Cloud-based assisted driving control system and method

Abstract

The present invention discloses a cloud-based assisted driving control system and method, which relate to the general vehicle field and are used to solve the problem that the existing cloud-based assisted driving control system is unable to analyze the environment in which the main body of the vehicle is traveling, determine whether there is danger, and then avoid the danger, thereby limiting the development of autonomous driving technology; the assisted driving control system includes a cloud, a driving control module, a user terminal module, a safety protection module, and a danger alarm module; the assisted driving control system can analyze the environment in which the main body of the vehicle is traveling in real time, determine whether there is danger, and can actively and passively control the main body of the vehicle through the driving control module, so as to accurately avoid danger, ensure the safety of the main body of the vehicle and the detection object, and further improve the intelligence of autonomous driving.

Description

Technical Field

[0001] The present invention relates to the general field of vehicles, and in particular to a cloud-based assisted driving control system and method. Background Art

[0002] In recent years, autonomous driving technology has developed rapidly. By modifying traditional vehicles and configuring sensors such as cameras, lidar, and high-precision positioning devices, autonomous driving can be achieved in simple environments. Patent application number CN201911238364.2 discloses a cloud-based assisted driving control system and method, which aims to solve the problem that the driver cannot achieve one-to-many vehicle takeover control and scheduling by operating a driving simulator for remote assisted driving control. The system includes a cloud side set on a remote server and a vehicle side set on the controlled vehicle; the vehicle side is connected to the cloud side via a wireless communication link; the vehicle side is configured to switch the control state based on the control state. When the command is switched to the remote control state, the vehicle driving environment data and vehicle driving behavior data are obtained and sent to the cloud, and the vehicle control data sent by the cloud is obtained to control the vehicle; the cloud is configured to receive the vehicle driving environment data and vehicle driving behavior data, and based on the preset automatic driving control model, the vehicle control data of the corresponding controlled vehicle is obtained and sent to the corresponding vehicle end. This invention realizes the takeover control and scheduling of one-to-many vehicles through the cloud, but there are still the following shortcomings: the system cannot analyze the environment in which the main body of the car is driving, determine whether there is any danger, and then avoid the danger, which limits the development of automatic driving technology. Summary of the Invention

[0003] In order to overcome the above-mentioned technical problems, the purpose of the present invention is to provide a cloud-based assisted driving control system and method: by using a user terminal module to register and log in, the user terminal module that has successfully verified the login account and login password in the cloud establishes an Internet connection with the driving control module, so that remote control is performed through the driving control module according to the driving control instructions. After that, the safety protection module analyzes the detection object and the car body, and then issues an alarm through the danger alarm module and the user terminal module. The danger alarm module alerts the detection object, and finally the driving control module controls the car body to avoid danger. This solves the problem that the existing cloud-based assisted driving control system cannot analyze the environment in which the car body is driving, determine whether there is danger, and then avoid the danger, which limits the development of autonomous driving technology.

[0004] The purpose of the present invention can be achieved through the following technical solutions:

[0005] The cloud-based assisted driving control system includes:

[0006] The user terminal module is used for users to register and log in using user information, and is also used for users to generate driving control instructions and classification control instructions, and send the driving control instructions and classification control instructions to the driving control module, where the classification control instructions include active control instructions and passive control instructions;

[0007] The cloud is used to verify the user's login account and login password, and establish an Internet connection between the user terminal module of the login account and login password and the driving control module;

[0008] The driving control module is used to control the operation of the vehicle body according to the driving control instructions, and when the vehicle body is started, it generates a safety protection instruction and sends it to the safety protection module;

[0009] The safety protection module is used to analyze the vehicle body and the detection object, obtain the risk factor WX, generate control instructions based on the risk factor WX, and send the control instructions to the danger alarm module and the user terminal module;

[0010] The hazard alarm module is used to sound the alarm according to the control instructions.

[0011] As a further solution of the present invention: the specific process of the user terminal module performing registration and login is as follows:

[0012] Send the user information entered by the user to the cloud, including phone number, name and ID number;

[0013] After receiving the verification character from the cloud, enter the verification character and the self-set password and send them to the cloud;

[0014] After receiving the successful registration instruction, the words "Registration successful" are displayed. Enter the login account and password and send them to the cloud.

[0015] As a further solution of the present invention, the specific process of cloud verification is as follows:

[0016] After receiving the user information, the user information is compared with the administrator list stored in the cloud. If the administrator list contains the same name and ID number, the phone number in the user information is obtained and a verification character is sent to the phone number. The verification character is a random combination of numbers and English letters.

[0017] After receiving the verification character and the self-set password, the self-set password is used as the login password, the ID number is used as the login account, and a registration success instruction is generated and sent to the user terminal module;

[0018] After receiving the login account and login password, they are compared with the login account and login password stored in the cloud. If they are exactly the same, the verification is successful, and the control user terminal module establishes an Internet connection with the driving control module. If they are not exactly the same, the verification fails, and the control user terminal module displays the words "login failed".

[0019] As a further solution of the present invention: the specific process of the safety protection module obtaining the risk factor WX is as follows:

[0020] After receiving the safety protection instruction, the driving speed of the vehicle body is obtained and marked as the main speed value ZS, and the driving direction of the vehicle body is marked as the positive direction;

[0021] Obtain the target closest to the vehicle and mark it as the detection object. Detection objects include static objects and dynamic objects. Static objects include walls, railings, and stationary vehicles, while dynamic objects include moving motor vehicles, non-motor vehicles, and pedestrians. Obtain the speed of the detection object and mark it as the speed value CS. Obtain the difference between the main speed value ZS and the speed value CS and mark it as the speed difference CC.

[0022] Get the distance between the detected object and the car body and mark it as the distance difference CJ;

[0023] Obtain the ratio of the speed difference CC and the distance difference CJ, and mark it as the risk factor WX;

[0024] Compare the hazard factor WX with the hazard threshold WXy:

[0025] If the collision coefficient WX>the danger threshold WXy, a control instruction is generated and sent to the danger alarm module and the user terminal module.

[0026] As a further solution of the present invention: the specific process of the user terminal module generating the classification control instruction is as follows:

[0027] After receiving the control command, an alarm sounds, and the alarm content is a ring tone prompt. The time when the control command is received, the time when the driving control command is generated, and the current time are collected. The time difference between the time when the control command is received and the time when the driving control command is generated is obtained and marked as the control time difference KS. The time difference between the time when the control command is received and the current time is obtained and marked as the reaction time difference FS.

[0028] Compare the control time difference KS, reaction time difference FS and time difference threshold SCy:

[0029] When the reaction time difference FS = the time difference threshold SCy, and the control time difference KS ≤ the reaction time difference FS, an active control instruction is generated and sent to the driving control module;

[0030] When the reaction time difference FS=the time difference threshold SCy and the control time difference KS>the reaction time difference FS, a passive control instruction is generated and sent to the driving control module.

[0031] As a further solution of the present invention: a cloud-based assisted driving control method includes the following steps:

[0032] Step 1: The user terminal module sends the user information entered by the user to the cloud, including phone number, name and ID number;

[0033] Step 2: After receiving the user information, the cloud compares the user information with the administrator list stored in the cloud. If the administrator list contains the same name and ID number, the phone number in the user information is obtained and a verification character is sent to the phone number. The verification character is a random combination of numbers and English letters.

[0034] Step 3: After receiving the verification character, the user terminal module enters the verification character and the self-set password, and sends the verification character and the self-set password to the cloud;

[0035] Step 4: After receiving the verification character and the self-set password, the cloud uses the self-set password as the login password and the ID number as the login account, and generates a registration success instruction and sends it to the user terminal module;

[0036] Step 5: The user terminal module receives the registration success instruction and displays the words "registration successful". Enter the login account and password and send them to the cloud;

[0037] Step 6: The cloud receives the login account and password and compares them with the login account and password stored in the cloud. If they are exactly the same, the verification is successful, and the control user terminal module establishes an Internet connection with the driving control module. If they are not exactly the same, the verification fails, and the control user terminal module displays "Login Failed";

[0038] Step 7: The user terminal module sends the driving control instruction to the driving control module. The driving control instruction includes the automatic driving instruction and the remote control driving instruction.

[0039] Step 8: After receiving the driving control command, the driving control module controls the vehicle body to start the automatic driving mode or remotely controls the driving module according to the driving control command;

[0040] Step 9: When the main body of the car is started, the driving control module generates a safety protection instruction and sends it to the safety protection module;

[0041] Step 10: After receiving the safety protection instruction, the safety protection module obtains the driving speed of the vehicle body and marks it as the main speed value ZS, and marks the driving direction of the vehicle body as the positive direction;

[0042] Step 11: The safety protection module obtains the target closest to the vehicle body and marks it as a detection object. The detection objects include static objects and dynamic objects. Static objects include walls, railings, and stationary vehicles. Dynamic objects include moving motor vehicles, non-motor vehicles, and pedestrians. The speed of the detection object is obtained and marked as the speed value CS. The difference between the main speed value ZS and the speed value CS is obtained and marked as the speed difference CC.

[0043] Step 12: The safety protection module obtains the distance between the detection object and the vehicle body and marks it as the distance difference CJ;

[0044] Step 13: The safety protection module obtains the ratio of the speed difference CC and the distance difference CJ, and marks it as the risk factor WX;

[0045] Step 14: The safety protection module compares the risk factor WX with the risk threshold WXy:

[0046] If the collision coefficient WX> the danger threshold WXy, a control instruction is generated and sent to the danger alarm module and the user terminal module;

[0047] Step 15: After receiving the control command, the danger alarm module sounds an alarm, and the alarm content is a pre-recorded voice;

[0048] Step 16: After receiving the control command, the user terminal module sounds an alarm. The alarm content is a ring tone prompt. The time when the control command is received, the time when the driving control command is generated, and the current time are collected. The time difference between the time when the control command is received and the time when the driving control command is generated is obtained and marked as the control time difference KS. The time difference between the time when the control command is received and the current time is obtained and marked as the reaction time difference FS.

[0049] Step 17: The user terminal module compares the control time difference KS, the response time difference FS and the time difference threshold SCy:

[0050] When the reaction time difference FS = the time difference threshold SCy, and the control time difference KS ≤ the reaction time difference FS, an active control instruction is generated and sent to the driving control module;

[0051] When the reaction time difference FS = the time difference threshold SCy, and the control time difference KS > the reaction time difference FS, a passive control instruction is generated and sent to the driving control module;

[0052] Step 18: After receiving the active control instruction, the driving control module controls the vehicle body to perform active operations according to the driving control instruction. After receiving the passive control instruction, the driving control module controls the vehicle body to perform passive operations, starts the automatic avoidance operation, and obtains the position of the vehicle body and the detection object at the same time. If the detection object is in front of the vehicle body, the vehicle body is decelerated. If the detection object is behind the vehicle body, the vehicle body is accelerated until the collision coefficient WX ≤ the danger threshold WXy.

[0053] Beneficial effects of the present invention:

[0054] The cloud-based assisted driving control system and method of the present invention uses a user terminal module to register and log in, and the cloud establishes an Internet connection between the user terminal module and the driving control module after the successful login account and login password are verified. It can be achieved that only the user terminal module and the driving control module that have been successfully verified can be connected to the Internet, and when the two are connected through the Internet, the user can generate driving control instructions through the user terminal module, so that the driving control module can perform remote control according to the driving control instructions. After that, the safety protection module analyzes the detection object and the car body to obtain a risk coefficient. The risk coefficient is used to measure the degree of danger of the detection object to the car body, and the larger the risk coefficient, the more dangerous it is. After that, an alarm is issued through the risk alarm module and the user terminal module. The risk alarm module is used to analyze the detection object Alarm, the user terminal module alerts the user of the car body, and then obtains the control time difference and reaction time difference. The control time difference is used to indicate how quickly the user responds to the generated control instruction, and the reaction time difference is used to indicate the duration of receiving the control instruction. If the reaction time difference does not reach the time difference threshold, the user responds and the car body is controlled according to the driving control instruction to avoid danger. If the reaction time difference reaches the time difference threshold and the user still does not respond, the car body is automatically controlled to avoid danger. The assisted driving control system can analyze the environment in which the car body is driving in real time and determine whether there is any danger. The driving control module can actively and passively control the car body, thereby accurately avoiding danger, ensuring the safety of the car body and the detection object, and further improving the intelligence of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] The present invention will be further described below with reference to the accompanying drawings.

[0056] Figure 1 It is a structural diagram of the cloud-based assisted driving control system in the present invention. DETAILED DESCRIPTION

[0057] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0058] Example 1:

[0059] See also Figure 1 As shown, this embodiment is a cloud-based assisted driving control system, including a cloud, a driving control module, a user terminal module, a safety protection module, and a danger alarm module, wherein:

[0060] The user terminal module is used for users to register and log in through user information, and is also used for users to generate driving control instructions and classification control instructions, and send the driving control instructions and classification control instructions to the driving control module, where the classification control instructions include active control instructions and passive control instructions;

[0061] The cloud is used to verify the user's login account and login password, and establish an Internet connection between the user terminal module of the login account and login password and the driving control module;

[0062] The driving control module is used to control the operation of the vehicle body according to the driving control instructions, and when the vehicle body is started, a safety protection instruction is generated and sent to the safety protection module;

[0063] The safety protection module is used to analyze the vehicle body and the detection object, obtain the risk factor WX, generate control instructions based on the risk factor WX, and send the control instructions to the danger alarm module and the user terminal module;

[0064] The hazard alarm module is used to sound the alarm according to the control instructions.

[0065] Example 2:

[0066] See also Figure 1 As shown, this embodiment is a cloud-based assisted driving control method, which includes the following steps:

[0067] Step 1: The user terminal module sends the user information entered by the user to the cloud, including phone number, name and ID number;

[0068] Step 2: After receiving the user information, the cloud compares the user information with the administrator list stored in the cloud. If the administrator list contains the same name and ID number, the phone number in the user information is obtained and a verification character is sent to the phone number. The verification character is a random combination of numbers and English letters.

[0069] Step 3: After receiving the verification character, the user terminal module enters the verification character and the self-set password, and sends the verification character and the self-set password to the cloud;

[0070] Step 4: After receiving the verification character and the self-set password, the cloud uses the self-set password as the login password and the ID number as the login account, and generates a registration success instruction and sends it to the user terminal module;

[0071] Step 5: The user terminal module receives the registration success instruction and displays the words "registration successful". Enter the login account and password and send them to the cloud;

[0072] Step 6: The cloud receives the login account and password and compares them with the login account and password stored in the cloud. If they are exactly the same, the verification is successful, and the control user terminal module establishes an Internet connection with the driving control module. If they are not exactly the same, the verification fails, and the control user terminal module displays "Login Failed";

[0073] Step 7: The user terminal module sends the driving control instruction to the driving control module. The driving control instruction includes the automatic driving instruction and the remote control driving instruction.

[0074] Step 8: After receiving the driving control command, the driving control module controls the vehicle body to start the automatic driving mode or remotely controls the driving module according to the driving control command;

[0075] Step 9: When the main body of the car is started, the driving control module generates a safety protection instruction and sends it to the safety protection module;

[0076] Step 10: After receiving the safety protection instruction, the safety protection module obtains the driving speed of the vehicle body and marks it as the main speed value ZS, and marks the driving direction of the vehicle body as the positive direction;

[0077] Step 11: The safety protection module obtains the target closest to the vehicle body and marks it as a detection object. The detection objects include static objects and dynamic objects. Static objects include walls, railings, and stationary vehicles. Dynamic objects include moving motor vehicles, non-motor vehicles, and pedestrians. The speed of the detection object is obtained and marked as the speed value CS. The difference between the main speed value ZS and the speed value CS is obtained and marked as the speed difference CC.

[0078] Step 12: The safety protection module obtains the distance between the detection object and the vehicle body and marks it as the distance difference CJ;

[0079] Step 13: The safety protection module obtains the ratio of the speed difference CC and the distance difference CJ, and marks it as the risk factor WX;

[0080] Step 14: The safety protection module compares the risk factor WX with the risk threshold WXy:

[0081] If the collision coefficient WX> the danger threshold WXy, a control instruction is generated and sent to the danger alarm module and the user terminal module;

[0082] Step 15: After receiving the control command, the danger alarm module sounds an alarm, and the alarm content is a pre-recorded voice;

[0083] Step 16: After receiving the control command, the user terminal module sounds an alarm. The alarm content is a ring tone prompt. The time when the control command is received, the time when the driving control command is generated, and the current time are collected. The time difference between the time when the control command is received and the time when the driving control command is generated is obtained and marked as the control time difference KS. The time difference between the time when the control command is received and the current time is obtained and marked as the reaction time difference FS.

[0084] Step 17: The user terminal module compares the control time difference KS, the response time difference FS and the time difference threshold SCy:

[0085] When the reaction time difference FS = the time difference threshold SCy, and the control time difference KS ≤ the reaction time difference FS, an active control instruction is generated and sent to the driving control module;

[0086] When the reaction time difference FS = the time difference threshold SCy, and the control time difference KS > the reaction time difference FS, a passive control instruction is generated and sent to the driving control module;

[0087] Step 18: After receiving the active control instruction, the driving control module controls the vehicle body to perform active operations according to the driving control instruction. After receiving the passive control instruction, the driving control module controls the vehicle body to perform passive operations, starts the automatic avoidance operation, and obtains the position of the vehicle body and the detection object at the same time. If the detection object is in front of the vehicle body, the vehicle body is decelerated. If the detection object is behind the vehicle body, the vehicle body is accelerated until the collision coefficient WX ≤ the danger threshold WXy.

[0088] Throughout this specification, references to terms such as "one embodiment," "example," or "specific example" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0089] The above contents are merely examples and explanations of the present invention. Those skilled in the art may make various modifications or additions to the described specific embodiments or replace them in similar ways. As long as they do not deviate from the invention or exceed the scope defined by the claims, they should all fall within the scope of protection of the present invention.

Claims

1. A cloud-based assisted driving control system, characterized by: include: The user terminal module is used for users to register and log in using user information, and is also used for users to generate driving control instructions and classification control instructions, and send the driving control instructions and classification control instructions to the driving control module, where the classification control instructions include active control instructions and passive control instructions; The specific process of the user terminal module registering and logging in is as follows: Send the user information entered by the user to the cloud, including phone number, name and ID number; After receiving the verification character from the cloud, enter the verification character and the self-set password and send them to the cloud; After receiving the successful registration instruction, the message "Registration successful" is displayed. Enter the login account and password and send them to the cloud; The cloud is used to verify the user's login account and login password, and establish an Internet connection between the user terminal module of the login account and login password and the driving control module; The specific process of cloud verification is as follows: After receiving the user information, the user information is compared with the administrator list stored in the cloud. If the administrator list contains the same name and ID number, the phone number in the user information is obtained and a verification character is sent to the phone number. The verification character is a random combination of numbers and English letters. After receiving the verification character and the self-set password, the self-set password is used as the login password, the ID number is used as the login account, and a registration success instruction is generated and sent to the user terminal module; The received login account and login password are compared with the login account and login password stored in the cloud. If they are exactly the same, the verification is successful, and the control user terminal module establishes an Internet connection with the driving control module. If they are not exactly the same, the verification fails, and the control user terminal module displays the words "Login Failed"; A driving control module is used to control the operation of the vehicle body according to the driving control instructions, and when the vehicle body is started, generates a safety protection instruction and sends the safety protection instruction to the safety protection module; The safety protection module is used to analyze the vehicle body and the detection object to obtain the risk factor WX, generate control instructions based on the risk factor WX, and send the control instructions to the danger alarm module and the user terminal module; the danger alarm module alerts the detection object, and the user terminal module alerts the user of the vehicle body; The specific process of the safety protection module obtaining the risk factor WX is as follows: After receiving the safety protection instruction, the driving speed of the vehicle body is obtained and marked as the main speed value ZS, and the driving direction of the vehicle body is marked as the positive direction; Obtain the target closest to the vehicle and mark it as the detection object. Detection objects include static objects and dynamic objects. Static objects include walls, railings, and stationary vehicles. Dynamic objects include moving motor vehicles, non-motor vehicles, and pedestrians. Obtain the speed of the detection object and mark it as the speed value CS. Obtain the difference between the main speed value ZS and the speed value CS and mark it as the speed difference CC. Get the distance between the detected object and the car body and mark it as the distance difference CJ; Obtain the ratio of the speed difference CC and the distance difference CJ, and mark it as the risk factor WX; Compare the hazard factor WX with the hazard threshold WXy: If the risk factor WX> the risk threshold WXy, a control instruction is generated and sent to the risk alarm module and the user terminal module; Danger alarm module, used to sound the alarm according to the control command; The specific process of the user terminal module generating the classification control instruction is as follows: After receiving the control instruction, the user terminal module sounds an alarm, the alarm content is a ring tone prompt, collects the time when the control instruction is received, the time when the driving control instruction is generated, and the current time, obtains the time difference between the time when the control instruction is received and the time when the driving control instruction is generated and marks it as the control time difference, obtains the time difference between the time when the control instruction is received and the current time and marks it as the reaction time difference, Compare the control time lag, reaction time lag and time lag threshold: When the reaction time difference = the time difference threshold, and the control time difference ≤ the reaction time difference, an active control instruction is generated and sent to the driving control module; When the reaction time difference = the time difference threshold and the control time difference > the reaction time difference, a passive control instruction is generated and sent to the driving control module.

2. An assisted driving control method of a cloud-based assisted driving control system according to claim 1, characterized in that: The following steps are involved: Step 1: The user terminal module sends the user information entered by the user to the cloud, including phone number, name and ID number; Step 2: After receiving the user information, the cloud compares the user information with the administrator list stored in the cloud. If the administrator list contains the same name and ID number, the phone number in the user information is obtained and a verification character is sent to the phone number. The verification character is a random combination of numbers and English letters. Step 3: After receiving the verification character, the user terminal module enters the verification character and the self-set password, and sends the verification character and the self-set password to the cloud; Step 4: After receiving the verification character and the self-set password, the cloud uses the self-set password as the login password and the ID number as the login account, and generates a registration success instruction and sends it to the user terminal module; Step 5: The user terminal module receives the registration success instruction and displays the words "registration successful". Enter the login account and password and send them to the cloud; Step 6: The cloud receives the login account and password and compares them with the login account and password stored in the cloud. If they are exactly the same, the verification is successful, and the control user terminal module establishes an Internet connection with the driving control module. If they are not exactly the same, the verification fails, and the control user terminal module displays "Login Failed"; Step 7: The user terminal module sends the driving control instruction to the driving control module. The driving control instruction includes the automatic driving instruction and the remote control driving instruction. Step 8: After receiving the driving control command, the driving control module controls the vehicle body to start the automatic driving mode or remotely controls the driving module according to the driving control command; Step 9: When the vehicle body starts, the driving control module generates a safety protection instruction and sends the safety protection instruction to the safety protection module; Step 10: After receiving the safety protection instruction, the safety protection module obtains the driving speed of the vehicle body and marks it as the main speed value ZS, and marks the driving direction of the vehicle body as the positive direction; Step 11: The safety protection module obtains the target closest to the vehicle body and marks it as a detection object. The detection objects include static objects and dynamic objects. Static objects include walls, railings, and stationary vehicles. Dynamic objects include moving motor vehicles, non-motor vehicles, and pedestrians. The speed of the detection object is obtained and marked as the speed value CS. The difference between the main speed value ZS and the speed value CS is obtained and marked as the speed difference CC. Step 12: The safety protection module obtains the distance between the detection object and the vehicle body and marks it as the distance difference CJ; Step 13: The safety protection module obtains the ratio of the speed difference CC and the distance difference CJ, and marks it as the risk factor WX; Step 14: The safety protection module compares the risk factor WX with the risk threshold WXy: If the risk factor WX> the risk threshold WXy, a control instruction is generated and sent to the risk alarm module and the user terminal module; Step 15: After receiving the control command, the danger alarm module sounds an alarm, and the alarm content is a pre-recorded voice; Step 16: After receiving the control command, the user terminal module sounds an alarm. The alarm content is a ring tone prompt. The time when the control command is received, the time when the driving control command is generated, and the current time are collected. The time difference between the time when the control command is received and the time when the driving control command is generated is obtained and marked as the control time difference KS. The time difference between the time when the control command is received and the current time is obtained and marked as the reaction time difference FS. Step 17: The user terminal module compares the control time difference KS, the response time difference FS and the time difference threshold SCy: When the reaction time difference FS = the time difference threshold SCy, and the control time difference KS ≤ the reaction time difference FS, an active control instruction is generated and sent to the driving control module; When the reaction time difference FS = the time difference threshold SCy, and the control time difference KS > the reaction time difference FS, a passive control instruction is generated and sent to the driving control module; Step 18: After receiving the active control instruction, the driving control module controls the vehicle body to perform active operations according to the driving control instruction. After receiving the passive control instruction, the driving control module controls the vehicle body to perform passive operations, starts the automatic avoidance operation, and obtains the position of the vehicle body and the detection object at the same time. If the detection object is in front of the vehicle body, the vehicle body is decelerated. If the detection object is behind the vehicle body, the vehicle body is accelerated until the risk factor WX ≤ the risk threshold WXy.

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