Vehicle end safety protection system and safety protection method for autonomous vehicle

Abstract

The invention relates to the technical field of automatic driving, in particular to a vehicle end safety protection system and method for an automatic driving vehicle. The vehicle end safety protection system is connected with an original vehicle system and comprises a risk identification module, a safety and defect analysis module and an emergency disposal module. The risk identification module is used for acquiring vehicle safety information from an original vehicle system so as to carry out expected function safety risk identification and function safety risk identification; the safety and defect analysis module is used for performing fault analysis and traceability according to the real-time identification result of the risk identification module, and performing comprehensive risk value calculation and grading so as to determine whether emergency disposal is performed or not according to the grading result, and if yes, making an emergency disposal strategy based on the vehicle safety information and the grading result; and the emergency disposal module is used for generating emergency disposal information according to the emergency disposal strategy formulated by the safety and defect analysis module and sending the emergency disposal information to a vehicle execution system for emergency control of the automatic driving vehicle.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of autonomous driving technology, and in particular to a vehicle-side safety protection system and a safety protection method for an autonomous driving vehicle. Background Art

[0002] The widespread application of artificial intelligence technology has led to the rapid development of the intelligence level of vehicles, especially autonomous driving technology. Autonomous vehicles are composed of various sensors, computing units, actuators and other types of equipment. These devices communicate with each other and their functions are dependent on each other, forming a large and complex system. At present, the autonomous driving system is still in the development stage, and ensuring vehicle safety is an urgent problem to be solved. In addition to the functional safety issues caused by system failures, the unpredictability of system output is increased due to the large-scale application of artificial intelligence technology in the perception system of autonomous driving vehicles, making the expected functional safety of autonomous driving vehicles also very important. Among them, the expected functional safety problem refers to the hazards and risks caused by the insufficient performance of the autonomous driving system in multiple aspects such as perception, decision-making and control in complex traffic scenarios, as well as the hazards and risks caused by reasonable and foreseeable human misuse. However, there is currently a lack of a comprehensive safety protection system that can simultaneously consider the above two safety issues.

[0003] Therefore, there is an urgent need for a vehicle-side safety protection system and a safety protection method for autonomous driving vehicles. Summary of the invention

[0004] In order to solve the problem of the current lack of a comprehensive safety protection system that can simultaneously consider functional safety issues and expected functional safety issues, an embodiment of the present invention provides a vehicle-side safety protection system and a safety protection method for an autonomous driving vehicle.

[0005] In a first aspect, an embodiment of the present invention provides a vehicle-side safety protection system for an autonomous driving vehicle, which is arranged at the vehicle-side and connected to the original vehicle system of the vehicle, wherein the original vehicle system includes a vehicle networking system, a vehicle autonomous driving system, and a vehicle execution system, and the vehicle-side safety protection system includes: a risk identification module, a safety and defect analysis module, and an emergency response module;

[0006] The risk identification module is connected to the original vehicle system of the automobile and is used to obtain vehicle safety information from the original vehicle system of the automobile to identify expected functional safety risks and functional safety risks; the vehicle safety information includes the vehicle state vector and the state vectors of surrounding traffic participants for scenario risk assessment, operation data for monitoring the driver's human-computer interaction behavior, and the status signals of sensors, communications and controllers of the vehicle's automatic driving system;

[0007] The safety and defect analysis module is used to perform fault analysis and source tracing according to the real-time identification results of the risk identification module, and to calculate and classify the comprehensive risk value, so as to determine whether to perform emergency disposal according to the classification results, and if so, formulate an emergency disposal strategy based on the vehicle safety information and the classification results;

[0008] The emergency response module is used to generate emergency response information according to the emergency response strategy formulated by the safety and defect analysis module and send it to the vehicle execution system to perform emergency control of the autonomous driving vehicle.

[0009] In a second aspect, an embodiment of the present invention further provides a vehicle-side safety protection method for an autonomous driving vehicle, which is applied to the vehicle-side, and the method includes:

[0010] The risk identification module is used to obtain vehicle safety information from the original vehicle system of the automobile to identify expected functional safety risks and functional safety risks; the vehicle safety information includes the vehicle state vector and the state vectors of surrounding traffic participants for scenario risk assessment, operation data for monitoring the driver's human-computer interaction behavior, and the state signals of sensors, communications and controllers of the vehicle automatic driving system in the original vehicle system of the automobile;

[0011] Using the safety and defect analysis module to perform fault analysis and source tracing according to the real-time identification results of the risk identification module, and to calculate and classify the comprehensive risk value, so as to determine whether to perform emergency disposal according to the classification results, and if so, formulate an emergency disposal strategy based on the vehicle safety information and the classification results;

[0012] The emergency response module generates emergency response information according to the emergency response strategy formulated by the safety and defect analysis module and sends it to the vehicle execution system in the original vehicle system of the automobile to perform emergency control of the autonomous driving vehicle.

[0013] The embodiments of the present invention provide a vehicle-side safety protection system and safety protection method for autonomous driving vehicles, which performs expected functional safety risk identification and functional safety risk identification in real time, including identifying complex and dangerous traffic scenarios, identifying driver misoperation and failures of the vehicle's autonomous driving system, and evaluating the comprehensive risk value and risk level. When the risk level is high, an emergency response strategy is formulated based on the vehicle safety information and the classification results, so that the emergency response module is used to generate emergency response information to the vehicle execution system, and emergency control of the vehicle is performed over the control of the vehicle's autonomous driving system. Therefore, this solution can simultaneously consider functional safety issues and expected functional safety issues to perform comprehensive safety protection for autonomous driving vehicles, and can provide solid protection for the safe operation of autonomous driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0015] Figure 1 It is a schematic diagram of the composition of a vehicle-side safety protection system for an autonomous driving vehicle provided by one embodiment of the present invention;

[0016] Figure 2 It is a flow chart of a vehicle-side safety protection method for an autonomous driving vehicle provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0018] Please refer to Figure 1 The embodiment of the present invention provides a vehicle-side safety protection system for an autonomous driving vehicle, which is arranged at the vehicle-side and connected to the original vehicle system of the vehicle. The original vehicle system of the vehicle includes a vehicle networking system, a vehicle autonomous driving system and a vehicle execution system. The vehicle-side safety protection system includes: a risk identification module, a safety and defect analysis module and an emergency response module;

[0019] The risk identification module is connected to the original vehicle system of the vehicle and is used to obtain vehicle safety information from the original vehicle system to identify expected functional safety risks and functional safety risks; the vehicle safety information includes the vehicle state vector and the state vectors of surrounding traffic participants used for scenario risk assessment, the operation data used to monitor the driver's human-computer interaction behavior, and the status signals of the sensors, communications and controllers of the vehicle's automatic driving system;

[0020] The safety and defect analysis module is used to analyze and trace faults based on the real-time identification results of the risk identification module, and to calculate and classify the comprehensive risk value to determine whether to take emergency measures based on the classification results. If so, an emergency response strategy is formulated based on the vehicle safety information and the classification results.

[0021] The emergency response module is used to generate emergency response information according to the emergency response strategy formulated by the safety and defect analysis module and send it to the vehicle execution system to perform emergency control of the autonomous driving vehicle.

[0022] In an embodiment of the present invention, expected functional safety risk identification and functional safety risk identification are performed in real time, including identifying complex and dangerous traffic scenarios, identifying driver misoperation and failures of the vehicle's automatic driving system, and evaluating the comprehensive risk value and risk level. When the risk level is high, an emergency response strategy is formulated based on the vehicle safety information and the classification results, so that the emergency response module can be used to generate emergency response information to the vehicle execution system, and emergency control of the vehicle is performed taking precedence over the control of the vehicle's automatic driving system. Therefore, this solution can simultaneously consider functional safety issues and expected functional safety issues to provide comprehensive safety protection for autonomous driving vehicles, and can provide solid protection for the safe operation of autonomous driving vehicles.

[0023] In some embodiments, the risk identification module includes a vehicle travel risk identification module, a human-computer interaction monitoring module, and a vehicle functional safety risk identification module;

[0024] The vehicle driving risk identification module is used to evaluate the driving risk value in the current traffic scenario based on the risk model, the vehicle state vector and the state vectors of surrounding traffic participants;

[0025] The human-machine interaction monitoring module is used to monitor the operation data of the driver's human-machine interaction behavior to identify the driver's misuse or improper operation behavior and determine the personnel misuse factor;

[0026] The vehicle functional safety risk identification module is used to detect the status signals of sensors, communications and controllers of the vehicle's autonomous driving system, and determine the fault results and functional safety risk values.

[0027] In this embodiment, the vehicle driving risk identification module uses the state vector of the vehicle and the state vector of the surrounding traffic participants collected by the original vehicle system for scene risk assessment for analysis. The state vector of the vehicle includes information such as position, heading angle, speed and acceleration. At the same time, similar information of the surrounding traffic participants is collected to form multiple state vectors. Then, based on the risk model, the driving risk value of the relative distance, speed, potential collision point and other factors between vehicles in the current traffic scene is evaluated to identify potential dangers or abnormal behaviors. Once the driving risk value exceeds the safety threshold, a warning message is immediately sent to the safety and defect analysis module. In addition, the module also considers environmental factors such as weather conditions, road types, traffic signs and signal lights, making risk identification more comprehensive. The human-computer interaction monitoring module monitors the actions of the driver and passengers operating the vehicle control, including the moment, strength and duration of stepping on the accelerator pedal and brake pedal, the moment, torque and direction of rotation of the steering wheel; and the actions of operating the vehicle system, including key strength, key frequency and operation duration, to identify the driver's misuse or improper operation behavior and determine the personnel misuse factor. The vehicle functional safety risk identification module is responsible for diagnosing sensor, communication and controller faults of the autonomous driving system, and transmitting the situation to the safety and defect analysis module in real time to ensure the stability and reliability of the system. Among them, sensor fault detection reads and analyzes the fault signals sent by the sensor, including monitoring communication errors, state failures, state blockages and state overtemperatures, to perform fault detection; when detecting communication and controller faults, the vehicle functional safety risk identification module uses advanced communication technology to monitor CAN signals in real time. When a CAN fault occurs, the system can quickly identify the error state in the CAN network and accurately locate the fault through the LabVIEW signal processing program. At the same time, the LabVIEW program also uses virtual instruments (VI) to further detect and diagnose errors on the CAN signal to ensure the stability and reliability of the communication network. The three modules work closely together to perform comprehensive risk identification of expected functional safety and functional safety.

[0028] In some embodiments, the driving risk value is assessed in the following manner:

[0029] Determine the risk indicator value ITTC based on the time to collision (TTC):

[0030]

[0031] Where D x is the lateral distance between the vehicle and other vehicles, D y is the longitudinal distance between the vehicle and other vehicles, L w is the vehicle width, L l is the length of the vehicle, V rx V is the relative lateral speed between the vehicle and other vehicles, ry A is the relative longitudinal speed between the vehicle and other vehicles,rx A is the relative lateral acceleration between the vehicle and the other vehicle, ry is the longitudinal relative acceleration between the vehicle and other vehicles, a is the influence coefficient of the relative acceleration between the vehicle and other vehicles;

[0032] The ratio of the vehicle's speed to the road speed limit is used as the correlation coefficient λ for calculating the driving risk value. The calculation formula is:

[0033]

[0034] In the formula, v is the speed of the vehicle, v l is the road speed limit, for example, the maximum speed on a highway cannot exceed 120km / h, then v l is 120. The larger the λ is, the faster the vehicle speed is relative to the road speed limit, and the greater the impact on the driving risk value;

[0035] Then the driving risk value r under the current traffic scenario is:

[0036] r = exp(-λ·ITTC).

[0037] In some embodiments, the human misuse factor is determined as follows: if in the current detection cycle, the human-machine interaction monitoring module identifies that the driver has misused or improperly operated the device, the human misuse factor is determined to be 2; if no human misuse occurs, the human misuse factor is 1.

[0038] In some embodiments, the functional safety risk value is determined by referring to the ASIL automobile safety integrity level, and evaluating the functional safety risk value based on three factors: severity (Severity), exposure rate (Exposure) and controllability (Controllability) of the fault determined by the vehicle functional safety risk identification module in the current detection cycle. The functional safety risk value can be 1, 2, 3, and 4 from low to high.

[0039] In some embodiments, the vehicle functional safety risk identification module is also used to adjust the fault detection priority based on the high-risk traffic scenario when the vehicle driving risk identification module assesses a high-risk traffic scenario, so as to more quickly identify the source of the fault and prioritize the operation of key safety components in the current traffic scenario.

[0040] In some embodiments, the safety and defect analysis module includes at least a fault tracing analysis module, a defect analysis module, a safety calculation and classification module, and an emergency response strategy module;

[0041] The input end of the fault tracing analysis module is connected to the vehicle functional safety risk identification module, which uses a hybrid algorithm based on physical models and data-driven to establish a system fault propagation model and use an artificial intelligence algorithm based on a long short-term memory network (LSTM) to infer the causal relationship between time series, locate the fault location and type, and complete fault tracing;

[0042] The input end of the defect analysis module is connected to the vehicle functional safety risk identification module, which is used to collect vehicle defect clues through multiple channels, and use artificial intelligence technology based on supervised learning to perform defect correlation analysis, classify the same or similar faults that occur in different safety events of the vehicle, and then use association analysis to mine and summarize the rules with common attributes in multi-source data to determine the root cause of the fault;

[0043] The safety calculation and classification module is used to determine the comprehensive risk value based on the driving risk value output by the vehicle driving risk identification module, the personnel misuse factor output by the human-machine interaction monitoring module and the functional safety risk value output by the vehicle functional safety risk identification module, and complete the safety classification through the clustering algorithm based on fuzzy theory;

[0044] The emergency response strategy module is used to formulate a driving path based on vehicle safety information and determine the braking urgency of the driving path based on the classification results.

[0045] In this embodiment, when the vehicle functional safety risk identification module identifies that there is a fault in the vehicle's automatic driving system, the fault tracing analysis module and the defect analysis module trace and analyze the fault. If no fault is identified, the fault tracing analysis module and the defect analysis module do not run.

[0046] The safety calculation and classification module determines the comprehensive risk value R in the following way:

[0047] R=β×γ×r

[0048] In the formula, β is the functional safety risk value, γ is the personnel misuse factor, and r is the driving risk value. The larger the comprehensive risk value R is, the higher the vehicle risk level is.

[0049] In addition, the emergency response strategy module not only considers the current risk level and fault status, but also predicts the risk development trend within a certain prediction time window in the future, so as to make a more predictive safety analysis. Based on the analysis and prediction, it determines the safe driving path, as well as deceleration, lane change, parking or initiation of emergency avoidance procedures. At the same time, in special circumstances, if the system detects a serious fault or irreversible risk, the emergency response strategy module may also decide to safely guide the vehicle to a parking state and initiate an emergency assistance procedure.

[0050] In some embodiments, the security and defect analysis module further includes a security log generation module;

[0051] The input end of the security log generation module is connected to the risk identification module, the fault tracing analysis module, the defect analysis module, the safety calculation and classification module and the emergency response strategy module, and the output end is connected to the security brain system located in the cloud; the security log generation module is used to record the vehicle operating status, driver operation data, and vehicle automatic driving system failures when a security incident occurs, and report them to the security brain system in the cloud to provide basic data for subsequent security strategy optimization.

[0052] In some embodiments, the emergency response module includes at least: a lateral response module and a longitudinal response module;

[0053] The lateral response module is used to generate emergency response information for the vehicle steering system based on the emergency response strategy to control the direction of the vehicle;

[0054] The longitudinal response module is used to generate emergency response information for vehicle speed and acceleration based on the emergency response strategy to control the vehicle's power output and braking force output.

[0055] In this embodiment, the lateral response module is responsible for the direction and path following of the vehicle, including operations such as steering, lane changing and lane keeping. By controlling the vehicle's steering system, it ensures that the vehicle can accurately drive along the safe driving path set by the emergency response strategy module, so as to maintain the stability of the vehicle and maintain good handling performance in emergency avoidance or complex road conditions. The longitudinal response module mainly adjusts the speed and acceleration of the vehicle, including operations such as acceleration, deceleration and emergency braking. When the emergency response strategy module determines that the speed needs to be changed or stopped, the longitudinal control will intervene and control the power output and braking force output of the vehicle.

[0056] In some embodiments, the emergency response module also includes a safety warning module; the safety warning module obtains risk information from the safety and defect analysis module, and provides safety warning information to the driver in an emergency situation through head-up display (HUD) information prompts, steering wheel and seat vibrations, and voice prompts inside the vehicle, to provide safety warnings and feedback.

[0057] In some embodiments, the emergency response module is also used to: when a fault causes the communication data between the systems to fail, use the vehicle safety information at the last moment before the fault occurs to generate emergency response information to control the vehicle.

[0058] In this embodiment, the emergency response module, as the last line of defense for the safety protection system, has strong fault tolerance and robustness in extreme cases, in addition to executing the conventional functions of the emergency response strategy output of the safety and defect analysis module. Even if the key data from the safety and defect analysis module is missing, the vehicle's safety response can be achieved only through the vehicle's own vehicle status information. When the failure of the automatic driving system or the internal failure of the system of the embodiment of the present invention causes the communication data between the systems to fail, the vehicle safety information at the last moment before the failure occurs is used to predict the surrounding environment based on the kinematic model and control the vehicle.

[0059] In an embodiment of the present invention, when a failure of the autonomous driving system causes the communication data between the systems to fail, the longitudinal response module is used to calculate the safe driving distance in real time using the deceleration model, and to decelerate based on the sliding mode control algorithm to stop the vehicle within a safe distance; the lateral response module uses the effective expected path finally issued by the vehicle's autonomous driving system to control the vehicle's steering system, thereby ensuring basic safety response functions.

[0060] Therefore, the vehicle-side safety protection system for autonomous driving vehicles in the embodiment of the present invention covers three key links: risk identification, safety and defect analysis, and emergency response. In the risk identification part, the system implements a comprehensive risk identification strategy, which can accurately and real-time detect and evaluate the safety risks of traffic scenes, monitor human-computer interaction behaviors, and perform fault diagnosis on various functions of the autonomous driving system. The safety and defect analysis module comprehensively analyzes the traffic scene data, human-computer interaction behavior data, and vehicle fault conditions obtained from the risk identification module, and performs a comprehensive analysis based on this information, calculates the comprehensive risk value and safety level, intelligently selects the most appropriate safety strategy, and generates a safety log to cope with the current traffic environment and system status. Furthermore, the safety and defect analysis module can also complete fault tracing for factors such as fault location and type, use artificial intelligence technology to perform correlation analysis, accurately identify the associated factors of defect occurrence, and the generation of safety logs can record vehicle operation data, event information, and driver and passenger behavior, providing a reliable data source for accident reconstruction. In terms of emergency response, on the basis of conventional functions, when the autonomous driving system and the safety and defect analysis module fail, the vehicle can still be effectively controlled, thanks to the reference model embedded in the emergency response module, which can be safely controlled even in extreme situations. In addition, there is a safety warning module that issues safety warnings in emergency situations, prompting the driver and passengers to take necessary operations and protective measures to ensure driving safety.

[0061] like Figure 2 As shown, an embodiment of the present invention further provides a vehicle-side safety protection method for an autonomous driving vehicle, which is applied to the vehicle-side, and the method includes:

[0062] Step 200, using the risk identification module to obtain vehicle safety information from the original vehicle system of the automobile to identify expected functional safety risks and functional safety risks; the vehicle safety information includes the vehicle state vector and the state vector of surrounding traffic participants used for scenario risk assessment, the operation data used to monitor the driver's human-computer interaction behavior, and the state signals of sensors, communications and controllers of the vehicle automatic driving system in the original vehicle system of the automobile;

[0063] Step 202, using the safety and defect analysis module to perform fault analysis and source tracing according to the real-time identification results of the risk identification module, and to calculate and classify the comprehensive risk value, so as to determine whether to perform emergency disposal according to the classification results, and if so, formulate an emergency disposal strategy based on the vehicle safety information and the classification results;

[0064] Step 204, using the emergency response module to generate emergency response information according to the emergency response strategy formulated by the safety and defect analysis module and sending it to the vehicle execution system in the original vehicle system of the automobile to perform emergency control of the autonomous driving vehicle.

[0065] The content of the above method is based on the same concept as the embodiment of the system of the present invention. For the specific content, please refer to the description in the embodiment of the system of the present invention, and it will not be repeated here.

[0066] It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0067] A person of ordinary skill in the art can understand that all or part of the steps of implementing the above method embodiments can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiments; and the aforementioned storage medium includes: ROM, RAM, magnetic disk or optical disk, etc., various media that can store program codes.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A vehicle-side safety protection system for an autonomous driving vehicle, characterized in that: It is arranged on the vehicle side and connected with the original vehicle system of the vehicle. The original vehicle system of the vehicle includes a vehicle networking system, a vehicle automatic driving system and a vehicle execution system. The vehicle side safety protection system includes: a risk identification module, a safety and defect analysis module and an emergency response module; The risk identification module is connected to the original vehicle system of the automobile and is used to obtain vehicle safety information from the original vehicle system of the automobile to identify expected functional safety risks and functional safety risks; the vehicle safety information includes the vehicle state vector and the state vectors of surrounding traffic participants for scenario risk assessment, operation data for monitoring the driver's human-computer interaction behavior, and the status signals of sensors, communications and controllers of the vehicle's automatic driving system; The safety and defect analysis module is used to perform fault analysis and source tracing according to the real-time identification results of the risk identification module, and to calculate and classify the comprehensive risk value, so as to determine whether to perform emergency disposal according to the classification results, and if so, formulate an emergency disposal strategy based on the vehicle safety information and the classification results; The emergency response module is used to generate emergency response information according to the emergency response strategy formulated by the safety and defect analysis module and send it to the vehicle execution system to perform emergency control of the autonomous driving vehicle.

2. The system according to claim 1, characterized in that The risk identification module includes a vehicle driving risk identification module, a human-computer interaction monitoring module and a vehicle functional safety risk identification module; The vehicle driving risk identification module is used to evaluate the driving risk value in the current traffic scenario based on the risk model, the vehicle state vector and the state vectors of surrounding traffic participants; The human-machine interaction monitoring module is used to monitor the operation data of the driver's human-machine interaction behavior to identify the driver's misuse or improper operation behavior and determine the personnel misuse factor; The vehicle functional safety risk identification module is used to detect the status signals of the sensors, communications and controllers of the vehicle's automatic driving system, and determine the fault results and functional safety risk values.

3. The system according to claim 2, characterized in that The driving risk value is evaluated in the following manner: Determine the risk indicator value ITTC based on the collision time: Where D x is the lateral distance between the vehicle and other vehicles, D y is the longitudinal distance between the vehicle and other vehicles, L w is the vehicle width, L l is the length of the vehicle, V rx V is the relative lateral speed between the vehicle and other vehicles, ry A is the relative longitudinal speed between the vehicle and other vehicles, rx A is the relative lateral acceleration between the vehicle and the other vehicle, ry is the longitudinal relative acceleration between the vehicle and other vehicles, a is the influence coefficient of the relative acceleration between the vehicle and other vehicles; The ratio of the vehicle's speed to the road speed limit is used as the correlation coefficient λ for calculating the driving risk value. The calculation formula is: In the formula, v is the speed of the vehicle, v l Set speed limits for roads; Then the driving risk value r under the current traffic scenario is: r = exp(-λ·ITTC).

4. The system according to claim 2, characterized in that The vehicle functional safety risk identification module is also used to adjust the fault detection priority based on the high-risk traffic scenario when the vehicle driving risk identification module evaluates a high-risk traffic scenario, so as to prioritize the operation of key safety components in the current traffic scenario.

5. The system according to claim 2, characterized in that The safety and defect analysis module at least includes a fault tracing analysis module, a defect analysis module, a safety calculation and classification module and an emergency response strategy module; The input end of the fault tracing analysis module is connected to the vehicle functional safety risk identification module, which is used to use a hybrid algorithm based on a physical model and data-driven, establish a system fault propagation model, use an artificial intelligence algorithm based on a long short-term memory network to infer the causal relationship between time series, locate the fault location and type, and complete fault tracing; The input end of the defect analysis module is connected to the vehicle functional safety risk identification module, which is used to collect vehicle defect clues through multiple channels, and use clustering methods to perform defect correlation analysis, classify the same or similar faults that occur in different safety events of the vehicle, and then use association analysis to mine and summarize the rules with common attributes in multi-source data to determine the root cause of the fault; The safety calculation and classification module is used to determine a comprehensive risk value based on the driving risk value output by the vehicle driving risk identification module, the personnel misuse factor output by the human-computer interaction monitoring module, and the functional safety risk value output by the vehicle functional safety risk identification module, and complete the safety classification through a clustering algorithm based on fuzzy theory; The emergency response strategy module is used to formulate a driving path based on the vehicle safety information and determine the braking urgency of the driving path based on the classification result.

6. The system according to claim 5, characterized in that The security and defect analysis module also includes a security log generation module; The input end of the security log generation module is connected to the risk identification module, the fault tracing analysis module, the defect analysis module, the security calculation and classification module and the emergency response strategy module, and the output end is connected to the security brain system located in the cloud; the security log generation module is used to record the vehicle operating status, driver operation data, and faults of the vehicle's automatic driving system when a security incident occurs, and report them to the security brain system in the cloud.

7. The system according to claim 1, characterized in that The emergency response module at least includes: a lateral response module and a longitudinal response module; The lateral response module is used to generate emergency response information for the vehicle steering system based on the emergency response strategy to control the direction of the vehicle; The longitudinal response module is used to generate emergency response information for vehicle speed and acceleration based on an emergency response strategy to control the power output and braking force output of the vehicle.

8. The system according to claim 7, characterized in that The emergency handling module is also used to: when a fault causes the communication data between the systems to fail, generate emergency handling information using the vehicle safety information at the last moment before the fault occurs to control the vehicle.

9. The system according to claim 8, characterized in that When a fault causes the communication data between the systems to fail, the longitudinal response module is used to calculate the safe driving distance in real time using the deceleration model and decelerate based on the sliding mode control algorithm to stop the vehicle within the safe distance; The lateral response module is used to control the vehicle steering system using the effective expected path finally issued by the vehicle automatic driving system.

10. A vehicle-side safety protection method for an autonomous driving vehicle based on the system according to any one of claims 1 to 9, characterized in that: Applied to the vehicle side, the method includes: The risk identification module is used to obtain vehicle safety information from the original vehicle system of the automobile to identify expected functional safety risks and functional safety risks; the vehicle safety information includes the vehicle state vector and the state vectors of surrounding traffic participants for scenario risk assessment, operation data for monitoring the driver's human-computer interaction behavior, and the state signals of sensors, communications and controllers of the vehicle automatic driving system in the original vehicle system of the automobile; Using the safety and defect analysis module to perform fault analysis and source tracing according to the real-time identification results of the risk identification module, and to calculate and classify the comprehensive risk value, so as to determine whether to perform emergency disposal according to the classification results, and if so, formulate an emergency disposal strategy based on the vehicle safety information and the classification results; The emergency response module generates emergency response information according to the emergency response strategy formulated by the safety and defect analysis module and sends it to the vehicle execution system in the original vehicle system of the automobile to perform emergency control of the autonomous driving vehicle.

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