Method, device and equipment for controlling autonomous vehicle and autonomous vehicle

Abstract

The invention provides a method and device for controlling an automatic driving vehicle, electronic equipment, a computer readable storage medium, a computer program product and the automatic driving vehicle, and relates to the field of artificial intelligence, in particular to the technical field of automatic driving and intelligent traffic. According to the implementation scheme, the driving state of the automatic driving vehicle and the state of at least one safety component in the automatic driving vehicle are obtained; determining a risk scene of the autonomous vehicle according to the state of at least one safety component in the one or more safety components in response to the driving state of the autonomous vehicle indicating that the autonomous vehicle is driving; and performing a safety control action corresponding to the risk scenario of the autonomous vehicle.

Description

Technical Field

[0001] The present disclosure relates to the field of artificial intelligence, and in particular to the field of autonomous driving and intelligent transportation technology, and specifically to a method, device, electronic device, computer-readable storage medium, computer program product, and autonomous driving vehicle for controlling an autonomous driving vehicle. Background Art

[0002] With the rapid development of autonomous driving technology, the application of autonomous driving vehicles in passenger operations is increasing. During the driving of an autonomous driving vehicle, passengers may open the door and try to get off the vehicle before the vehicle stops or at a high speed, which poses a great safety risk. Therefore, it is expected that corresponding safety control actions will be taken in case the customer forcibly gets off the vehicle during the driving of the autonomous driving vehicle.

[0003] The methods described in this section are not necessarily methods that have been previously conceived or employed. Unless otherwise indicated, it should not be assumed that any method described in this section is considered to be prior art simply because it is included in this section. Similarly, unless otherwise indicated, the issues mentioned in this section should not be considered to have been recognized in any prior art. Summary of the invention

[0004] The present disclosure provides a method, an apparatus, an electronic device, a computer-readable storage medium, a computer program product, and an autonomous driving vehicle for controlling an autonomous driving vehicle.

[0005] According to one aspect of the present disclosure, a method for controlling an autonomous driving vehicle is provided, comprising: obtaining a driving state of the autonomous driving vehicle and a state of at least one safety component in the autonomous driving vehicle; in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, determining a risk scenario of the autonomous driving vehicle based on a state of at least one safety component among one or more safety components; and executing a safety control action corresponding to the risk scenario of the autonomous driving vehicle.

[0006] According to another aspect of the present disclosure, a device for controlling an autonomous driving vehicle is provided, including: an acquisition unit, configured to acquire a driving state of the autonomous driving vehicle and a state of at least one safety component in the autonomous driving vehicle; a risk scenario determination unit, configured to determine a risk scenario of the autonomous driving vehicle according to a state of at least one safety component among one or more safety components in response to an indication from the driving state of the autonomous driving vehicle that the autonomous driving vehicle is driving; and an action execution unit, configured to execute a safety control action corresponding to the risk scenario of the autonomous driving vehicle.

[0007] According to another aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor so that the at least one processor can execute the method described in the present disclosure.

[0008] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided. The computer instructions are used to cause a computer to execute the method described in the present disclosure.

[0009] According to another aspect of the present disclosure, a computer program product is provided, comprising a computer program, which implements the method described in the present disclosure when executed by a processor.

[0010] According to another aspect of the present disclosure, an autonomous driving vehicle is provided, comprising an electronic device as described in the present disclosure.

[0011] According to another aspect of the present disclosure, an edge computing device is provided, including the electronic device according to the present disclosure.

[0012] According to one or more embodiments of the present disclosure, by accurately detecting changes in the status of various vehicle components, the current behavior status of passengers can be accurately judged, and corresponding safety measures can be taken accordingly to effectively reduce the potential risks brought about by passengers forcibly getting off the vehicle during the driving of the autonomous driving vehicle.

[0013] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings exemplarily illustrate the embodiments and constitute a part of the specification, and together with the text description of the specification, are used to explain the exemplary implementation of the embodiments. The embodiments shown are for illustrative purposes only and do not limit the scope of the claims. In all drawings, the same reference numerals refer to similar but not necessarily identical elements.

[0015] Figure 1 A schematic diagram showing an exemplary system in which the various methods described herein may be implemented according to an embodiment of the present disclosure;

[0016] Figure 2 A flowchart of a method for controlling an autonomous driving vehicle according to an embodiment of the present disclosure is shown;

[0017] Figures 3A-3C A timing diagram of a method for controlling an autonomous driving vehicle according to an embodiment of the present disclosure is shown;

[0018] Figure 4 A block diagram of a control system for an autonomous driving vehicle according to an embodiment of the present disclosure is shown;

[0019] Figure 5 A structural block diagram of an apparatus for controlling an autonomous driving vehicle according to an embodiment of the present disclosure is shown; and

[0020] Figure 6 A structural block diagram of an exemplary electronic device that can be used to implement the embodiments of the present disclosure is shown. DETAILED DESCRIPTION

[0021] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0022] In the present disclosure, unless otherwise specified, the use of the terms "first", "second", etc. to describe various elements is not intended to limit the positional relationship, timing relationship, or importance relationship of these elements, and such terms are only used to distinguish one element from another element. In some examples, the first element and the second element may refer to the same instance of the element, and in some cases, based on the description of the context, they may also refer to different instances.

[0023] The terms used in the description of various examples in this disclosure are only for the purpose of describing specific examples and are not intended to be limiting. Unless the context clearly indicates otherwise, if the number of elements is not specifically limited, the element can be one or more. In addition, the term "and / or" used in this disclosure covers any one of the listed items and all possible combinations.

[0024] The embodiments of the present disclosure will be described in detail below with reference to the accompanying drawings.

[0025] Figure 1 FIG. 1 is a schematic diagram of an exemplary system 100 in which various methods and apparatuses described herein may be implemented according to an embodiment of the present disclosure. Figure 1 , the system 100 includes a motor vehicle 110 , a server 120 , and one or more communication networks 130 coupling the motor vehicle 110 to the server 120 .

[0026] In an embodiment of the present disclosure, the motor vehicle 110 may include a computing device according to an embodiment of the present disclosure and / or be configured to perform a method according to an embodiment of the present disclosure.

[0027] The server 120 may run one or more services or software applications for controlling the method of the autonomous vehicle. In some embodiments, the server 120 may also provide other services or software applications that may include non-virtual environments and virtual environments. Figure 1 In the configuration shown, the server 120 may include one or more components that implement the functions performed by the server 120. These components may include software components, hardware components, or a combination thereof that can be executed by one or more processors. A user of the motor vehicle 110 may in turn utilize one or more client applications to interact with the server 120 to utilize the services provided by these components. It should be understood that a variety of different system configurations are possible, which may differ from the system 100. Therefore, Figure 1 is one example of a system for implementing the various methods described herein and is not intended to be limiting.

[0028] Server 120 may include one or more general purpose computers, dedicated server computers (e.g., PC (personal computer) servers, UNIX servers, mid-range servers), blade servers, mainframe computers, server clusters, or any other suitable arrangement and / or combination. Server 120 may include one or more virtual machines running virtual operating systems, or other computing architectures involving virtualization (e.g., one or more flexible pools of logical storage devices that may be virtualized to maintain a server's virtual storage device). In various embodiments, server 120 may run one or more services or software applications that provide the functionality described below.

[0029] The computing units in the server 120 may run one or more operating systems including any of the above operating systems and any commercially available server operating systems. The server 120 may also run any of a variety of additional server applications and / or middle-tier applications, including HTTP servers, FTP servers, CGI servers, JAVA servers, database servers, etc.

[0030] In some embodiments, server 120 may include one or more applications to analyze and consolidate data feeds and / or event updates received from motor vehicle 110. Server 120 may also include one or more applications to display data feeds and / or real-time events via one or more display devices of motor vehicle 110.

[0031] The network 130 may be any type of network known to those skilled in the art that may support data communications using any of a variety of available protocols, including, but not limited to, TCP / IP, SNA, IPX, etc. By way of example only, the one or more networks 130 may be a satellite communications network, a local area network (LAN), an Ethernet-based network, a token ring, a wide area network (WAN), the Internet, a virtual network, a virtual private network (VPN), an intranet, an extranet, a public switched telephone network (PSTN), an infrared network, a wireless network (including, for example, Bluetooth, WiFi), and / or any combination of these and other networks.

[0032] The system 100 may also include one or more databases 150. In some embodiments, these databases may be used to store data and other information. For example, one or more of the databases 150 may be used to store information such as audio files and video files. The data repository 150 may reside in various locations. For example, the data repository used by the server 120 may be local to the server 120, or may be remote from the server 120 and may communicate with the server 120 via a network-based or dedicated connection. The data repository 150 may be of different types. In some embodiments, the data repository used by the server 120 may be a database, such as a relational database. One or more of these databases may store, update, and retrieve data to and from the database in response to a command.

[0033] In some embodiments, one or more of the databases 150 may also be used by an application to store application data. The databases used by the application may be different types of databases, such as a key-value store, an object store, or a conventional store backed by a file system.

[0034] The motor vehicle 110 may include a sensor 111 for sensing the surrounding environment. The sensor 111 may include one or more of the following sensors: a visual camera, an infrared camera, an ultrasonic sensor, a millimeter wave radar, and a laser radar (LiDAR). Different sensors may provide different detection accuracy and range. The camera may be installed at the front, rear, or other location of the vehicle. The visual camera may capture the situation inside and outside the vehicle in real time and present it to the driver and / or passengers. In addition, by analyzing the images captured by the visual camera, information such as traffic light indications, intersection conditions, and the operating status of other vehicles may be obtained. The infrared camera may capture objects under night vision conditions. Ultrasonic sensors may be installed around the vehicle to measure the distance of objects outside the vehicle from the vehicle using the characteristics of strong ultrasonic directionality. Millimeter wave radars may be installed at the front, rear, or other location of the vehicle to measure the distance of objects outside the vehicle from the vehicle using the characteristics of electromagnetic waves. Laser radars may be installed at the front, rear, or other location of the vehicle to detect object edges and shape information, thereby identifying and tracking objects. Due to the Doppler effect, the radar device may also measure the speed change of the vehicle and the moving object.

[0035] The motor vehicle 110 may also include a communication device 112. The communication device 112 may include a satellite positioning module capable of receiving satellite positioning signals (e.g., Beidou, GPS, GLONASS, and GALILEO) from satellites 141 and generating coordinates based on these signals. The communication device 112 may also include a module for communicating with a mobile communication base station 142, and the mobile communication network may implement any suitable communication technology, such as GSM / GPRS, CDMA, LTE, and other current or evolving wireless communication technologies (e.g., 5G technology). The communication device 112 may also have a vehicle-to-vehicle or vehicle-to-everything (V2X) module, which is configured to implement, for example, vehicle-to-vehicle (V2V) communication with other vehicles 143 and vehicle-to-infrastructure (V2I) communication with infrastructure 144. In addition, the communication device 112 may also have a module configured to communicate with a user terminal 145 (including but not limited to a smartphone, a tablet computer, or a wearable device such as a watch) by, for example, using a wireless LAN or Bluetooth of the IEEE802.11 standard. Using the communication device 112, the motor vehicle 110 may also access the server 120 via the network 130.

[0036] The motor vehicle 110 may also include a control device 113. The control device 113 may include a processor that communicates with various types of computer-readable storage devices or media, such as a central processing unit (CPU) or a graphics processing unit (GPU), or other dedicated processors. The control device 113 may include an automatic driving system for automatically controlling various actuators in the vehicle. The automatic driving system is configured to control the powertrain, steering system, and braking system of the motor vehicle 110 (not shown) via multiple actuators in response to inputs from multiple sensors 111 or other input devices to control acceleration, steering, and braking, respectively, without human intervention or limited human intervention. Some processing functions of the control device 113 can be implemented through cloud computing. For example, some processing can be performed using an on-board processor, while other processing can be performed using computing resources in the cloud. The control device 113 can be configured to perform a method according to the present disclosure. In addition, the control device 113 can be implemented as an example of a computing device on the motor vehicle side (client) according to the present disclosure.

[0037] It is understandable that the motor vehicle does not necessarily have to include the various vehicle-side sensing devices described above. According to some embodiments of the present invention, safe and reliable autonomous driving can still be achieved even when the motor vehicle does not have or does not enable these vehicle-side sensing devices.

[0038] Autonomous vehicles are extremely complex systems. The actual driving environment in which they are located is complex and changeable, which makes the safety of autonomous vehicles uncertain. Safety of the intended functionality (SOTIF) is an important part of the autonomous driving safety system, mainly to deal with the hazards caused by insufficient autonomous driving functions and foreseeable human misuse. The intended functional safety for single-vehicle autonomous driving (AD SOTIF) mainly involves five major aspects: perception, prediction, decision-making, control and human-computer interaction. Among them, perception and prediction are the outstanding problems currently faced.

[0039] Figure 1 The system 100 may be configured and operated in various ways to enable the application of various methods and apparatuses described in the present disclosure.

[0040] In the embodiments described in the present disclosure, “obstacles” refer to various objects that exist in autonomous driving and may interact with the vehicle performing autonomous driving or potentially affect its trajectory.

[0041] In the embodiments described in the present disclosure, an "autonomous driving vehicle" refers to a vehicle equipped with an autonomous driving system, which is capable of assisting the vehicle's autonomous driving and navigation under fully automatic or partially manual operation, including but not limited to supporting the driving process through functions such as environmental perception, path planning, and vehicle control, and can also be referred to as a "main vehicle."

[0042] In the embodiments described in the present disclosure, a "lane" may be a real lane that actually exists physically, wherein the real lane is defined by physical facilities such as road markings, curbs, and guardrails. According to other embodiments, a lane in the present disclosure may be a virtual lane marked in a situation where there is no real lane (e.g., an intersection), for example, a virtual lane generated based on road geometry, vehicle travel trajectory, and road usage habits.

[0043] At present, all vehicle door locks are equipped with emergency unlocking functions. For example, according to the standard "GB 15086 Performance Requirements and Test Methods for Automobile Door Locks and Door Retainers", it is stipulated that: Each door should be equipped with at least one locking device, which should prevent the operation of the outer door handle and other outer lock opening controls when locked. The locking device should be equipped with an operating device in the vehicle, and the operating device should be able to lock and unlock the device. The purpose of the above emergency unlocking function is to prevent the accidental rear door lock failure, resulting in the door being unable to open, and the occupants being unable to open the door in time to save themselves. However, as mentioned above, passengers may unlock the locks to forcefully get off the vehicle while the autonomous vehicle is driving, resulting in greater safety risks.

[0044] Therefore, according to an embodiment of the present disclosure, a method for controlling an autonomous driving vehicle is provided. Figure 2 FIG. 2 is a flow chart of a method 200 for controlling an autonomous driving vehicle according to an embodiment of the present disclosure. Figure 2 As shown, the method 200 includes:

[0045] Step S210: Acquire the driving state of the autonomous driving vehicle and the state of at least one safety component in the autonomous driving vehicle;

[0046] Step S220: in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, determining a risk scenario of the autonomous driving vehicle according to a state of at least one safety component among the one or more safety components; and

[0047] Step S230: Execute safety control actions corresponding to risk scenarios of the autonomous driving vehicle.

[0048] According to an embodiment of the present disclosure, during the driving of an autonomous vehicle, risk scenarios faced by the vehicle are accurately identified based on the safety components of the autonomous vehicle (e.g., locks, doors and / or seat belts), and corresponding handling strategies are adopted to reduce the risks brought about by passengers forcibly getting off the vehicle during the driving of the autonomous vehicle.

[0049] According to some embodiments, the driving status of the autonomous driving vehicle indicates that the autonomous driving vehicle is driving, has not yet started a journey, or has ended a journey.

[0050] According to some embodiments, obtaining the driving state of the autonomous driving vehicle includes: obtaining order information of the autonomous driving vehicle, wherein the order information includes information indicating whether the order has been started; and determining the driving state of the autonomous driving vehicle according to the order information of the autonomous driving vehicle. According to the embodiments as described in the present disclosure, the driving state of the autonomous driving vehicle is determined according to the obtained order information of the autonomous driving vehicle, and the driving state of the autonomous driving vehicle can be accurately judged.

[0051] According to some embodiments, the autonomous driving vehicle may obtain order information from a server in a control system for the autonomous driving vehicle.

[0052] According to some embodiments, first, the passenger submits travel demand information including relevant data such as the place of origin and the destination on the terminal device on the passenger side (for example, a travel service application); secondly, the terminal device on the passenger side sends a travel order generated based on the travel demand information submitted by the passenger to the travel service server; then, after receiving the order information from the passenger, the travel service server will process it, check the available autonomous driving vehicles, and dispatch the order information to a suitable autonomous driving vehicle.

[0053] According to some embodiments, the vehicle can obtain the order information issued by the travel application server in a one-time manner, or obtain the order information from the travel application server in a periodic request manner. For example, the order information on the travel application server can be updated in real time based on vehicle feedback to ensure that it meets the current travel requirements.

[0054] According to some embodiments, in an order-based passenger operation scenario (e.g., a taxi operation scenario or an online car-hailing operation scenario), the driving state of the vehicle is determined based on the order information. For example, when the autonomous driving vehicle has received an order but the passenger has not yet fully taken a seat (e.g., when it is detected that the car locks are not locked, the doors are not closed, and / or the seat belts are not fastened), the driving state of the vehicle is that the autonomous driving vehicle has not yet started the journey. For another example, when the passenger has boarded the vehicle (e.g., when it is detected that the car locks have changed from unlocked to locked, the doors have changed from closed to closed, and the seat belts have changed from unfastened to fastened), and the autonomous driving vehicle starts to drive to the destination, the driving state of the vehicle is that the autonomous driving vehicle is in motion. For another example, when the autonomous driving vehicle arrives at the destination, the autonomous driving vehicle has ended the journey.

[0055] According to some embodiments, at least one safety component includes at least one of a lock, a door, and a seat belt of the autonomous vehicle. According to embodiments as described in the present disclosure, the current behavior state of the passenger can be determined by the state of existing safety components (e.g., locks, doors, and / or seat belts) of the autonomous vehicle without the need for additional safety components.

[0056] According to some embodiments, the safety components of the autonomous driving vehicle in the acquired state may include locks, doors, and seat belts that have corresponding positional relationships with each other. According to some embodiments, the safety components may be locks installed on corresponding doors, or doors and locks on doors located on the same side or row as the seat belts (e.g., rear seat belts and rear doors and / or rear door locks, or passenger seat belts and passenger door and / or passenger door locks), to ensure that the safety system can effectively associate these components to achieve more accurate monitoring and control.

[0057] According to some embodiments, after the autonomous driving vehicle picks up a passenger, the passenger gets on the vehicle and changes the state of the safety components of the autonomous driving vehicle accordingly, for example, changing the state of the vehicle lock from locked to unlocked, changing the state of the vehicle door from open to closed, and changing the state of the seat belt from unfastened to fastened. According to some embodiments, during the process of the passenger getting on the vehicle, since the autonomous driving vehicle is not in motion, there is no need to adopt corresponding safety control actions.

[0058] According to some embodiments, after the passenger changes the status of the safety components of his / her corresponding autonomous driving vehicle to a safe status (for example, changes the status of his / her corresponding door to closed, changes the status of his / her corresponding lock to locked, and / or changes the status of his / her corresponding seat belt to fastened), the autonomous driving vehicle can be controlled to start autonomous driving.

[0059] According to some embodiments, the safety components of the autonomous driving vehicle corresponding to the passenger may be safety components corresponding to the passenger's boarding position. For example, when the passenger opens the rear door to enter the autonomous driving vehicle, the safety components of the autonomous driving vehicle corresponding to the passenger are the door that the passenger opens to enter the vehicle, the lock on the door, and the seat belt in the rear seat where the passenger sits.

[0060] According to some embodiments, when an autonomous driving vehicle is driving, if the vehicle's safety state remains in a safe state (for example, the state of the autonomous driving vehicle's doors remains closed, the state of the autonomous driving vehicle's locks remains locked, and the corresponding seat belts of the passengers remain fastened), there is no need to take corresponding safety control actions.

[0061] According to some embodiments, at least one safety component includes a lock, a door, and a seat belt of the autonomous vehicle, and wherein, in response to the driving state of the autonomous vehicle indicating that the autonomous vehicle is driving, determining the risk scenario of the autonomous vehicle according to the state of at least one of the one or more safety components includes: in response to the driving state of the autonomous vehicle indicating that the autonomous vehicle is driving, and in response to the state of the lock changing from locked to unlocked, the state of the door remaining closed, and the state of the seat belt remaining fastened, determining that the risk scenario of the autonomous vehicle is a first risk scenario, and performing a safety control action corresponding to the risk scenario of the autonomous vehicle includes: in response to the risk scenario of the autonomous vehicle being the first risk scenario, playing a first voice warning. According to the embodiments as described in the present disclosure, in the case where the state of the lock changes from locked to unlocked, the state of the door remains closed, and the state of the seat belt remains fastened, the passenger's willingness to get off the vehicle is relatively weak, and thus only the first voice warning is played without affecting the driving state of the autonomous vehicle.

[0062] Figure 3A A timing diagram is shown of a method for controlling an autonomous driving vehicle according to an embodiment of the present disclosure, and when a risk scenario of the autonomous driving vehicle is a first risk scenario.

[0063] According to some embodiments, during the period from time t0 to time t1, during the driving of the autonomous driving vehicle, the passenger has not taken any action to attempt to get off the vehicle, wherein the door lock state 310 remains locked, the door state 320 remains closed, and the seat belt state 330 remains fastened.

[0064] According to some embodiments, at time t1, event 301 occurs (i.e., the passenger forcibly unlocks the vehicle lock but does not push open the door or unfasten the seat belt), i.e., the door lock state 310 changes from locked to unlocked, the door state 320 remains closed, and the seat belt state 330 remains fastened, and accordingly, starting from time t1, the first voice warning is played.

[0065] According to some embodiments, at least one safety component includes a lock, a door, and a seat belt of the autonomous driving vehicle, and wherein, in response to a driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, determining a risk scenario of the autonomous driving vehicle based on the state of at least one safety component among the one or more safety components includes: in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and, in response to the state of the lock changing from locked to unlocked, the state of the door changing from closed to open, and the state of the seat belt remaining fastened, determining that the risk scenario of the autonomous driving vehicle is a second risk scenario, and executing a safety control action corresponding to the risk scenario of the autonomous driving vehicle includes: in response to the risk scenario of the autonomous driving vehicle being the second risk scenario, playing a second voice warning, limiting the speed of the autonomous driving vehicle to less than a speed threshold, and turning on the hazard lights of the autonomous driving vehicle.

[0066] According to the embodiments as described in the present disclosure, when the state of the vehicle lock changes from locked to unlocked, the state of the vehicle door changes from closed to open, and the state of the seat belt remains fastened, the passenger's willingness to get off the vehicle is relatively stronger, and thus, in addition to playing the second voice warning, the speed of the autonomous driving vehicle is limited, and the double flashes of the autonomous driving vehicle are turned on to reduce the safety risks brought about by the passenger's forced getting off the vehicle, and to alert surrounding vehicles; and, since the state of the seat belt remains fastened, the passenger cannot get off the vehicle immediately, and only the speed of the autonomous driving vehicle is limited, and the autonomous driving vehicle is not braked to a stop, so that the driving state of the autonomous driving vehicle can be maintained as much as possible while reducing safety risks.

[0067] According to some embodiments, the speed threshold is determined based on the upper speed limit of the road where the autonomous driving vehicle is located. For example, the speed threshold is obtained by multiplying the upper speed limit of the road where the autonomous driving vehicle is located by a preset ratio (for example, 50%). According to some embodiments, the above speed threshold is provided to the autonomous driving computing unit in the autonomous driving vehicle so that the autonomous driving computing unit controls the autonomous driving vehicle according to the speed limit condition.

[0068] According to some embodiments, the first voice warning and the second voice warning may be voice warnings with different contents, for example, the first voice warning is "Do not unlock the door while driving unless it is an emergency", and the second voice warning is "Do not open the door while driving unless it is an emergency". According to some embodiments, the first voice warning and the second voice warning may be voice warnings with the same contents, for example, the first voice warning and the second voice warning are both "Do not get off the vehicle without permission while driving unless it is an emergency".

[0069] Figure 3BA timing diagram is shown of a method for controlling an autonomous driving vehicle according to an embodiment of the present disclosure, and when the risk scenario of the autonomous driving vehicle is a second risk scenario.

[0070] According to some embodiments, during the period from time t0 to time t1, during the driving of the autonomous driving vehicle, the passenger has not taken any action to attempt to get off the vehicle, wherein the door lock state 310 remains locked, the door state 320 remains closed, and the seat belt state 330 remains fastened.

[0071] According to some embodiments, at time t1, event 301 occurs (i.e., the passenger forcibly unlocks the vehicle lock but does not push open the door or unfasten the seat belt), i.e., the door lock state 310 changes from locked to unlocked, the door state 320 remains closed, and the seat belt state 330 remains fastened, and accordingly, the first voice warning is played from time t1 to time t2.

[0072] According to some embodiments, at time t2, event 302 occurs (i.e., the passenger forcibly opens the vehicle lock and pushes open the door, but does not unfasten the seat belt), that is, the door state 320 changes from closed to open, the door lock state 310 remains unlocked, and the seat belt state 330 remains fastened, and accordingly, starting from time t2, a second voice warning is played, the speed of the autonomous driving vehicle is limited to less than the speed threshold, and the hazard lights of the autonomous driving vehicle are turned on.

[0073] According to some embodiments, at least one safety component includes a lock, a door, and a seat belt of the autonomous driving vehicle, and in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, determining a risk scenario of the autonomous driving vehicle based on the state of at least one safety component among the one or more safety components includes: in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and in response to the state of the lock changing from locked to unlocked, the state of the door changing from closed to open, and the state of the seat belt changing from fastened to unfastened, determining that the risk scenario of the autonomous driving vehicle is a third risk scenario, and performing a safety control action corresponding to the risk scenario of the autonomous driving vehicle includes: in response to the risk scenario of the autonomous driving vehicle being the third risk scenario, controlling the autonomous driving vehicle to brake to a stop based on the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle.

[0074] According to the embodiment as described in the present disclosure, when the state of the vehicle lock changes from locked to unlocked, the state of the vehicle door changes from closed to open, and the state of the seat belt changes from fastened to unfastened, the passenger's willingness to get off the vehicle is relatively strongest. Therefore, the autonomous driving vehicle is controlled to brake to a stop without colliding with surrounding obstacles to fully reduce the risk of passengers forcibly getting off the vehicle.

[0075] According to some embodiments, obstacles around the autonomous driving vehicle include various objects and environmental factors that may affect the safe driving of the vehicle. According to some embodiments, obstacles can be divided into mobile obstacles and stationary obstacles, wherein mobile obstacles include pedestrians, other vehicles, non-motor vehicles and other objects that may change positions at any time, and stationary obstacles include road signs, buildings, trees, guardrails and other objects fixed in specific positions. According to some embodiments, the autonomous driving vehicle monitors the surrounding environment in real time through sensors installed thereon (e.g., radar, lidar and camera) so as to enable the autonomous driving vehicle to avoid collision risks by collecting and analyzing data of obstacles.

[0076] According to some embodiments, the closest obstacle in front of the autonomous vehicle is determined to control the deceleration of the autonomous vehicle.

[0077] According to some embodiments, based on the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle, controlling the autonomous driving vehicle to brake to a stop includes: for each of the one or more obstacles in front of the autonomous driving vehicle, determining the distance between the obstacle and the autonomous driving vehicle as the obstacle distance of the obstacle; determining the obstacle with the smallest obstacle distance among the one or more obstacles in front of the autonomous driving vehicle as the front obstacle; and controlling the deceleration of the autonomous driving vehicle based on the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle. According to the embodiments as described in the present disclosure, based on the distance between the front obstacle (i.e., the closest obstacle in front of the autonomous driving vehicle) and the autonomous driving vehicle and the real-time speed of the autonomous driving vehicle, the autonomous driving vehicle is controlled to decelerate to a complete stop, thereby fully avoiding the risk of collision with the obstacle and ensuring the safety of passengers.

[0078] According to some embodiments, according to the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle, controlling the autonomous driving vehicle to brake to a stop includes: determining an obstacle located in the lane where the autonomous driving vehicle is located, in front of the autonomous driving vehicle and closest to the autonomous driving vehicle as a front obstacle; and controlling the deceleration of the autonomous driving vehicle according to the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle, wherein the obstacle distance of the front obstacle is the distance between the front obstacle and the autonomous driving vehicle. According to the embodiments as described in the present disclosure, according to the distance between the obstacle located in the lane where the autonomous driving vehicle is located, in front of the autonomous driving vehicle and closest to the autonomous driving vehicle and the real-time speed of the autonomous driving vehicle, the autonomous driving vehicle is controlled to decelerate to a complete stop, thereby fully avoiding the risk of collision with the obstacle and ensuring the safety of passengers.

[0079] According to some embodiments, based on the obstacle distance of the obstacle ahead and the real-time speed of the autonomous driving vehicle, controlling the deceleration of the autonomous driving vehicle includes: controlling the deceleration of the autonomous driving vehicle to be less than a deceleration threshold, wherein the deceleration threshold is determined according to the following formula:

[0080] a tmax =-v t *v t / 2S t

[0081] Among them, a tmax is the deceleration threshold, v t is the real-time speed of the autonomous vehicle, S t is the obstacle distance of the obstacle ahead. According to the embodiments as described in the present disclosure, the speed threshold of the deceleration of the autonomous driving vehicle is determined according to the obstacle distance of the obstacle ahead and the real-time speed of the autonomous driving vehicle to avoid the autonomous driving vehicle from colliding with the obstacle ahead (i.e., the obstacle in front of the autonomous driving vehicle that is closest to it or the obstacle in the lane where the autonomous driving vehicle is located, in front of the autonomous driving vehicle and the closest to the autonomous driving vehicle).

[0082] Figure 3C A timing diagram is shown of a method for controlling an autonomous driving vehicle according to an embodiment of the present disclosure, and when the risk scenario of the autonomous driving vehicle is a third risk scenario.

[0083] According to some embodiments, during the period from time t0 to time t1, during the driving of the autonomous driving vehicle, the passenger has not taken any action to attempt to get off the vehicle, wherein the door lock state 310 remains locked, the door state 320 remains closed, and the seat belt state 330 remains fastened.

[0084] According to some embodiments, at time t1, event 301 occurs (i.e., the passenger forcibly unlocks the vehicle lock but does not push open the door or unfasten the seat belt), i.e., the door lock state 310 changes from locked to unlocked, the door state 320 remains closed, and the seat belt state 330 remains fastened, and accordingly, the first voice warning is played from time t1 to time t2.

[0085] According to some embodiments, at time t2, event 302 occurs (i.e., the passenger forcibly opens the vehicle lock and pushes open the door, but does not unfasten the seat belt), that is, the door state 320 changes from closed to open, the door lock state 310 remains unlocked, and the seat belt state 330 remains fastened, and accordingly, from time t2 to time t3, a second voice warning is played, the speed of the autonomous driving vehicle is limited to less than the speed threshold, and the hazard lights of the autonomous driving vehicle are turned on.

[0086] According to some embodiments, at time t3, event 303 occurs (i.e., the passenger forcibly opens the vehicle lock, pushes open the door, and unfastens the seat belt), that is, the seat belt state 330 changes from fastened to unfastened, the door state 320 remains open, and the door lock state 310 remains unlocked, and accordingly, starting from time t3, the autonomous driving vehicle is controlled to brake to a stop based on the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle.

[0087] It should be understood that Figures 3A-3C The event occurrence sequence shown in is only illustrative, and the event occurrence sequence in the present disclosure is not limited thereto.

[0088] According to some embodiments, when a passenger first unbuckles the seat belt but does not unlock the vehicle or push open the door, only a voice warning is played; when the passenger further unlocks the door, the voice warning continues to be played, wherein the content of the voice warning may be different from the voice warning when the passenger only unbuckles the seat belt; and, when the passenger further pushes open the door, the autonomous driving vehicle is braked to a stop based on the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle.

[0089] According to some embodiments, when the passenger first opens the door lock but does not unfasten the seat belt or push open the door, only a voice warning is played; when the passenger further unfastens the seat belt, the voice warning continues to be played, wherein the content of the voice warning may be different from the voice warning when the passenger only opens the door lock; and, when the passenger further pushes open the door, the autonomous driving vehicle is braked to a stop based on the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle.

[0090] Figure 4 A block diagram of a control system 400 for an autonomous driving vehicle according to an embodiment of the present disclosure is shown.

[0091] According to some embodiments, Figure 4 As shown, the control system 400 of the autonomous driving vehicle includes an autonomous driving vehicle 410, a travel service server 420 and a travel service terminal 430, wherein the autonomous driving vehicle 410 can be a reference Figure 1 The motor vehicle 110 described above, the travel service server 420 may be a reference Figure 1 The server 120 and the travel service terminal 430 described above may be referenced Figure 1 A user terminal 145 is described.

[0092] According to some embodiments, the travel service terminal 430 is a terminal for running a travel application, which can receive input from the passenger as described above to submit a travel order to the travel service server 420. According to some embodiments, the travel application on the travel service terminal 430 can be a local program installed on the local terminal, or can also be a web page program of a browser on the local terminal, wherein the travel application can be, for example, a taxi-hailing application.

[0093] According to some embodiments, the travel service server 420 is connected via a network (e.g., as shown in FIG. Figure 1 The described network 130) communicates with the autonomous driving vehicle 410 and the travel service terminal 430 to control the autonomous driving vehicle 410 according to the order from the travel service terminal 430.

[0094] According to some embodiments, the autonomous driving vehicle 410 includes a body control system 401, a vehicle door 4001, a vehicle lock 4002, a seat belt 4003, a drive / brake / steering unit 402, a vehicle speaker unit 403, an autonomous driving computing unit 404, and a communication unit 405.

[0095] According to some embodiments, the body control system 401, the drive / brake / steering unit 402, the vehicle speaker unit 403, and the autonomous driving computing unit 404 are connected via a communication bus 406 (eg, a CAN communication bus) for communication.

[0096] According to some embodiments, the vehicle body control system 401 may be connected to the vehicle door 4001, the vehicle lock 4002, and the seat belt 4003 to monitor the status of the vehicle door 4001, the vehicle lock 4002, and the seat belt 4003. According to some embodiments, the vehicle door control system 401 may also be connected to the driving component of the vehicle lock 4002 to control the vehicle lock 4002 to open or close. It should be understood that although Figure 4 Only one door 4001 , one lock 4002 and one seat belt 4003 are shown, but the number of doors 4001 , locks 4002 and seat belts 4003 may be multiple. For example, the autonomous driving vehicle 410 may include four doors 4001 , four locks 4002 and five seat belts 4003 .

[0097] According to some embodiments, the autonomous driving computing unit 404 is connected to the communication unit 405 to communicate with the travel service server 420 via the communication unit 405. According to some embodiments, the communication unit 405 may be a 4G / 5G communication unit.

[0098] According to some embodiments, the body control system 401, the vehicle door 4001, the vehicle lock 4002, the seat belt 4003, the drive / brake / steering unit 402 and the vehicle speaker unit 403 constitute the original vehicle system, while the autonomous driving computing unit 404, the communication unit 405, the travel service server 420 and the travel service terminal 430 constitute the autonomous driving system.

[0099] Figure 5 A structural block diagram of an apparatus for controlling an autonomous driving vehicle according to an embodiment of the present disclosure is shown.

[0100] According to the embodiments of the present disclosure, Figure 5 As shown, a device 500 for controlling an autonomous driving vehicle is also disclosed, including: an acquisition unit 510, configured to: acquire the driving state of the autonomous driving vehicle and the state of at least one safety component in the autonomous driving vehicle; a risk scenario determination unit 520, configured to: in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, determine the risk scenario of the autonomous driving vehicle according to the state of at least one safety component among the one or more safety components; and an execution action unit 530, configured to: execute a safety control action corresponding to the risk scenario of the autonomous driving vehicle.

[0101] Here, the operations of the above-mentioned units 510-530 of the device 500 are similar to the operations of the steps S210-S230 described above, and will not be repeated here.

[0102] According to some embodiments, the acquisition unit includes: an order acquisition subunit, configured to: acquire order information of the autonomous driving vehicle, wherein the order information includes information used to indicate whether the order has started; and a status determination subunit, configured to: determine the driving status of the autonomous driving vehicle based on the order information of the autonomous driving vehicle.

[0103] According to some embodiments, the at least one safety component includes at least one of a lock, a door, and a seat belt of the autonomous vehicle.

[0104] According to some embodiments, at least one safety component includes a lock, a door, and a seat belt of the autonomous driving vehicle, and wherein the risk scenario determination unit includes: a first risk scenario determination subunit, configured to: in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and, in response to the state of the lock changing from locked to unlocked, the state of the door remaining closed, and the state of the seat belt remaining fastened, determine that the risk scenario of the autonomous driving vehicle is a first risk scenario, and the execution action unit includes: a first execution subunit, configured to: in response to the risk scenario of the autonomous driving vehicle being the first risk scenario, play a first voice warning.

[0105] According to some embodiments, at least one safety component includes a lock, a door, and a seat belt of the autonomous driving vehicle, and wherein the risk scenario determination unit includes: a second risk scenario determination subunit, configured to: in response to the driving status of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and, in response to the state of the lock changing from locked to unlocked, the state of the door changing from closed to open, and the state of the seat belt remaining fastened, determine that the risk scenario of the autonomous driving vehicle is a second risk scenario, and the execution action unit includes: a second execution subunit, configured to: in response to the risk scenario of the autonomous driving vehicle being the second risk scenario, play a second voice warning, limit the speed of the autonomous driving vehicle to less than a speed threshold, and turn on the hazard lights of the autonomous driving vehicle.

[0106] According to some embodiments, the speed threshold is determined based on the upper speed limit of the road on which the autonomous vehicle is located.

[0107] According to some embodiments, at least one safety component includes a lock, a door, and a seat belt of the autonomous driving vehicle, and the risk scenario determination unit includes: a third risk scenario determination subunit, configured to: in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and, in response to the state of the lock changing from locked to unlocked, the state of the door changing from closed to open, and the state of the seat belt changing from fastened to unfastened, determine that the risk scenario of the autonomous driving vehicle is a third risk scenario, and the execution action unit includes: a third execution subunit, configured to: in response to the risk scenario of the autonomous driving vehicle being the third risk scenario, control the autonomous driving vehicle to brake to a stop according to the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle.

[0108] According to some embodiments, the third execution subunit includes: a distance determination subunit, configured to: for each obstacle among one or more obstacles in front of the autonomous driving vehicle, determine the distance between the obstacle and the autonomous driving vehicle as the obstacle distance of the obstacle; an obstacle determination subunit, configured to: determine the obstacle with the smallest obstacle distance among the one or more obstacles in front of the autonomous driving vehicle as the front obstacle; and a deceleration determination subunit, configured to: control the deceleration of the autonomous driving vehicle according to the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle.

[0109] According to some embodiments, the third execution subunit includes: an obstacle determination subunit, configured to determine an obstacle located in the lane where the autonomous driving vehicle is located, in front of the autonomous driving vehicle and closest to the autonomous driving vehicle as a front obstacle; and a deceleration determination subunit, configured to control the deceleration of the autonomous driving vehicle according to the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle, wherein the obstacle distance of the front obstacle is the distance between the front obstacle and the autonomous driving vehicle.

[0110] According to some embodiments, the deceleration determination subunit includes: a threshold determination subunit configured to: control the deceleration of the autonomous driving vehicle to be less than a deceleration threshold, wherein the deceleration threshold is determined according to the following formula:

[0111] a tmax =-v t *v t / 2S t

[0112] Among them, a tmax is the deceleration threshold, v t is the real-time speed of the autonomous vehicle, S t is the obstacle distance of the front obstacle.

[0113] In the technical solution disclosed herein, the acquisition, storage and application of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0114] According to an embodiment of the present disclosure, an electronic device, a readable storage medium and a computer program product are also provided.

[0115] According to another aspect of the present disclosure, an edge computing device is also provided. Optionally, the edge computing device may include not only electronic devices but also communication components, and the electronic devices and the communication components may be integrated or separately provided. The electronic devices may obtain data from roadside sensing devices (such as roadside cameras), such as pictures and videos, to perform image and video processing and data calculation, and then transmit the processing and calculation results to the cloud control platform via the communication components.

[0116] Optionally, the edge computing device may also be a road side computing unit (RSCU). Optionally, the electronic device itself may also have the perception data acquisition function and communication function, such as an AI camera. The electronic device can directly perform image and video processing and data calculation based on the acquired perception data, and then transmit the processing and calculation results to the cloud control platform.

[0117] Optionally, the cloud control platform performs processing in the cloud to perform image and video processing and data calculation. The cloud control platform can also be called a vehicle-road collaborative management platform, V2X platform, cloud computing platform, central system, cloud server, etc.

[0118] refer to Figure 6 , a block diagram of an electronic device 600 that can be used as a server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0119] like Figure 6 As shown, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0120] Multiple components in the electronic device 600 are connected to the I / O interface 605, including: an input unit 606, an output unit 607, a storage unit 608, and a communication unit 609. The input unit 606 can be any type of device that can input information to the electronic device 600. The input unit 606 can receive input digital or character information and generate key signal input related to user settings and / or function control of the electronic device, and can include but is not limited to a mouse, a keyboard, a touch screen, a track pad, a track ball, a joystick, a microphone, and / or a remote controller. The output unit 607 can be any type of device that can present information, and can include but is not limited to a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 608 can include but is not limited to a disk, an optical disk. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and can include but is not limited to a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth device, an 802.11 device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0121] The computing unit 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 601 performs the various methods and processes described above, such as method 200. For example, in some embodiments, the method 200 may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 600 via the ROM 602 and / or the communication unit 609. When the computer program is loaded into the RAM 603 and executed by the computing unit 601, one or more steps of the method 200 described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the method 200 in any other appropriate manner (e.g., by means of firmware).

[0122] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0124] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0125] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0126] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0127] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship with each other. The server may be a cloud server, a server of a distributed system, or a server combined with a blockchain.

[0128] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0129] Although the embodiments or examples of the present disclosure have been described with reference to the accompanying drawings, it should be understood that the above-mentioned methods, systems and devices are merely exemplary embodiments or examples, and the scope of the present invention is not limited by these embodiments or examples, but only by the claims after authorization and their equivalent scope. Various elements in the embodiments or examples can be omitted or replaced by their equivalent elements. In addition, each step can be performed in an order different from that described in the present disclosure. Further, the various elements in the embodiments or examples can be combined in various ways. It is important that with the evolution of technology, many elements described herein can be replaced by equivalent elements that appear after the present disclosure.

Claims

1. A method for controlling an autonomous vehicle, comprising: Acquire a driving state of the autonomous driving vehicle and a state of at least one safety component in the autonomous driving vehicle; In response to a driving state indication of the autonomous driving vehicle that the autonomous driving vehicle is driving, determining a risk scenario of the autonomous driving vehicle based on a state of at least one safety component among the one or more safety components; as well as Execute safety control actions corresponding to risk scenarios of the autonomous driving vehicle.

2. The method according to claim 1, wherein: The obtaining of the driving state of the automatic driving vehicle includes: Obtaining order information of the autonomous driving vehicle, wherein the order information includes information indicating whether the order has been started; and The driving status of the autonomous driving vehicle is determined based on the order information of the autonomous driving vehicle.

3. The method according to claim 1, wherein: The at least one safety component includes at least one of a lock, a door, and a seat belt of the autonomous vehicle.

4. The method according to claim 3, wherein: The at least one safety component includes a lock, a door, and a seat belt of the autonomous vehicle, and wherein: In response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, determining a risk scenario of the autonomous driving vehicle according to a state of at least one safety component among the one or more safety components includes: In response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and in response to the state of the vehicle lock changing from locked to unlocked, the state of the vehicle door remaining closed, and the state of the seat belt remaining fastened, determining that the risk scenario of the autonomous driving vehicle is a first risk scenario, and The executing of the safety control action corresponding to the risk scenario of the autonomous driving vehicle includes: In response to the risk scenario of the autonomous driving vehicle being the first risk scenario, playing a first voice warning.

5. The method according to claim 3, wherein: The at least one safety component includes a lock, a door, and a seat belt of the autonomous vehicle, and wherein: In response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, determining a risk scenario of the autonomous driving vehicle according to a state of at least one safety component among the one or more safety components includes: In response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and in response to the state of the vehicle lock changing from locked to unlocked, the state of the vehicle door changing from closed to open, and the state of the seat belt remaining fastened, determining that the risk scenario of the autonomous driving vehicle is a second risk scenario, and The executing of the safety control action corresponding to the risk scenario of the autonomous driving vehicle includes: In response to the risk scenario of the autonomous driving vehicle being the second risk scenario, a second voice warning is played, the speed of the autonomous driving vehicle is limited to less than a speed threshold, and the hazard lights of the autonomous driving vehicle are turned on.

6. The method according to claim 5, wherein: The speed threshold is determined based on the upper speed limit of the road on which the autonomous driving vehicle is located.

7. The method according to claim 3, wherein: The at least one safety component includes a lock, a door, and a seat belt of the autonomous vehicle, and In response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, determining a risk scenario of the autonomous driving vehicle according to a state of at least one safety component among the one or more safety components includes: In response to an indication by the driving state of the autonomous driving vehicle that the autonomous driving vehicle is driving, and in response to the state of the vehicle lock changing from locked to unlocked, the state of the vehicle door changing from closed to open, and the state of the seat belt changing from fastened to unfastened, determining that the risk scenario of the autonomous driving vehicle is a third risk scenario, and The executing of the safety control action corresponding to the risk scenario of the autonomous driving vehicle includes: In response to the risk scenario of the autonomous driving vehicle being the third risk scenario, the autonomous driving vehicle is controlled to brake to a stop based on the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle.

8. The method according to claim 7, wherein: The controlling the autonomous driving vehicle to brake to a stop according to the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle comprises: For each of the one or more obstacles in front of the autonomous vehicle, determining a distance between the obstacle and the autonomous vehicle as an obstacle distance for the obstacle; Determine an obstacle with the smallest obstacle distance among the one or more obstacles in front of the autonomous driving vehicle as a front obstacle; and The deceleration of the autonomous driving vehicle is controlled according to the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle.

9. The method according to claim 7, wherein: The controlling the autonomous driving vehicle to brake to a stop according to the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle comprises: Determine an obstacle located in the lane where the autonomous driving vehicle is located, in front of the autonomous driving vehicle and closest to the autonomous driving vehicle as a front obstacle; and The deceleration of the autonomous driving vehicle is controlled according to the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle, wherein the obstacle distance of the front obstacle is the distance between the front obstacle and the autonomous driving vehicle.

10. The method according to claim 8 or 9, wherein: The controlling the deceleration of the autonomous driving vehicle according to the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle comprises: Controlling the deceleration of the autonomous driving vehicle to be less than a deceleration threshold, wherein the deceleration threshold is determined according to the following formula: a tmax =-v t *v t / 2S t Among them, a tmax is the deceleration threshold, v t is the real-time speed of the autonomous driving vehicle, S t is the obstacle distance of the front obstacle.

11. A device for controlling an autonomous vehicle, comprising: an acquisition unit, configured to: acquire a driving state of the autonomous driving vehicle and a state of at least one safety component in the autonomous driving vehicle; a risk scenario determination unit configured to: in response to a driving state indication of the autonomous driving vehicle that the autonomous driving vehicle is driving, determine a risk scenario of the autonomous driving vehicle according to a state of at least one safety component among the one or more safety components; as well as The execution action unit is configured to: execute a safety control action corresponding to the risk scenario of the autonomous driving vehicle.

12. The device according to claim 11, wherein The acquisition unit comprises: An order acquisition subunit is configured to: acquire order information of the autonomous driving vehicle, wherein the order information includes information indicating whether the order has been started; and The state determination subunit is configured to determine the driving state of the autonomous driving vehicle based on the order information of the autonomous driving vehicle.

13. The device according to claim 11, wherein: The at least one safety component includes at least one of a lock, a door, and a seat belt of the autonomous vehicle.

14. The device according to claim 13, wherein: The at least one safety component includes a lock, a door, and a seat belt of the autonomous vehicle, and wherein: The risk scenario determination unit includes: The first risk scenario determination subunit is configured to: in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and in response to the state of the vehicle lock changing from locked to unlocked, the state of the vehicle door remaining closed, and the state of the seat belt remaining fastened, determine that the risk scenario of the autonomous driving vehicle is a first risk scenario, and The action execution unit comprises: The first execution subunit is configured to: in response to the risk scenario of the autonomous driving vehicle being the first risk scenario, play a first voice warning.

15. The device according to claim 13, wherein: The at least one safety component includes a lock, a door, and a seat belt of the autonomous vehicle, and wherein: The risk scenario determination unit includes: The second risk scenario determination subunit is configured to: in response to the driving state of the autonomous driving vehicle indicating that the autonomous driving vehicle is driving, and in response to the state of the vehicle lock changing from locked to unlocked, the state of the vehicle door changing from closed to open, and the state of the seat belt remaining fastened, determine that the risk scenario of the autonomous driving vehicle is a second risk scenario, and The action execution unit comprises: The second execution sub-unit is configured to: in response to the risk scenario of the autonomous driving vehicle being the second risk scenario, play a second voice warning, limit the speed of the autonomous driving vehicle to less than a speed threshold, and turn on the hazard lights of the autonomous driving vehicle.

16. The device according to claim 15, wherein: The speed threshold is determined based on the upper speed limit of the road on which the autonomous driving vehicle is located.

17. The device according to claim 13, wherein: The at least one safety component includes a lock, a door, and a seat belt of the autonomous vehicle, and The risk scenario determination unit includes: a third risk scenario determination subunit, configured to: in response to an indication from the driving state of the autonomous driving vehicle that the autonomous driving vehicle is driving, and in response to a change in the state of the vehicle lock from locked to unlocked, a change in the state of the vehicle door from closed to open, and a change in the state of the seat belt from fastened to unfastened, determine that the risk scenario of the autonomous driving vehicle is a third risk scenario, and The action execution unit comprises: The third execution subunit is configured to: in response to the risk scenario of the autonomous driving vehicle being the third risk scenario, control the autonomous driving vehicle to brake to a stop according to the distance between the autonomous driving vehicle and obstacles around the autonomous driving vehicle.

18. The device according to claim 17, wherein: The third execution subunit comprises: a distance determination subunit configured to: for each obstacle among the one or more obstacles in front of the autonomous driving vehicle, determine a distance between the obstacle and the autonomous driving vehicle as an obstacle distance of the obstacle; An obstacle determination subunit is configured to: determine an obstacle with the smallest obstacle distance among one or more obstacles in front of the autonomous driving vehicle as a front obstacle; and The deceleration determination subunit is configured to control the deceleration of the autonomous driving vehicle according to the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle.

19. The device according to claim 17, wherein: The third execution subunit comprises: an obstacle determination subunit, configured to: determine an obstacle located in the lane where the autonomous driving vehicle is located, in front of the autonomous driving vehicle and closest to the autonomous driving vehicle as a front obstacle; and The deceleration determination subunit is configured to control the deceleration of the autonomous driving vehicle according to the obstacle distance of the front obstacle and the real-time speed of the autonomous driving vehicle, wherein the obstacle distance of the front obstacle is the distance between the front obstacle and the autonomous driving vehicle.

20. The device according to claim 18 or 19, wherein: The deceleration determination subunit comprises: The threshold determination subunit is configured to: control the deceleration of the autonomous driving vehicle to be less than a deceleration threshold, wherein the deceleration threshold is determined according to the following formula: a tmax =-v t *v t / 2S t Among them, a tmax is the deceleration threshold, v t is the real-time speed of the autonomous driving vehicle, S t is the obstacle distance of the front obstacle.

21. An electronic device, comprising: at least one processor; as well as a memory communicatively coupled to the at least one processor; in The memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1-10.

22. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-10.

23. A computer program product comprising a computer program, wherein: The computer program implements the method according to any one of claims 1 to 10 when executed by a processor.

24. An autonomous driving vehicle comprising the electronic device according to claim 21.

25. An edge computing device comprising the electronic device according to claim 21.

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