Method and device for controlling vehicle to automatically release triangular warning board and vehicle

Abstract

The invention provides a control method and device for a vehicle to automatically release a triangular warning sign and the vehicle, and the method comprises the steps: detecting whether other vehicles exist in a first set distance behind a lane where a target vehicle is located or not if an emergency stop condition occurs; the emergency stop condition is that a main system of the target vehicle is degraded or the target vehicle has a collision accident, and the main system degradation indicates that at least part of functions of the main system of the target vehicle cannot be realized; under the condition that no other vehicle exists within the first set distance, controlling a redundant system of the target vehicle to receive a triangular warning board release request; the redundant system is controlled to respond to the triangular warning board release request and execute release operation to automatically release the triangular warning board, and the release operation is the operation of releasing the triangular warning board from the target installation position of the target vehicle to the ground. The problem that in the prior art, degradation of a main system or automatic release of the triangular warning board when a collision accident occurs are not fully considered is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic release of warning signs for vehicles, and in particular to a control method, a control device, a computer-readable storage medium, a computer program product and a vehicle for automatically releasing a triangular warning sign for a vehicle. Background Art

[0002] At present, with the development of autonomous driving technology, the use of autonomous driving vehicles is becoming more and more widespread. Autonomous driving vehicles usually work together based on on-board sensors and the vehicle's control unit to achieve autonomous driving.

[0003] When the autonomous driving system of an autonomous vehicle is degraded or in a specific control state, the autonomous vehicle needs to perform a safe parking. For example, when the autonomous driving system of an autonomous vehicle is degraded or fails, the autonomous vehicle needs to perform a safe parking. Currently, after the autonomous driving vehicle is safely parked, it is necessary to release a triangular warning sign to warn the vehicles behind to prevent the vehicles behind from directly hitting the autonomous driving vehicle. Since autonomous vehicles have the risk of degradation or failure of the autonomous driving function, currently, autonomous driving vehicles need to be manually operated to release the triangular warning sign after they are safely parked. Since the autonomous driving vehicle needs to be manually operated to release the triangular warning sign after it is safely parked, it will extend the time for the autonomous driving vehicle to complete a complete driving cycle in the autonomous driving mode, affecting the driving safety and comfort of the autonomous driving vehicle in the autonomous driving mode. Summary of the invention

[0004] The main purpose of the present application is to provide a control method, a control device, a computer-readable storage medium, a computer program product and a vehicle for automatically releasing a triangular warning sign of a vehicle, so as to at least solve the problem that the prior art does not fully consider the automatic release of the triangular warning sign when the main system is degraded or a collision accident occurs.

[0005] In order to achieve the above-mentioned purpose, according to one aspect of the present application, a control method for automatically releasing a triangular warning sign of a vehicle is provided, comprising: if an emergency stop condition occurs, detecting whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, the emergency stop condition being the degradation of the main system of the target vehicle or the occurrence of a collision accident with the target vehicle, the degradation of the main system indicating that at least some functions of the main system of the target vehicle cannot be implemented; in the case that there are no other vehicles within the first set distance, controlling the redundant system of the target vehicle to receive a request to release the triangular warning sign; controlling the redundant system to respond to the request to release the triangular warning sign and perform a release operation to automatically release the triangular warning sign, the release operation being an operation of releasing the triangular warning sign from the target installation position of the target vehicle to the ground, the target installation position being a position convenient for releasing the triangular warning sign.

[0006] Optionally, if an emergency stop condition occurs, it is detected whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, including: when the emergency stop condition is a degradation of the main system and the target vehicle has not involved in the collision accident, after controlling the target vehicle to stop at the target position, detecting by a vehicle sensor whether there are other vehicles within the first set distance behind the lane where the target vehicle is located, and the target position is within a permitted parking area on the side of the road; when the emergency stop condition is a degradation of the main system and the target vehicle has involved in the collision accident, detecting by a vehicle sensor whether there are other vehicles within the first set distance behind the lane where the target vehicle is located.

[0007] Optionally, before the redundant system controlling the target vehicle receives the request to release the triangular warning sign, the method also includes: responding to an operation by a person in the vehicle clicking a button to release the triangular warning sign on an operation interface, generating the request to release the triangular warning sign and sending it to the redundant system, and the person in the vehicle is the main driver or the co-driver; or, the main system automatically starts a release program and automatically sends the request to release the triangular warning sign to the redundant system.

[0008] Optionally, controlling the redundant system to respond to the request to release the triangular warning sign and perform a release operation includes: controlling the vehicle gear of the target vehicle to switch to a parking gear; and controlling the triangular warning sign to be automatically released from the target installation position to the ground.

[0009] Optionally, after controlling the triangular warning sign to be automatically released from the target installation position to the ground, the method further includes: when the emergency parking condition is a degradation of the main system and the target vehicle has not had the collision accident, controlling the target vehicle to switch from the parking gear to the forward gear, and controlling the target vehicle to drive forward a second set distance.

[0010] Optionally, when the target installation position is a vehicle tailgate, the vehicle tailgate is the door of the trunk of the target vehicle. Before controlling the triangular warning sign to be automatically released from the target installation position to the ground, the method also includes: controlling the opening of the vehicle tailgate of the target vehicle; after controlling the triangular warning sign to be automatically released from the target installation position to the ground, the method also includes: controlling the closing of the vehicle tailgate of the target vehicle.

[0011] Optionally, after controlling the redundant system to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle, the method further includes: the main system performs a self-check operation at fixed intervals, the self-check operation is used to detect whether the main system can restore all system functions; when the target vehicle is in a prohibited recovery period, the main system is prohibited from being restored, the prohibited recovery period is a period when the target vehicle is switched to a parking gear, or a period when the target vehicle is switched to a forward gear, or a period when the target installation position is a vehicle tailgate and the tailgate is opened or closed; when the target vehicle is in an allowed recovery period, the main system is directly restored. For the main system, the allowed recovery period is a period from closing the tailgate to driving the target vehicle forward a second set distance when the target installation position is the tailgate, or a period from driving the target vehicle forward the second set distance after releasing the triangular warning sign when the target installation position is not the tailgate; in a case where the target vehicle is downgraded to the full-speed adaptive cruise subsystem multiple times, it is determined that the main system cannot recover by itself, the multiple downgrades are redundant system downgrades after the main system downgrades, the full-speed adaptive cruise subsystem is a subsystem under the redundant system, and the redundant system downgrade indicates that at least some functions of the redundant system cannot be implemented.

[0012] According to another aspect of the present application, a control device for automatically releasing a triangular warning sign of a vehicle is provided, the device comprising: a detection unit, for detecting whether there are other vehicles within a first set distance behind the lane where a target vehicle is located in case of an emergency stop condition, the emergency stop condition being degradation of the main system of the target vehicle or a collision accident involving the target vehicle, the main system degradation indicating that at least some functions of the main system of the target vehicle cannot be implemented; a first control unit, for controlling a redundant system of the target vehicle to receive a request to release the triangular warning sign when no other vehicles exist within the first set distance; a second control unit, for controlling the redundant system to respond to the request to release the triangular warning sign and perform a release operation to automatically release the triangular warning sign, the release operation being an operation of releasing the triangular warning sign from a target installation position of the target vehicle to the ground, the target installation position being a position convenient for releasing the triangular warning sign.

[0013] According to another aspect of the present application, a computer-readable storage medium is provided, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute any one of the control methods for automatically releasing a triangular warning sign of a vehicle.

[0014] According to another aspect of the present application, a computer program product is provided, comprising computer instructions, wherein when the computer instructions are executed by a processor, any one of the control methods for automatically releasing a triangular warning sign of a vehicle is implemented.

[0015] According to another aspect of the present application, a vehicle is provided, comprising a controller, wherein the controller executes any one of the control methods for automatically releasing a triangular warning sign of the vehicle.

[0016] Applying the technical solution of the present application, in the control method of automatically releasing the triangular warning sign of a vehicle, first, if an emergency stop occurs, detect whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, the above-mentioned emergency stop condition is the degradation of the main system of the above-mentioned target vehicle or the above-mentioned target vehicle has a collision accident, and the above-mentioned main system degradation means that at least part of the functions of the main system of the above-mentioned target vehicle cannot be realized; then, in the case that there are no other vehicles within the above-mentioned first set distance, control the redundant system of the above-mentioned target vehicle to receive a request to release the triangular warning sign; finally, control the above-mentioned redundant system to respond to the above-mentioned request to release the triangular warning sign and perform a release operation to automatically release the triangular warning sign, and the above-mentioned release operation is an operation to release the triangular warning sign from the target installation position of the above-mentioned target vehicle to the ground, and the above-mentioned target installation position is a position for facilitating the release of the triangular warning sign. The present application detects the lane behind the target vehicle through the degradation of the main system of the vehicle or the collision accident of the vehicle. When there is no vehicle in the first set distance, the redundant system receives the request to release the triangular warning sign, and responds to the request to release the triangular warning sign to perform a release operation to realize the automatic release of the triangular warning sign without manual placement. The present application solves the problem in the prior art that the automatic release of the warning triangle when the main system is degraded or a collision accident occurs is not fully considered. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A flow chart showing a control method for automatically releasing a triangular warning sign of a vehicle provided in accordance with an embodiment of the present application is shown;

[0018] Figure 2 A schematic diagram of a specific vehicle automatically releasing a triangular warning sign according to an embodiment of the present application is shown;

[0019] Figure 3 A structural block diagram of a control device for automatically releasing a triangular warning sign on a vehicle provided according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0021] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0022] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0023] As introduced in the background technology, in the prior art, due to the risk of degradation or failure of the autonomous driving function of autonomous driving vehicles, currently autonomous driving vehicles need manual operation to release the triangular warning sign after safely parking. In order to solve the problem that the prior art does not fully consider the automatic release of the triangular warning sign when the main system is degraded or a collision accident occurs, the embodiments of the present application provide a control method, control device, computer-readable storage medium, computer program product and vehicle for automatically releasing the triangular warning sign of a vehicle.

[0024] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0025] Figure 1 FIG. 1 is a flow chart of a control method for automatically releasing a triangular warning sign of a vehicle according to an embodiment of the present application. Figure 1 As shown, the method comprises the following steps:

[0026] Step S201, if an emergency stop condition occurs, detect whether there are other vehicles within a first set distance behind the lane where the target vehicle is located. The above-mentioned emergency stop condition is that the main system of the above-mentioned target vehicle is degraded or the above-mentioned target vehicle has a collision accident. The above-mentioned main system degradation means that at least part of the functions of the main system of the above-mentioned target vehicle cannot be realized.

[0027] Specifically, when the main system of the target vehicle (mainly an unmanned vehicle or an autonomous driving vehicle such as a vehicle with an autonomous driving system turned on) degrades or the vehicle collides, triggering an emergency stop, the vehicle's environmental perception system, such as lidar, millimeter-wave radar, camera and other sensors, immediately begins to detect whether there are other vehicles within a first set distance (for example, 200 meters) behind the lane where the target vehicle is located. This is achieved by analyzing sensor data and applying image recognition and target detection algorithms to ensure that the situation in the rear lane can be accurately identified.

[0028] Step S202 : When no other vehicle exists within the first set distance, the redundant system of the target vehicle is controlled to receive a request to release a triangular warning sign.

[0029] Specifically, once it is determined that there are no other vehicles within the first set distance behind, the onboard system of the target vehicle will activate the redundant system (usually designed to take over vehicle control when the main system fails). At this time, the redundant system begins to receive and process the request to release the triangle warning sign, which can be issued by the driver or the automatic driving system (in the absence of a co-pilot safety officer).

[0030] Step S203, controlling the redundant system to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle. The release operation is to release the warning triangle from the target installation position of the target vehicle to the ground. The target installation position is a position that is convenient for releasing the warning triangle.

[0031] Specifically, after receiving a request to release the triangular warning sign, the redundant system will perform a release operation to release the triangular warning sign from the target installation position (usually a specific structure at the rear of the vehicle, such as the tailgate, the base of the vehicle, etc., which is convenient for releasing the triangular warning sign) to the ground to alert the vehicles behind to the parking condition ahead.

[0032] It should be noted that the target installation location is usually a specific mechanism at the rear of the vehicle, which is convenient for releasing the warning triangle. For example, a dedicated mechanism inside the trunk or tailgate: a dedicated mechanical mechanism is designed inside the trunk to store and release the warning triangle. When it needs to be released, the mechanism pushes the warning triangle out of the vehicle and places it on the ground. This design ensures the quick and safe release of the warning triangle without affecting other functions of the vehicle. When the target installation location is on the tailgate, the release process is as follows: Figure 2As shown. Hidden mechanism at the bottom of the rear of the vehicle: Design a retractable mechanism to hide the warning triangle at the bottom of the rear of the vehicle, and extend it and place it on the ground when needed. This design reduces the space occupied in the vehicle and also makes it easier for the vehicle to detect the status of the warning triangle. Rear bumper: Design a clamp or fixture at the rear bumper of the vehicle. When it needs to be released, the warning triangle is pushed out and automatically unfolded by electric or mechanical means. Of course, the above is only an example and is not limited to the above target installation position, as long as it is convenient to release the warning triangle.

[0033] In this embodiment, first, if an emergency stop occurs, it is detected whether there are other vehicles within the first set distance behind the lane where the target vehicle is located. The above-mentioned emergency stop condition is that the main system of the above-mentioned target vehicle is downgraded or the above-mentioned target vehicle has a collision accident. The above-mentioned main system degradation means that at least part of the functions of the main system of the above-mentioned target vehicle cannot be realized; then, if there are no other vehicles within the above-mentioned first set distance, the redundant system of the above-mentioned target vehicle is controlled to receive a request to release the triangular warning sign; finally, the above-mentioned redundant system is controlled to respond to the above-mentioned request to release the triangular warning sign and perform a release operation to automatically release the triangular warning sign. The above-mentioned release operation is an operation to release the triangular warning sign from the target installation position of the above-mentioned target vehicle to the ground, and the above-mentioned target installation position is a position for facilitating the release of the triangular warning sign. The present application detects the lane behind the target vehicle when the main system of the vehicle is downgraded or the vehicle has a collision accident. When there is no vehicle in the first set distance, the redundant system receives the request to release the triangular warning sign, and responds to the request to release the triangular warning sign to perform a release operation to realize the automatic release of the triangular warning sign without manual placement. The present application solves the problem that the prior art does not fully consider the automatic release of the triangular warning sign when the main system is downgraded or a collision accident occurs.

[0034] In order to enable those skilled in the art to more clearly understand the technical solution of the present application, the implementation process of the control method for automatically releasing the triangular warning sign of a vehicle of the present application will be described in detail below in combination with specific embodiments.

[0035] In order to avoid secondary accidents that may be caused during emergency parking, in an optional implementation, the above step S201 includes:

[0036] Step S2011, when the emergency stop condition is the degradation of the main system and the target vehicle has not had the collision accident, after the target vehicle is controlled to stop at the target position, the vehicle sensor is used to detect whether there are other vehicles within the first set distance behind the lane where the target vehicle is located, and the target position is within the allowed parking area on the side of the road;

[0037] Step S2012, when the emergency stop condition is the degradation of the main system and the collision accident occurs to the target vehicle, the vehicle sensor is used to detect whether there are other vehicles within the first set distance behind the lane where the target vehicle is located.

[0038] In the above embodiment, the main system of the target vehicle (e.g., Autonomous Driving System, AD system) continuously self-checks, and once a degradation event (partial or all functions are limited) is detected, a takeover signal is immediately sent to the redundant system. After receiving the takeover signal, the redundant system begins to take over the vehicle control, controls the vehicle to slow down and smoothly stop in the permitted parking area on the side of the road as the target position. After the target vehicle stops, the vehicle's rearward sensor (e.g., radar, camera, etc.) is activated to detect whether there are other vehicles in the rear lane within the first set distance (e.g., 200 meters). This is to confirm whether the triangular warning sign is safely released to avoid emergency braking or traffic accidents of the rear vehicle. The triangular warning sign is released when it is ensured that no vehicle passes behind, avoiding secondary accidents that may be caused during emergency parking. The collision detection system of the target vehicle responds immediately when a collision accident occurs, sends a collision signal to the redundant system, and also uses the rearward sensor to detect whether there are other vehicles within the first set distance behind. In addition, in the case of a collision accident, it may also be necessary to trigger the vehicle's emergency alarm system to further alert surrounding vehicles and pedestrians. In short, the vehicle can automatically detect the traffic conditions behind and release the triangular warning sign in a timely manner when the main system is degraded or an emergency stop occurs after a collision accident, which significantly improves road safety and the efficiency of accident handling. It also reflects the advancement and reliability of autonomous driving technology in safety emergency response.

[0039] In order to improve the flexibility and efficiency of emergency response, in an optional implementation manner, before the above step S202, the method further includes:

[0040] Step S301, in response to the operation of the occupant clicking the release triangle warning sign button on the operation interface, generating the release triangle warning sign request and sending it to the redundant system, the occupant being the primary driver or the co-driver;

[0041] Step S302, or, the main system automatically starts the release program, and automatically sends the above-mentioned release triangle warning sign request to the above-mentioned redundant system.

[0042] In the above embodiment, the person in the vehicle (the main driver or the co-driver) clicks the button to release the triangular warning sign on the vehicle's operation interface. The operation interface can be a touch screen, a physical button or other user interfaces integrated in the cockpit. After the vehicle receives this operation signal, it immediately generates a request to release the triangular warning sign and sends it to the redundant system responsible for executing the operation through the vehicle's internal communication network. Allowing the person in the vehicle to directly trigger the release of the triangular warning sign through the operation interface in an emergency improves the flexibility and efficiency of emergency response. When the main system of the target vehicle detects that it has been degraded or the vehicle has a collision accident, it automatically starts the emergency parking program. The main system will automatically generate a request to release the triangular warning sign and send it to the redundant system through the communication system of the target vehicle. Through the automatic judgment and operation of the main system, the automation of the release of the triangular warning sign after emergency parking is realized without the intervention of the person in the vehicle, further improving the speed and reliability of emergency response. The automated release procedure reduces the errors that may be caused by panic or misoperation of the driver or other personnel in an emergency, and ensures the correct implementation of safety measures. Through the main system's automatic release procedure, the target vehicle can autonomously complete the necessary safety measures even if the occupants are unable to operate, reflecting the vehicle's self-protection capabilities in emergency situations.

[0043] In order to avoid manually placing the warning triangle, in an optional implementation, the above step S203 includes:

[0044] Step S2031, controlling the vehicle gear position of the target vehicle to switch to the parking gear;

[0045] Step S2032, controlling the above-mentioned triangular warning sign to be automatically released from the above-mentioned target installation position to the ground.

[0046] In the above embodiment, the redundant system of the target vehicle receives an emergency stop signal (main system degradation or collision accident) and starts to execute a safe parking procedure. The redundant system generates an instruction requesting that the vehicle gear be switched to the parking gear (P gear) to ensure that the vehicle is completely stopped and does not move unexpectedly. Through the vehicle's control system (electronic parking brake and gear control system), the redundant system sends instructions to the vehicle's transmission system to control the vehicle to smoothly switch from the current gear to the P gear. This process may include deceleration, stopping, and locking the wheels to prevent the vehicle from moving after parking. Switching the vehicle gear to the P gear can ensure that the vehicle is completely stopped in a safe position and prevent the target vehicle from accidentally moving when the triangle warning sign is released or the driver leaves the vehicle. After confirming that the target vehicle meets the safety conditions (such as no other vehicles within the first set distance behind), the redundant system receives the release triangle warning sign instruction, and responds to the release triangle warning sign instruction to send the release instruction to the vehicle's triangle warning sign release mechanism. This mechanism may be located at the rear of the vehicle and is designed with a mechanical arm, spring release device or electric push rod, etc., which is used to push the warning triangle out from its target installation location (such as a dedicated storage space inside the tailgate) and automatically unfold it to the ground. Automated operation avoids the process of manually finding and placing the warning triangle, and improves the response efficiency of safety measures after emergency stops. In an emergency, the automatic release of the warning triangle reduces the risk of the driver getting out of the vehicle to manually place it, especially on highways, where this risk may be very high.

[0047] In order to avoid traffic jams and reduce driving pressure on other vehicles behind, in an optional implementation, after the above step S2032, the method further includes:

[0048] Step S401, when the emergency parking condition is the degradation of the main system and the target vehicle has not had the collision accident, control the target vehicle to switch from the parking gear to the driving gear, and control the target vehicle to travel forward a second set distance.

[0049] In the above embodiment, the redundant system of the target vehicle first confirms that the current emergency stop condition is caused by the degradation of the main system rather than the collision accident, indicating that the target vehicle can still drive normally at this time. Therefore, in order to leave enough buffer space for the rear vehicle and ensure that the target vehicle will not drive into the potential danger area, the redundant system generates an instruction to switch the vehicle gear from the parking gear (P gear) to the forward gear (D gear) to prepare for the vehicle to drive again. Through the vehicle control system, the gear switching instruction is sent to the vehicle's transmission system, and the vehicle smoothly switches from the P gear to the D gear. Subsequently, the redundant system controls the engine of the target vehicle to start, and according to the preset driving strategy, controls the target vehicle to drive forward slowly until it reaches the second set distance (for example, 80 meters). When safety is confirmed, the target vehicle drives forward the second set distance, which can provide a wider space for the rear vehicle, avoid traffic jams, and reduce the driving pressure of the rear vehicle. This series of automated operations not only helps to alleviate the rear traffic pressure and improve road safety, but also reflects the self-recovery and response capabilities of autonomous driving technology in emergency situations.

[0050] In order to improve the automatic control of the opening and closing of the tailgate and reduce the direct operation of the driver or other personnel, in an optional implementation, before the above step S2032, the method further includes:

[0051] Step S501, controlling the opening of the tailgate of the target vehicle;

[0052] After the above step S2032, the method further includes:

[0053] Step S601, controlling the closing of the tailgate of the target vehicle.

[0054] In the above embodiment, when the target installation position is the tailgate of the vehicle, the tailgate of the vehicle is the door of the trunk of the target vehicle, that is, the warning triangle is stored on the tailgate of the vehicle. Before the warning triangle is successfully released to the ground, the tailgate of the vehicle needs to be opened first, and the warning triangle is released after the tailgate is opened for a set time (for example, 5 seconds). The redundant system generates instructions to control the opening of the tailgate to ensure that the tailgate can be opened smoothly and safely, creating conditions for the release of the warning triangle. The redundant system sends an opening instruction to the opening and closing mechanism of the tailgate of the vehicle, and the tailgate is automatically unlocked and opened. This process may take a few seconds to ensure that the tailgate is fully opened for the subsequent release of the warning triangle. Ensuring that the warning sign can be smoothly released from the vehicle to the ground avoids the potential risk of the driver or other personnel manually opening the tailgate in an emergency, especially on highways, where manual operation may pose a greater safety threat.

[0055] After the warning triangle is successfully released to the ground, the vehicle's sensors (such as pressure sensors or cameras) detect and confirm that the warning triangle has been fully released, and the redundant system receives this confirmation signal. The redundant system generates a command to control the tailgate to close in order to seal the trunk and prevent items inside the vehicle from falling during subsequent driving. The redundant system sends a closing command to the tailgate's opening and closing mechanism, and the tailgate automatically closes and locks. Closing the tailgate provides necessary preparation for the vehicle's subsequent driving or shifting to the forward gear (D gear), ensuring that the vehicle can safely continue other operations, such as driving forward the second set distance.

[0056] In order to improve the reliability and safety of the vehicle system as a whole, in an optional implementation manner, after the above step S203, the method further includes:

[0057] Step S701, the main system performs a self-check operation at a fixed time interval, and the self-check operation is used to detect whether the main system can restore all system functions;

[0058] Step S702, when the target vehicle is in a restoration prohibition period, the restoration of the main system is prohibited, and the restoration prohibition period is a period when the target vehicle is switched to a parking gear, or a period when the target vehicle is switched to a forward gear, or a period when the target installation position is a vehicle tailgate, when the vehicle tailgate is opened or closed;

[0059] Step S703, directly restoring the main system when the target vehicle is in an allowable recovery period, the allowable recovery period being a period from closing the tailgate to driving the target vehicle forward by a second set distance when the target installation position is the tailgate of the vehicle, or a period from releasing the warning triangle to driving the target vehicle forward by the second set distance when the target installation position is not the tailgate of the vehicle;

[0060] Step S704, in the case that the target vehicle is downgraded to the full-speed adaptive cruise subsystem for multiple times, it is determined that the main system cannot recover by itself, the multiple downgrades are the degradation of the redundant system after the degradation of the main system, the full-speed adaptive cruise subsystem is a subsystem under the redundant system, and the degradation of the redundant system means that at least some functions of the redundant system cannot be realized.

[0061] In the above embodiment, the main system of the target vehicle performs self-test at preset time intervals (such as every minute, every 30 seconds, etc.) to check whether it can restore all functions. The self-test includes at least testing of sensors, actuators, computing platforms and software algorithms to evaluate the overall health and recovery capabilities of the system. After the self-test, the main system evaluates the possibility of its functional recovery based on the test results. If the test results show that the system function can be restored, it will be prepared to restore under permitted conditions; if it cannot be restored, it will remain in a degraded state until external intervention or maintenance. During the vehicle's emergency stop operation, that is, from the main system downgrade to the vehicle being engaged in the parking gear (P gear), from the P gear to the forward gear (D gear), and during the tailgate opening or closing, the main system is placed in a state where recovery is prohibited. The main system needs to add warning prompts, such as "warning alert! Tailgate open, release the triangle warning sign" and other prompts to prohibit the recovery of the main system to prevent the system from closing the tailgate after the main system is restored; during the emergency stop operation, prohibiting the recovery of the main system can avoid unnecessary changes in the system state and ensure the continuity and safety of the emergency operation. The main system recovery attempt during the prohibited period may conflict with the currently ongoing safety operation (such as tailgate opening and closing, triangle warning sign release, vehicle driving, etc.). Prohibiting recovery can avoid such conflicts and reduce operational risks. When the vehicle completes tailgate closing and enters the stage of driving forward for the second set distance, or when the target installation location is not the tailgate of the vehicle, the vehicle completes the release of the triangle warning sign and drives forward for the second set distance, the main system enters the allowed recovery period. During the allowed recovery period, if the self-test result of the main system shows that the function can be restored, the main system will be automatically restored to its full functional state, including at least reactivating the advanced driver assistance system and the automatic driving function. After the safety operation is completed, the setting of the allowed recovery period ensures that the main system can quickly restore its function in a safe environment so that the vehicle can return to normal driving mode as soon as possible. If after the main system is degraded, the redundant system of the target vehicle is also degraded, resulting in the full-speed adaptive cruise subsystem (Mazda Radar Cruise Control, MRCC) becoming the main driving assistance system of the vehicle, the degradation of the main system and the redundant system will be evaluated to confirm that the main system cannot be restored to a full functional state by itself. In addition, when under MRCC control, after the triangle warning sign is released, there is no need to drive forward for the second set distance, and the tailgate cannot be closed automatically, and can only be closed manually by personnel. This ensures the stability of the system status during safety-critical operations and restores the main system function at the appropriate time, improving the overall reliability, safety and user experience of the system.

[0062] It should be noted that the steps shown in the flowcharts of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and that, although a logical order is shown in the flowcharts, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0063] The embodiment of the present application also provides a control device for automatically releasing a triangular warning sign of a vehicle. It should be noted that the control device for automatically releasing a triangular warning sign of a vehicle in the embodiment of the present application can be used to execute the control method for automatically releasing a triangular warning sign of a vehicle provided in the embodiment of the present application. The device is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been explained will not be repeated here. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably implemented in software, the implementation in hardware, or a combination of software and hardware, is also possible and conceivable.

[0064] The following is an introduction to the control device for automatically releasing the triangular warning sign of a vehicle provided in an embodiment of the present application.

[0065] Figure 3 1 is a structural block diagram of a control device for automatically releasing a warning triangle on a vehicle according to an embodiment of the present application. Figure 3 As shown, the device comprises:

[0066] The detection unit 10 is used to detect whether there are other vehicles within a first set distance behind the lane where the target vehicle is located if an emergency stop condition occurs. The above-mentioned emergency stop condition is the degradation of the main system of the above-mentioned target vehicle or the collision accident of the above-mentioned target vehicle. The above-mentioned main system degradation means that at least part of the functions of the main system of the above-mentioned target vehicle cannot be realized.

[0067] Specifically, when the main system of a vehicle (especially an autonomous vehicle) degrades or a collision occurs, triggering an emergency stop, the vehicle's environmental perception system, such as lidar, millimeter-wave radar, camera and other sensors, immediately begins to detect whether there are other vehicles within a first set distance (for example, 200 meters) behind the lane where the target vehicle is located. This is achieved by analyzing sensor data and applying image recognition and target detection algorithms to ensure that the situation in the rear lane can be accurately identified.

[0068] The first control unit 20 is used to control the redundant system of the target vehicle to receive a request to release the triangular warning sign when there is no other vehicle within the first set distance.

[0069] Specifically, once it is determined that there are no other vehicles within the first set distance behind, the vehicle's onboard system will activate the redundant system (usually designed to take over vehicle control when the main system fails). At this point, the redundant system begins to receive and process requests to release the triangular warning sign, which can be issued by the driver or the automatic driving system (in the absence of a co-pilot safety officer).

[0070] The second control unit 30 is used to control the redundant system to respond to the request to release the triangular warning sign and perform a release operation to automatically release the triangular warning sign. The release operation is to release the triangular warning sign from the target installation position of the target vehicle to the ground. The target installation position is a position that is convenient for releasing the triangular warning sign.

[0071] Specifically, after receiving a request to release the triangular warning sign, the redundant system will perform a release operation to release the triangular warning sign from the target installation position (usually a specific structure at the rear of the vehicle, such as the tailgate, the base of the vehicle, etc., which is convenient for releasing the triangular warning sign) to the ground to alert the vehicles behind to the parking condition ahead.

[0072] It should be noted that the target installation location is usually a specific mechanism at the rear of the vehicle, which is convenient for releasing the warning triangle. For example, a dedicated mechanism inside the trunk or at the tailgate: a dedicated mechanical mechanism is designed inside the trunk to store and release the warning triangle. When it needs to be released, the mechanism pushes the warning triangle out of the vehicle and places it on the ground. This design ensures the quick and safe release of the warning triangle without affecting other functions of the vehicle. When the target installation location is at the tailgate, the release process is as follows: Figure 2 As shown. Hidden mechanism at the bottom of the rear of the vehicle: Design a retractable mechanism to hide the warning triangle at the bottom of the rear of the vehicle, and extend it and place it on the ground when needed. This design reduces the space occupied in the vehicle and also makes it easier for the vehicle to detect the status of the warning triangle. Rear bumper: Design a clamp or fixture at the rear bumper of the vehicle. When it needs to be released, the warning triangle is pushed out and automatically unfolded by electric or mechanical means. Of course, the above is only an example and is not limited to the above target installation position, as long as it is convenient to release the warning triangle.

[0073] In this embodiment, the control device for automatically releasing the triangular warning sign of the vehicle includes a detection unit, which is used to detect whether there are other vehicles within a first set distance behind the lane where the target vehicle is located if an emergency stop occurs. The emergency stop condition is that the main system of the target vehicle is downgraded or the target vehicle has a collision accident. The main system degradation means that at least part of the functions of the main system of the target vehicle cannot be realized; a first control unit is used to control the redundant system of the target vehicle to receive a request to release the triangular warning sign when there are no other vehicles within the first set distance; a second control unit is used to control the redundant system to respond to the request to release the triangular warning sign and perform a release operation to automatically release the triangular warning sign. The release operation is an operation to release the triangular warning sign from the target installation position of the target vehicle to the ground. The target installation position is a position for facilitating the release of the triangular warning sign. The present application detects the lane behind the target vehicle when the main system of the vehicle is downgraded or the vehicle has a collision accident. When there is no vehicle at the first set distance, the redundant system receives the request to release the triangular warning sign, and responds to the request to release the triangular warning sign to perform a release operation to automatically release the triangular warning sign without manual placement. The present application solves the problem in the prior art that the automatic release of the warning triangle when the main system is degraded or a collision accident occurs is not fully considered.

[0074] In order to avoid secondary accidents that may be caused during emergency parking, in an optional implementation, the detection unit includes:

[0075] A first detection module is used for, when the emergency stop condition is the degradation of the main system and the target vehicle has not had the collision accident, controlling the target vehicle to stop at the target position, and detecting through a vehicle sensor whether there are other vehicles within the first set distance behind the lane where the target vehicle is located, and the target position is within the permitted parking area on the side of the road;

[0076] The second detection module is used to detect whether there are other vehicles within the first set distance behind the lane where the target vehicle is located through a vehicle sensor when the emergency stop condition is the degradation of the main system and the target vehicle has the collision accident.

[0077] In the above embodiment, the main system of the target vehicle (e.g., Autonomous Driving System, AD system) continuously self-checks, and once a degradation event (partial or all functions are limited) is detected, a takeover signal is immediately sent to the redundant system. After receiving the takeover signal, the redundant system begins to take over the vehicle control, controls the vehicle to slow down and smoothly stop in the permitted parking area on the side of the road as the target position. After the target vehicle stops, the vehicle's rearward sensor (e.g., radar, camera, etc.) is activated to detect whether there are other vehicles in the rear lane within the first set distance (e.g., 200 meters). This is to confirm whether the triangular warning sign is safely released to avoid emergency braking or traffic accidents of the rear vehicle. The triangular warning sign is released when it is ensured that no vehicle passes behind, avoiding secondary accidents that may be caused during emergency parking. The collision detection system of the target vehicle responds immediately when a collision accident occurs, sends a collision signal to the redundant system, and also uses the rearward sensor to detect whether there are other vehicles within the first set distance behind. In addition, in the case of a collision accident, it may also be necessary to trigger the vehicle's emergency alarm system to further alert surrounding vehicles and pedestrians. In short, the vehicle can automatically detect the traffic conditions behind and release the triangular warning sign in a timely manner when the main system is degraded or an emergency stop occurs after a collision accident, which significantly improves road safety and the efficiency of accident handling. It also reflects the advancement and reliability of autonomous driving technology in safety emergency response.

[0078] In order to improve the flexibility and efficiency of emergency response, in an optional embodiment, the device further includes:

[0079] A first sending unit is used for generating the release triangle warning sign request and sending it to the redundant system in response to the operation of the occupant clicking the release triangle warning sign button on the operation interface before the redundant system controlling the target vehicle receives the release triangle warning sign request, wherein the occupant is the main driver or the co-driver;

[0080] Alternatively, the second sending unit is used for the main system to automatically start the release program and automatically send the above-mentioned release triangle warning sign request to the above-mentioned redundant system.

[0081] In the above embodiment, the person in the vehicle (the main driver or the co-driver) clicks the button to release the triangular warning sign on the vehicle's operation interface. The operation interface can be a touch screen, a physical button or other user interfaces integrated in the cockpit. After the vehicle receives this operation signal, it immediately generates a request to release the triangular warning sign and sends it to the redundant system responsible for executing the operation through the vehicle's internal communication network. Allowing the person in the vehicle to directly trigger the release of the triangular warning sign through the operation interface in an emergency improves the flexibility and efficiency of emergency response. When the main system of the target vehicle detects that it has been degraded or the vehicle has a collision accident, it automatically starts the emergency parking program. The main system will automatically generate a request to release the triangular warning sign and send it to the redundant system through the communication system of the target vehicle. Through the automatic judgment and operation of the main system, the automation of the release of the triangular warning sign after emergency parking is realized without the intervention of the person in the vehicle, further improving the speed and reliability of emergency response. The automated release procedure reduces the errors that may be caused by panic or misoperation of the driver or other personnel in an emergency, and ensures the correct implementation of safety measures. Through the main system's automatic release procedure, the target vehicle can autonomously complete the necessary safety measures even if the occupants are unable to operate, reflecting the vehicle's self-protection capabilities in emergency situations.

[0082] In order to avoid manually placing the warning triangle, in an optional implementation, the second control unit includes:

[0083] A first control module, used for controlling the vehicle gear position of the target vehicle to be switched to a parking gear;

[0084] The second control module is used to control the above-mentioned triangular warning sign to be automatically released from the above-mentioned target installation position to the ground.

[0085] In the above embodiment, the redundant system of the target vehicle receives an emergency stop signal (main system degradation or collision accident) and starts to execute a safe parking procedure. The redundant system generates an instruction requesting that the vehicle gear be switched to the parking gear (P gear) to ensure that the vehicle is completely stopped and does not move unexpectedly. Through the vehicle's control system (electronic parking brake and gear control system), the redundant system sends instructions to the vehicle's transmission system to control the vehicle to smoothly switch from the current gear to the P gear. This process may include deceleration, stopping, and locking the wheels to prevent the vehicle from moving after parking. Switching the vehicle gear to the P gear can ensure that the vehicle is completely stopped in a safe position and prevent the target vehicle from accidentally moving when the triangle warning sign is released or the driver leaves the vehicle. After confirming that the target vehicle meets the safety conditions (such as no other vehicles within the first set distance behind), the redundant system receives the release triangle warning sign instruction, and responds to the release triangle warning sign instruction to send the release instruction to the vehicle's triangle warning sign release mechanism. This mechanism may be located at the rear of the vehicle and is designed with a mechanical arm, spring release device or electric push rod, etc., which is used to push the warning triangle out from its target installation location (such as a dedicated storage space inside the tailgate) and automatically unfold it to the ground. Automated operation avoids the process of manually finding and placing the warning triangle, and improves the response efficiency of safety measures after emergency stops. In an emergency, the automatic release of the warning triangle reduces the risk of the driver getting out of the vehicle to manually place it, especially on highways, where this risk may be very high.

[0086] In order to avoid traffic jams and reduce the driving pressure of other vehicles behind, in an optional implementation, the device also includes:

[0087] The third control unit is used for controlling the above-mentioned triangular warning sign to be automatically released from the above-mentioned target installation position to the ground, and controlling the above-mentioned target vehicle to switch from the above-mentioned parking gear to the forward gear, and controlling the above-mentioned target vehicle to drive forward a second set distance when the above-mentioned emergency parking condition is a degradation of the above-mentioned main system and the above-mentioned collision accident does not occur to the above-mentioned target vehicle.

[0088] In the above embodiment, the redundant system of the target vehicle first confirms that the current emergency stop condition is caused by the degradation of the main system rather than the collision accident, indicating that the target vehicle can still drive normally at this time. Therefore, in order to leave enough buffer space for the rear vehicle and ensure that the target vehicle will not drive into the potential danger area, the redundant system generates an instruction to switch the vehicle gear from the parking gear (P gear) to the forward gear (D gear) to prepare for the vehicle to drive again. Through the vehicle control system, the gear switching instruction is sent to the vehicle's transmission system, and the vehicle smoothly switches from the P gear to the D gear. Subsequently, the redundant system controls the engine of the target vehicle to start, and according to the preset driving strategy, controls the target vehicle to drive forward slowly until it reaches the second set distance (for example, 80 meters). When safety is confirmed, the target vehicle drives forward the second set distance, which can provide a wider space for the rear vehicle, avoid traffic jams, and reduce the driving pressure of the rear vehicle. This series of automated operations not only helps to alleviate the rear traffic pressure and improve road safety, but also reflects the self-recovery and response capabilities of autonomous driving technology in emergency situations.

[0089] In order to improve the automatic control of the opening and closing of the tailgate and reduce the direct operation of the driver or other personnel, in an optional implementation, the device further includes:

[0090] a fourth control unit, configured to control the opening of the tailgate of the target vehicle before controlling the triangular warning sign to be automatically released from the target installation position to the ground;

[0091] The fifth control unit is used to control the closing of the tailgate of the target vehicle after controlling the triangular warning sign to be automatically released from the target installation position to the ground.

[0092] In the above embodiment, when the target installation position is the tailgate of the vehicle, the tailgate of the vehicle is the door of the trunk of the target vehicle, that is, the warning triangle is stored on the tailgate of the vehicle. Before the warning triangle is successfully released to the ground, the tailgate of the vehicle needs to be opened first, and the warning triangle is released after the tailgate is opened for a set time (for example, 5 seconds). The redundant system generates instructions to control the opening of the tailgate to ensure that the tailgate can be opened smoothly and safely, creating conditions for the release of the warning triangle. The redundant system sends an opening instruction to the opening and closing mechanism of the tailgate of the vehicle, and the tailgate is automatically unlocked and opened. This process may take a few seconds to ensure that the tailgate is fully opened for the subsequent release of the warning triangle. Ensuring that the warning sign can be smoothly released from the vehicle to the ground avoids the potential risk of the driver or other personnel manually opening the tailgate in an emergency, especially on highways, where manual operation may pose a greater safety threat.

[0093] After the warning triangle is successfully released to the ground, the vehicle's sensors (such as pressure sensors or cameras) detect and confirm that the warning triangle has been fully released, and the redundant system receives this confirmation signal. The redundant system generates a command to control the tailgate to close in order to seal the trunk and prevent items inside the vehicle from falling during subsequent driving. The redundant system sends a closing command to the tailgate's opening and closing mechanism, and the tailgate automatically closes and locks. Closing the tailgate provides necessary preparation for the vehicle's subsequent driving or shifting to the forward gear (D gear), ensuring that the vehicle can safely continue other operations, such as driving forward the second set distance.

[0094] In order to improve the reliability and safety of the vehicle system as a whole, in an optional implementation manner, the device further includes:

[0095] A self-checking unit, configured to control the redundant system to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle, so that the main system performs a self-checking operation at regular intervals, wherein the self-checking operation is used to detect whether the main system can restore all system functions;

[0096] a restoration prohibiting unit, configured to prohibit restoration of the main system when the target vehicle is in a restoration prohibiting period, wherein the restoration prohibiting period is a period during which the target vehicle is switched to a parking gear, or a period during which the target vehicle is switched to a driving gear, or a period during which the tailgate of the vehicle is opened or closed when the target installation position is a tailgate of the vehicle;

[0097] a recovery permission unit, used for directly recovering the main system when the target vehicle is in a recovery permission period, the recovery permission period being a period from closing the tailgate to driving the target vehicle forward by a second set distance when the target installation position is the tailgate of the vehicle, or a period from releasing the warning triangle to driving the target vehicle forward by the second set distance when the target installation position is not the tailgate of the vehicle;

[0098] A determination unit is used to determine that the main system cannot recover by itself when the target vehicle is downgraded to the full-speed adaptive cruise subsystem for multiple times, the multiple downgrades are the degradation of the redundant system after the degradation of the main system, the full-speed adaptive cruise subsystem is a subsystem under the redundant system, and the degradation of the redundant system means that at least part of the functions of the redundant system cannot be realized.

[0099] In the above embodiment, the main system of the target vehicle performs self-test at preset time intervals (such as every minute, every 30 seconds, etc.) to check whether it can restore all functions. The self-test includes at least testing of sensors, actuators, computing platforms and software algorithms to evaluate the overall health and recovery capabilities of the system. After the self-test, the main system evaluates the possibility of its functional recovery based on the test results. If the test results show that the system function can be restored, it will be prepared to restore under permitted conditions; if it cannot be restored, it will remain in a degraded state until external intervention or maintenance. During the vehicle's emergency stop operation, that is, from the main system downgrade to the vehicle being engaged in the parking gear (P gear), from the P gear to the forward gear (D gear), and during the tailgate opening or closing, the main system is placed in a state where recovery is prohibited. The main system needs to add warning prompts, such as "warning alert! Tailgate open, release the triangle warning sign" and other prompts to prohibit the recovery of the main system to prevent the system from closing the tailgate after the main system is restored; during the emergency stop operation, prohibiting the recovery of the main system can avoid unnecessary changes in the system state and ensure the continuity and safety of the emergency operation. The main system recovery attempt during the prohibited period may conflict with the currently ongoing safety operation (such as tailgate opening and closing, triangle warning sign release, vehicle driving, etc.). Prohibiting recovery can avoid such conflicts and reduce operational risks. When the vehicle completes tailgate closing and enters the stage of driving forward for the second set distance, or when the target installation location is not the tailgate of the vehicle, the vehicle completes the release of the triangle warning sign and drives forward for the second set distance, the main system enters the allowed recovery period. During the allowed recovery period, if the self-test result of the main system shows that the function can be restored, the main system will be automatically restored to its full functional state, including at least reactivating the advanced driver assistance system and the automatic driving function. After the safety operation is completed, the setting of the allowed recovery period ensures that the main system can quickly restore its function in a safe environment so that the vehicle can return to normal driving mode as soon as possible. If after the main system is degraded, the redundant system of the target vehicle is also degraded, resulting in the full-speed adaptive cruise subsystem (Mazda Radar Cruise Control, MRCC) becoming the main driving assistance system of the vehicle, the degradation of the main system and the redundant system will be evaluated to confirm that the main system cannot be restored to a full functional state by itself. In addition, when under MRCC control, after the triangle warning sign is released, there is no need to drive forward for the second set distance, and the tailgate cannot be closed automatically, and can only be closed manually by personnel. This ensures the stability of the system status during safety-critical operations and restores the main system function at the appropriate time, improving the overall reliability, safety and user experience of the system.

[0100] The control device for automatically releasing a warning triangle of a vehicle includes a processor and a memory. The detection unit, the first control unit, the second control unit, etc. are stored in the memory as program units, and the processor executes the program units stored in the memory to implement corresponding functions. The modules are all located in the same processor; or, the modules are located in different processors in any combination.

[0101] The processor includes a kernel, which retrieves the corresponding program unit from the memory. One or more kernels can be set, and the problem of automatic release of the triangle warning sign when the main system is degraded or a collision accident is solved by adjusting the kernel parameters in the prior art.

[0102] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM, and the memory includes at least one memory chip.

[0103] An embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, wherein when the program is running, the device where the computer-readable storage medium is located is controlled to execute the control method for automatically releasing the triangular warning sign of the vehicle.

[0104] Specifically, the control method for automatically releasing the triangular warning sign of the vehicle includes:

[0105] Step S201, if an emergency stop condition occurs, detecting whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, the emergency stop condition being the degradation of the main system of the target vehicle or a collision accident of the target vehicle, the degradation of the main system indicating that at least part of the functions of the main system of the target vehicle cannot be realized;

[0106] Step S202, when no other vehicle exists within the first set distance, controlling the redundant system of the target vehicle to receive a request to release a triangular warning sign;

[0107] Step S203, controlling the redundant system to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle. The release operation is to release the warning triangle from the target installation position of the target vehicle to the ground. The target installation position is a position that is convenient for releasing the warning triangle.

[0108] An embodiment of the present invention provides a processor, which is used to run a program, wherein the control method for automatically releasing the triangular warning sign of the vehicle is executed when the program is run.

[0109] Specifically, the control method for automatically releasing the triangular warning sign of the vehicle includes:

[0110] Step S201, if an emergency stop condition occurs, detecting whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, the emergency stop condition being the degradation of the main system of the target vehicle or a collision accident of the target vehicle, the degradation of the main system indicating that at least part of the functions of the main system of the target vehicle cannot be realized;

[0111] Step S202, when no other vehicle exists within the first set distance, controlling the redundant system of the target vehicle to receive a request to release a triangular warning sign;

[0112] Step S203, controlling the redundant system to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle. The release operation is to release the warning triangle from the target installation position of the target vehicle to the ground. The target installation position is a position that is convenient for releasing the warning triangle.

[0113] An embodiment of the present invention provides a vehicle, the vehicle comprising a controller, a processor, a memory, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, at least the following steps are implemented:

[0114] Step S201, if an emergency stop condition occurs, detecting whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, the emergency stop condition being the degradation of the main system of the target vehicle or a collision accident of the target vehicle, the degradation of the main system indicating that at least part of the functions of the main system of the target vehicle cannot be realized;

[0115] Step S202, when no other vehicle exists within the first set distance, controlling the redundant system of the target vehicle to receive a request to release a triangular warning sign;

[0116] Step S203, controlling the redundant system to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle. The release operation is to release the warning triangle from the target installation position of the target vehicle to the ground. The target installation position is a position that is convenient for releasing the warning triangle.

[0117] The present application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that is initialized to have at least the following method steps: Step S201, if an emergency stop condition occurs, detecting whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, the emergency stop condition being a degradation of the main system of the target vehicle or a collision accident of the target vehicle, the degradation of the main system indicating that at least part of the functions of the main system of the target vehicle cannot be realized;

[0118] Step S202, when no other vehicle exists within the first set distance, controlling the redundant system of the target vehicle to receive a request to release a triangular warning sign;

[0119] Step S203, controlling the redundant system to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle. The release operation is to release the warning triangle from the target installation position of the target vehicle to the ground. The target installation position is a position that is convenient for releasing the warning triangle.

[0120] Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

[0121] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0122] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0123] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0124] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0125] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0126] The memory may include non-permanent memory in a computer-readable medium, random access memory (RAM) and / or non-volatile memory in the form of read-only memory (ROM) or flash RAM. The memory is an example of a computer-readable medium.

[0127] Computer readable media include permanent and non-permanent, removable and non-removable media that can be implemented by any method or technology to store information. Information can be computer readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disk read-only memory (CD-ROM), digital versatile disk (DVD) or other optical storage, magnetic cassettes, magnetic tape disk storage or other magnetic storage devices or any other non-transmission media that can be used to store information that can be accessed by a computing device. As defined herein, computer readable media does not include temporary computer readable media (transitory media), such as modulated data signals and carrier waves.

[0128] It should also be noted that the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, commodity or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, commodity or device. In the absence of more restrictions, the elements defined by the sentence "comprises a ..." do not exclude the existence of other identical elements in the process, method, commodity or device including the elements.

[0129] From the above description, it can be seen that the above embodiments of the present application achieve the following technical effects:

[0130] 1) The control method of the vehicle automatically releasing the triangular warning sign of the present application, first, if an emergency stop occurs, detect whether there are other vehicles within the first set distance behind the lane where the target vehicle is located, the above-mentioned emergency stop condition is the degradation of the main system of the above-mentioned target vehicle or the collision accident of the above-mentioned target vehicle, and the degradation of the above-mentioned main system means that at least part of the functions of the main system of the above-mentioned target vehicle cannot be realized; then, in the case that there are no other vehicles within the above-mentioned first set distance, control the redundant system of the above-mentioned target vehicle to receive the release triangle warning sign request; finally, control the above-mentioned redundant system to respond to the above-mentioned release triangle warning sign request and perform a release operation to automatically release the triangular warning sign, and the above-mentioned release operation is to release the above-mentioned triangular warning sign from the target installation position of the above-mentioned target vehicle to the ground, and the above-mentioned target installation position is a position for facilitating the release of the triangular warning sign. The present application detects the lane behind the target vehicle through the degradation of the main system of the vehicle or the collision accident of the vehicle. When there is no vehicle in the first set distance, the redundant system receives the release triangle warning sign request, and responds to the release triangle warning sign request to perform a release operation to realize the automatic release of the triangular warning sign without manual placement. The present application solves the problem in the prior art that the automatic release of the warning triangle when the main system is degraded or a collision accident occurs is not fully considered.

[0131] 2) The control device for automatically releasing the triangular warning sign of the vehicle of the present application, the detection unit is used to detect whether there are other vehicles within the first set distance behind the lane where the target vehicle is located in an emergency stop situation, the above-mentioned emergency stop situation is the degradation of the main system of the above-mentioned target vehicle or the collision accident of the above-mentioned target vehicle, and the degradation of the above-mentioned main system means that at least part of the functions of the main system of the above-mentioned target vehicle cannot be realized; the first control unit is used to control the redundant system of the above-mentioned target vehicle to receive the request to release the triangular warning sign when there are no other vehicles within the above-mentioned first set distance; the second control unit is used to control the above-mentioned redundant system to respond to the above-mentioned request to release the triangular warning sign and perform a release operation to automatically release the triangular warning sign, and the above-mentioned release operation is to release the above-mentioned triangular warning sign from the target installation position of the above-mentioned target vehicle to the ground, and the above-mentioned target installation position is a position for facilitating the release of the triangular warning sign. The present application detects the lane behind the target vehicle through the degradation of the main system of the vehicle or the collision accident of the vehicle. When there is no vehicle in the first set distance, the redundant system receives the request to release the triangular warning sign, and responds to the request to release the triangular warning sign to perform a release operation to realize the automatic release of the triangular warning sign without manual placement. The present application solves the problem in the prior art that the automatic release of the warning triangle when the main system is degraded or a collision accident occurs is not fully considered.

[0132] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A control method for automatically releasing a triangular warning sign of a vehicle, characterized in that: include: If an emergency stop condition occurs, detecting whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, the emergency stop condition being the degradation of the main system of the target vehicle or a collision accident of the target vehicle, the degradation of the main system indicating that at least part of the functions of the main system of the target vehicle cannot be realized; When the other vehicle does not exist within the first set distance, the redundant system controlling the target vehicle receives a request to release the triangular warning sign; The redundant system is controlled to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle, wherein the release operation is an operation of releasing the warning triangle from a target installation position of the target vehicle to the ground, wherein the target installation position is a position convenient for releasing the warning triangle.

2. The method according to claim 1, characterized in that If an emergency stop occurs, detect whether there are other vehicles within a first set distance behind the lane where the target vehicle is located, including: When the emergency stop condition is that the main system is degraded and the target vehicle has not encountered the collision accident, after the target vehicle is controlled to stop at the target position, a vehicle sensor is used to detect whether there are other vehicles within the first set distance behind the lane where the target vehicle is located, and the target position is within the permitted parking area on the side of the road; When the emergency stop condition is that the main system is degraded and the target vehicle has the collision accident, a vehicle sensor is used to detect whether there are other vehicles within the first set distance behind the lane where the target vehicle is located.

3. The method according to claim 1, characterized in that Before the redundant system controlling the target vehicle receives the request to release the warning triangle, the method further includes: In response to a user in the vehicle clicking a button to release the warning triangle on the operation interface, generating a request to release the warning triangle and sending it to the redundant system, wherein the user in the vehicle is a primary driver or a co-driver; Alternatively, the main system automatically starts the release procedure and automatically sends the request to release the triangle warning sign to the redundant system.

4. The method according to claim 1, characterized in that Controlling the redundant system to respond to the request to release the triangle warning sign and perform a release operation, comprising: Controlling the vehicle gear position of the target vehicle to switch to a parking gear; The triangular warning sign is controlled to be automatically released from the target installation position to the ground.

5. The method according to claim 4, characterized in that After controlling the triangular warning sign to be automatically released from the target installation position to the ground, the method further includes: When the emergency parking condition is that the main system is degraded and the target vehicle has not had the collision accident, the target vehicle is controlled to switch from the parking gear to the driving gear, and the target vehicle is controlled to travel forward a second set distance.

6. The method according to claim 4, characterized in that In the case where the target installation position is a vehicle tailgate, the vehicle tailgate is a door of a trunk of the target vehicle, Before controlling the warning triangle to be automatically released from the target installation position to the ground, the method further includes: Controlling the opening of the tailgate of the target vehicle; After controlling the triangular warning sign to be automatically released from the target installation position to the ground, the method further includes: Controlling closing of the vehicle tailgate of the target vehicle.

7. The method according to claim 1, characterized in that After controlling the redundant system to respond to the request to release the warning triangle and perform a release operation to automatically release the warning triangle, the method further includes: The main system performs a self-check operation at regular intervals, wherein the self-check operation is used to detect whether the main system can restore all system functions; Restoring the main system is prohibited when the target vehicle is in a restoration prohibition period, wherein the restoration prohibition period is a period when the target vehicle is switched to a parking gear, or a period when the target vehicle is switched to a driving gear, or a period when the target installation position is a vehicle tailgate, when the vehicle tailgate is opened or closed; When the target vehicle is in an allowable recovery period, directly recovering the main system, the allowable recovery period being a period from closing the tailgate to the target vehicle moving forward a second set distance when the target installation position is the tailgate, or a period from the target vehicle moving forward the second set distance after releasing the warning triangle when the target installation position is not the tailgate; In the case that the target vehicle is downgraded to the full-speed adaptive cruise subsystem for multiple times, it is determined that the main system cannot recover by itself, the multiple downgrades are the degradation of the redundant system after the degradation of the main system, the full-speed adaptive cruise subsystem is a subsystem under the redundant system, and the degradation of the redundant system means that at least part of the functions of the redundant system cannot be realized.

8. A control device for automatically releasing a warning triangle on a vehicle, characterized in that: The device comprises: a detection unit, for detecting whether there are other vehicles within a first set distance behind the lane where the target vehicle is located if an emergency stop condition occurs, wherein the emergency stop condition is a degradation of the main system of the target vehicle or a collision accident occurs to the target vehicle, wherein the degradation of the main system means that at least part of the functions of the main system of the target vehicle cannot be realized; A first control unit, configured to control the redundant system of the target vehicle to receive a request to release a triangular warning sign when no other vehicle exists within the first set distance; A second control unit is used to control the redundant system to respond to the request to release the triangular warning sign and perform a release operation to automatically release the triangular warning sign, wherein the release operation is an operation of releasing the triangular warning sign from a target installation position of the target vehicle to the ground, and the target installation position is a position convenient for releasing the triangular warning sign.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the control method for automatically releasing a triangular warning sign of a vehicle according to any one of claims 1 to 7.

10. A computer program product comprising computer instructions, characterized in that: When the computer instructions are executed by the processor, the control method for automatically releasing the triangular warning sign of a vehicle as described in any one of claims 1 to 7 is implemented.

11. A vehicle, characterized in that: It comprises a controller, which executes the control method for automatically releasing the triangular warning sign of a vehicle as described in any one of claims 1 to 7.

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