Emergency processing method and device for abnormal state of automatic driving vehicle

Abstract

The invention discloses an automatic driving vehicle abnormal state emergency processing method and device, and the method comprises the steps: triggering an image collection unit on a vehicle to at least collect the image information of a driving lane, an adjacent lane of the driving lane, a non-motorized vehicle lane, and the image information in a set area around the vehicle in response to the arrival of a collection period; and in response to the arrival of the detection period, acquiring working condition information of the vehicle, and determining whether the vehicle is in an abnormal state based on the working condition information, in response to the fact that the vehicle is detected to be in the abnormal state, outputting vehicle abnormal alarm information; carrying out feature object identification on the collected image information; formulating a driving strategy for the abnormal vehicle; and based on the driving strategy, calling a controllable related system in the abnormal vehicle, and intervening the driving direction and the driving track of the abnormal vehicle until the abnormal vehicle is parked or is compulsively intervened. According to the invention, the driving safety of the automatic driving vehicle is improved.

Description

Technical Field

[0001] The present application relates to control technology for autonomous driving vehicles, and specifically to a method and device for emergency handling of abnormal conditions of autonomous driving vehicles. Background Art

[0002] At present, with the development of electronic maps and communication technology, autonomous driving technology has been put into practical use. For example, taxis with autonomous driving functions, unmanned buses, autonomous valet parking, trunk logistics vehicles, and unmanned delivery vehicles all use autonomous driving technology. Due to traffic participants, weather, infrastructure, road spills, etc., the traffic environment may exceed the design and operating conditions of the autonomous driving system, which may cause the autonomous driving system to fail, leading to stalling and loss of control; or the autonomous driving system may be maliciously invaded and lose control. When the speed of the autonomous driving vehicle is high, loss of control may lead to serious traffic accidents. Therefore, how to deal with the safety of vehicle autonomous driving is a technical problem that needs to be solved urgently. Summary of the invention

[0003] In view of this, the embodiments of the present application hope to provide an emergency handling method and device for abnormal conditions of an autonomous driving vehicle, so as to at least solve the above-mentioned technical problems.

[0004] To achieve the above purpose, the technical solution of this application is implemented as follows:

[0005] According to one aspect of an embodiment of the present application, a method for emergency handling of abnormal state of an autonomous driving vehicle is provided, comprising:

[0006] In response to the arrival of the acquisition cycle, the image acquisition unit on the vehicle is triggered to collect at least the image information of the driving lane, the adjacent lane of the driving lane, the non-motorized vehicle lane, and the image information of the set area around the vehicle; and, in response to the arrival of the detection cycle, the working condition information of the vehicle is obtained, and whether the vehicle is in an abnormal state is determined based on the working condition information; wherein the working condition information includes at least one of the working condition of the braking system, the working condition of the parking system, the working condition of the steering control system, and the working condition of the driving system;

[0007] In response to detecting that the vehicle is in an abnormal state, outputting vehicle abnormality alarm information;

[0008] Identify the feature objects of the collected image information, at least identify the front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on adjacent lanes, pedestrians and non-motorized vehicles on non-motorized lanes, and determine the speeds of the front and rear vehicles on the driving lane of the abnormal vehicle, the distance between the abnormal vehicle and the front and rear vehicles, the distance and orientation relationship between the vehicles on adjacent lanes and the abnormal vehicle, and the speeds of the vehicles on adjacent lanes;

[0009] Formulate a driving strategy for the abnormal vehicle based on the abnormal state, the vehicles and pedestrians in the current lane, adjacent lanes and non-motorized vehicle lanes, the speed of the abnormal vehicle and the speed of vehicles in adjacent lanes;

[0010] Based on the driving strategy, the controllable related systems in the abnormal vehicle are called to intervene in the driving direction and trajectory of the abnormal vehicle until the abnormal vehicle is parked or forced to intervene.

[0011] As an implementation mode, the method further includes:

[0012] Acquire image information of the driving lane, adjacent lane, and non-motorized vehicle lane during the driving intervention process of the abnormal vehicle, identify feature objects again on the acquired image information, acquire the front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on adjacent lanes, pedestrians and non-motorized vehicles on the non-motorized vehicle lane, and detect the positional relationship, distance, and driving speed of the abnormal vehicle and the front and rear vehicles, and the positional relationship, distance, and driving speed between the abnormal vehicle and vehicles on adjacent lanes in real time;

[0013] The driving strategy is adjusted according to the relevant information obtained, and the controllable related systems in the abnormal vehicle are re-called with the adjusted driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle.

[0014] As an implementation method, the formulating a driving strategy for an abnormal vehicle includes:

[0015] In response to a brake system failure, obtaining the distance between the front and rear vehicles in the current lane and their speed, the distance between the vehicles in the adjacent lanes and their directions, the speed of the vehicles in the adjacent lanes, and the information of pedestrians and non-motorized vehicles on the non-motorized lanes;

[0016] When it is determined that the distance between the vehicle in the adjacent lane and the abnormal vehicle is less than a first threshold value and / or the speed of the vehicle in the adjacent lane is higher than a second threshold value, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reversely drive the abnormal vehicle to stop it;

[0017] Determining that the distance between the vehicle in the adjacent lane and the abnormal vehicle is greater than a first threshold value and the vehicle speed of the adjacent lane is lower than the second threshold value and greater than or equal to a third threshold value, sending a steering instruction to the steering control system to drive the abnormal vehicle into the adjacent lane; sending a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or sending a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and sending a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it;

[0018] Determine that the adjacent lane is a non-motor vehicle lane or an emergency lane, determine that there are no obstacles in the non-motor vehicle lane or the emergency lane within a set length in the driving direction of the abnormal vehicle, send a steering instruction to the steering control system to make the abnormal vehicle drive into the non-motor vehicle lane or the emergency lane, send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it.

[0019] As an implementation method, the formulating a driving strategy for an abnormal vehicle includes:

[0020] In response to a steering control system failure, obtaining a distance between front and rear vehicles in a current lane and a travel speed thereof;

[0021] A drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reverse drive the abnormal vehicle to stop it; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a vehicle braking instruction is sent to the braking system to stop the abnormal vehicle.

[0022] As an implementation method, the formulating a driving strategy for an abnormal vehicle includes:

[0023] In response to the failure of the braking system and the normal steering control system, the electronic map information is obtained, and according to the road section information currently traveled by the abnormal vehicle, the abandoned temporary parking lot, abandoned construction site or abandoned park that the abnormal vehicle can pass through on the travel route is determined;

[0024] Acquire real-time scene images of abandoned temporary parking lots, abandoned construction sites, or abandoned parks, perform object recognition on the real-time scene images, determine the road conditions in the abandoned temporary parking lots, abandoned construction sites, or abandoned parks, whether there are active objects on the roads, the slope distribution of the roads, and obstacles on both sides of the roads; determine the abandoned temporary parking lots, abandoned construction sites, or abandoned parks that are the driving destinations for abnormal vehicles;

[0025] Sending a steering instruction to the steering control system to control the abnormal vehicle to drive to the destination of an abandoned temporary parking lot, an abandoned construction site or an abandoned park;

[0026] After determining that the abnormal vehicle has entered an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination, a driving route is planned for the abnormal vehicle; the abnormal vehicle is controlled to drive along the planned driving route;

[0027] A drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reverse drive the abnormal vehicle to stop it; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a vehicle braking instruction is sent to the braking system to stop the abnormal vehicle.

[0028] As an implementation method, the outputting of the alarm information of the vehicle abnormality includes:

[0029] The fault indicator light of the abnormal vehicle is lit;

[0030] Play the vehicle abnormality prompt voice at the maximum volume through the voice playback unit;

[0031] The vehicle abnormality prompt information is output through the external display unit.

[0032] According to a second aspect of the embodiment of the present application, there is provided an emergency processing device for abnormal state of an autonomous driving vehicle, comprising:

[0033] A trigger unit, configured to trigger an image acquisition unit on the vehicle to acquire at least image information of a driving lane, an adjacent lane of the driving lane, a non-motorized vehicle lane, and image information in a set area around the vehicle in response to the arrival of an acquisition cycle;

[0034] a determination unit, configured to obtain operating condition information of the vehicle in response to the arrival of a detection cycle, and determine whether the vehicle is in an abnormal state based on the operating condition information; wherein the operating condition information includes at least one of a braking system operating condition, a parking system operating condition, a steering control system operating condition, and a driving system operating condition;

[0035] An output unit, for outputting vehicle abnormality alarm information in response to detecting that the vehicle is in an abnormal state;

[0036] The recognition unit is used to recognize feature objects in the collected image information, at least recognize the front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on adjacent lanes, pedestrians and non-motorized vehicles on the non-motorized lane, and determine the speeds of the front and rear vehicles on the driving lane of the abnormal vehicle, the distance between the abnormal vehicle and the front and rear vehicles, the distance and orientation relationship between the vehicles on adjacent lanes and the abnormal vehicle, and the speeds of the vehicles on adjacent lanes;

[0037] A strategy formulation unit, configured to formulate a driving strategy for the abnormal vehicle based on the abnormal state, the vehicles and pedestrians in the current lane, the adjacent lanes and the non-motorized vehicle lane, the speed of the abnormal vehicle and the speed of the vehicles in the adjacent lanes;

[0038] The control unit is used to call the controllable related systems in the abnormal vehicle based on the driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle until the abnormal vehicle is parked or forced to intervene.

[0039] As an implementation method, the determination unit is further used to obtain image information of the driving lane, adjacent lane, and non-motorized vehicle lane during the driving intervention process of the abnormal vehicle, and to identify feature objects again on the collected image information, to obtain the front and rear vehicles of the abnormal vehicle on the driving lane, the vehicles on the adjacent lane, the pedestrians and non-motorized vehicles on the non-motorized vehicle lane, and to detect in real time the positional relationship, distance, and driving speed of the abnormal vehicle and the front and rear vehicles, and the positional relationship, distance, and driving speed between the abnormal vehicle and the vehicles on the adjacent lanes;

[0040] Correspondingly, the strategy formulation unit is also used to adjust the driving strategy according to the relevant information obtained, and to re-call the controllable related systems in the abnormal vehicle with the adjusted driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle.

[0041] As an implementation method, the policy formulation unit is further used to:

[0042] In response to a brake system failure, obtaining the distance between the front and rear vehicles in the current lane and their speed, the distance between the vehicles in the adjacent lanes and their directions, the speed of the vehicles in the adjacent lanes, and the information of pedestrians and non-motorized vehicles on the non-motorized lanes;

[0043] When it is determined that the distance between the vehicle in the adjacent lane and the abnormal vehicle is less than a first threshold value and / or the speed of the vehicle in the adjacent lane is higher than a second threshold value, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it;

[0044] Determining that the distance between the vehicle in the adjacent lane and the abnormal vehicle is greater than a first threshold value and the vehicle speed in the adjacent lane is lower than the second threshold value and greater than or equal to a third threshold value, triggering the control unit to send a steering instruction to the steering control system to make the abnormal vehicle drive into the adjacent lane; triggering the control unit to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or triggering the control unit to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it;

[0045] Determine that the adjacent lane is a non-motor vehicle lane or an emergency lane, determine that there are no obstacles in the non-motor vehicle lane or the emergency lane within a set length in the driving direction of the abnormal vehicle, trigger the control unit to send a steering instruction to the steering control system to make the abnormal vehicle drive into the non-motor vehicle lane or the emergency lane, send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it.

[0046] As an implementation method, the policy formulation unit is further used to:

[0047] In response to the failure of the braking system and the normal steering control system, the electronic map information is obtained, and according to the road section information currently traveled by the abnormal vehicle, the abandoned temporary parking lot, abandoned construction site or abandoned park that the abnormal vehicle can pass through on the travel route is determined;

[0048] Acquire real-time scene images of abandoned temporary parking lots, abandoned construction sites, or abandoned parks, perform object recognition on the real-time scene images, determine the road conditions in the abandoned temporary parking lots, abandoned construction sites, or abandoned parks, whether there are active objects on the roads, the slope distribution of the roads, and obstacles on both sides of the roads; determine the abandoned temporary parking lots, abandoned construction sites, or abandoned parks that are the driving destinations for abnormal vehicles;

[0049] The control unit is triggered to send a steering instruction to the steering control system, so as to control the abnormal vehicle to drive to an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination;

[0050] After determining that the abnormal vehicle has entered an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination, a driving path is planned for the abnormal vehicle; the control unit is triggered to control the abnormal vehicle to drive along the planned driving path;

[0051] The control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it; or, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a vehicle braking instruction to the braking system to stop the abnormal vehicle.

[0052] The method and device for emergency handling of abnormal state of autonomous driving vehicles provided by the present application collects the current driving condition information of the autonomous driving vehicle and simultaneously obtains the driving conditions of vehicles in the current lane and adjacent lanes. When the autonomous driving vehicle is determined to be abnormal, the driving strategy of the autonomous driving vehicle is planned based on the current vehicle condition and current environmental information of the autonomous driving vehicle, and the available vehicle control unit of the vehicle is used as much as possible to achieve the maximum possible control of the vehicle, avoid traffic accidents caused by abnormal autonomous driving vehicles, and minimize traffic hazards. The present application realizes the maximum protection of autonomous driving vehicles in abnormal state and improves the driving safety of autonomous driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] Figure 1 This is a flow chart of an emergency handling method for abnormal state of an autonomous driving vehicle according to an embodiment of the present application;

[0054] Figure 2 This is a schematic diagram of the structure of the abnormal state emergency processing device of the autonomous driving vehicle according to an embodiment of the present application;

[0055] Figure 3 Schematic diagram of the structure of an autonomous driving vehicle. DETAILED DESCRIPTION

[0056] The technical solution of the present application is further elaborated in detail below in conjunction with the accompanying drawings and specific embodiments of the specification.

[0057] The various specific technical features in the various embodiments described in the specific implementation methods can be combined in various ways without contradiction. For example, different implementation methods can be formed by combining different specific technical features. In order to avoid unnecessary repetition, the various possible combinations of the specific technical features in this application will not be described separately.

[0058] In the embodiments of the present application, it should be noted that, unless otherwise specified and limited, the term "connection" should be understood in a broad sense. For example, it can be an electrical connection or a connection between two components. It can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to the specific circumstances.

[0059] It should be noted that the terms "first\second\third" involved in the embodiments of the present application are only used to distinguish similar objects, and do not represent a specific order for the objects. It is understandable that the specific order or sequence of "first\second\third" can be interchanged where permitted. It should be understood that the objects distinguished by "first\second\third" can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0060] Figure 1 This is a flow chart of the method for emergency handling of abnormal state of an autonomous driving vehicle according to an embodiment of the present application. The method can be applied to various autonomous driving vehicles, including but not limited to taxis, driverless buses, autonomous valet parking, trunk logistics vehicles, and unmanned delivery vehicles. Figure 1 As shown, the emergency handling method for abnormal state of the autonomous driving vehicle in the embodiment of the present application includes the following processing steps:

[0061] Step 101, in response to the arrival of a collection cycle, triggering an image collection unit on a vehicle to collect at least image information of a driving lane, an adjacent lane of the driving lane, a non-motorized vehicle lane, and image information within a set area around the vehicle.

[0062] In the embodiments of the present application, the autonomous driving vehicle is generally provided with an image acquisition unit for the external environment, such as front and rear end cameras for acquiring images of the surrounding environment, cameras on the vehicle body, etc., and images of the environment surrounding the autonomous driving vehicle are acquired to obtain the vehicle driving conditions in the current lane, the vehicle distribution and driving conditions in the adjacent lanes, the driving and distribution conditions of pedestrians and non-motor vehicles in the non-motor vehicle lanes, etc.

[0063] The embodiment of the present application can identify relevant vehicle and pedestrian information in an image based on image recognition technology.

[0064] Step 102, in response to the arrival of a detection cycle, obtaining the operating condition information of the vehicle, and determining whether the vehicle is in an abnormal state based on the operating condition information.

[0065] In the embodiment of the present application, the operating condition information includes at least one of the operating conditions of the braking system, the operating conditions of the parking system, the operating conditions of the steering control system, and the operating conditions of the driving system. There is no timing requirement between step 102 and step 101, and they can be executed in parallel. Step 102 can also be executed first and then step 101.

[0066] Step 103: In response to detecting that the vehicle is in an abnormal state, outputting vehicle abnormality alarm information.

[0067] Automatic vehicle abnormalities include abnormalities in the vehicle's own operating conditions, such as failure of the brake system, parking system, steering control system, or drive system. It can also be abnormalities in the microcontroller or drive battery of the automatic driving vehicle, or abnormalities in the vehicle itself, such as axle breakage and abnormal tire pressure.

[0068] Output alarm information, specifically, the fault indicator light of the abnormal vehicle can be controlled to light up; or, the prompt voice of the vehicle abnormality can be played at the maximum volume through the voice playback unit; or, the prompt information of the vehicle abnormality can be output through the external display unit.

[0069] Step 104, identifying feature objects in the collected image information, at least identifying the front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on adjacent lanes, pedestrians and non-motorized vehicles on non-motorized lanes, and determining the speeds of the front and rear vehicles on the driving lane of the abnormal vehicle, the distance between the abnormal vehicle and the front and rear vehicles, the distance and direction relationship between the vehicles on adjacent lanes and the abnormal vehicle, and the speeds of the vehicles on adjacent lanes.

[0070] The distribution and driving conditions of vehicles on a lane and its adjacent lanes are determined by performing feature point recognition on the image captured by the image acquisition unit and identifying related objects in the image.

[0071] Step 105, based on the abnormal state, the vehicles and pedestrians in the current lane, adjacent lanes and non-motorized vehicle lanes, the speed of the abnormal vehicle, and the speed of vehicles in adjacent lanes, a driving strategy is formulated for the abnormal vehicle.

[0072] Specifically, a driving strategy is formulated for abnormal vehicles, including:

[0073] In response to a brake system failure, obtaining the distance between the front and rear vehicles in the current lane and their speed, the distance between the vehicles in the adjacent lanes and their directions, the speed of the vehicles in the adjacent lanes, and the information of pedestrians and non-motorized vehicles on the non-motorized lanes;

[0074] When it is determined that the distance between the vehicle in the adjacent lane and the abnormal vehicle is less than a first threshold value and / or the speed of the vehicle in the adjacent lane is higher than a second threshold value, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reversely drive the abnormal vehicle to stop it;

[0075] Determining that the distance between the vehicle in the adjacent lane and the abnormal vehicle is greater than a first threshold value and the vehicle speed of the adjacent lane is lower than the second threshold value and greater than or equal to a third threshold value, sending a steering instruction to the steering control system to drive the abnormal vehicle into the adjacent lane; sending a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or sending a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and sending a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it;

[0076] Determine that the adjacent lane is a non-motor vehicle lane or an emergency lane, determine that there are no obstacles in the non-motor vehicle lane or the emergency lane within a set length in the driving direction of the abnormal vehicle, send a steering instruction to the steering control system to make the abnormal vehicle drive into the non-motor vehicle lane or the emergency lane, send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it.

[0077] As an implementation method, formulating a driving strategy for an abnormal vehicle in the embodiment of the present application may also include:

[0078] In response to a steering control system failure, the distance between the front and rear vehicles in the current lane and their driving speeds are obtained; a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reverse drive the abnormal vehicle to stop it; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a vehicle braking instruction is sent to the braking system to stop the abnormal vehicle.

[0079] As an implementation method, formulating a driving strategy for an abnormal vehicle in the embodiment of the present application may also include:

[0080] In response to the failure of the braking system and the normal steering control system, the electronic map information is obtained, and according to the road section information currently traveled by the abnormal vehicle, the abandoned temporary parking lot, abandoned construction site or abandoned park that the abnormal vehicle can pass through on the travel route is determined;

[0081] Acquire real-time scene images of abandoned temporary parking lots, abandoned construction sites, or abandoned parks, perform object recognition on the real-time scene images, determine the road conditions in the abandoned temporary parking lots, abandoned construction sites, or abandoned parks, whether there are active objects on the roads, the slope distribution of the roads, and obstacles on both sides of the roads; determine the abandoned temporary parking lots, abandoned construction sites, or abandoned parks that are the driving destinations for abnormal vehicles;

[0082] Sending a steering instruction to the steering control system to control the abnormal vehicle to drive to the destination of an abandoned temporary parking lot, an abandoned construction site or an abandoned park;

[0083] After determining that the abnormal vehicle has entered an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination, a driving route is planned for the abnormal vehicle; the abnormal vehicle is controlled to drive along the planned driving route;

[0084] A drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reverse drive the abnormal vehicle to stop it; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a vehicle braking instruction is sent to the braking system to stop the abnormal vehicle.

[0085] In the embodiment of the present application, according to the real-time driving conditions of the autonomous driving vehicle, image information of the driving lanes, adjacent lanes, and non-motorized vehicle lanes during the driving intervention process of the abnormal vehicle can be obtained in real time, and the feature objects of the collected image information can be identified again to obtain the front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on adjacent lanes, pedestrians and non-motorized vehicles on the non-motorized vehicle lane, and the azimuth relationship, distance and driving speed of the abnormal vehicle and the front and rear vehicles, and the azimuth relationship, distance and driving speed between the abnormal vehicle and the vehicles on the adjacent lanes can be detected in real time; the driving strategy can be adjusted according to the relevant information obtained, and the controllable related systems in the abnormal vehicle can be re-called with the adjusted driving strategy to intervene in the driving direction and driving trajectory of the abnormal vehicle.

[0086] Step 106: Based on the driving strategy, call the controllable related system in the abnormal vehicle to intervene in the driving direction and trajectory of the abnormal vehicle until the abnormal vehicle is parked or forced to intervene.

[0087] In an embodiment of the present application, after the driving strategy is determined, the abnormal vehicle is controlled by calling the controllable related systems in the abnormal vehicle, that is, determining the usable operating conditions in the abnormal vehicle, so that it can be controlled as much as possible according to the driving strategy to avoid causing serious traffic accidents.

[0088] The embodiment of the present application collects the current driving condition information of the autonomous driving vehicle and simultaneously obtains the driving conditions of the vehicles in the current lane and adjacent lanes. When the autonomous driving vehicle is determined to be abnormal, the driving strategy of the autonomous driving vehicle is planned based on the current vehicle condition and current environmental information of the autonomous driving vehicle, and the available vehicle control unit of the vehicle is used as much as possible to achieve the maximum possible control of the vehicle, avoid traffic accidents caused by the abnormal autonomous driving vehicle, and minimize traffic hazards. The present application achieves maximum protection for the autonomous driving vehicle in abnormal conditions and improves the driving safety of the autonomous driving vehicle.

[0089] Figure 2 Schematic diagram of the structure of the abnormal state emergency handling device of the autonomous driving vehicle according to the embodiment of the present application. Figure 2 As shown, the abnormal state emergency processing device of the autonomous driving vehicle in the embodiment of the present application includes:

[0090] A trigger unit 20, configured to trigger an image acquisition unit on the vehicle to acquire at least image information of a driving lane, an adjacent lane of the driving lane, a non-motorized vehicle lane, and image information within a set area around the vehicle in response to the arrival of an acquisition cycle;

[0091] A determination unit 21, configured to obtain operating condition information of the vehicle in response to the arrival of a detection cycle, and determine whether the vehicle is in an abnormal state based on the operating condition information; wherein the operating condition information includes at least one of a braking system operating condition, a parking system operating condition, a steering control system operating condition, and a driving system operating condition;

[0092] The output unit 22 is used to output the alarm information of the abnormality of the vehicle in response to detecting that the vehicle is in an abnormal state;

[0093] The recognition unit 23 is used to recognize feature objects in the collected image information, at least recognize the front and rear vehicles of the abnormal vehicle on the driving lane, the vehicles on the adjacent lane, the pedestrians and non-motorized vehicles on the non-motorized lane, and determine the speeds of the front and rear vehicles on the driving lane of the abnormal vehicle, the distance between the abnormal vehicle and the front and rear vehicles, the distance and orientation relationship between the vehicles on the adjacent lane and the abnormal vehicle, and the speeds of the vehicles on the adjacent lane;

[0094] A strategy formulation unit 24 is used to formulate a driving strategy for the abnormal vehicle based on the abnormal state, the vehicles and pedestrians in the current lane, the adjacent lanes and the non-motorized vehicle lane, the speed of the abnormal vehicle, and the speed of the vehicles in the adjacent lanes;

[0095] The control unit 25 is used to call the controllable related system in the abnormal vehicle based on the driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle until the abnormal vehicle is parked or forced to intervene.

[0096] In the embodiment of the present application, the determination unit 21 is also used to obtain image information of the driving lane, adjacent lane, and non-motorized vehicle lane during the driving intervention process of the abnormal vehicle, and to identify feature objects again on the collected image information, to obtain the front and rear vehicles of the abnormal vehicle on the driving lane, the vehicles on the adjacent lane, the pedestrians and non-motorized vehicles on the non-motorized vehicle lane, and to detect in real time the positional relationship, distance, and driving speed of the abnormal vehicle and the front and rear vehicles, and the positional relationship, distance, and driving speed between the abnormal vehicle and the vehicles on the adjacent lanes;

[0097] Correspondingly, the strategy formulation unit 24 is also used to adjust the driving strategy according to the relevant information obtained, and to re-call the controllable related systems in the abnormal vehicle with the adjusted driving strategy to intervene in the driving direction and driving trajectory of the abnormal vehicle.

[0098] As an implementation method, the policy formulation unit 24 is further configured to:

[0099] In response to a brake system failure, obtaining the distance between the front and rear vehicles in the current lane and their speed, the distance between the vehicles in the adjacent lanes and their directions, the speed of the vehicles in the adjacent lanes, and the information of pedestrians and non-motorized vehicles on the non-motorized lanes;

[0100] When it is determined that the distance between the vehicle in the adjacent lane and the abnormal vehicle is less than a first threshold value and / or the speed of the vehicle in the adjacent lane is higher than a second threshold value, the control unit 25 is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle so that the abnormal vehicle travels at an inertia speed; or, the control unit 25 is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it;

[0101] Determining that the distance between the vehicle in the adjacent lane and the abnormal vehicle is greater than a first threshold value and the vehicle speed in the adjacent lane is lower than the second threshold value and greater than or equal to a third threshold value, triggering the control unit 25 to send a steering instruction to the steering control system to make the abnormal vehicle drive into the adjacent lane; triggering the control unit 25 to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or triggering the control unit 25 to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it;

[0102] Determine that the adjacent lane is a non-motor vehicle lane or an emergency lane, determine that there are no obstacles in the non-motor vehicle lane or the emergency lane within a set length in the driving direction of the abnormal vehicle, trigger the control unit 25 to send a steering instruction to the steering control system to make the abnormal vehicle drive into the non-motor vehicle lane or the emergency lane, send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it.

[0103] As an implementation method, the policy formulation unit is further used to:

[0104] In response to the failure of the braking system and the normal steering control system, the electronic map information is obtained, and according to the road section information currently traveled by the abnormal vehicle, the abandoned temporary parking lot, abandoned construction site or abandoned park that the abnormal vehicle can pass through on the travel route is determined;

[0105] Acquire real-time scene images of abandoned temporary parking lots, abandoned construction sites, or abandoned parks, perform object recognition on the real-time scene images, determine the road conditions in the abandoned temporary parking lots, abandoned construction sites, or abandoned parks, whether there are active objects on the roads, the slope distribution of the roads, and obstacles on both sides of the roads; determine the abandoned temporary parking lots, abandoned construction sites, or abandoned parks that are the driving destinations for abnormal vehicles;

[0106] The control unit is triggered to send a steering instruction to the steering control system, so as to control the abnormal vehicle to drive to an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination;

[0107] After determining that the abnormal vehicle has entered an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination, a driving path is planned for the abnormal vehicle; the control unit 25 is triggered to control the abnormal vehicle to drive according to the planned driving path;

[0108] The control unit 25 is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at the inertia speed; or, the control unit 25 is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it; or, the control unit 25 is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a vehicle braking instruction to the braking system to stop the abnormal vehicle.

[0109] In an exemplary embodiment, the aforementioned units and the like may be implemented by one or more central processing units (CPU), graphics processing units (GPU), application specific integrated circuits (ASIC), DSPs, programmable logic devices (PLD), complex programmable logic devices (CPLD), field programmable gate arrays (FPGA), general-purpose processors, controllers, microcontrollers (MCU), microprocessors, or other electronic components.

[0110] Regarding the device in the above embodiment, the specific manner in which each module and unit performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0111] Figure 3 The schematic diagram of the structure of the autonomous driving vehicle according to the embodiment of the present application is as follows: Figure 3 As shown, the autonomous vehicle 800 may include one or more of the following components: a processing component 802, a memory 804, a power component 806, a multimedia component 808, an audio component 810, an input / output (I / O) interface 812, a sensor component 814, and a communication component 816.

[0112] The processing component 802 generally controls the overall operation of the electronic device 800, such as operations associated with display, phone calls, data communications, camera operations, and recording operations. The processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the above-mentioned method. In addition, the processing component 802 may include one or more modules to facilitate the interaction between the processing component 802 and other components. For example, the processing component 802 may include a multimedia module to facilitate the interaction between the multimedia component 808 and the processing component 802.

[0113] The memory 804 is configured to store various types of data to support operations on the device 800. Examples of such data include instructions for any application or method operating on the electronic device 800, contact data, phone book data, messages, pictures, videos, etc. The memory 804 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0114] The power component 806 provides power to the various components of the electronic device 800. The power component 806 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 800.

[0115] The multimedia component 808 includes a screen that provides an output interface between the electronic device 800 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 808 includes a front camera and / or a rear camera. When the device 800 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera may receive external multimedia data. Each front camera and the rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.

[0116] The audio component 810 is configured to output and / or input audio signals. For example, the audio component 810 includes a microphone (MIC), and when the electronic device 800 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode, the microphone is configured to receive an external audio signal. The received audio signal can be further stored in the memory 804 or sent via the communication component 816. In some embodiments, the audio component 810 also includes a speaker for outputting audio signals.

[0117] I / O interface 812 provides an interface between processing component 802 and peripheral interface modules, such as keyboards, click wheels, buttons, etc. These buttons may include but are not limited to: home button, volume button, start button, and lock button.

[0118] The sensor assembly 814 includes one or more sensors for providing various aspects of status assessment for the electronic device 800. For example, the sensor assembly 814 can detect the open / closed state of the device 800, the relative positioning of components, such as the display and keypad of the electronic device 800, and the sensor assembly 814 can also detect the position change of the electronic device 800 or a component of the electronic device 800, the presence or absence of contact between the user and the electronic device 800, the orientation or acceleration / deceleration of the electronic device 800, and the temperature change of the electronic device 800. The sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 814 may also include an optical sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 814 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0119] The communication component 816 is configured to facilitate wired or wireless communication between the electronic device 800 and other devices. The electronic device 800 can access a wireless network based on a communication standard, such as Wi-Fi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 816 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 816 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0120] In an exemplary embodiment, the electronic device 800 can be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components to perform the steps of the active management and control method for high-risk operations of the above-mentioned embodiments.

[0121] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 804 including instructions, and the instructions can be executed by a processor 820 of an electronic device 800 to complete the steps of the active management and control method for high-risk operations of the above embodiment. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0122] The embodiment of the present application also describes a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps of the active management and control method for high-risk operations of the embodiment are implemented.

[0123] In the several embodiments provided in this application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely illustrative. In addition, the features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method embodiments or device embodiments.

[0124] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A method for emergency handling of abnormal state of an autonomous driving vehicle, characterized in that: The method comprises: In response to the arrival of the acquisition cycle, the image acquisition unit on the vehicle is triggered to collect at least the image information of the driving lane, the adjacent lane of the driving lane, the non-motorized vehicle lane, and the image information of the set area around the vehicle; and, in response to the arrival of the detection cycle, the working condition information of the vehicle is obtained, and whether the vehicle is in an abnormal state is determined based on the working condition information; wherein the working condition information includes at least one of the working condition of the braking system, the working condition of the parking system, the working condition of the steering control system, and the working condition of the driving system; In response to detecting that the vehicle is in an abnormal state, outputting vehicle abnormality alarm information; Identify the feature objects of the collected image information, at least identify the front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on adjacent lanes, pedestrians and non-motorized vehicles on non-motorized lanes, and determine the speeds of the front and rear vehicles on the driving lane of the abnormal vehicle, the distance between the abnormal vehicle and the front and rear vehicles, the distance and orientation relationship between the vehicles on adjacent lanes and the abnormal vehicle, and the speeds of the vehicles on adjacent lanes; Formulate a driving strategy for the abnormal vehicle based on the abnormal state, the vehicles and pedestrians in the current lane, adjacent lanes and non-motorized vehicle lanes, the speed of the abnormal vehicle and the speed of vehicles in adjacent lanes; Based on the driving strategy, the controllable related systems in the abnormal vehicle are called to intervene in the driving direction and trajectory of the abnormal vehicle until the abnormal vehicle is parked or forced to intervene.

2. The method according to claim 1, characterized in that The method further comprises: Acquire image information of the driving lane, adjacent lane, and non-motorized vehicle lane during the driving intervention process of the abnormal vehicle, identify feature objects again on the acquired image information, acquire the front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on adjacent lanes, pedestrians and non-motorized vehicles on the non-motorized vehicle lane, and detect the positional relationship, distance, and driving speed of the abnormal vehicle and the front and rear vehicles, and the positional relationship, distance, and driving speed between the abnormal vehicle and vehicles on adjacent lanes in real time; The driving strategy is adjusted according to the relevant information obtained, and the controllable related systems in the abnormal vehicle are re-called with the adjusted driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle.

3. The method according to claim 1 or 2, characterized in that: The formulating of a driving strategy for an abnormal vehicle includes: In response to a brake system failure, obtaining the distance between the front and rear vehicles in the current lane and their speed, the distance between the vehicles in the adjacent lanes and their directions, the speed of the vehicles in the adjacent lanes, and the information of pedestrians and non-motorized vehicles on the non-motorized lanes; When it is determined that the distance between the vehicle in the adjacent lane and the abnormal vehicle is less than a first threshold value and / or the speed of the vehicle in the adjacent lane is higher than a second threshold value, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reversely drive the abnormal vehicle to stop it; Determining that the distance between the vehicle in the adjacent lane and the abnormal vehicle is greater than a first threshold value and the vehicle speed of the adjacent lane is lower than the second threshold value and greater than or equal to a third threshold value, sending a steering instruction to the steering control system to drive the abnormal vehicle into the adjacent lane; sending a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or sending a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and sending a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it; Determine that the adjacent lane is a non-motor vehicle lane or an emergency lane, determine that there are no obstacles in the non-motor vehicle lane or the emergency lane within a set length in the driving direction of the abnormal vehicle, send a steering instruction to the steering control system to make the abnormal vehicle drive into the non-motor vehicle lane or the emergency lane, send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it.

4. The method according to claim 1 or 2, characterized in that: The formulating of a driving strategy for an abnormal vehicle includes: In response to a steering control system failure, obtaining a distance between front and rear vehicles in a current lane and a travel speed thereof; A drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reverse drive the abnormal vehicle to stop it; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a vehicle braking instruction is sent to the braking system to stop the abnormal vehicle.

5. The method according to claim 1 or 2, characterized in that: The formulating of a driving strategy for an abnormal vehicle includes: In response to the failure of the braking system and the normal steering control system, the electronic map information is obtained, and according to the road section information currently traveled by the abnormal vehicle, the abandoned temporary parking lot, abandoned construction site or abandoned park that the abnormal vehicle can pass through on the travel route is determined; Acquire real-time scene images of abandoned temporary parking lots, abandoned construction sites, or abandoned parks, perform object recognition on the real-time scene images, determine the road conditions in the abandoned temporary parking lots, abandoned construction sites, or abandoned parks, whether there are active objects on the roads, the slope distribution of the roads, and obstacles on both sides of the roads; determine the abandoned temporary parking lots, abandoned construction sites, or abandoned parks that are the driving destinations for abnormal vehicles; Sending a steering instruction to the steering control system to control the abnormal vehicle to drive to the destination of an abandoned temporary parking lot, an abandoned construction site or an abandoned park; After determining that the abnormal vehicle has entered an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination, a driving route is planned for the abnormal vehicle; the abnormal vehicle is controlled to drive along the planned driving route; A drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, so that the abnormal vehicle travels at an inertia speed; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a reverse drive instruction is sent to the drive system to reverse drive the abnormal vehicle to stop it; or, a drive disconnection instruction is sent to the drive system to disconnect the driving force of the abnormal vehicle, and a vehicle braking instruction is sent to the braking system to stop the abnormal vehicle.

6. The method according to claim 1, characterized in that The output of the vehicle abnormality alarm information includes: The fault indicator light of the abnormal vehicle is lit; Play the vehicle abnormality prompt voice at the maximum volume through the voice playback unit; The vehicle abnormality prompt information is output through the external display unit.

7. An emergency handling device for abnormal state of an autonomous driving vehicle, characterized in that: The device comprises: A trigger unit, configured to trigger an image acquisition unit on the vehicle to acquire at least image information of a driving lane, an adjacent lane of the driving lane, a non-motorized vehicle lane, and image information in a set area around the vehicle in response to the arrival of an acquisition cycle; a determination unit, configured to obtain operating condition information of the vehicle in response to the arrival of a detection cycle, and determine whether the vehicle is in an abnormal state based on the operating condition information; wherein the operating condition information includes at least one of a braking system operating condition, a parking system operating condition, a steering control system operating condition, and a driving system operating condition; An output unit, for outputting vehicle abnormality alarm information in response to detecting that the vehicle is in an abnormal state; The recognition unit is used to recognize feature objects in the collected image information, at least recognize the front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on adjacent lanes, pedestrians and non-motorized vehicles on the non-motorized lane, and determine the speeds of the front and rear vehicles on the driving lane of the abnormal vehicle, the distance between the abnormal vehicle and the front and rear vehicles, the distance and orientation relationship between the vehicles on adjacent lanes and the abnormal vehicle, and the speeds of the vehicles on adjacent lanes; A strategy formulation unit, configured to formulate a driving strategy for the abnormal vehicle based on the abnormal state, the vehicles and pedestrians in the current lane, the adjacent lanes and the non-motorized vehicle lane, the speed of the abnormal vehicle and the speed of the vehicles in the adjacent lanes; The control unit is used to call the controllable related systems in the abnormal vehicle based on the driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle until the abnormal vehicle is parked or forced to intervene.

8. The device according to claim 7, characterized in that The determination unit is further used to obtain image information of the driving lane, adjacent lane, and non-motorized vehicle lane during the driving intervention process of the abnormal vehicle, and to identify feature objects again on the collected image information, to obtain the front and rear vehicles of the abnormal vehicle on the driving lane, the vehicles on the adjacent lane, the pedestrians and non-motorized vehicles on the non-motorized vehicle lane, and to detect in real time the positional relationship, distance, and driving speed of the abnormal vehicle and the front and rear vehicles, and the positional relationship, distance, and driving speed between the abnormal vehicle and the vehicles on the adjacent lanes; Correspondingly, the strategy formulation unit is also used to adjust the driving strategy according to the relevant information obtained, and to re-call the controllable related systems in the abnormal vehicle with the adjusted driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle.

9. The device according to claim 7 or 8, characterized in that The strategy formulation unit is further used for: In response to a brake system failure, obtaining the distance between the front and rear vehicles in the current lane and their speed, the distance between the vehicles in the adjacent lanes and their directions, the speed of the vehicles in the adjacent lanes, and the information of pedestrians and non-motorized vehicles on the non-motorized lanes; When it is determined that the distance between the vehicle in the adjacent lane and the abnormal vehicle is less than a first threshold value and / or the speed of the vehicle in the adjacent lane is higher than a second threshold value, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it; Determining that the distance between the vehicle in the adjacent lane and the abnormal vehicle is greater than a first threshold and the speed of the vehicle in the adjacent lane is lower than the second threshold and greater than or equal to a third threshold, triggering the control unit to send a steering instruction to the steering control system to make the abnormal vehicle drive into the adjacent lane; sending a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, so that the abnormal vehicle travels at an inertia speed; Alternatively, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and to send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it; Determine that the adjacent lane is a non-motor vehicle lane or an emergency lane, determine that there are no obstacles in the non-motor vehicle lane or the emergency lane within a set length in the driving direction of the abnormal vehicle, trigger the control unit to send a steering instruction to the steering control system to make the abnormal vehicle drive into the non-motor vehicle lane or the emergency lane, send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it.

10. The device according to claim 7 or 8, characterized in that The strategy formulation unit is further used for: In response to the failure of the braking system and the normal steering control system, the electronic map information is obtained, and according to the road section information currently traveled by the abnormal vehicle, the abandoned temporary parking lot, abandoned construction site or abandoned park that the abnormal vehicle can pass through on the travel route is determined; Acquire real-time scene images of abandoned temporary parking lots, abandoned construction sites, or abandoned parks, perform object recognition on the real-time scene images, determine the road conditions in the abandoned temporary parking lots, abandoned construction sites, or abandoned parks, whether there are active objects on the roads, the slope distribution of the roads, and obstacles on both sides of the roads; determine the abandoned temporary parking lots, abandoned construction sites, or abandoned parks that are the driving destinations for abnormal vehicles; The control unit is triggered to send a steering instruction to the steering control system, so as to control the abnormal vehicle to drive to an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination; After determining that the abnormal vehicle has entered an abandoned temporary parking lot, an abandoned construction site or an abandoned park at the destination, a driving path is planned for the abnormal vehicle; the control unit is triggered to control the abnormal vehicle to drive along the planned driving path; The control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle and make the abnormal vehicle travel at an inertia speed; or, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a reverse drive instruction to the drive system to reverse drive the abnormal vehicle to stop it; or, the control unit is triggered to send a drive disconnection instruction to the drive system to disconnect the driving force of the abnormal vehicle, and send a vehicle braking instruction to the braking system to stop the abnormal vehicle.

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