Emergency processing method and device for abnormal state of autonomous vehicle

Abstract

The application discloses an emergency processing method and device for an abnormal state of an automatic driving vehicle, and the method comprises the following steps: in response to the arrival of a collection period, triggering an image collection unit on the vehicle to collect at least image information of a driving lane, an adjacent lane of the driving lane and a non-motor vehicle lane, and image information in a set area around the vehicle; in response to the arrival of a 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 detecting that the vehicle is in an abnormal state, outputting alarm information of the abnormal vehicle; identifying a feature object of the collected image information; formulating a driving strategy for the abnormal vehicle; based on the driving strategy, calling a controllable related system in the abnormal vehicle, and intervening in a driving direction and a driving track of the abnormal vehicle until the abnormal vehicle is parked or is forced to be intervened. The application improves the driving safety of the automatic driving vehicle.

Description

Technical Field

[0001] This application relates to control technology for autonomous vehicles, specifically to an emergency handling method and device for abnormal states of autonomous vehicles. Background Technology

[0002] Currently, with the development of electronic maps and communication technologies, autonomous driving technology has been put into practical application. For example, autonomous taxis, driverless buses, autonomous valet parking, long-haul logistics vehicles, and unmanned delivery vehicles all utilize autonomous driving technology. However, factors such as traffic participants, weather, infrastructure, and road debris can cause traffic environments to exceed the designed operating conditions of autonomous driving systems. This can lead to system malfunctions resulting in stalling or loss of control; or malicious intrusion into the autonomous driving system leading to loss of control. At high speeds, loss of control in autonomous vehicles can cause serious traffic accidents. Therefore, addressing the safety of autonomous vehicles is a pressing technical issue that needs to be resolved. Summary of the Invention

[0003] In view of this, the present application aims to provide an emergency handling method and apparatus for abnormal states of autonomous vehicles, so as to at least solve the above-mentioned technical problems.

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

[0005] According to one aspect of the embodiments of this application, an emergency handling method for abnormal states of autonomous vehicles is provided, including:

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

[0007] In response to the detection of an abnormal vehicle condition, an alarm message for the vehicle abnormality is output.

[0008] The collected image information is used to identify the feature objects, including at least the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and to determine the speed of the vehicles in front and behind the abnormal vehicle in the driving lane, the distance between the abnormal vehicle and the vehicles in front and behind, the distance and directional relationship between the abnormal vehicle and the vehicles in adjacent lanes, and the speed of the vehicles in adjacent lanes.

[0009] Based on the abnormal state, and the situation of 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.

[0010] Based on the aforementioned driving strategy, controllable related systems in the abnormal vehicle are invoked to intervene in the abnormal vehicle's driving direction and trajectory until the abnormal vehicle stops or is forcibly intervened.

[0011] As one implementation, the method further includes:

[0012] The system acquires image information of the driving lane, adjacent lanes, and non-motorized vehicle lane during the intervention process of abnormal vehicles. It then performs feature object recognition on the acquired image information to acquire the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and detects the positional relationship, distance and speed of the abnormal vehicle with the vehicles in front and behind it, as well as the positional relationship, distance and speed of the abnormal vehicle with the vehicles in adjacent lanes in real time.

[0013] Based on the relevant information obtained, the driving strategy is adjusted, and the controllable relevant systems in the abnormal vehicle are reactivated with the adjusted driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle.

[0014] As one implementation method, the method for formulating driving strategies for abnormal vehicles includes:

[0015] In response to braking system failure, obtain the distance and speed between vehicles in front and behind in the current lane, the distance and position between vehicles in adjacent lanes, the speed of vehicles in adjacent lanes, and information on pedestrians and non-motorized vehicles in the non-motorized vehicle lane.

[0016] If the distance between a vehicle in an adjacent lane and the abnormal vehicle is less than a first threshold and / or the speed of a vehicle in an adjacent lane is higher than a second threshold, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle and a reverse drive command is sent to the drive system to reverse drive the abnormal vehicle to stop it.

[0017] If the distance between a vehicle in an adjacent lane and the abnormal vehicle is determined to be greater than a first threshold and the speed of the vehicle in the adjacent lane is lower than a second threshold but greater than or equal to a third threshold, a steering command is sent to the steering control system to cause the abnormal vehicle to enter the adjacent lane; a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle, allowing the abnormal vehicle to travel at its inertial speed; or, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle and a reverse drive command is sent to the drive system to reverse drive the abnormal vehicle to stop it.

[0018] The system determines that the adjacent lane is a non-motorized vehicle lane or an emergency lane, and that there are no obstacles within a set length of the non-motorized vehicle lane or emergency lane in the direction of travel of the abnormal vehicle. It then sends a steering command to the steering control system to cause the abnormal vehicle to enter the non-motorized vehicle lane or emergency lane, sends a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle, and sends a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it.

[0019] As one implementation method, the method for formulating driving strategies for abnormal vehicles includes:

[0020] In response to a steering control system failure, obtain the distance and speed between vehicles in front and behind in the current lane;

[0021] Send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a vehicle braking command to the braking system to stop the abnormal vehicle.

[0022] As one implementation method, the method for formulating driving strategies for abnormal vehicles includes:

[0023] In response to a braking system failure while the steering control system functions normally, electronic map information is obtained, and based on the current road segment information of the abnormal vehicle, abandoned temporary parking lots, abandoned construction sites, or abandoned parks that the abnormal vehicle can pass through on its route.

[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; determine whether there are moving objects on the road; determine the slope distribution of the road; and identify the abandoned temporary parking lots, abandoned construction sites, or abandoned parks as the destination for abnormal vehicles.

[0025] Send a steering command to the steering control system to control the abnormal vehicle to drive towards the destination, such as an abandoned temporary parking lot, an abandoned construction site, or an abandoned park.

[0026] After identifying the abandoned temporary parking lot, abandoned construction site, or abandoned park where the abnormal vehicle is headed, a driving route is planned for the abnormal vehicle; the abnormal vehicle is then controlled to drive along the planned driving route.

[0027] Send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a vehicle braking command to the braking system to stop the abnormal vehicle.

[0028] As one implementation method, the output of vehicle abnormality alarm information includes:

[0029] The malfunction indicator light of the vehicle is illuminated.

[0030] The voice prompt indicating a vehicle malfunction is played at maximum volume via the voice playback unit.

[0031] The external display unit outputs a warning message about the vehicle malfunction.

[0032] According to two aspects of the embodiments of this application, an emergency handling device for abnormal states of autonomous vehicles is provided, comprising:

[0033] The triggering unit is used to trigger the image acquisition unit on the vehicle to acquire 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 in response to the arrival of the acquisition cycle.

[0034] A determining unit is configured to, in response to the arrival of a detection cycle, acquire vehicle operating condition information 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 the following: braking system operating condition, parking system operating condition, steering control system operating condition, and drive system operating condition;

[0035] The output unit is used to output alarm information for vehicle abnormality in response to the detection of an abnormal vehicle state;

[0036] The identification unit is used to identify the feature objects in the collected image information, at least identifying the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and determining the speed of the vehicles in front and behind the abnormal vehicle in the driving lane, the distance between the abnormal vehicle and the vehicles in front and behind, the distance and directional relationship between the vehicles in adjacent lanes and the abnormal vehicle, and the speed of the vehicles in adjacent lanes.

[0037] The strategy formulation unit is used to formulate a driving strategy for the abnormal vehicle based on the abnormal state, the situation of 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.

[0038] The control unit is used to invoke 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 stops or is forcibly intervened.

[0039] As one implementation, the determining unit is also used to acquire image information of the driving lane, adjacent lane, and non-motorized vehicle lane during the abnormal vehicle's driving intervention process, and to re-identify the feature objects in the acquired image information to acquire the vehicles in front and behind the abnormal vehicle in the driving lane, the vehicles in the adjacent lane, the pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and to detect in real time the positional relationship, distance and driving speed of the abnormal vehicle and the vehicles in front and behind, as well as the positional relationship, distance and driving speed of the abnormal vehicle and the vehicles in the adjacent lane.

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

[0041] As one implementation, the strategy formulation unit is further configured to:

[0042] In response to braking system failure, obtain the distance and speed between vehicles in front and behind in the current lane, the distance and position between vehicles in adjacent lanes, the speed of vehicles in adjacent lanes, and information on pedestrians and non-motorized vehicles in the non-motorized vehicle lane.

[0043] If the distance between a vehicle in an adjacent lane and the abnormal vehicle is less than a first threshold and / or the speed of a vehicle in an adjacent lane is higher than a second threshold, the control unit is triggered to send a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle and allow the abnormal vehicle to continue moving at its inertial speed; or, the control unit is triggered to send a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it.

[0044] If the distance between a vehicle in an adjacent lane and the abnormal vehicle is determined to be greater than a first threshold and the speed of the vehicle in the adjacent lane is lower than a second threshold but greater than or equal to a third threshold, the control unit is triggered to send a steering command to the steering control system, causing the abnormal vehicle to enter the adjacent lane; or the control unit is triggered to send a drive disconnect command to the drive system, disconnecting the drive force of the abnormal vehicle and allowing the abnormal vehicle to travel at its inertial speed; or, the control unit is triggered to send a drive disconnect command to the drive system, disconnecting the drive force of the abnormal vehicle and sending a reverse drive command to the drive system, driving the abnormal vehicle in reverse to stop it.

[0045] The system determines that the adjacent lane is a non-motorized vehicle lane or an emergency lane, and that there are no obstacles in the non-motorized vehicle lane or emergency lane within a set length in the direction of travel of the abnormal vehicle. The system then triggers the control unit to send a steering command to the steering control system, causing the abnormal vehicle to enter the non-motorized vehicle lane or emergency lane. The system also sends a drive disconnect command to the drive system, disconnecting the drive force of the abnormal vehicle, and sends a reverse drive command to the drive system, driving the abnormal vehicle in reverse to bring it to a stop.

[0046] As one implementation, the strategy formulation unit is further configured to:

[0047] In response to a braking system failure while the steering control system functions normally, electronic map information is obtained, and based on the current road segment information of the abnormal vehicle, abandoned temporary parking lots, abandoned construction sites, or abandoned parks that the abnormal vehicle can pass through on its route.

[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; determine whether there are moving objects on the road; determine the slope distribution of the road; and identify the abandoned temporary parking lots, abandoned construction sites, or abandoned parks as the destination for abnormal vehicles.

[0049] The control unit is triggered to send a steering command to the steering control system, controlling the abnormal vehicle to drive towards the destination, such as an abandoned temporary parking lot, an abandoned construction site, or an abandoned park.

[0050] After determining the abandoned temporary parking lot, abandoned construction site, or abandoned park where the abnormal vehicle is headed, a driving route is planned for the abnormal vehicle; the control unit is then triggered to control the abnormal vehicle to drive along the planned driving route.

[0051] The control unit is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and allowing the abnormal vehicle to continue moving at its inertial speed; or, the control unit is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and sending a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, the control unit is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and sending a vehicle braking command to the braking system to stop the abnormal vehicle.

[0052] The emergency handling method and apparatus for abnormal states of autonomous vehicles provided in this application collects the current driving condition information of the autonomous vehicle and simultaneously obtains the driving conditions of vehicles in the current lane and adjacent lanes. When an abnormality is determined to occur in the autonomous vehicle, a driving strategy is planned based on the current vehicle condition and environmental information. The method utilizes available vehicle control units as much as possible to maximize vehicle control, thereby avoiding traffic accidents caused by the abnormality and minimizing traffic hazards. This application achieves maximum protection for autonomous vehicles in abnormal states and improves the driving safety of autonomous vehicles. Attached Figure Description

[0053] Figure 1 This is a schematic flowchart of an emergency handling method for abnormal states of autonomous vehicles according to an embodiment of this application;

[0054] Figure 2 This is a schematic diagram of the composition of the emergency handling device for abnormal states of autonomous vehicles according to an embodiment of this application;

[0055] Figure 3 This is a schematic diagram of the structure of an autonomous vehicle. Detailed Implementation

[0056] The technical solution of this application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] The specific technical features described in the various embodiments in the detailed implementation 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 described in this application, it should be noted that, unless otherwise stated and limited, the term "connection" should be interpreted broadly. For example, it can be an electrical connection, or a connection between two internal components. It can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

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

[0060] Figure 1 This is a schematic flowchart of an emergency handling method for abnormal states of autonomous vehicles according to an embodiment of this application. This method can be applied to various autonomous vehicles, including but not limited to taxis, driverless buses, autonomous valet parking, long-haul logistics vehicles, and unmanned delivery vehicles. Figure 1 As shown, the emergency handling method for abnormal states of autonomous vehicles according to embodiments of this application includes the following processing steps:

[0061] Step 101: In response to the arrival of the acquisition cycle, the image acquisition unit on the vehicle is triggered to acquire 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.

[0062] In this embodiment of the application, the autonomous vehicle is generally equipped with an image acquisition unit for the external environment, such as front and rear cameras for acquiring the surrounding environment, cameras on the vehicle body, etc. By acquiring images of the environment around the autonomous vehicle, the vehicle driving situation in the current lane, the vehicle distribution and driving situation in adjacent lanes, the driving and distribution situation of pedestrians and non-motorized vehicles in the non-motorized vehicle lane, etc.

[0063] The embodiments of this application can identify relevant vehicle and pedestrian information in images based on image recognition technology.

[0064] Step 102: In response to the arrival of the detection cycle, obtain the vehicle's operating condition information, and determine whether the vehicle is in an abnormal state based on the operating condition information.

[0065] In this embodiment, the operating condition information includes at least one of the following: braking system operating condition, parking system operating condition, steering control system operating condition, and drive system operating condition. There is no timing requirement between steps 102 and 101; they can be executed in parallel. Alternatively, step 102 can be executed first, followed by step 101.

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

[0067] Automatic vehicle malfunctions can include abnormalities in the vehicle's own operating conditions, such as brake system failure, parking system failure, steering control system failure, or drive system failure. They can also be caused by abnormalities in the microcontroller or drive battery of an autonomous vehicle, or by malfunctions in the vehicle itself, such as a broken axle or abnormal tire pressure.

[0068] The system can output alarm information, specifically by controlling the malfunction indicator light of the abnormal vehicle to illuminate; or by playing a prompt voice indicating the vehicle malfunction at maximum volume through the voice playback unit; or by outputting the prompt information about the vehicle malfunction through the external display unit.

[0069] Step 104: Identify the feature objects in the collected image information, at least identify the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and determine the speed of the vehicles in front and behind the abnormal vehicle in the driving lane, the distance between the abnormal vehicle and the vehicles in front and behind, the distance and directional relationship between the abnormal vehicle and the vehicles in adjacent lanes, and the speed of the vehicles in adjacent lanes.

[0070] By performing feature point recognition on the images acquired by the image acquisition unit and identifying relevant objects in the images, the distribution of vehicles and driving conditions in the lane and its adjacent lanes can be determined.

[0071] Step 105: Based on the abnormal state, the situation of 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, formulate a driving strategy for the abnormal vehicle.

[0072] Specifically, developing driving strategies for abnormal vehicles includes:

[0073] In response to braking system failure, obtain the distance and speed between vehicles in front and behind in the current lane, the distance and position between vehicles in adjacent lanes, the speed of vehicles in adjacent lanes, and information on pedestrians and non-motorized vehicles in the non-motorized vehicle lane.

[0074] If the distance between a vehicle in an adjacent lane and the abnormal vehicle is less than a first threshold and / or the speed of a vehicle in an adjacent lane is higher than a second threshold, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle and a reverse drive command is sent to the drive system to reverse drive the abnormal vehicle to stop it.

[0075] If the distance between a vehicle in an adjacent lane and the abnormal vehicle is determined to be greater than a first threshold and the speed of the vehicle in the adjacent lane is lower than a second threshold but greater than or equal to a third threshold, a steering command is sent to the steering control system to cause the abnormal vehicle to enter the adjacent lane; a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle, allowing the abnormal vehicle to travel at its inertial speed; or, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle and a reverse drive command is sent to the drive system to reverse drive the abnormal vehicle to stop it.

[0076] The system determines that the adjacent lane is a non-motorized vehicle lane or an emergency lane, and that there are no obstacles within a set length of the non-motorized vehicle lane or emergency lane in the direction of travel of the abnormal vehicle. It then sends a steering command to the steering control system to cause the abnormal vehicle to enter the non-motorized vehicle lane or emergency lane, sends a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle, and sends a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it.

[0077] As one implementation method, the driving strategy for abnormal vehicles in this application embodiment may further include:

[0078] In response to a steering control system failure, the system acquires the distance and speed between vehicles in front and behind in the current lane; sends a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, sends a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and sends a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, sends a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and sends a vehicle braking command to the braking system to stop the abnormal vehicle.

[0079] As one implementation method, the driving strategy for abnormal vehicles in this application embodiment may further include:

[0080] In response to a braking system failure while the steering control system functions normally, electronic map information is obtained, and based on the current road segment information of the abnormal vehicle, abandoned temporary parking lots, abandoned construction sites, or abandoned parks that the abnormal vehicle can pass through on its route.

[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; determine whether there are moving objects on the road; determine the slope distribution of the road; and identify the abandoned temporary parking lots, abandoned construction sites, or abandoned parks as the destination for abnormal vehicles.

[0082] Send a steering command to the steering control system to control the abnormal vehicle to drive towards the destination, such as an abandoned temporary parking lot, an abandoned construction site, or an abandoned park.

[0083] After identifying the abandoned temporary parking lot, abandoned construction site, or abandoned park where the abnormal vehicle is headed, a driving route is planned for the abnormal vehicle; the abnormal vehicle is then controlled to drive along the planned driving route.

[0084] Send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a vehicle braking command to the braking system to stop the abnormal vehicle.

[0085] In this embodiment, the system can also acquire image information of the driving lane, adjacent lanes, and non-motorized vehicle lane during the intervention process of the abnormal vehicle based on the real-time driving status of the autonomous vehicle. The acquired image information is then used to identify feature objects again, acquiring the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and detecting the positional relationship, distance, and speed between the abnormal vehicle and the vehicles in front and behind, as well as the positional relationship, distance, and speed between the abnormal vehicle and vehicles in adjacent lanes. The driving strategy is adjusted based on the acquired relevant information, and the adjusted driving strategy is used to re-invoke the controllable related systems in the abnormal vehicle to intervene in the driving direction and trajectory of the abnormal vehicle.

[0086] Step 106: Based on the driving strategy, invoke the controllable related systems in the abnormal vehicle to intervene in the driving direction and trajectory of the abnormal vehicle until the abnormal vehicle stops or is forcibly intervened.

[0087] In this embodiment of the application, after the driving strategy is determined, the controllable related systems in the abnormal vehicle are called to determine the usable working conditions of the abnormal vehicle, so as to control the abnormal vehicle as much as possible according to the driving strategy and avoid causing serious traffic accidents.

[0088] This application collects information on the current driving conditions of autonomous vehicles and simultaneously obtains information on the driving conditions of vehicles in the current lane and adjacent lanes. When an abnormality is detected in the autonomous vehicle, a driving strategy is planned based on the current vehicle condition and environmental information. The system utilizes available vehicle control units as much as possible to maximize vehicle control and avoid traffic accidents caused by the abnormality, minimizing traffic hazards. This application achieves maximum protection for autonomous vehicles in abnormal states, improving the driving safety of autonomous vehicles.

[0089] Figure 2 This is a schematic diagram of the composition of the emergency handling device for abnormal states of autonomous vehicles according to an embodiment of this application, as shown below. Figure 2 As shown, the emergency handling device for abnormal states of autonomous vehicles in this application embodiment includes:

[0090] Triggering unit 20 is used to trigger the image acquisition unit on the vehicle to acquire 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 in response to the arrival of the acquisition cycle.

[0091] The determining unit 21 is used to acquire the vehicle's operating condition information in response to the arrival of the 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 the braking system operating condition, parking system operating condition, steering control system operating condition, and drive system operating condition;

[0092] Output unit 22 is used to output alarm information for vehicle abnormality in response to the detection that the vehicle is in an abnormal state;

[0093] The identification unit 23 is used to identify the feature objects in the collected image information, at least identifying the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and determining the speed of the vehicles in front and behind the abnormal vehicle in the driving lane, the distance between the abnormal vehicle and the vehicles in front and behind, the distance and orientation relationship between the vehicles in adjacent lanes and the abnormal vehicle, and the speed of the vehicles in adjacent lanes.

[0094] The strategy formulation unit 24 is used to formulate a driving strategy for the abnormal vehicle based on the abnormal state, the situation of 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.

[0095] The control unit 25 is used to invoke the controllable related systems in the abnormal vehicle based on the driving strategy to intervene in the driving direction and driving trajectory of the abnormal vehicle until the abnormal vehicle stops or is forcibly intervened.

[0096] In this embodiment of the application, the determining unit 21 is further used to acquire image information of the driving lane, adjacent lane, and non-motorized vehicle lane during the driving intervention process of the abnormal vehicle, to identify the feature objects of the acquired image information again, to acquire the vehicles in front and behind the abnormal vehicle in the driving lane, the vehicles in the adjacent lane, the pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and to detect in real time the positional relationship, distance and driving speed of the abnormal vehicle and the vehicles in front and behind, and the positional relationship, distance and driving speed of the abnormal vehicle and the vehicles in the adjacent lane.

[0097] Correspondingly, the strategy formulation unit 24 is also used to adjust the driving strategy according to the relevant information obtained, and to re-invoke the controllable relevant 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 one implementation, the strategy formulation unit 24 is further configured to:

[0099] In response to braking system failure, obtain the distance and speed between vehicles in front and behind in the current lane, the distance and position between vehicles in adjacent lanes, the speed of vehicles in adjacent lanes, and information on pedestrians and non-motorized vehicles in the non-motorized vehicle lane.

[0100] If the distance between a vehicle in an adjacent lane and the abnormal vehicle is less than a first threshold and / or the speed of a vehicle in an adjacent lane is higher than a second threshold, the control unit 25 is triggered to send a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle and allow the abnormal vehicle to continue moving at its inertial speed; or, the control unit 25 is triggered to send a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it.

[0101] If the distance between a vehicle in an adjacent lane and the abnormal vehicle is determined to be greater than a first threshold and the speed of the vehicle in the adjacent lane is lower than a second threshold but greater than or equal to a third threshold, the control unit 25 is triggered to send a steering command to the steering control system, causing the abnormal vehicle to enter the adjacent lane; the control unit 25 is triggered to send a drive disconnect command to the drive system, disconnecting the drive force of the abnormal vehicle, allowing the abnormal vehicle to travel at its inertial speed; or, the control unit 25 is triggered to send a drive disconnect command to the drive system, disconnecting the drive force of the abnormal vehicle, and sending a reverse drive command to the drive system, driving the abnormal vehicle in reverse to stop it.

[0102] If the adjacent lane is determined to be a non-motorized vehicle lane or an emergency lane, and if there are no obstacles in the non-motorized vehicle lane or emergency lane within a set length in the direction of travel of the abnormal vehicle, the control unit 25 is triggered to send a steering command to the steering control system, causing the abnormal vehicle to enter the non-motorized vehicle lane or emergency lane. The control unit 25 then sends a drive disconnect command to the drive system, disconnecting the drive force of the abnormal vehicle, and sends a reverse drive command to the drive system, driving the abnormal vehicle in reverse to stop it.

[0103] As one implementation, the strategy formulation unit is further configured to:

[0104] In response to a braking system failure while the steering control system functions normally, electronic map information is obtained, and based on the current road segment information of the abnormal vehicle, abandoned temporary parking lots, abandoned construction sites, or abandoned parks that the abnormal vehicle can pass through on its route.

[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; determine whether there are moving objects on the road; determine the slope distribution of the road; and identify the abandoned temporary parking lots, abandoned construction sites, or abandoned parks as the destination for abnormal vehicles.

[0106] The control unit is triggered to send a steering command to the steering control system, controlling the abnormal vehicle to drive towards the destination, such as an abandoned temporary parking lot, an abandoned construction site, or an abandoned park.

[0107] After determining the destination of the abnormal vehicle, such as an abandoned temporary parking lot, abandoned construction site, or abandoned park, a driving route is planned for the abnormal vehicle; the control unit 25 is triggered to control the abnormal vehicle to drive according to the planned driving route.

[0108] The control unit 25 is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and allowing the abnormal vehicle to continue moving at its inertial speed; or, the control unit 25 is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and sending a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, the control unit 25 is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and sending a vehicle braking command to the braking system to stop the abnormal vehicle from moving.

[0109] In an exemplary embodiment, the aforementioned units may be implemented by one or more central processing units (CPUs), graphics processing units (GPUs), application-specific integrated circuits (ASICs), DSPs, programmable logic devices (PLDs), complex programmable logic devices (CPLDs), field-programmable gate arrays (FPGAs), general-purpose processors, controllers, micro controller units (MCUs), microprocessors, or other electronic components.

[0110] Regarding the apparatus in the above embodiments, the specific manner in which each module and unit performs its operations has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0111] Figure 3 This is a schematic diagram of the composition structure of an autonomous vehicle according to an embodiment of this application, as shown below. 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 supply 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] Processing component 802 typically controls the overall operation of the autonomous vehicle 800, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 802 may include one or more processors 820 to execute instructions to complete all or part of the steps of the methods described above. Furthermore, processing component 802 may include one or more modules to facilitate interaction between processing component 802 and other components. For example, processing component 802 may include a multimedia module to facilitate interaction between multimedia component 808 and processing component 802.

[0113] Memory 804 is configured to store various types of data to support the operation of the autonomous vehicle 800. Examples of this data include instructions for any application or method operating on the autonomous vehicle 800, contact data, phonebook data, messages, pictures, videos, etc. 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 storage, flash memory, magnetic disk, or optical disk.

[0114] Power supply component 806 provides power to various components of autonomous vehicle 800. Power supply component 806 may include a power management system, one or more power sources, and other components associated with generating, managing, and distributing power to autonomous vehicle 800.

[0115] The multimedia component 808 includes a screen that provides an output interface between the autonomous vehicle 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 touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, the multimedia component 808 includes a front-facing camera and / or a rear-facing camera. When the autonomous vehicle 800 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0116] Audio component 810 is configured to output and / or input audio signals. For example, audio component 810 includes a microphone (MIC) configured to receive external audio signals when the autonomous vehicle 800 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 804 or transmitted via communication component 816. In some embodiments, 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 buttons, volume buttons, power buttons, and lock buttons.

[0118] Sensor assembly 814 includes one or more sensors for providing state assessments of various aspects of the autonomous vehicle 800. For example, sensor assembly 814 may detect the on / off state of the autonomous vehicle 800, the relative positioning of components such as the display and keypad of the autonomous vehicle 800, changes in the position of the autonomous vehicle 800 or a component of the autonomous vehicle 800, the presence or absence of user contact with the autonomous vehicle 800, the orientation or acceleration / deceleration of the autonomous vehicle 800, and temperature changes of the autonomous vehicle 800. Sensor assembly 814 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 814 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 814 may also include an accelerometer, a gyroscope, a magnetometer, a pressure sensor, or a temperature sensor.

[0119] Communication component 816 is configured to facilitate wired or wireless communication between autonomous vehicle 800 and other devices. Autonomous vehicle 800 can access wireless networks based on communication standards, such as Wi-Fi, 2G, or 3G, or combinations thereof. In one exemplary embodiment, communication component 816 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 816 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may 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 autonomous vehicle 800 may 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 emergency handling method for abnormal states of the autonomous vehicle described in the above 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, which can be executed by a processor 820 of an autonomous vehicle 800 to complete the steps of the emergency handling method for abnormal states of an autonomous vehicle according to the above embodiments. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0122] This application also describes a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the emergency handling method for abnormal states of autonomous vehicles described in the embodiment.

[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. Furthermore, the features disclosed in the several method or device embodiments provided in this application can be arbitrarily combined without conflict to obtain new method or device embodiments.

[0124] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for handling abnormal states of autonomous vehicles, characterized in that, The method includes: In response to the arrival of the acquisition cycle, the image acquisition unit on the vehicle is triggered to acquire at least image information of the driving lane, the adjacent lane of the driving lane, the non-motorized vehicle lane, and image information of a set area around the vehicle; and in response to the arrival of the detection cycle, the vehicle's operating condition information is acquired, and based on the operating condition information, it is determined whether the vehicle is in an abnormal state; wherein, the operating condition information includes at least one of the braking system operating condition, parking system operating condition, steering control system operating condition, and drive system operating condition; In response to the detection of an abnormal vehicle condition, an alarm message for the vehicle abnormality is output. The collected image information is used to identify the feature objects, including at least the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and to determine the speed of the vehicles in front and behind the abnormal vehicle in the driving lane, the distance between the abnormal vehicle and the vehicles in front and behind, the distance and directional relationship between the abnormal vehicle and the vehicles in adjacent lanes, and the speed of the vehicles in adjacent lanes. Based on the abnormal state, and the situation of 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. Based on the driving strategy, controllable related systems in the abnormal vehicle are invoked to intervene in the abnormal vehicle's driving direction and trajectory until the abnormal vehicle stops or is forcibly intervened. The system acquires image information of the driving lane, adjacent lanes, and non-motorized vehicle lane during the intervention process of abnormal vehicles. It then performs feature object recognition on the acquired image information to acquire the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and detects the positional relationship, distance and speed of the abnormal vehicle with the vehicles in front and behind it, as well as the positional relationship, distance and speed of the abnormal vehicle with the vehicles in adjacent lanes in real time. Based on the relevant information obtained, the driving strategy is adjusted, and the controllable relevant systems in the abnormal vehicle are reactivated with the adjusted driving strategy to intervene in the driving direction and trajectory of the abnormal vehicle.

2. The method according to claim 1, characterized in that, The process of developing driving strategies for abnormal vehicles includes: In response to braking system failure, obtain the distance and speed between vehicles in front and behind in the current lane, the distance and position between vehicles in adjacent lanes, the speed of vehicles in adjacent lanes, and information on pedestrians and non-motorized vehicles in the non-motorized vehicle lane. If the distance between a vehicle in an adjacent lane and the abnormal vehicle is less than a first threshold and / or the speed of a vehicle in an adjacent lane is higher than a second threshold, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle and a reverse drive command is sent to the drive system to reverse drive the abnormal vehicle to stop it. If the distance between a vehicle in an adjacent lane and the abnormal vehicle is determined to be greater than a first threshold and the speed of the vehicle in the adjacent lane is lower than a second threshold but greater than or equal to a third threshold, a steering command is sent to the steering control system to cause the abnormal vehicle to enter the adjacent lane; a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle, allowing the abnormal vehicle to travel at its inertial speed; or, a drive disconnect command is sent to the drive system to disconnect the drive force of the abnormal vehicle and a reverse drive command is sent to the drive system to reverse drive the abnormal vehicle to stop it. The system determines that the adjacent lane is a non-motorized vehicle lane or an emergency lane, and that there are no obstacles within a set length of the non-motorized vehicle lane or emergency lane in the direction of travel of the abnormal vehicle. It then sends a steering command to the steering control system to cause the abnormal vehicle to enter the non-motorized vehicle lane or emergency lane, sends a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle, and sends a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it.

3. The method according to claim 1, characterized in that, The process of developing driving strategies for abnormal vehicles includes: In response to a steering control system failure, obtain the distance and speed between vehicles in front and behind in the current lane; Send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a vehicle braking command to the braking system to stop the abnormal vehicle.

4. The method according to claim 1, characterized in that, The process of developing driving strategies for abnormal vehicles includes: In response to a braking system failure while the steering control system functions normally, electronic map information is obtained, and based on the current road segment information of the abnormal vehicle, abandoned temporary parking lots, abandoned construction sites, or abandoned parks that the abnormal vehicle can pass through on its route. 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; determine whether there are moving objects on the road; determine the slope distribution of the road; and identify the abandoned temporary parking lots, abandoned construction sites, or abandoned parks as the destination for abnormal vehicles. Send a steering command to the steering control system to control the abnormal vehicle to drive towards the destination, such as an abandoned temporary parking lot, an abandoned construction site, or an abandoned park. Once the abandoned temporary parking lot, abandoned construction site, or abandoned park where the abnormal vehicle is headed is identified, a driving route is planned for the abnormal vehicle; the abnormal vehicle is then controlled to drive along the planned route. Send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle, allowing the abnormal vehicle to continue moving at its inertial speed; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, send a drive disconnect command to the drive system to disconnect the driving force of the abnormal vehicle and send a vehicle braking command to the braking system to stop the abnormal vehicle.

5. The method according to claim 1, characterized in that, The alarm information for outputting vehicle abnormalities includes: The malfunction indicator light of the vehicle is illuminated. The voice prompt indicating a vehicle malfunction is played at maximum volume via the voice playback unit. The external display unit outputs a warning message about the vehicle malfunction.

6. An emergency handling device for abnormal states of autonomous vehicles, characterized in that, The device includes: The triggering unit is used to trigger the image acquisition unit on the vehicle to acquire 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 in response to the arrival of the acquisition cycle. A determining unit is configured to, in response to the arrival of a detection cycle, acquire vehicle operating condition information 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 the following: braking system operating condition, parking system operating condition, steering control system operating condition, and drive system operating condition; The output unit is used to output alarm information for vehicle abnormality in response to the detection of an abnormal vehicle state; The identification unit is used to identify the feature objects in the collected image information, at least identifying the vehicles in front and behind the abnormal vehicle in the driving lane, vehicles in adjacent lanes, pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and determining the speed of the vehicles in front and behind the abnormal vehicle in the driving lane, the distance between the abnormal vehicle and the vehicles in front and behind, the distance and directional relationship between the vehicles in adjacent lanes and the abnormal vehicle, and the speed of the vehicles in adjacent lanes. The strategy formulation unit is used to formulate a driving strategy for the abnormal vehicle based on the abnormal state, the situation of 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. The control unit is used to invoke 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 stops or is forcibly intervened. The determining unit is also used to acquire image information of the driving lane, adjacent lane, and non-motorized vehicle lane during the driving intervention process of the abnormal vehicle, to identify the feature objects of the acquired image information again, to acquire the vehicles in front and behind the abnormal vehicle in the driving lane, the vehicles in the adjacent lane, the pedestrians and non-motorized vehicles in the non-motorized vehicle lane, and to detect in real time the positional relationship, distance and driving speed of the abnormal vehicle and the vehicles in front and behind, and the positional relationship, distance and driving speed of the abnormal vehicle and the vehicles in the adjacent lane. Correspondingly, the strategy formulation unit is also used to adjust the driving strategy according to the relevant information obtained, and to re-invoke the controllable relevant systems in the abnormal vehicle with the adjusted driving strategy to intervene in the driving direction and driving trajectory of the abnormal vehicle.

7. The apparatus according to claim 6, characterized in that, The strategy formulation unit is further configured to: In response to braking system failure, obtain the distance and speed between vehicles in front and behind in the current lane, the distance and position between vehicles in adjacent lanes, the speed of vehicles in adjacent lanes, and information on pedestrians and non-motorized vehicles in the non-motorized vehicle lane. If the distance between a vehicle in an adjacent lane and the abnormal vehicle is less than a first threshold and / or the speed of a vehicle in an adjacent lane is higher than a second threshold, the control unit is triggered to send a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle and allow the abnormal vehicle to continue moving at its inertial speed; or, the control unit is triggered to send a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it. If the distance between a vehicle in an adjacent lane and an abnormal vehicle is determined to be greater than a first threshold and the speed of the vehicle in the adjacent lane is lower than the second threshold but greater than or equal to a third threshold, the control unit is triggered to send a steering command to the steering control system, causing the abnormal vehicle to enter the adjacent lane. Send a drive disconnect command to the drive system to disconnect the drive force of the abnormal vehicle and allow the abnormal vehicle to travel at its inertial speed. Alternatively, the control unit may be triggered to send a drive disconnect command to the drive system, disconnecting the drive force of the abnormal vehicle, and send a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it. The system determines that the adjacent lane is a non-motorized vehicle lane or an emergency lane, and that there are no obstacles in the non-motorized vehicle lane or emergency lane within a set length in the direction of travel of the abnormal vehicle. The system then triggers the control unit to send a steering command to the steering control system, causing the abnormal vehicle to enter the non-motorized vehicle lane or emergency lane. The system also sends a drive disconnect command to the drive system, disconnecting the drive force of the abnormal vehicle, and sends a reverse drive command to the drive system, driving the abnormal vehicle in reverse to bring it to a stop.

8. The apparatus according to claim 6, characterized in that, The strategy formulation unit is further configured to: In response to a braking system failure while the steering control system functions normally, electronic map information is obtained, and based on the current road segment information of the abnormal vehicle, abandoned temporary parking lots, abandoned construction sites, or abandoned parks that the abnormal vehicle can pass through on its route. 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; determine whether there are moving objects on the road; determine the slope distribution of the road; and identify the abandoned temporary parking lots, abandoned construction sites, or abandoned parks as the destination for abnormal vehicles. The control unit is triggered to send a steering command to the steering control system, controlling the abnormal vehicle to drive towards the destination, such as an abandoned temporary parking lot, an abandoned construction site, or an abandoned park. After determining the abandoned temporary parking lot, abandoned construction site, or abandoned park where the abnormal vehicle is headed, a driving route is planned for the abnormal vehicle; the control unit is then triggered to control the abnormal vehicle to drive along the planned driving route. The control unit is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and allowing the abnormal vehicle to continue moving at its inertial speed; or, the control unit is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and sending a reverse drive command to the drive system to reverse drive the abnormal vehicle to stop it; or, the control unit is triggered to send a drive disconnect command to the drive system, disconnecting the driving force of the abnormal vehicle and sending a vehicle braking command to the braking system to stop the abnormal vehicle.

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