Vehicle safety control method and system based on unmanned driving, medium and electronic equipment

Abstract

The invention provides a vehicle safety control method based on unmanned driving. The vehicle safety control method comprises the following steps: collecting real-time detection data of a vehicle; processing and analyzing the vehicle real-time detection data to obtain vehicle driving parameters; judging the vehicle driving parameters to obtain vehicle states, wherein the vehicle states comprise a vehicle normal driving state and a vehicle potential abnormal state; based on the normal driving state of the vehicle, adopting a safe driving mechanism to carry out safety limitation on the vehicle driving parameters; and triggering a vehicle safety protection mechanism to perform safety control on the vehicle based on the potential abnormal state of the vehicle. According to the vehicle safety control method provided by the invention, the driving safety of the remote unmanned vehicle can be improved.

Description

Technical Field

[0001] The present application belongs to the field of unmanned driving technology and relates to a vehicle safety control method, system, medium and electronic equipment based on unmanned driving. Background Art

[0002] Operations in dangerous environments are often accompanied by extremely high safety risks. These environments may include chemical plants, nuclear facilities, mines and other areas. The harmful gases, radiation, explosion hazards and other factors in these environments make manual driving not only a threat to the driver, but also may cause accidents due to the unpredictability of human operation, affecting the safety of the entire operation area. In order to reduce these risks, the application of unmanned vehicles has gradually become a trend. The technology of remote control of autonomous driving vehicles came into being in this context. It realizes remote control and autonomous navigation of vehicles through advanced communication technology, automatic control algorithms and sensor systems. However, although these technologies have greatly improved the safety and reliability of unmanned vehicles, in dangerous environments, the influence of various factors such as power outages, network disconnections, and program crashes may still cause the vehicle to be uncontrollable and cause safety accidents. Therefore, how to ensure the safe control of unmanned vehicles has become an urgent problem to be solved in technology research and development and engineering applications. Summary of the invention

[0003] The purpose of this application is to provide a vehicle safety control method based on unmanned driving, which is used to perform safety control on unmanned vehicles.

[0004] In the first aspect, the present application provides a vehicle safety control method based on unmanned driving, the vehicle safety control method comprising: collecting real-time vehicle detection data; processing and analyzing the real-time vehicle detection data to obtain vehicle driving parameters; judging the vehicle driving parameters to obtain a vehicle state, the vehicle state comprising a normal driving state of the vehicle and a potential abnormal state of the vehicle; adopting a safe driving mechanism based on the normal driving state of the vehicle to safely restrict the vehicle driving parameters; triggering a vehicle safety protection mechanism based on the potential abnormal state of the vehicle to safely control the vehicle, the potential abnormal state of the vehicle comprising abnormal conditions during vehicle driving and communication abnormalities among the vehicle, an operating cabin and a server.

[0005] In an implementation of the first aspect, the process of triggering a vehicle safety protection mechanism to perform safety control on the vehicle based on the potential abnormal state of the vehicle includes: triggering a heartbeat mechanism to perform safety control on the interruption of communication between the vehicle and the operating cabin; triggering an emergency stop mechanism to perform safety control on emergency situations during driving of the vehicle; and adopting a partitioned active detection mechanism to perform all-round monitoring of the environment around the vehicle.

[0006] In an implementation of the first aspect, the process of triggering the heartbeat mechanism to perform safety control on the interruption of communication between the vehicle and the operating cabin includes: monitoring the communication status between the vehicle and the operating cabin, and if the interruption of communication between the vehicle and the operating cabin exceeds a first preset time, the vehicle performs an emergency stop operation; monitoring the communication status between the server and the vehicle and / or the server and the operating cabin, and if the interruption of communication between the server and the vehicle and / or the operating cabin exceeds a second preset time, closing the connection between the server and the vehicle and / or the operating cabin, and ending the remote teleoperation; wherein the second preset time is greater than the first preset time.

[0007] In an implementation of the first aspect, the process of triggering the emergency stop mechanism to safely control an emergency situation during the driving of the vehicle includes: two-way data transmission and reception between the vehicle and the operating cabin via a digital radio; when an emergency occurs during the driving of the vehicle, the operating cabin sends an emergency stop command to the vehicle via the digital radio to control the vehicle to stop.

[0008] In an implementation of the first aspect, the process of adopting a partitioned active detection mechanism to conduct all-round monitoring of the environment around the vehicle includes: actively monitoring the surrounding environment based on sensor equipment installed around the vehicle to obtain monitoring results; the surrounding environment includes the distance from obstacles around the vehicle and the height of the rear area of ​​the vehicle; and performing different levels of warning and processing based on the size of the monitoring results.

[0009] In an implementation of the first aspect, the process of judging the vehicle driving parameters to obtain the vehicle status includes: comparing and evaluating the vehicle driving parameters based on a safety index range to obtain a safety comparison result; judging the communication status of the vehicle and / or the operating cabin to obtain a communication connection result; and obtaining the vehicle status based on the safety comparison result and / or the communication connection result.

[0010] In an implementation of the first aspect, the vehicle driving parameters include: vehicle speed parameters, vehicle steering parameters, vehicle braking parameters, and communication status of the vehicle and / or operating cabin.

[0011] In the second aspect, the present application provides a vehicle safety control system based on unmanned driving, characterized in that the vehicle safety control system includes: a data acquisition module for collecting real-time vehicle detection data; a data processing module for processing and analyzing the real-time vehicle detection data to obtain vehicle driving parameters; a state judgment module for judging the vehicle driving parameters to obtain the vehicle state, and the vehicle state includes the normal driving state of the vehicle and the potential abnormal state of the vehicle; a normal driving state safety restriction module for adopting a safe driving mechanism based on the normal driving state of the vehicle to safely restrict the vehicle driving parameters; a potential abnormal state safety control module for triggering a vehicle safety protection mechanism based on the potential abnormal state of the vehicle to safely control the vehicle, and the potential abnormal state of the vehicle includes abnormal conditions during vehicle driving and communication abnormalities among the vehicle, the operating cabin, and the server.

[0012] In a third aspect, the present application provides an electronic device, comprising: a memory on which a computer program is stored; and a processor, communicatively connected to the memory, for executing the computer program to implement the above-mentioned vehicle safety control method.

[0013] In a fourth aspect, the present application provides a computer-readable storage medium having a computer program stored thereon, which implements the above-mentioned vehicle safety control method when executed by an electronic device.

[0014] As described above, the unmanned vehicle safety control method, system, medium and electronic device described in this application have the following beneficial effects:

[0015] The vehicle safety control method provided by the present application can control the driving state of the vehicle on the basis of the vehicle's automatic driving, collect various detection data of the vehicle in real time, analyze the detection data to timely discover potential safety hazards of the vehicle, and activate the vehicle's safety protection mechanism to control the vehicle safely. At the same time, the method can also safely limit the vehicle's driving parameters under normal driving to prevent the occurrence of safety hazards. The vehicle safety control method of the present application provides safety protection for autonomous driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 Shown is a schematic diagram of an application scenario of the vehicle safety control method described in an embodiment of the present application.

[0017] Figure 2 Shown is a process diagram of the vehicle safety control method described in an embodiment of the present application.

[0018] Figure 3 Shown is a schematic diagram of the process of obtaining the vehicle status described in an embodiment of the present application.

[0019] Figure 4 Shown is a schematic diagram of the vehicle safety control process described in an embodiment of the present application.

[0020] Figure 5 Shown is a schematic diagram of the structure of the vehicle safety control described in an embodiment of the present application.

[0021] Figure 6 Shown is a schematic diagram of the process of all-round monitoring described in an embodiment of the present application.

[0022] Figure 7 Shown is a schematic diagram of the structure of the all-round monitoring described in an embodiment of the present application.

[0023] Figure 8 Shown is a schematic diagram of the structure of the vehicle safety control described in an embodiment of the present application.

[0024] Fig. 9 Shown is a schematic diagram of the structure of the vehicle safety control described in an embodiment of the present application.

[0025] Fig.10 Shown is a schematic diagram of the structure of the vehicle safety control system described in an embodiment of the present application.

[0026] Fig.11 Shown is a schematic diagram of the structure of an electronic device described in an embodiment of the present application.

[0027] Component number description

[0028] 1 Vehicle safety control system

[0029] 01 Vehicle side

[0030] 02 Operation terminal

[0031] 03 Server Side

[0032] 11 Data Acquisition Module

[0033] 12 Data Processing Module

[0034] 13 Status judgment module

[0035] 14 Safety Limit Module

[0036] 15 Safety Control Module

[0037] 2 Electronic devices

[0038] 21 Memory

[0039] 22 Processor

[0040] Steps S11 to S15

[0041] Steps S21 to S23 DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present application through specific examples, and those skilled in the art can easily understand other advantages and effects of the present application from the contents disclosed in this specification. The present application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present application. It should be noted that the following embodiments and features in the embodiments can be combined with each other without conflict.

[0043] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present application, and thus the drawings only show components related to the present application rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed at will, and the component layout may also be more complicated.

[0044] Operations in dangerous environments are often accompanied by extremely high safety risks. These environments may include chemical plants, nuclear facilities, mines and other areas. The harmful gases, radiation, explosion hazards and other factors in these environments make manual driving not only a threat to the driver, but also may cause accidents due to the unpredictability of human operation, affecting the safety of the entire operation area. In order to reduce these risks, the application of unmanned vehicles has gradually become a trend. The technology of remote control of autonomous driving vehicles came into being in this context. It realizes remote control and autonomous navigation of vehicles through advanced communication technology, automatic control algorithms and sensor systems. However, although these technologies have greatly improved the safety and reliability of unmanned vehicles, in dangerous environments, the influence of various factors such as power outages, network disconnections, and program crashes may still cause the vehicle to be uncontrollable and cause safety accidents. Therefore, how to ensure the safe control of unmanned vehicles has become an urgent problem to be solved in technology research and development and engineering applications.

[0045] At least to address the above-mentioned problems, the following embodiments of the present application provide a vehicle safety control method, system, medium and electronic device based on unmanned driving.

[0046] The technical solutions in the embodiments of the present application will be described in detail below in conjunction with the drawings in the embodiments of the present application.

[0047] Figure 1 The following is a schematic diagram of an application scenario of an embodiment of the present application. Figure 1As shown in the figure, the three parts of the vehicle side, the operation side and the server side work together to form a beyond-visual-range long-distance driving mode to realize remote control and safety control of the vehicle. The vehicle side is a vehicle driving in an actual dangerous environment. The vehicle side includes on-board sensors, a vehicle controller and a communication module. A variety of sensors are used to detect the surrounding environment of the vehicle in real time. The vehicle controller receives instructions from the operation side and the server side, and controls the vehicle's driving direction, speed and braking, etc., to realize automatic driving of the vehicle. The vehicle side communicates with the operation cabin and the server through the communication module to transmit vehicle data and receive instructions. The operation side is the driver's control platform, equipped with display screens, joysticks, control panels and other equipment for displaying vehicle status, receiving vehicle data, sending instructions, etc. The driver remotely controls the vehicle through the operation cabin, monitors the vehicle status and intervenes according to the actual situation. The server side receives vehicle data and operation instructions, and stores, processes and analyzes them. The server side is connected to the vehicle side through a wireless network or other communication methods, receives and processes vehicle data, and the server side is connected to the operation cabin through a wired or wireless network to transmit the vehicle status and data analysis results to the operation cabin. The beyond-visual-range long-distance driving mode of this application realizes remote control and safety control of the vehicle through the collaborative work of the vehicle side, the operation side and the server side. It has the advantages of high safety, high efficiency, low cost and strong environmental adaptability. It is suitable for various scenarios such as operations in dangerous environments, self-driving cars, port and terminal operations, etc.

[0048] Figure 2 The diagram is a process diagram of a vehicle safety control method in one embodiment of the present application. Figure 2 As shown, the vehicle safety control method includes:

[0049] S11, collecting real-time detection data of the vehicle. The vehicle is equipped with sensors, and various data of the vehicle are detected in real time through the on-board sensors.

[0050] S12, processing and analyzing the real-time vehicle detection data to obtain vehicle driving parameters.

[0051] S13, judging the vehicle driving parameters to obtain a vehicle state, where the vehicle state includes a normal vehicle driving state and a potential abnormal vehicle state.

[0052] S14: Based on the normal driving state of the vehicle, a safe driving mechanism is adopted to safely restrict the driving parameters of the vehicle.

[0053] S15, triggering a vehicle safety protection mechanism to perform safety control on the vehicle based on the potential abnormal state of the vehicle.

[0054] According to the above description, the vehicle safety control method provided by the present application can control the driving state of the vehicle on the basis of the vehicle's automatic driving, collect various detection data of the vehicle in real time, analyze the detection data to timely discover potential safety hazards of the vehicle, and activate the vehicle's safety protection mechanism to control the vehicle safely. At the same time, the method can also safely limit the vehicle's driving parameters under normal driving to prevent the occurrence of safety hazards. The vehicle safety control method of the present application provides safety protection for autonomous driving vehicles.

[0055] In one embodiment of the present application, the vehicle driving parameters include: vehicle speed parameters, vehicle steering parameters, vehicle braking parameters, and communication status of the vehicle and / or the operating cabin. Among them, the vehicle speed parameters include the vehicle's driving speed, the vehicle's acceleration, and the vehicle's deceleration. The vehicle's steering parameters include the steering wheel angle and the steering wheel angular velocity. The vehicle's braking parameters include the vehicle's braking force and the deceleration during braking.

[0056] Figure 3 The following is a schematic diagram of the process of obtaining the vehicle status in one embodiment of the present application. Figure 3 As shown, the process of determining the vehicle driving parameters to obtain the vehicle state includes:

[0057] S21, comparing and evaluating the vehicle driving parameters based on the safety index range to obtain a safety comparison result.

[0058] S22, judging the communication status of the vehicle and / or the operating cabin to obtain a communication connection result.

[0059] S23, obtaining the vehicle status according to the safety comparison result and / or the communication connection result.

[0060] Exemplarily, when the vehicle driving parameters always remain within the safety index range, and the communication connections between the vehicle and the operating cabin, the vehicle and the server, and the operating cabin and the server remain unobstructed, the system will determine that the vehicle is in a normal driving state. At this time, the vehicle will drive autonomously according to the established route and safety strategy without human intervention. If the vehicle driving parameters are abnormal, and are about to exceed or have exceeded the preset safety indicators, such as excessive speed, excessive steering angle, long braking distance, etc., or any of the communication connections between the vehicle and the operating cabin, the vehicle and the server, and the operating cabin and the server is interrupted, the system will immediately determine that the vehicle is in an abnormal state. At this time, the system will activate the corresponding safety protection mechanism to ensure the safety of personnel and equipment.

[0061] Figure 4 The diagram is a schematic diagram of the vehicle safety control process in one embodiment of the present application. Figure 4As shown, triggering the vehicle safety protection mechanism based on the potential abnormal state of the vehicle to perform safety control on the vehicle includes three mechanisms:

[0062] First, trigger the heartbeat mechanism to safely control the interruption of communication between the vehicle and the operating cabin.

[0063] Second, trigger the emergency stop mechanism to safely control the emergency situation of the vehicle while driving.

[0064] Third, adopt a partitioned active detection mechanism to conduct all-round monitoring of the environment around the vehicle.

[0065] In one embodiment of the present application, the process of triggering the heartbeat mechanism to perform safety control on the interruption of communication between the vehicle and the operating cabin includes:

[0066] S41, monitoring the communication status between the vehicle and the operating cabin, if the communication between the vehicle and the operating cabin is interrupted for more than a first preset time, the vehicle performs an emergency stop operation.

[0067] S42, monitoring the communication status between the server and the vehicle and / or between the server and the operating cabin. If the communication between the server and the vehicle and / or the operating cabin is interrupted for more than a second preset time, closing the connection between the server and the vehicle and / or the operating cabin, and ending the remote teleoperation. The second preset time is greater than the first preset time. The first preset time and the second preset time can be set according to actual needs.

[0068] Exemplarily, the communication connection status between the vehicle and the operating cabin is obtained. When the communication interruption time between the vehicle and the operating cabin is monitored to exceed the first preset time, the heartbeat mechanism is triggered. At this time, according to the heartbeat mechanism, the vehicle performs an emergency stop operation and stops moving forward to avoid safety accidents such as collisions. At the same time, the communication status between the server and the vehicle and the server and the operating cabin continues to be obtained. If the communication interruption time between the server and the operating cabin or between the server and the vehicle exceeds the second preset time, the server disconnects from the operating cabin, ends the remote control, and records the communication interruption event for subsequent cause analysis and improvement.

[0069] In one embodiment of the present application, the process of triggering the emergency stop mechanism to safely control the emergency situation of the vehicle during driving includes:

[0070] S51, the vehicle and the control cabin perform two-way data transmission and reception via a digital radio. In order to ensure rapid response and control of the vehicle in an emergency, a digital radio is used to achieve two-way data transmission and reception between the vehicle and the control cabin. For details, please refer to Figure 5A group of data transmission radio stations are connected in parallel between the vehicle line and the operation cabin line. Through the LR100 wireless transparent transmission modules of the vehicle and the operation cabin respectively, point-to-point two-way data transmission and reception between the two modules are realized.

[0071] S52, when an emergency occurs during the driving of the vehicle, the operation cabin sends an emergency stop command to the vehicle through the digital radio to control the vehicle to stop. During the driving of the vehicle, if an emergency occurs, such as the CAN bus between the vehicle and the control line is disconnected, the network between the vehicle and the operation cabin is disconnected, or the vehicle encounters an obstacle that cannot be avoided, the personnel in the operation cabin can press the emergency stop button to immediately send an emergency stop command to the vehicle. The command is quickly transmitted to the vehicle through the digital radio, triggering the vehicle's emergency braking system to stop the vehicle immediately, effectively avoiding the occurrence of safety accidents such as collisions, and ensuring the safety of the vehicle.

[0072] In one embodiment of the present application, the process of adopting a partitioned active detection mechanism to perform all-round monitoring of the environment around the vehicle includes:

[0073] S61, actively monitor the surrounding environment based on the sensor equipment installed around the vehicle to obtain monitoring results. The surrounding environment includes the distance from the vehicle to obstacles and the height of the rear area of ​​the vehicle. The sensor equipment can be a millimeter radar or an ultrasonic radar.

[0074] S62, performing different levels of early warning and processing according to the size of the monitoring result.

[0075] Example 1: In order to improve the safety of the vehicle during driving, the front side of the vehicle sets a three-level active monitoring and warning mechanism according to the distance between the vehicle and the obstacle. Different levels of warning and intervention measures are triggered according to the different distances between the front side of the vehicle and the obstacle. For the location of the sensor on the front side of the vehicle, please see Figure 7 .

[0076] Level 1 warning: When a foreign object is detected within a distance in front of the first vehicle (for example, 5 meters), the vehicle side issues a warning.

[0077] Level 2 warning: When an obstacle is detected within a distance in front of the second vehicle (for example, 3 meters), an alarm is issued and the vehicle controller initiates intervention measures.

[0078] Level 3 warning: When an obstacle is detected within a distance of 1.5 meters in front of the third vehicle, the vehicle automatically initiates emergency braking to ensure an emergency stop, and sounds an alarm in the operating cabin to alert the driver.

[0079] Among them, the first distance in front of the vehicle, the second distance in front of the vehicle, and the third distance in front of the vehicle can be set according to factors such as the actual road environment and vehicle performance, and the warning distance can be dynamically adjusted according to real-time road conditions, vehicle speed and other information to ensure the accuracy and effectiveness of the warning.

[0080] In the second embodiment, in order to improve the safety of the vehicle during driving, a three-level active monitoring and early warning mechanism is set up at the rear of the vehicle according to the height of the rear of the vehicle, and different levels of early warning and intervention measures are triggered according to the different distances between the rear of the vehicle and obstacles. Taking the tank truck as an example, the height of the rear of the vehicle includes the height of the spray pipe, the height of the boss in the route, and the height of the gap in the slag dumping area.

[0081] Level 1 warning: When a foreign object is detected within a distance (for example, 2 meters) behind the first vehicle, the vehicle side issues a warning.

[0082] Level 2 warning: When an obstacle is detected within a distance (for example, 1.5 meters) behind the second vehicle, an alarm is issued and the vehicle controller initiates intervention measures.

[0083] Level 3 warning: When an obstacle is detected within a distance of 0.5 meters behind the third vehicle, the vehicle automatically initiates emergency braking to ensure an emergency stop, and sounds an alarm at the operating cabin to alert the driver.

[0084] Among them, the distance behind the first vehicle, the distance behind the second vehicle, and the distance behind the third vehicle can be set according to factors such as the actual road environment and vehicle performance, and the warning distance can be dynamically adjusted according to information such as real-time road conditions and vehicle speed to ensure the accuracy and effectiveness of the warning.

[0085] Example 3: In order to improve the safety of the vehicle during driving, an active monitoring and early warning mechanism is set up on both sides of the vehicle according to the distance between the vehicle and the surrounding obstacles. For the location of the sensors on both sides of the vehicle, please refer to Figure 8 When an obstacle is detected within the warning distance range on both sides of the vehicle, the vehicle will sound an alarm and an alarm will sound at the operation cabin end to remind the driver. The alarm sound at the operation cabin end can be a buzzer sound for reminder.

[0086] Taking into account the vehicle's operating characteristics and safety risks in different scenarios, the warning distance on both sides of the vehicle is the most compact to adapt to narrow parallel parking environments; the warning distance on the rear side of the vehicle is relatively short to cope with the limited vision when reversing; and the warning distance on the front side of the vehicle is the widest to ensure safe braking needs when moving forward.

[0087] In some embodiments, the vehicle controller can control the power, steering, braking, and lighting of the vehicle. Among them, the vehicle controller's control of the vehicle's power is reflected in the ability to control the vehicle's start, acceleration, deceleration, and stop; the vehicle controller's control of the vehicle's steering is reflected in the ability to control the vehicle's steering angle and directional speed; the vehicle controller's control of the vehicle's braking is reflected in the control of the vehicle's braking action, including emergency braking and conventional braking; the vehicle controller can also control the vehicle's lighting and signal lights.

[0088] In one embodiment of the present application, taking a safe driving mechanism to safely restrict the vehicle driving parameters based on the normal driving state of the vehicle includes: safely restricting the vehicle driving parameters. Among them, the safety restriction includes safely restricting the speed parameters of the vehicle, for example, the driving speed of the vehicle is not higher than 20km / h, and the acceleration of the vehicle is limited to 0-4m / s 2 The vehicle's steering parameters are safely limited, such as the maximum steering angle of the vehicle's steering wheel is ±500° and the maximum angular speed of the vehicle is 400° / s; the vehicle's braking is safely controlled, such as limiting the vehicle's deceleration to 0-8.0m / s 2 .

[0089] In one embodiment of the present application, the vehicle control method can upload data during vehicle driving to a cloud platform for storage and management.

[0090] In summary, the vehicle safety control method provided by the present application relies on vehicle-mounted sensors to monitor vehicle data in real time, and conducts in-depth processing and analysis of the collected data, so as to accurately obtain the driving parameters of the vehicle. The method effectively identifies whether the vehicle is in a normal driving state or a potential abnormal state by accurately judging key driving parameters such as vehicle speed, acceleration, steering angle and steering speed. When the vehicle remains in a normal driving state, the system adopts a safe driving strategy to impose necessary safety restrictions on the driving parameters to prevent the occurrence of potential abnormalities. If the communication interruption between the vehicle end and the operating cabin end exceeds a certain preset time, the heartbeat mechanism is triggered, and the vehicle immediately performs an emergency stop operation. In the face of an emergency, the safety protection mechanism is immediately activated, and the operating cabin quickly issues an emergency stop command to the vehicle. During the entire driving process, the vehicle end and the operating cabin end realize real-time transmission and mutual transmission of two-way data through a digital radio, and continuously monitor the communication connection status between the vehicle and the operating cabin, between the vehicle and the server, and between the operating cabin and the server. According to the real-time judgment of the communication status, corresponding safety measures are taken to ensure the safety of vehicle driving. At the same time, a partitioned active detection mechanism is introduced to implement different levels of early warning for obstacle distances in front, behind and on both sides of the vehicle, thereby providing more comprehensive safety protection for autonomous driving vehicles. The vehicle safety control method of this application can improve the safe driving performance of autonomous driving vehicles under the influence of various factors.

[0091] The protection scope of the vehicle safety control method described in the embodiment of the present application is not limited to the execution order of the steps listed in the present embodiment. All solutions implemented by adding, reducing or replacing steps in the prior art based on the principles of the present application are included in the protection scope of the present application.

[0092] The embodiments of the present application also provide a vehicle safety control system, which can implement the vehicle safety control method described in the present application. However, the implementation device of the vehicle safety control method described in the present application includes but is not limited to the structure of the vehicle safety control system listed in the present embodiment. All structural deformations and replacements of the prior art made according to the principles of the present application are included in the protection scope of the present application.

[0093] Fig.10 The diagram shows the structure of a vehicle safety control system in one embodiment of the present application. Fig.10As shown, the vehicle safety control system 1 includes: a data acquisition module 11, a data processing module 12, a state judgment module 13, a safety restriction module 14, and a safety control module 15. Among them, the data acquisition module 11 is used to collect real-time detection data of the vehicle. The data processing module 12 is used to process and analyze the real-time detection data of the vehicle to obtain the vehicle driving parameters. The state judgment module 13 is used to judge the vehicle driving parameters to obtain the vehicle state, and the vehicle state includes the normal driving state of the vehicle and the potential abnormal state of the vehicle. The safety restriction module 14 is used to adopt a safe driving mechanism based on the normal driving state of the vehicle to safely restrict the driving parameters of the vehicle. The safety control module 15 is used to trigger the vehicle safety protection mechanism based on the potential abnormal state of the vehicle to safely control the vehicle.

[0094] It should be noted that Fig.10 The modules in the vehicle safety control system 1 are shown in FIG. Figure 2 The steps in the vehicle safety control method correspond to each other and will not be repeated here.

[0095] In the several embodiments provided in the present application, it should be understood that the disclosed system, device or method can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of modules / units is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules or units, which can be electrical, mechanical or other forms.

[0096] The modules / units described as separate components may or may not be physically separated, and the components displayed as modules / units may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules / units may be selected according to actual needs to achieve the purpose of the embodiments of the present application. For example, the functional modules / units in the various embodiments of the present application may be integrated into one processing module, or each module / unit may exist physically separately, or two or more modules / units may be integrated into one module / unit.

[0097] Those of ordinary skill in the art should further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0098] The present application also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by the processor, the vehicle safety control method provided by the present application embodiment is implemented. A person of ordinary skill in the art can understand that all or part of the steps in the method for implementing the above embodiment can be completed by instructing the processor through a program, and the program can be stored in a computer-readable storage medium, and the storage medium is a non-transitory medium, such as a random access memory, a read-only memory, a flash memory, a hard disk, a solid-state hard disk, a magnetic tape, a floppy disk, an optical disc, and any combination thereof. The above storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or a data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a digital video disc (DVD)), or a semiconductor medium (e.g., a solid-state hard disk (SSD)), etc.

[0099] The embodiment of the present application may also provide an electronic device. Fig.11 The diagram shows a schematic diagram of the structure of an electronic device 2 in an embodiment of the present application. Fig.11 As shown, in this embodiment, the electronic device 2 includes a memory 21 and a processor 22 .

[0100] The memory 21 is used to store computer programs. In some possible implementations, the memory 21 may include: ROM, RAM, a disk, a USB flash drive, a memory card, or an optical disk, etc., various media that can store program codes.

[0101] In the embodiment of the present application, the memory 21 may include a computer system readable medium in the form of a volatile memory, such as a RAM and / or a cache memory. The electronic device 2 may further include other removable / non-removable, volatile / non-volatile computer system storage media. The memory 21 may include at least one program product having a set (e.g., at least one) of program modules, which are configured to perform the functions of the various embodiments of the present application.

[0102] The processor 22 is connected to the memory 21 and is used to execute the computer program stored in the memory 21 so that the electronic device 2 executes the vehicle safety control method.

[0103] Exemplarily, the processor 22 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc. In other embodiments, the processor 22 may also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0104] The descriptions of the processes or structures corresponding to the above-mentioned figures have different emphases. For parts that are not described in detail in a certain process or structure, please refer to the relevant descriptions of other processes or structures.

[0105] The above embodiments are merely illustrative of the principles and effects of the present application and are not intended to limit the present application. Anyone familiar with the technology may modify or change the above embodiments without violating the spirit and scope of the present application. Therefore, all equivalent modifications or changes made by a person of ordinary skill in the art without departing from the spirit and technical ideas disclosed in the present application shall still be covered by the claims of the present application.

Claims

1. A vehicle safety control method based on unmanned driving, characterized in that: The vehicle safety control method comprises: Collect real-time vehicle detection data; Processing and analyzing the real-time vehicle detection data to obtain vehicle driving parameters; Determining the vehicle driving parameters to obtain a vehicle state, wherein the vehicle state includes a normal vehicle driving state and a potential abnormal vehicle state; Based on the normal driving state of the vehicle, a safe driving mechanism is adopted to safely limit the driving parameters of the vehicle; A vehicle safety protection mechanism is triggered based on the potential abnormal state of the vehicle to perform safety control on the vehicle. The potential abnormal state of the vehicle includes abnormal conditions during vehicle driving and communication abnormalities among the vehicle, the operating cabin, and the server.

2. The vehicle safety control method according to claim 1, characterized in that: The process of triggering the vehicle safety protection mechanism to perform safety control on the vehicle based on the potential abnormal state of the vehicle includes: triggering a heartbeat mechanism to safely control the interruption of communication between the vehicle and the operating cabin; Triggering the emergency stop mechanism to safely control an emergency situation during driving of the vehicle; A partitioned active detection mechanism is adopted to conduct all-round monitoring of the environment around the vehicle.

3. The vehicle safety control method according to claim 2, characterized in that: The process of triggering the heartbeat mechanism to safely control the interruption of communication between the vehicle and the operating cabin includes: The communication status between the vehicle and the operation cabin is monitored, and if the communication between the vehicle and the operation cabin is interrupted for more than a first preset time, the vehicle performs an emergency stop operation; The communication status between the server and the vehicle and / or the server and the operating cabin is monitored. If the communication between the server and the vehicle and / or the operating cabin is interrupted for more than a second preset time, the connection between the server and the vehicle and / or the operating cabin is closed to end the remote teleoperation; wherein the second preset time is greater than the first preset time.

4. The vehicle safety control method according to claim 2, characterized in that: The process of triggering the emergency stop mechanism to safely control the emergency situation of the vehicle during driving includes: The vehicle and the operating cabin perform two-way data transmission and reception via a data transmission radio; When an emergency occurs during the driving of the vehicle, the operation cabin sends an emergency stop command to the vehicle through the digital radio station to control the vehicle to stop.

5. The vehicle safety control method according to claim 2, characterized in that: The process of using the partition active detection mechanism to monitor the environment around the vehicle in all directions includes: Actively monitor the surrounding environment based on the sensor equipment installed around the vehicle to obtain monitoring results; the surrounding environment includes the distance from obstacles around the vehicle and the height of the rear area of ​​the vehicle; Different levels of early warning and processing are performed according to the size of the monitoring results.

6. The vehicle safety control method according to claim 1, characterized in that: The process of determining the vehicle driving parameters to obtain the vehicle state includes: Comparatively evaluating the vehicle driving parameters based on the safety index range to obtain a safety comparison result; Determine the communication status of the vehicle and / or the operating cabin to obtain the communication connection result; The vehicle status is acquired according to the safety comparison result and / or the communication connection result.

7. The vehicle safety control method according to claim 1, characterized in that: The vehicle driving parameters include: vehicle speed parameters, vehicle steering parameters, vehicle braking parameters, and communication status of the vehicle and / or operating cabin.

8. A vehicle safety control system based on unmanned driving, characterized in that: The vehicle safety control system comprises: Data acquisition module, used to collect real-time vehicle detection data; A data processing module, used for processing and analyzing the real-time detection data of the vehicle to obtain vehicle driving parameters; A state judgment module, used for judging the vehicle driving parameters to obtain the vehicle state, wherein the vehicle state includes the normal driving state of the vehicle and the potential abnormal state of the vehicle; A safety restriction module, configured to adopt a safety driving mechanism to safely restrict the driving parameters of the vehicle based on the normal driving state of the vehicle; The safety control module is used to trigger the vehicle safety protection mechanism to perform safety control on the vehicle based on the potential abnormal state of the vehicle. The potential abnormal state of the vehicle includes abnormal conditions during vehicle driving and communication abnormalities among the vehicle, the operating cabin and the server.

9. An electronic device, characterized in that: The electronic device comprises: a memory having a computer program stored thereon; A processor is communicatively connected to the memory and is used to execute the computer program to implement the vehicle safety control method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by an electronic device, the vehicle safety control method according to any one of claims 1 to 7 is implemented.

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