Vehicle system switching time determination method and device, storage medium and vehicle

Abstract

The application discloses a kind of vehicle system switching time determination method, device, storage medium and vehicle.Therein, the method comprises: in the process that the main system of virtual vehicle controls virtual vehicle to travel in multiple virtual environments, injects fault information to virtual vehicle;Control the redundancy system of virtual vehicle to take over virtual vehicle in first time, wherein the redundancy system and main system constitute redundancy structure;In response to main system switching to redundancy system, and the travel process of virtual vehicle meets acceptance criteria, determine that the first time is the target switching time corresponding to multiple virtual environments, and acceptance criteria is used to indicate that the travel process of virtual vehicle is safe state;Determine system switching time based on the target switching time corresponding to multiple virtual environments.The application solves the technical problem that the vehicle endurance mileage is low due to the temperature of liquid cooling system being difficult to control.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving, and more specifically, to a method, apparatus, storage medium, and vehicle for determining vehicle system switching time. Background Technology

[0002] When autonomous vehicles encounter malfunctions during operation, redundancy is typically used to address the problem. The primary system performs routine autonomous driving control, and if the primary system malfunctions, the redundant system takes over to perform emergency operations, such as stopping the vehicle in its lane or pulling over to the side of the road, thus meeting functional safety requirements. Therefore, the switching time between the primary and redundant systems is crucial for ensuring safe vehicle operation. Currently, the industry generally determines the switching time based on experience or black-box data provided by autonomous driving system suppliers. However, due to individual differences between vehicles and the variations in malfunctions encountered during operation, the accuracy of the determined switching time is relatively low.

[0003] There is currently no effective solution to the above problems. Summary of the Invention

[0004] This invention provides a method, apparatus, storage medium, and vehicle for determining vehicle system switching time, to at least solve the technical problem of low accuracy in determining the switching time between the primary system and the redundant system in related technologies.

[0005] According to one aspect of the present invention, a method for determining vehicle system switching time is provided, comprising: injecting fault information into the virtual vehicle while the main system of the virtual vehicle controls the virtual vehicle to drive in multiple virtual environments; a redundant system controlling the virtual vehicle taking over the virtual vehicle in a first time period, wherein the redundant system and the main system constitute a redundant structure; in response to the main system switching to the redundant system and the driving process of the virtual vehicle satisfying the acceptance criteria, determining the first time period as the target switching time corresponding to the multiple virtual environments, the acceptance criteria being used to indicate that the driving process of the virtual vehicle is in a safe state; and determining the system switching time based on the target switching time corresponding to the multiple virtual environments.

[0006] Optionally, in response to the virtual vehicle's driving process not meeting the acceptance criteria, the method includes: adjusting a first time to obtain a second time, the second time being shorter than the first time; in response to the virtual vehicle switching from the primary system to the redundant system within the second time, and the virtual vehicle's driving process meeting the acceptance criteria, determining the second time as the target switching time; and in response to the virtual vehicle switching from the primary system to the redundant system within the second time, and the virtual vehicle's driving process not meeting the acceptance criteria, continuously adjusting the second time until the virtual vehicle's driving process meets the acceptance criteria.

[0007] Optionally, multiple virtual environments can be used to represent the driving environment of a virtual vehicle when it encounters different faults on different roads.

[0008] Optionally, the system switching time is determined based on the target switching times corresponding to multiple virtual environments, including: determining the minimum value among the target switching times corresponding to multiple virtual environments as the system switching time.

[0009] Optionally, the redundant system controlling the virtual vehicle takes over the virtual vehicle in the first instance, including: inputting driving data into the redundant system, including the virtual vehicle's six-axis speed, acceleration, surrounding environment information, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth; controlling the virtual vehicle to drive through the redundant system that has injected driving data, so as to simulate the virtual vehicle's behavior when the main system fails.

[0010] Optionally, fault information can be injected into the virtual vehicle, including: injecting fault models into the virtual vehicle, whereby the fault models include: unexpected steering model, loss of steering model, unexpected braking model, loss of braking model, and unexpected acceleration model.

[0011] Optionally, the main system based on the virtual vehicle controls the virtual vehicle to drive in multiple virtual environments, including: injecting driving data into the main system, the driving data including the virtual vehicle's six-axis speed, acceleration, information about the vehicle's surrounding environment, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth; and controlling the virtual vehicle to drive in multiple virtual environments through the main system that injects the driving data.

[0012] According to another aspect of the present invention, a device for determining vehicle system switching time is also provided, comprising: a first control module, configured to inject fault information into the virtual vehicle during the process of the virtual vehicle being controlled by the main system of the virtual vehicle to drive in multiple virtual environments; a second control module, configured to control a redundant system of the virtual vehicle to take over the virtual vehicle in a first time period, wherein the redundant system and the main system constitute a redundant structure; a first determination module, configured to determine the first time period as the target switching time corresponding to the multiple virtual environments in response to the main system switching to the redundant system and the driving process of the virtual vehicle satisfying the acceptance criteria, wherein the acceptance criteria are used to indicate that the driving process of the vehicle is in a safe state; and a second determination module, configured to determine the system switching time based on the target switching time corresponding to the multiple virtual environments.

[0013] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the execution of any of the methods described above in a processor of the device.

[0014] According to another aspect of the present invention, a vehicle is also provided, comprising: one or more processors; a storage device for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to perform any of the methods described above.

[0015] In this embodiment of the invention, fault information is injected into the virtual vehicle while it is being controlled by the main system to drive in multiple virtual environments. A redundant system then takes over the virtual vehicle in the first instance, where the redundant system and the main system form a redundant structure. In response to the main system switching to the redundant system, and if the virtual vehicle's driving process meets the acceptance criteria, the first instance is determined as the target switching time for the multiple virtual environments. The acceptance criteria indicate that the vehicle's driving process is in a safe state. Based on the target switching times for the multiple virtual environments, the system switching time is determined. It is noteworthy that the virtual vehicle can be controlled to drive in different virtual environments, and some faults that may be encountered during vehicle driving can be simulated, thereby determining the target switching time for the multiple virtual environments. Furthermore, the target switching times for the multiple virtual environments can be used to determine the system switching time. That is, when determining the system switching time, the vehicle's driving environment and possible faults during vehicle driving are considered, making the determined system switching time more accurate. This improves the accuracy of the determined system switching time and solves the technical problem of low accuracy in the switching time between the main system and the redundant system determined in related technologies. Attached Figure Description

[0016] The accompanying drawings, which are included to provide a further understanding of the invention and form part of this application, illustrate exemplary embodiments of the invention and, together with their description, serve to explain the invention and do not constitute an undue limitation thereof. In the drawings:

[0017] Figure 1 This is a flowchart of a method for determining vehicle system switching time according to an embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram illustrating the determination of system switching time according to an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a vehicle system switching time determination device according to an embodiment of the present invention. Detailed Implementation

[0020] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0021] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0022] Example 1

[0023] According to an embodiment of the present invention, a method for determining vehicle system switching time is provided. It should be noted that the steps shown in the flowchart in the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be executed in a different order than that shown here.

[0024] Figure 1 This is a flowchart of a method for determining vehicle system switching time according to an embodiment of the present invention, such as... Figure 1 As shown, the method includes the following steps:

[0025] Step S102: During the process of the virtual vehicle's main system controlling the virtual vehicle to drive in multiple virtual environments, inject fault information into the virtual vehicle.

[0026] The aforementioned virtual vehicle can be a vehicle dynamics model that meets the conditions for autonomous driving. Optionally, the virtual vehicle can be created using relevant simulation software. Optionally, the following steps can be taken when simulating the vehicle dynamics model:

[0027] Determine the model's objectives: First, it is necessary to clarify the objectives of the vehicle dynamics model, such as predicting the vehicle's acceleration performance, braking performance, and suspension system response.

[0028] Collect vehicle parameters: Collect vehicle parameters, including vehicle mass, inertia matrix, tire parameters, suspension system parameters, engine and transmission system parameters, etc.

[0029] Establish a mathematical model: Using vehicle dynamics theory and related knowledge, establish the mathematical equations of the whole vehicle dynamics model, which may include vehicle motion equations, tire mechanics models, suspension system models, engine and transmission system models, etc.

[0030] Write simulation programs: Based on the established mathematical model, use relevant simulation software or programming languages ​​to write simulation programs for the vehicle dynamics model.

[0031] Model verification: The simulation program is verified by comparing the simulation results with actual test data to ensure the accuracy and reliability of the model.

[0032] Simulation analysis: Using the established vehicle dynamics model, various dynamic analyses are performed, such as acceleration, braking, steering, and suspension system response.

[0033] Model optimization: Based on the simulation analysis results, the model is optimized to improve its accuracy and applicability.

[0034] The aforementioned main system can be used to control virtual vehicles for autonomous driving. Optionally, the aforementioned main system can be a lateral and longitudinal control model.

[0035] The aforementioned virtual environments can serve as driving environments for virtual vehicles. These virtual environments may include virtual pedestrians and other traffic participants such as virtual vehicles. Optionally, the malfunctions encountered by the virtual vehicles during their operation may differ across the multiple virtual environments, and the routes and speeds of the virtual vehicles may also vary.

[0036] The fault information mentioned above can be simulated fault situations that may be encountered during vehicle operation. Optionally, the fault information may include fault situations such as sudden acceleration or loss of braking.

[0037] In one alternative embodiment, while controlling the virtual vehicle to drive in multiple different virtual environments through the virtual vehicle's main system, different fault information can be injected into the virtual vehicle to simulate fault situations that may be encountered during the autonomous driving process of a real vehicle.

[0038] Step S104: The redundant system controlling the virtual vehicle takes over the virtual vehicle in the first instance, wherein the redundant system and the main system form a redundant structure.

[0039] The aforementioned first time can be the time taken for the redundant system to take over the virtual vehicle when a fault occurs during the virtual vehicle's operation. Optionally, the length of the first time can be set by those skilled in the art according to their needs.

[0040] In one optional embodiment, if fault information has been injected into the virtual vehicle while it is driving in multiple virtual environments, the main system currently controlling the virtual vehicle will encounter a fault. Therefore, a redundant system is needed to take over the virtual vehicle; that is, the redundant system is used to control the virtual vehicle to continue driving or to pull over. Optionally, a switching time can be estimated in advance by those skilled in the art, that is, the first time, so that the redundant system controlling the virtual vehicle can take over the virtual vehicle in the first time.

[0041] Step S106: In response to the switch from the primary system to the redundant system and the virtual vehicle's driving process meeting the acceptance criteria, the first time is determined as the target switching time for multiple virtual environments. The acceptance criteria are used to indicate that the vehicle's driving process is in a safe state.

[0042] The aforementioned acceptance criteria can be some safe driving rules. Optionally, since there are other traffic participants in the virtual environment besides virtual vehicles, virtual vehicles need to meet acceptance criteria when driving in the virtual environment. Optionally, the acceptance criteria can be the following: for example, the maximum difference between the longitudinal distance between the virtual vehicle and the vehicle in front when encountering a fault and the longitudinal distance between the virtual vehicle and the vehicle in front when there is no fault is less than the distance that the virtual vehicle can travel in 1 second when driving normally at the initial speed; or, the rate of change of the virtual vehicle's speed is less than 4 kilometers per hour; or, the deviation distance between the virtual vehicle and the center line of the lane is less than 0.75 meters, etc.

[0043] In an optional embodiment, assuming that the virtual vehicle has been switched from the primary system to the redundant system in the first time, it is necessary to determine whether the virtual vehicle's driving process during the switch from the primary system to the redundant system meets the acceptance criteria. Optionally, if the virtual vehicle's driving process during the switch from the primary system to the redundant system meets the acceptance criteria, the first time can be considered as the target switching time corresponding to the virtual environment in which the virtual vehicle is currently driving. Optionally, since the virtual vehicle can drive in multiple virtual environments, the target switching time of the virtual vehicle in each virtual environment can be determined.

[0044] Step S108: Determine the system switching time based on the target switching time corresponding to multiple virtual environments.

[0045] In one optional embodiment, after determining the target switching time corresponding to the virtual vehicle driving in each of the multiple virtual environments, the system switching time can be determined by using the target switching time corresponding to each of the multiple virtual environments. Optionally, the system switching time can be determined by performing relevant calculations on the target switching time corresponding to each of the multiple virtual environments. Alternatively, the minimum value among the target switching times corresponding to each of the multiple virtual environments can be directly determined as the system switching time.

[0046] In this embodiment of the invention, fault information is injected into the virtual vehicle while it is being controlled by the main system to drive in multiple virtual environments. A redundant system then takes over the virtual vehicle in the first instance, where the redundant system and the main system form a redundant structure. In response to the main system switching to the redundant system, and if the virtual vehicle's driving process meets the acceptance criteria, the first instance is determined as the target switching time for the multiple virtual environments. The acceptance criteria indicate that the vehicle's driving process is in a safe state. Based on the target switching times for the multiple virtual environments, the system switching time is determined. It is noteworthy that the virtual vehicle can be controlled to drive in different virtual environments, and some faults that may be encountered during vehicle driving can be simulated, thereby determining the target switching time for the multiple virtual environments. Furthermore, the target switching times for the multiple virtual environments can be used to determine the system switching time. That is, when determining the system switching time, the vehicle's driving environment and possible faults during vehicle driving are considered, making the determined system switching time more accurate. This improves the accuracy of the determined system switching time and solves the technical problem of low accuracy in the switching time between the main system and the redundant system determined in related technologies.

[0047] Optionally, in response to the virtual vehicle's driving process not meeting the acceptance criteria, the method includes: adjusting a first time to obtain a second time, the second time being shorter than the first time; in response to the virtual vehicle switching from the primary system to the redundant system within the second time, and the virtual vehicle's driving process meeting the acceptance criteria, determining the second time as the target switching time; and in response to the virtual vehicle switching from the primary system to the redundant system within the second time, and the virtual vehicle's driving process not meeting the acceptance criteria, continuously adjusting the second time until the virtual vehicle's driving process meets the acceptance criteria.

[0048] In one optional embodiment, if the virtual vehicle is switched from the main system to the redundant system within a first time period, and the virtual vehicle's driving process during that time period does not meet the acceptance criteria, then the setting of the first time period can be considered unreasonable. Therefore, the first time period needs to be adjusted. Optionally, since the estimation of the target switching time is a trial process from large to small, that is, the first time period should be the estimated maximum time period, when adjusting the first time period, a second time period smaller than the first time period can be determined, and the virtual vehicle is switched from the main system to the redundant system within the second time period. Furthermore, it is then determined whether the virtual vehicle's driving process meets the acceptance criteria when it switches from the main system to the redundant system within the second time period. Optionally, if the virtual vehicle's driving process meets the acceptance criteria when it switches from the primary system to the redundant system in the second time period, then it is reasonable to set the target switching time as the second time period. Therefore, the second time period can be set as the target switching time. Optionally, if the virtual vehicle's driving process does not meet the acceptance criteria when it switches from the primary system to the redundant system in the second time period, then it is unreasonable to set the target switching time as the second time period. Therefore, the second time period needs to be adjusted, that is, a time period shorter than the second time period is estimated, and the virtual vehicle is controlled to switch from the primary system to the redundant system within that time period. Optionally, the above operation process can be repeated until the virtual vehicle's driving process meets the acceptance criteria and the target switching time period is determined.

[0049] Optionally, multiple virtual environments can be used to represent the driving environment of a virtual vehicle when it encounters different faults on different roads.

[0050] The different driving routes mentioned above can include straight roads and circular roads. Optionally, there can be multiple circular roads with different radii.

[0051] In one optional embodiment, the virtual vehicle can be controlled to travel at different speeds on different roads. For example, the virtual vehicle can be controlled to travel at an initial speed of 120 km / h on a straight road, at a speed of 120 km / h on a circular road with a radius of 650 meters, at a speed of 100 km / h on a circular road with a radius of 400 meters, at a speed of 80 km / h on a circular road with a radius of 250 meters, at a speed of 60 km / h on a circular road with a radius of 125 meters, at a speed of 40 km / h on a circular road with a radius of 60 meters, or at a speed of 20 km / h on a circular road with a radius of 15 meters. Fault information can be injected into the virtual vehicle during its travel.

[0052] Optionally, the system switching time is determined based on the target switching times corresponding to multiple virtual environments, including: determining the minimum value among the target switching times corresponding to multiple virtual environments as the system switching time.

[0053] In one optional embodiment, after determining the multiple target switching times of the virtual vehicle in different virtual environments, the minimum value among the multiple target switching times can be determined as the system switching time. Figure 2 This is a schematic diagram illustrating the determination of system switching time according to an embodiment of the present invention, as shown below. Figure 2 As shown, after determining the system switchover time, a virtual vehicle can be imported into the virtual environment first. Then, the autonomous driving lateral and longitudinal control systems can be imported, that is, the main system and the redundant system can be imported. Next, a fault injection script can be written, that is, fault information can be injected and acceptance criteria can be defined, so that simulation experiments can be executed, that is, the virtual vehicle can be controlled to drive in different virtual environments, so that multiple target switchover times can be determined, and the system switchover time can be determined based on multiple target switchover times. After the system switchover time is determined, this operation ends.

[0054] Optionally, the redundant system controlling the virtual vehicle takes over the virtual vehicle in the first instance, including: inputting driving data into the redundant system, including the virtual vehicle's six-axis speed, acceleration, surrounding environment information, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth; controlling the virtual vehicle to drive through the redundant system that has injected driving data, so as to simulate the virtual vehicle's behavior when the main system fails.

[0055] The aforementioned vehicle six-axle speeds refer to the vehicle's speeds in the front-to-back, left-to-right, and up-to-down directions.

[0056] The acceleration mentioned above refers to the rate of change of a vehicle's speed over a certain period of time, that is, how the speed changes over time.

[0057] The aforementioned information about the vehicle's surrounding environment may include road conditions, traffic conditions, weather conditions, etc., which can affect the vehicle's driving and safety.

[0058] The steering wheel angle mentioned above refers to the angle at which the steering wheel is turned, used to control the vehicle's direction.

[0059] The aforementioned master cylinder pressure refers to the pressure of the master cylinder in the braking system, which is used to control the braking force of the vehicle.

[0060] The accelerator pedal depth mentioned above refers to the depth to which the accelerator pedal is pressed, used to control the vehicle's acceleration.

[0061] In one alternative embodiment, vehicle six-axis speed, acceleration, vehicle surrounding environment information, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth can be input into the redundant system, thereby enabling the redundant system to control the virtual vehicle's driving to simulate the virtual vehicle's behavior when the main system malfunctions.

[0062] Optionally, fault information can be injected into the virtual vehicle, including: injecting fault models into the virtual vehicle, whereby the fault models include: unexpected steering model, loss of steering model, unexpected braking model, loss of braking model, and unexpected acceleration model.

[0063] In one optional embodiment, the unexpected steering model, lost steering model, unexpected braking model, and unexpected acceleration model can be different fault models. The unexpected steering model can simulate unexpected steering in the virtual vehicle; the lost steering model can simulate a loss of steering in the virtual vehicle; the unexpected braking model can simulate unexpected braking in the virtual vehicle; the lost braking model can simulate a loss of braking in the virtual vehicle; and the unexpected acceleration model can simulate unexpected acceleration in the virtual vehicle. Optionally, by injecting different fault information into the virtual vehicle, the fault situations that the virtual vehicle may encounter during driving can be simulated, and the system switching time can be further determined, making the determined system switching time more accurate.

[0064] Optionally, the main system based on the virtual vehicle controls the virtual vehicle to drive in multiple virtual environments, including: injecting driving data into the main system, the driving data including the virtual vehicle's six-axis speed, acceleration, information about the vehicle's surrounding environment, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth; and controlling the virtual vehicle to drive in multiple virtual environments through the main system that injects the driving data.

[0065] In one alternative embodiment, driving data can be injected into the main system. Specifically, this may include vehicle six-axis speed, acceleration, vehicle surrounding environment information, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth. This allows the main system to control the virtual vehicle to drive in multiple virtual environments.

[0066] Example 2

[0067] According to another aspect of the present invention, a device for determining vehicle system switching time is also provided. Figure 3 This is a schematic diagram of a vehicle system switching time determination device according to an embodiment of the present invention, such as... Figure 3 As shown, the device includes:

[0068] The first control module 302 is used to inject fault information into the virtual vehicle during the process of the virtual vehicle's main system controlling the virtual vehicle to drive in multiple virtual environments.

[0069] The second control module 304 is used to control the redundant system of the virtual vehicle to take over the virtual vehicle in the first time. The redundant system and the main system form a redundant structure.

[0070] The first determining module 306 is used to determine the first time as the target switching time corresponding to multiple virtual environments in response to the switching of the main system to the redundant system and the driving process of the virtual vehicle meeting the acceptance criteria. The acceptance criteria are used to indicate that the driving process of the virtual vehicle is in a safe state.

[0071] The second determining module 308 is used to determine the system switching time based on the target switching time corresponding to multiple virtual environments.

[0072] Optionally, the device further includes: an adjustment module for adjusting the first time to obtain a second time, wherein the second time is shorter than the first time; a third determination module for determining the second time as the target switching time in response to the virtual vehicle switching from the main system to the redundant system in the second time and the virtual vehicle's driving process meeting the acceptance criteria; and a fourth determination module for continuously adjusting the second time in response to the virtual vehicle switching from the main system to the redundant system in the second time and the virtual vehicle's driving process not meeting the acceptance criteria, until the virtual vehicle's driving process meets the acceptance criteria.

[0073] Optionally, the second control module 304 includes: a first determining unit, used to determine the minimum value among the target switching times corresponding to multiple virtual environments as the system switching time.

[0074] Optionally, the second control module 304 further includes: a first injection unit for inputting driving data into the redundant system, the driving data including the virtual vehicle's six-axis speed, acceleration, vehicle surrounding environment information, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth; and a first control unit for controlling the virtual vehicle's driving through the redundant system that injects the driving data, so as to simulate the virtual vehicle's performance when the main system malfunctions.

[0075] Optionally, the first control module 302 includes: a second injection unit for injecting fault models into the virtual vehicle, the fault models including: unexpected steering model, loss of steering model, unexpected braking model, loss of braking model, and unexpected acceleration model.

[0076] Optionally, the device further includes: an injection module for injecting driving data into the main system, the driving data including the virtual vehicle's six-axis speed, acceleration, surrounding environment information, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth; and a third control module for controlling the virtual vehicle to drive in multiple virtual environments through the main system that has injected the driving data.

[0077] Example 3

[0078] According to another aspect of the present invention, a computer-readable storage medium is also provided, the computer-readable storage medium including a stored program, wherein, when the program is executed, it controls the execution of any of the methods described above in a processor of the device.

[0079] Example 4

[0080] According to another aspect of the present invention, a vehicle is also provided, comprising: one or more processors; a storage device for storing one or more programs; and, when the one or more programs are executed by the one or more processors, causing the one or more processors to perform any of the methods described above.

[0081] The sequence numbers of the above embodiments of the present invention are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0082] In the above embodiments of the present invention, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0083] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0084] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0085] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0086] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0087] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A method for determining vehicle system switching time, characterized in that, include: During the process of the virtual vehicle's main system controlling the virtual vehicle to drive in multiple virtual environments, fault information is injected into the virtual vehicle; The redundant system controlling the virtual vehicle takes over the virtual vehicle in the first instance, wherein the redundant system and the main system form a redundant structure; In response to the switching of the primary system to the redundant system, and the driving process of the virtual vehicle meeting the acceptance criteria, the first time is determined as the target switching time corresponding to the multiple virtual environments, and the acceptance criteria are used to indicate that the driving process of the virtual vehicle is in a safe state; The system switching time is determined based on the target switching time corresponding to the multiple virtual environments.

2. The method according to claim 1, characterized in that, In response to the virtual vehicle's driving process not meeting the acceptance criteria, the method includes: The first time is adjusted to obtain a second time, which is shorter than the first time; In response to the virtual vehicle switching from the main system to the redundant system within the second time period, and the driving process of the virtual vehicle meeting the acceptance criteria, the second time period is determined as the target switching time. In response to the virtual vehicle switching from the main system to the redundant system during the second time period, and the virtual vehicle's driving process not meeting the acceptance criteria, the second time period is continuously adjusted until the virtual vehicle's driving process meets the acceptance criteria.

3. The method according to claim 1, characterized in that, The multiple virtual environments are used to represent the driving environment of the virtual vehicle when it encounters different faults on different roads.

4. The method according to claim 1, characterized in that, Based on the target switching times corresponding to the multiple virtual environments, the system switching time is determined, including: The minimum value among the target switching times corresponding to the multiple virtual environments is determined as the system switching time.

5. The method according to claim 1, characterized in that, The redundant system controlling the virtual vehicle takes over the virtual vehicle in the first instance, including: Input driving data into the redundant system. The driving data includes the virtual vehicle's six-axis speed, acceleration, vehicle surrounding environment information, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth. The redundant system controls the virtual vehicle's movement by inputting the driving data, in order to simulate the virtual vehicle's behavior when the main system malfunctions.

6. The method according to claim 1, characterized in that, Injecting fault information into the virtual vehicle includes: A fault model is injected into the virtual vehicle, the fault model including: unexpected steering model, loss of steering model, unexpected braking model, loss of braking model, and unexpected acceleration model.

7. The method according to claim 1, characterized in that, The main system of the virtual vehicle controls the virtual vehicle to drive in multiple virtual environments, including: Input driving data into the main system. The driving data includes the six-axis speed, acceleration, vehicle surrounding environment information, steering wheel angle, brake master cylinder pressure, and accelerator pedal depth of the virtual vehicle. The main system controls the virtual vehicle to drive in multiple virtual environments by inputting the driving data.

8. A device for determining vehicle system switching time, characterized in that, include: The first control module is used to inject fault information into the virtual vehicle during the process of the virtual vehicle's main system controlling the virtual vehicle to drive in multiple virtual environments; The second control module is used to control the redundant system of the virtual vehicle to take over the virtual vehicle in the first time, wherein the redundant system and the main system form a redundant structure; The first determining module is configured to determine the first time as the target switching time corresponding to the multiple virtual environments in response to the switching of the main system to the redundant system and the driving process of the virtual vehicle meeting the acceptance criteria. The acceptance criteria are used to indicate that the driving process of the virtual vehicle is in a safe state. The second determining module is used to determine the system switching time based on the target switching time corresponding to the multiple virtual environments.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the processor of the device to perform the method according to any one of claims 1-7.

10. A vehicle, characterized in that, include: One or more processors; Storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors perform the method of any one of claims 1-7.

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