claims 4-6.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method described in any one of claims 4-6.

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