Automatic driving control method and system for vehicle, vehicle and readable storage medium

Abstract

The invention provides an automatic driving control method and system for a vehicle, the vehicle and a readable storage medium, and the automatic driving control system comprises a dynamic vector parameter interval DVA generation device which is used for collecting dynamic vector parameters sent by a plurality of vehicles according to a preset time interval during automatic driving, generating a DVA for a comprehensive situation in real time, or both the DVA and a dynamic optimal automatic driving control instruction; the DVA database is used for continuously receiving and storing a plurality of DVAs and a plurality of dynamic optimal automatic driving control instructions aiming at a plurality of comprehensive conditions; the instruction judgment device is arranged between a control system and an actuator of the vehicle and used for receiving the DVA from the DVA database or the DVA and the dynamic optimal automatic driving control instruction in real time and judging whether the control instruction output by the control system of the vehicle exceeds the boundary of the DVA or not; whether the control instruction or the dynamic optimal automatic driving control instruction is transmitted to the actuator is determined.

Description

Technical Field

[0001] The present invention belongs to the technical field of vehicle automatic driving, and in particular relates to an automatic driving control method and system for a vehicle, a vehicle and a readable storage medium. Background Art

[0002] Autonomous driving is a mainstream application in the field of artificial intelligence. Autonomous driving technology relies on the collaboration of computer vision, radar, monitoring devices and global positioning systems to enable motor vehicles to achieve autonomous driving without the need for active human operation. Autonomous vehicles use various computing systems to help transport passengers from one location to another. Some autonomous vehicles may require some initial or continuous input from an operator (such as a navigator, driver, or passenger). Autonomous vehicles allow operators to switch from manual operation mode to autonomous driving mode or a mode in between.

[0003] With the popularization of car autonomous driving, according to the definition of the American Society of Automotive Engineers, the existing car driving technology can be divided into six levels, L0-L5; among them, L1-L2 refers to intelligent driving assistance systems, at which the driver is responsible for all driving tasks; L3 is the semi-autonomous driving stage, marking the entry into the scope of autonomous driving, the vehicle can achieve autonomous driving in most road conditions, take over a large part of the car's driving functions, and monitor the driving environment in some cases. L4 autonomous driving is highly automated driving, which is taken over by machines, and all operators do not need to respond to all system requests. The braking system can complete driving tasks and monitor the driving environment under certain environments and specific conditions. L5 autonomous driving is fully autonomous driving, without any driver intervention. There is even no steering wheel, accelerator pedal, or reversing light driving mechanism in the car. The car is driven by the feeling and calculation of the driving computer, which can achieve all-day and all-area autonomous driving, and can deal with changes in environmental climate and location. The driver can focus on rest or other work.

[0004] At present, in the autonomous driving mode, autonomous vehicles perform driving operations according to the preset driving rules based on the collected road conditions and navigation information. However, the preset driving rules are not compatible with all road conditions and cannot be dynamically adaptively changed based on changes in road conditions, thus affecting driving comfort and even safety. In addition, there are the following (including but not limited to) factors that affect the safe autonomous driving of vehicles and lead to traffic accidents: the vehicle is attacked by hackers, the vehicle operator issues dangerous instructions, etc. In this regard, how to dynamically adjust the driving instructions in real time based on changes in road conditions during the vehicle's autonomous driving, identify and block hacker attacks, and identify and refuse to execute dangerous instructions, so that the vehicle maintains the optimal autonomous driving strategy to ensure the safety and comfort of vehicle driving is an issue that needs urgent attention. Summary of the invention

[0005] One object of the present invention is to provide an automatic driving control method and system for a vehicle, a vehicle and a readable storage medium. The method and system of the present invention define the safe driving boundary parameters of the vehicle based on statistical data, and based on the safe driving boundary parameters, hacker attacks can be identified and blocked, as well as dangerous instructions can be identified and refused to be executed, so as to ensure the safety of vehicle driving.

[0006] Another object of the present invention is to provide an automatic driving control method and system for a vehicle, a vehicle and a readable storage medium, which can dynamically adopt corresponding optimal automatic driving control instructions based on changes in road conditions, so that the vehicle maintains the optimal automatic driving strategy to ensure the comfort of vehicle driving.

[0007] According to a first aspect of the present invention, there is provided an automatic driving control system for a vehicle, wherein the vehicle comprises an information sensing device for sensing information; a control system for outputting a control instruction based on information output by the information sensing device; and an actuator for controlling the vehicle based on the control instruction output by the control system, wherein the automatic driving control system further comprises:

[0008] A dynamic vector parameter interval DVA generating device is used to collect dynamic vector parameters sent by the information sensing devices of multiple vehicles and generate DVA in real time, wherein the dynamic vector parameters include the information sensed by the information sensing device, and the DVA is determined by statistically calculating the dynamic vector parameters sent by the multiple vehicles to determine a parameter interval in which the vehicle is in a safe driving state under a comprehensive condition, and the DVA is dynamically adjusted in real time as the collected information changes;

[0009] A DVA database is used to receive and store a plurality of DVAs for a plurality of said comprehensive situations generated by said dynamic vector parameter interval DVA generating device; and

[0010] An instruction judgment device is used to receive the DVA from the DVA database in real time, and judge whether the control instruction output by the control system exceeds the boundary of the DVA corresponding to the current comprehensive situation of the vehicle under the current comprehensive situation of the vehicle, and determine whether to transmit the control instruction to the actuator accordingly.

[0011] Preferably, the DVA generating device is also used to generate dynamic optimal driving control instructions in real time, the dynamic optimal driving control instructions are driving control instructions for the vehicle to be in the best driving state under a comprehensive situation after statistical calculation of the dynamic vector parameters sent by the multiple vehicles under the comprehensive situation, and the dynamic optimal driving control instructions are dynamically adjusted in real time as the collected information changes; the DVA database is also used to receive and store multiple dynamic optimal automatic driving control instructions for multiple comprehensive situations generated by the dynamic vector parameter interval DVA generating device; and the instruction judgment device is also used to receive the dynamic optimal automatic driving control instructions from the DVA database in real time, and judge whether the control instructions output by the control system under the current comprehensive situation of the vehicle exceed the boundary of the DVA corresponding to the current comprehensive situation, and determine whether to transmit the dynamic optimal automatic driving control instructions corresponding to the current comprehensive situation to the actuator accordingly.

[0012] According to a second aspect of the present invention, there is provided an automatic driving control method for the automatic driving control system, which comprises the following steps:

[0013] A step of generating a dynamic vector parameter interval DVA: collecting dynamic vector parameters sent by the information sensing devices of multiple vehicles, and generating DVA in real time, wherein the dynamic vector parameters include the information sensed by the information sensing devices, and the DVA is a parameter interval in which the vehicle is in a safe driving state under a comprehensive condition after statistical calculation of the dynamic vector parameters sent by the multiple vehicles, and the DVA is dynamically adjusted in real time as the collected information changes; and

[0014] Instruction judgment step: receiving the DVA in real time, and judging whether the control instruction output by the vehicle control system exceeds the boundary of the DVA corresponding to the current comprehensive situation of the vehicle under the current comprehensive situation of the vehicle, and determining whether to transmit the control instruction to the actuator of the vehicle accordingly.

[0015] Preferably, in the DVA generating step, a dynamically optimal driving control instruction is also generated in real time, the dynamically optimal driving control instruction is a driving control instruction for determining that the vehicle is in the best driving state under a comprehensive situation after statistical calculation of the dynamic vector parameters sent by the multiple vehicles under the comprehensive situation, and the dynamically optimal driving control instruction is dynamically adjusted in real time as the collected information changes; and in the instruction judging step, the dynamically optimal automatic driving control instruction is also received in real time, and it is judged whether the control instruction output by the control system of the vehicle under the current comprehensive situation of the vehicle exceeds the boundary of the DVA corresponding to the current comprehensive situation of the vehicle, and it is determined whether the dynamically optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle is transmitted to the actuator accordingly.

[0016] According to a third aspect of the present invention, there is provided a computer-readable storage medium storing a computer program, which, when executed on a computer, enables the computer to execute the above-mentioned automatic driving control method.

[0017] According to a fourth aspect of the present invention, there is provided a vehicle comprising the above-mentioned automatic driving control system; or the instruction judgment device in the above-mentioned automatic driving control system and cooperating with the DVA generation device and DVA database in the vehicle automatic driving control system.

[0018] Compared with the prior art, the automatic driving control method and system for a vehicle of the present invention has the following advantages:

[0019] 1. Based on the dynamic vector parameter interval for a vehicle in a safe driving state under a comprehensive situation generated by dynamically collected dynamic vector parameters from multiple vehicles, by using an instruction judgment device, when affected by interference factors (such as hacker attacks), dangerous driving instructions (including dangerous control instructions output by the control system and dangerous manual driving instructions issued by the vehicle operator) that exceed the boundary of the dynamic vector parameter interval can be disabled to shield the influence of interference factors (such as shielding hacker attacks), thereby ensuring the safety of vehicle driving.

[0020] 2. Based on the dynamically collected dynamic vector parameters from multiple vehicles, the dynamic optimal automatic driving control instructions for the vehicle to be in the best driving state under a comprehensive situation are generated. The automatic driving control instructions can be adjusted dynamically in real time to enable the vehicle to maintain the optimal automatic driving strategy to ensure the comfort of the vehicle's driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 FIG. 1 is a structural block diagram of an automatic driving control system for a vehicle according to a first embodiment of the present invention.

[0022] Figure 2 It is a block diagram of the structure of an automatic driving control system for a vehicle according to a second embodiment of the present invention.

[0023] Figure 3 Flowchart of an automatic driving control method for a vehicle according to the third and fourth embodiments of the present invention. DETAILED DESCRIPTION

[0024] In order to enable those skilled in the art to better understand the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only embodiments of a part of the present application, rather than all of the embodiments.

[0025] The terms "first", "second", and "third" in the specification embodiments 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 precedence. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, including a series of steps or units. The method, system, product or device 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.

[0026] First embodiment

[0027] like Figure 1 As shown, the automatic driving control system 100A for a vehicle according to the first embodiment of the present invention includes an information perception device 110, a control system 120, an actuator 130, a dynamic vector parameter interval (DVA) generation device 140, a dynamic vector parameter interval (DVA) database 150 and an instruction judgment device 160.

[0028] The information sensing device 110 is arranged in the vehicle and is used to sense multi-dimensional information including time dimension information, vehicle condition dimension information, road condition dimension information, environmental condition dimension information and vehicle operation status dimension information. The format of each information can be determined according to the specific application situation. The time dimension information includes date (month / day) and time information within the day. The vehicle condition dimension information includes but is not limited to one or more of the following information: vehicle load and vehicle body stability, etc. The road condition dimension information includes but is not limited to one or more of the following information: geographical location represented by the latitude and longitude of the vehicle or the distance between the current position of the vehicle and the starting point of driving, landmarks such as road signs, guardrails, curbs and lane markings, road surface flatness, road surface temperature and road surface humidity, etc. The environmental condition dimension information includes but is not limited to one or more of the following information: ambient temperature, ambient humidity, ambient wind force, air visibility, and weather information about sunny, rainy, foggy, snowy, hail, etc. The vehicle operation status dimension information includes but is not limited to one or more of the following parameter information: vehicle speed, steering angle, acceleration, direction, lane in which the vehicle is traveling, etc. The information sensing device 110 is a combination of various devices in the prior art that can sense or download the above-mentioned information.

[0029] The control system 120 can be set up in a cloud server to achieve hardware separation from the actuator 130 of the vehicle, and is used to plan and control the movement of the vehicle based on the multi-dimensional information output by the information sensing device 110, and output control instructions.

[0030] The actuator 130 is disposed in the vehicle and is used to implement operations such as steering, braking and acceleration of the vehicle based on the control instructions output by the control system 120.

[0031] The dynamic vector parameter interval (DVA) generating device 140 is used to collect dynamic vector parameters sent by multiple vehicles at predetermined time intervals (for example, every 3 seconds) during automatic driving, and generate DVA in real time through a predetermined statistical strategy algorithm.

[0032] The dynamic vector parameters include the multi-dimensional information, wherein the format and content of each information may be determined according to specific application conditions.

[0033] Among them, the predetermined statistical strategy algorithm can be any one of the following statistical algorithms according to the specific application scenario: linear regression model, perceptron, k-nearest neighbor method, naive Bayes method, decision tree, logistic regression and maximum entropy model, support vector machine, lifting method, EM algorithm, hidden Markov model, conditional random field, etc.

[0034] The DVA is a process of performing statistical calculations on the dynamic vector parameters sent by the multiple vehicles to determine a parameter range in which the vehicle is in a safe driving state under a comprehensive condition, and the DVA is dynamically adjusted in real time as the collected multi-dimensional information changes.

[0035] The comprehensive situation is a combination of multiple variables including geographic location + time + vehicle condition + road condition + environmental condition + vehicle running status. For example, comprehensive situation A includes: the latitude and longitude of the vehicle is 116°20′ east longitude and 39°56′ north latitude (geographic location G1) + 14:23:20 on November 11 (time T1) + vehicle type is SUV, vehicle load is fully loaded, vehicle body stability is normal (vehicle condition C1) + lane marking is a zigzag lane, road sign is a turning intersection, road surface flatness is 3mm, road surface temperature is 15 degrees Celsius, road surface humidity is 2RH (road condition R1) + ambient temperature is 12 degrees Celsius, ambient humidity is 3RH. Ambient wind force is level 2, air visibility is 50m, sunny (environmental condition E1) + vehicle speed is 42km / h, vehicle steering angle is 32 degrees, vehicle acceleration is 6m / s 2 , the vehicle is traveling from south to north, and the lane it is traveling in is the left lane (vehicle running state S1). The dynamic vector parameter B sent corresponding to the comprehensive situation A includes the following multi-dimensional information: time dimension information T2 (corresponding to time T1), vehicle condition dimension information C2 (corresponding to vehicle condition C1), road condition dimension information R2 (corresponding to geographical location G1+road condition R1), environmental condition dimension information E2 (corresponding to environmental condition E1) and vehicle running state dimension information S2 (corresponding to vehicle running state S1).

[0036] In the first embodiment, the vehicle running state dimension information S includes the following five parameter information: vehicle speed (SV), steering angle (SS), acceleration (SA), direction (SD), and lane (SL). Accordingly, the following method can be used to obtain DVA for a geographical location:

[0037] Statistical data point acquisition step: for a geographic location G (statistical target), the vehicle running state dimensional information S under the comprehensive conditions of a time T (variable 1), a vehicle condition C (variable 2), a road condition R (variable 3) and an environmental condition E (variable 4) is taken as a statistical data point D. It can be seen that for the same statistical target (i.e., the same geographic location G), the change of one or more of variables 1 to 4 will obtain different vehicle running state dimensional information S (i.e., obtain different statistical data points D), wherein since the vehicle running state dimensional information S includes the above-mentioned five parameter information, the obtained statistical data points D are presented as five statistical data points DV (corresponding to the speed of the vehicle), DS (corresponding to the steering angle of the vehicle), DA (corresponding to the acceleration of the vehicle), DD (corresponding to the direction of the vehicle), and DL (corresponding to the lane where the vehicle is traveling);

[0038] Data dot matrix acquisition step: multiple statistical data points (i.e., multiple vehicle running status dimension information S) obtained from the same statistical target (i.e., the same geographical location G) form a data dot matrix, wherein since the vehicle running status dimension information S includes the above-mentioned five parameter information, five data dot matrices of corresponding numbers but different types are obtained; and

[0039] DVA acquisition step: set the boundaries of the densest dot matrix area (i.e., 5 boundaries) among the 5 different types of data dot matrices as the 5 boundaries of the DVA for the same statistical target (i.e., the same geographical location G). These 5 boundaries determine the DVA for the same statistical target (i.e., the same geographical location G).

[0040] Of course, different DVAs corresponding to different geographical locations G can be obtained in the same manner.

[0041] Of course, based on the requirements of different application scenarios, those skilled in the art may adopt other statistical calculation methods to obtain the DVA.

[0042] like Figure 1 As shown, the motion vector parameter interval generating device 140 includes a motion vector parameter collecting unit 1402 and a DVA generating unit 1404 .

[0043] The dynamic vector parameter collection unit 1402 is arranged outside the multiple vehicles (for example, on both sides of the road), and is used to collect the dynamic vector parameters sent by the multiple vehicles during automatic driving at the predetermined time interval (for example, 3 seconds).

[0044] The DVA generating unit 1404 may be arranged in a cloud server, and is used to receive the dynamic vector parameters continuously sent by the dynamic vector parameter collecting unit 1402, and perform statistical calculations on the dynamic vector parameters through the predetermined statistical strategy algorithm, so as to generate multiple DVAs for various comprehensive situations in real time.

[0045] The DVA database 150 may be disposed in a cloud server, and configured to continuously receive and store a plurality of DVAs generated by the DVA generation unit 1404 for a plurality of comprehensive situations.

[0046] The instruction judgment device 160 is arranged in the vehicle, between the control system 120 and the actuator 130, and is used to receive the DVA from the DVA database 150 in real time, and under the current comprehensive situation, judge whether the control instruction output by the control system 120 exceeds the boundary of the DVA corresponding to the current comprehensive situation, and determine whether to transmit the control instruction to the actuator 130 accordingly.

[0047] In the first embodiment, the instruction judging device 160 transmits the control instruction output by the control system 120 to the actuator 130 when it is judged that the control instruction output by the control system 120 does not exceed the boundary of the DVA, or refuses to transmit the control instruction output by the control system 120 to the actuator 130 when it is judged that the control instruction output by the control system 120 exceeds the boundary of the DVA (for example, when the vehicle is attacked by hackers or the vehicle operator issues a dangerous driving instruction), and issues a warning to the vehicle operator. At the same time, if the control system 120 does not receive a new manual driving instruction within a predetermined time (for example, 3 seconds), the control system 120 issues an emergency braking control instruction to the actuator 130 to stop the vehicle, and sends an emergency stop signal (for example, an audio signal and / or a light signal) to the outside of the vehicle, and requires the vehicle operator to reset the control system 120.

[0048] In the first embodiment, during the automatic driving of the vehicle, the information sensing device 110 of the vehicle generates an information packet consisting of the multi-dimensional information sensed for the vehicle's driving trajectory, and sends it to the dynamic vector parameter collection unit 1402 on the side of the road at the predetermined time interval (e.g., 3 seconds), wherein the content format of the information packet may be vehicle condition dimension information C, road condition dimension information R, environmental condition dimension information E, and vehicle operation status parameter S on a time axis (time dimension information) T of the date and time of the day divided according to the time granularity of seconds or milliseconds. The information packet is uploaded to the DVA generation unit 1404 set in the cloud server through the dynamic vector parameter collection unit 1402.

[0049] The DVA generation unit 1404 performs statistical calculations on the multi-dimensional information included in the information packet in the manner described above by using the predetermined statistical strategy algorithm, and generates the DVA for the comprehensive situation in real time. In the statistical calculation process, all information related to a certain geographical location G is summarized into a corresponding data packet, and the data packet includes the DVA for different comprehensive situations corresponding to the geographical location G. Thus, the dynamic vector parameter interval generation unit 1404 generates a plurality of data packets including a plurality of DVAs corresponding to different geographical locations G, and transmits the plurality of data packets to the DVA database 150.

[0050] In the first embodiment, during the automatic driving of the vehicle, the vehicle not only receives the DVA from the DVA database 150 in real time through the instruction judgment device 160, but also transmits the dynamic vector parameters of the vehicle to the DVA generation device 140 through the information perception device 110.

[0051] Modification of the First Embodiment

[0052] In a variation of the first embodiment of the present invention (not shown), the dynamic vector parameter interval (DVA) generating device 140 is also used to collect dynamic vector parameters sent by multiple vehicles at predetermined time intervals (e.g., every 3 seconds) during automatic driving, and generate dynamic optimal automatic driving control instructions in real time through a predetermined statistical strategy algorithm, wherein the dynamic optimal automatic driving control instructions are driving control instructions that determine that the vehicle is in the best driving state under a comprehensive situation after statistical calculation of the dynamic vector parameters sent by the multiple vehicles, and the dynamic optimal automatic driving control instructions are adjusted in real time and dynamically as the collected multi-dimensional information changes. The comprehensive situation is the same as the definition of the comprehensive situation described in the first embodiment.

[0053] In a variation of the first embodiment, for a certain geographic location G, the arithmetic mean of the statistical data points in the DVA under a comprehensive situation is calculated as the dynamically optimal autonomous driving control instruction. The DVA in the variation of the first embodiment is the same as the DVA in the first embodiment, including 5 boundaries, that is, including 5 different types of data dot matrices, then the arithmetic mean of the statistical data points in the same type of dot matrices in the DVA is calculated respectively to obtain 5 arithmetic mean values, and the combination of the 5 arithmetic mean values ​​constitutes the dynamically optimal autonomous driving control instruction for the geographic location G under the comprehensive situation.

[0054] Of course, based on the requirements of different application scenarios, technicians in this field may use other statistical calculation methods to obtain the dynamic optimal autonomous driving control instructions.

[0055] In a variation of the first embodiment, the DVA database 150 is also used to receive and store a plurality of the dynamic optimal automatic driving control instructions generated by the dynamic vector parameter interval DVA generating device 140 .

[0056] In a variation of the first embodiment, the instruction judgment device 160 is also used to receive the dynamically optimal automatic driving control instructions from the DVA database 150 in real time, and to judge whether the control instructions output by the vehicle's control system 100A exceed the boundary of the DVA corresponding to the current comprehensive situation under the current comprehensive situation, and to determine whether to transmit the dynamically optimal automatic driving control instructions corresponding to the current comprehensive situation to the actuator 130 accordingly.

[0057] In an application scenario of a variation of the first embodiment, the instruction judging device 160 adopts any one of the following two processings when judging that the control instruction output by the control system 120 does not exceed the boundary of the DVA:

[0058] Process A: transmitting the control instruction output by the control system 120 to the actuator 130;

[0059] Processing B: transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator 130.

[0060] When it is determined that the control instruction output by the control system 120 exceeds the boundary of the DVA (for example, when the vehicle is attacked by hackers or the vehicle operator issues a dangerous driving instruction), the control instruction output by the control system 120 is refused to be transmitted to the actuator 130, and one of the following two processing is adopted (depending on the requirements of the specific application scenario):

[0061] Processing C: transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator 130.

[0062] Processing D: A warning is issued to the vehicle operator. If the control system 120 does not receive a new manual driving instruction within a predetermined time (e.g., 3 seconds), the control system 120 issues an emergency braking control instruction to the actuator 130 to stop the vehicle, and sends an emergency stop signal (e.g., an audio signal and / or a light signal) to the outside of the vehicle, and requires the vehicle operator to reset the control system 120.

[0063] In a variation of the first embodiment, during the automatic driving of the vehicle, the information sensing device 110 generates an information packet consisting of the multi-dimensional information sensed for the vehicle's driving trajectory, and sends it to the dynamic vector parameter collection unit 1402 on the road side at the predetermined time interval (e.g., 3 seconds), wherein the content format of the information packet may be vehicle condition dimension information C, road condition dimension information R, environmental condition dimension information E, and vehicle operation status parameter S on a time axis (time dimension information) T of the date and time of the day divided according to the time granularity of seconds or milliseconds. The information packet is uploaded to the DVA generation unit 1404 set in the cloud server through the dynamic vector parameter collection unit 1402.

[0064] The DVA generation unit 1404 performs statistical calculations on the multi-dimensional information included in the information packet in the manner described above through the predetermined statistical strategy algorithm, and generates the DVA and the dynamic optimal autonomous driving control instructions for the comprehensive situation in real time. In the statistical calculation process, all information related to a certain geographical location G is summarized into a corresponding data packet, which includes the DVA and the dynamic optimal autonomous driving control instructions corresponding to the geographical location G and for different comprehensive situations. Thus, the dynamic vector parameter interval generation unit 1404 generates multiple data packets including multiple DVAs and multiple dynamic optimal autonomous driving control instructions corresponding to different geographical locations G and for different comprehensive situations, and transmits the multiple data packets to the DVA database 150.

[0065] In a variation of the first embodiment, during the automatic driving of the vehicle, the vehicle not only receives DVA and dynamic optimal automatic driving control instructions from the DVA database 150 in real time through the instruction judgment device 160, but also transmits the dynamic vector parameters of the vehicle to the DVA generation device 140 through the information perception device 110.

[0066] Second embodiment

[0067] like Figure 2 As shown, the automatic driving control system 100B for a vehicle according to the second embodiment of the present invention is substantially the same as the automatic driving control system 100A for a vehicle according to the first embodiment of the present invention and its variants, except that:

[0068] In the automatic driving control system 100B, the control system 120 uses N cloud servers 1201-120N to call the multi-dimensional information INF1-INF1 output by the N sets of information sensing devices 110 of the vehicle, including time dimension information, vehicle condition dimension information, road condition dimension information, environmental condition dimension information and vehicle operation status dimension information. N , and based on the N sets of multi-dimensional information INF1-INFN , output N control instructions (ACA1-ACA N ), wherein the first control instruction (ACA1) has the highest priority, the second control instruction (ACA2), the third control instruction (ACA3) ... the Nth control instruction (ACA N ) and so on have priorities from high to low, where N is an integer equal to or greater than 2.

[0069] In the automatic driving control system 100B, the command judgment device 160 has N control command input ports (CIP1-CIP N ), respectively receiving the N control instructions (ACA1-ACA N ), in determining the N-way control instructions (ACA1-ACA N ) do not exceed the boundary of the dynamic vector parameter interval (DVA), only the control instruction with the highest priority is transmitted to the executor 130, where N is an integer equal to or greater than 2.

[0070] In the automatic driving control system 100B, the command judgment device 160 also has M manual command input ports (MIP1-MIP2). N ), respectively receiving M manual driving instructions (ACM1-ACM2) issued by M operators of the vehicle. M ), wherein M is an integer equal to or greater than 1, and the manual driving instruction (ACM1-ACM M ) has a higher priority than the control instruction (ACA1-ACA N ), and the M manual driving instructions (ACM1-ACM M ) defaults to time priority. When a time-priority manual driving instruction is issued, the instruction judgment device 160 activates the corresponding manual instruction input port and closes other manual instruction input ports and all control instruction input ports (CIP1-CIP N ) until the activated manual command input port is closed (for example, in the case of any active exit or in the case of any manual command output that exceeds the safe driving boundary being judged as an illegal command or in the case of the vehicle operator resetting the vehicle control system, etc.). In addition, the command judgment device 160 allows the vehicle operator to close one or more of the manual command input ports to avoid erroneous operations by a subject who does not have the appropriate judgment ability (for example, a child).

[0071] In the automatic driving control system 100B, it is first determined whether the first control instruction (ACA1) exceeds the boundary of the DVA. If it is determined that the first control instruction (ACA1) does not exceed the boundary of the DVA, the first control instruction (ACA1) is transmitted to the actuator 130. When the instruction determination device 160 determines that the first control instruction (ACA1) exceeds the boundary of the DVA (for example, when the vehicle is attacked by hackers), the first control instruction (ACA1) is disabled, and at the same time, according to the priority, it is started to determine whether the second control instruction (ACA2) exceeds the boundary of the DVA. If it is determined that the second control instruction (ACA2) does not exceed the boundary of the DVA, the second control instruction (ACA2) is transmitted to the actuator 130. If the instruction judgment device 160 determines that the second control instruction (ACA2) also exceeds the boundary of the DVA, the second control instruction (ACA2) is disabled, and at the same time, based on the priority, it starts to judge whether the third control instruction (ACA3) exceeds the boundary of the DVA, and the same processing is performed in sequence until the first control instruction (ACA1) is dynamically updated and it is determined that it does not exceed the boundary of the DVA, then the first control instruction (ACA1) is restored to be transmitted to the executor 130, and other control instructions are disabled at the same time.

[0072] When the command judgment device 160 judges that all the manual driving commands and the N-way control commands are beyond the boundary of the DVA, the control command output by the control system 120 is refused to be transmitted to the actuator 130, and in the case corresponding to the first embodiment, a warning is issued to the vehicle operator, and if the control system 120 does not receive a new manual driving command within a predetermined time (for example, 3 seconds), the control system 120 issues an emergency braking control command to the actuator 130 to stop the vehicle, and sends an emergency stop signal (for example, an audio signal and / or a light signal) to the outside of the vehicle, and requires the vehicle operator to reset the control system 120. Or in the case corresponding to the variation of the first embodiment, any one of the following two processes is adopted (depending on the requirements of the specific application scenario):

[0073] Processing C: transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator 130.

[0074] Processing D: A warning is issued to the vehicle operator, and if the control system 120 does not receive a new manual driving instruction within a predetermined time (e.g., 3 seconds), the control system 120 issues an emergency braking control instruction to the actuator 130 to stop the vehicle, and sends an emergency stop signal (e.g., an audio signal and / or a light signal) to the outside of the vehicle, and requires the vehicle operator to reset the control system 120.

[0075] In the automatic driving control system 100B, while the command judgment device 160 transmits the manual driving command to the actuator 130, it still continuously receives the N control commands output by the control system 120 and the manual driving commands issued by the vehicle operator and judges whether each command exceeds the boundary of the DVA. When the driving mode of the vehicle is set to automatic driving priority by the vehicle operator, when it is judged that all manual driving commands exceed the boundary of the DVA, in the case corresponding to the first embodiment, the M manual command input ports are closed, and any one of the following two processes is performed (depending on the requirements of the specific application scenario):

[0076] Process E: Open N control command input ports CIP1-CIP N , respectively receiving N control instructions ACA1-ACA output by the control system 120 N , in determining the N-way control instructions ACA1-ACA N When one or more control instructions do not exceed the boundary of the DVA, only the control instruction with the highest priority is transmitted to the executor 130 .

[0077] Process F: The control system 120 issues an emergency braking control command to the actuator 130 to stop the vehicle, and issues an emergency stop signal (such as an audio signal and / or a light signal) to the outside of the vehicle, and requires the vehicle operator to reset the control system 120 .

[0078] When it is determined that all the manual driving instructions exceed the boundary of the DVA, in a variation of the first embodiment, the M manual instruction input ports are closed, and any one of the following three processes is performed (depending on the requirements of the specific application scenario):

[0079] Process E: Open the N control command input ports CIP1-CIP N , respectively receiving the N control instructions ACA1-ACA output by the control system 120 N , in determining the N-way control instructions ACA1-ACA N When one or more control instructions do not exceed the boundary of the DVA, only the control instruction with the highest priority is transmitted to the executor 130 .

[0080] Process F: The control system 120 issues an emergency braking control command to the actuator 130 to stop the vehicle, and issues an emergency stop signal to the outside of the vehicle, and requires the vehicle operator to reset the control system 120 .

[0081] Processing G: Transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator 130.

[0082] Third embodiment

[0083] like Figure 3 As shown, an automatic driving control method 200A for a vehicle according to a third embodiment of the present invention is implemented by an automatic driving control system 100A for a vehicle according to the first embodiment of the present invention. The automatic driving control method 200A includes a dynamic vector parameter interval (DVA) generation step 202 and an instruction judgment step 204.

[0084] In a dynamic vector parameter interval (DVA) generating step 202, the dynamic vector parameters sent by a plurality of vehicles during the automatic driving at a predetermined time interval (e.g., every 3 seconds) are collected by the DVA generating device 140, and the DVA is generated in real time by the predetermined statistical strategy algorithm, wherein the dynamic vector parameters include multi-dimensional information such as time dimension information, vehicle condition dimension information, road condition dimension information, environmental condition dimension information, and vehicle operation state dimension information, wherein the DVA is to determine the dynamic vector parameter interval in which the vehicle is in a safe driving state under a comprehensive condition after statistical calculation of the dynamic vector parameters sent by the plurality of vehicles, and the DVA is dynamically adjusted in real time as the collected multi-dimensional information changes; and

[0085] In the instruction judgment step 204, the DVA is received in real time by the vehicle's instruction judgment device 160, and it is determined whether the control instruction output by the vehicle's control system 120 exceeds the boundary of the DVA corresponding to the current comprehensive situation under the current comprehensive situation, and whether to transmit the control instruction to the vehicle's actuator 130 based on this.

[0086] In the instruction judgment step 204, when it is judged that the control instruction output by the control system 120 does not exceed the boundary of the DVA, the control instruction output by the control system 120 is transmitted to the actuator 130; or when it is judged that the control instruction output by the control system 120 exceeds the boundary of the DVA (for example, when the vehicle is attacked by hackers or the vehicle operator issues a dangerous driving instruction), the control instruction output by the control system 120 is refused to be transmitted to the actuator 130, and a warning is issued to the vehicle operator. At the same time, if the control system 120 does not receive a new manual driving instruction within a predetermined time (for example, 3 seconds), an emergency braking control instruction is issued to the actuator 130 through the control system 120 to stop the vehicle, and an emergency stop signal (for example, an audio signal and / or a light signal) is issued to the outside of the vehicle, and the vehicle operator is required to reset the control system 120.

[0087] In the third embodiment, the definitions of the dynamic vector parameter, the predetermined statistical strategy algorithm, and the dynamic vector parameter interval (DVA) are the same as those in the first embodiment, and are not described again herein.

[0088] like Figure 3 As shown, the dynamic vector parameter interval generation step 202 includes a dynamic vector parameter collection step 2022 and a dynamic vector parameter interval (DVA) generation step 2024 .

[0089] In the dynamic vector parameter collecting step 2022, the dynamic vector parameters sent by the plurality of vehicles at predetermined time intervals (e.g., every 3 seconds) during the automatic driving are collected by the dynamic vector parameter collecting unit 1402 disposed outside the vehicle (e.g., on the side of the road); and

[0090] In the DVA generation step 2024, the dynamic vector parameter interval generation unit 1404 set in the cloud server receives the dynamic vector parameters continuously sent by the dynamic vector parameter collection unit 2022, and performs statistical calculations on them through the predetermined statistical strategy algorithm to generate DVA for a comprehensive situation in real time and store it in the DVA database.

[0091] During the automatic driving of the vehicle, in the instruction judgment step 204 , the DVA from the DVA database 150 is received in real time through the instruction judgment device 160 , and the dynamic vector parameters of the vehicle are transmitted to the DVA generation device 140 through the information perception device 110 at the same time.

[0092] Modification of the Third Embodiment

[0093] In a modification (not shown) of the third embodiment of the present invention, a modified automatic driving control method 200A for a vehicle according to the third embodiment is implemented by an automatic driving control system 100A for a vehicle according to the modification of the first embodiment of the present invention.

[0094] In the modified automatic driving control method 200A of the third embodiment, in the dynamic vector parameter interval (DVA) generation step 202, the dynamic vector parameters sent by multiple vehicles during automatic driving at predetermined time intervals (e.g., every 3 seconds) are collected by the DVA generation device 140, and a dynamic optimal automatic driving control instruction is generated in real time through a predetermined statistical strategy algorithm. The definition of the dynamic optimal automatic driving control instruction is the same as that of the first embodiment, and will not be repeated here.

[0095] In the modified automatic driving control method 200A of the third embodiment, in the instruction judgment step 204, the dynamically optimal automatic driving control instruction is also received in real time, and it is judged whether the control instruction output by the vehicle's control system 100A exceeds the boundary of the DVA corresponding to the current comprehensive situation of the vehicle, and based on this, it is determined whether the dynamically optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle is transmitted to the actuator 130.

[0096] In the modified automatic driving control method 200A of the third embodiment, in the instruction determination step 204, when it is determined that the control instruction output by the control system 120 does not exceed the boundary of the DVA, any one of the following two processes is adopted (which may be determined according to the requirements of the specific application scenario):

[0097] Process A: transmitting the control instruction output by the control system 120 to the actuator 130;

[0098] Processing B: Transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator 130.

[0099] In the modified vehicle automatic driving control method 200A of the third embodiment, in the instruction judgment step 204, when it is judged that the control instruction output by the control system 120 exceeds the boundary of the DVA (for example, when the vehicle is attacked by hackers), the control instruction output by the control system 120 is refused to be transmitted to the actuator 130, and any one of the following two processing is adopted (which can be determined according to the requirements of the specific application scenario):

[0100] Processing C: Transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator 130.

[0101] Processing D: A warning is issued to the vehicle operator. If the control system 120 does not receive a new manual driving instruction within a predetermined time (e.g., 3 seconds), the control system 120 issues an emergency braking control instruction to the actuator 130 to stop the vehicle, and sends an emergency stop signal (e.g., an audio signal and / or a light signal) to the outside of the vehicle, and requires the vehicle operator to reset the control system 120.

[0102] Fourth embodiment

[0103] like Figure 3 As shown, the automatic driving control method 200B for a vehicle according to the fourth embodiment of the present invention is implemented by the automatic driving control system 100B for a vehicle according to the second embodiment of the present invention, which is basically the same as the automatic driving control method 200A for a vehicle according to the third embodiment of the present invention and its variants, except that:

[0104] In the vehicle automatic driving control method 200B, the control system 120 uses N cloud servers and calls the information sensing devices 110 of N sets of vehicles to output multi-dimensional information INF1-INF1 including time dimension information, vehicle condition dimension information, road condition dimension information, environmental condition dimension information and vehicle operation status dimension information. N , and based on the N sets of multi-dimensional information INF1-INF N, output N control instructions (ACA1-ACAN) respectively, among which the first control instruction (ACA1) has the highest priority, the second control instruction (ACA2), the third control instruction (ACA2)...the Nth control instruction (ACAN) and so on have priorities from high to low, wherein N is an integer equal to or greater than 2.

[0105] In the vehicle automatic driving control method 200B, the command judgment device 160 has N control command input ports (CIP1-CIP N ), and in the instruction determination step 204, through the N control instruction input ports (CIP1-CIP N ) respectively receive the N control instructions (ACA1-ACA N ), in determining the N-way control instructions (ACA1-ACA N ) do not exceed the boundary of the dynamic vector parameter interval (DVA), only the control instruction with the highest priority is transmitted to the executor 130, where N is an integer equal to or greater than 2.

[0106] In the vehicle automatic driving control method 200B, the command judgment device 160 also has M artificial command input ports (MIP1-MIP2). N ), and in the instruction judgment step 204, through the M manual instruction input ports (MIP1-MIP N ) respectively receive M manual driving instructions (ACM1-ACM2) issued by M operators of the vehicle M ), where M is an integer equal to or greater than 1, and the manual driving instruction (ACM1-ACM M ) has a higher priority than the control instruction (ACA1-ACA N ), and the M manual driving instructions (ACM1-ACM M ) defaults to time priority. When a manual driving instruction is issued, the instruction judgment device 160 activates the corresponding manual instruction input port, and simultaneously closes other manual instruction input ports and all control instruction input ports until the activated manual instruction input port is closed (for example, in the case of any active exit or in the case where any manual instruction output that exceeds the safe driving boundary is judged as an illegal instruction or in the case where the vehicle operator resets the vehicle control system, etc.). In addition, in the instruction judgment step 204, the vehicle operator is allowed to close one or more of the manual instruction input ports to avoid misoperation by a subject (such as a child) who does not have the ability to make appropriate judgments.

[0107] In the vehicle automatic driving control method 200B, in the instruction judgment step 204, it is first judged whether the first control instruction (ACA1) exceeds the boundary of the DVA. If it is judged that the first control instruction (ACA1) does not exceed the boundary of the DVA, the first control instruction (ACA1) is transmitted to the actuator 130. When the instruction judgment device 160 judges that the first control instruction (ACA1) exceeds the boundary of the DVA (for example, when the vehicle is attacked by hackers), the first control instruction (ACA1) is disabled, and at the same time, according to the priority, it is started to judge whether the second control instruction (ACA2) exceeds the boundary of the DVA. If it is judged that the second control instruction (ACA2) does not exceed the boundary of the DVA, the second control instruction (ACA2) is transmitted to the actuator 130. If the instruction judgment device 160 determines that the second control instruction (ACA2) also exceeds the boundary of the DVA, the second control instruction (ACA2) is disabled, and at the same time, based on the priority, it starts to judge whether the third control instruction (ACA3) exceeds the boundary of the DVA, and the same processing is performed in sequence until the first control instruction (ACA1) is dynamically updated and it is determined that it does not exceed the boundary of the DVA, then the first control instruction (ACA1) is restored to be transmitted to the executor 130, and other control instructions are disabled at the same time.

[0108] In the instruction judgment step 204, when it is determined that all of the manual driving instructions and the N-way control instructions exceed the boundary of the dynamic vector parameter interval (DVA), the control instruction output by the control system 120 is refused to be transmitted to the actuator 130, and in the case corresponding to the third embodiment, a warning is issued to the vehicle operator, and if the control system 120 does not receive a new manual driving instruction within a predetermined time (for example, 3 seconds), the control system 120 issues an emergency braking control instruction to the actuator 130 to stop the vehicle, and sends an emergency stop signal (for example, an audio signal and / or a light signal) to the outside of the vehicle, and requires the vehicle operator to reset the control system 120.

[0109] In the instruction determination step 204, when it is determined that all the manual driving instructions and the N-way control instructions are beyond the boundary of the dynamic vector parameter interval (DVA), the control instruction output by the control system 120 is refused to be transmitted to the actuator 130, and in the case corresponding to the variation of the third embodiment, any one of the following two processing is adopted (which can be determined according to the requirements of the specific application scenario):

[0110] Processing C: Transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator 130.

[0111] Processing D: A warning is issued to the vehicle operator, and if the control system 120 does not receive a new manual driving instruction within a predetermined time (e.g., 3 seconds), the control system 120 issues an emergency braking control instruction to the actuator 130 to stop the vehicle, and sends an emergency stop signal (e.g., an audio signal and / or a light signal) to the outside of the vehicle, and requires the vehicle operator to reset the control system 120.

[0112] In the vehicle automatic driving control method 200B, in the instruction judgment step 204, while the manual driving instruction is transmitted to the actuator 130 through the instruction judgment device 160, the N control instructions output by the control system 120 and the manual instructions issued by the vehicle operator are still continuously received and it is judged whether each instruction exceeds the boundary of the DVA. When the driving mode of the vehicle is set to automatic driving priority by the vehicle operator, when it is judged that all the manual driving instructions exceed the boundary of the DVA, in the case corresponding to the third embodiment, the M manual instruction input ports are closed, and any one of the following two processes is performed (depending on the requirements of the specific application scenario):

[0113] Process E: Open the N control command input ports CIP1-CIP N , respectively receiving the N control instructions ACA1-ACA output by the control system 120 N , in determining the N-way control instructions ACA1-ACA N When one or more control instructions do not exceed the boundary of the DVA, only the control instruction with the highest priority is transmitted to the executor 130 .

[0114] Process F: The control system 120 issues an emergency braking control command to the actuator 130 to stop the vehicle, sends an emergency stop signal to the outside of the vehicle, and requires the vehicle operator to reset the control system 120 .

[0115] In the instruction determination step 204, when it is determined that all the manual driving instructions exceed the boundary of the DVA, in a variation of the third embodiment, the M manual instruction input ports are closed, and any one of the following three processes is performed (depending on the requirements of the specific application scenario):

[0116] Process E: Open the N control command input ports CIP1-CIP N , respectively receiving the N control instructions ACA1-ACA output by the control system 120 N , in determining the N-way control instructions ACA1-ACA NWhen one or more control instructions do not exceed the boundary of the DVA, only the control instruction with the highest priority is transmitted to the executor 130 .

[0117] Process F: The control system 120 issues an emergency braking control command to the actuator 130 to stop the vehicle, sends an emergency stop signal to the outside of the vehicle, and requires the vehicle operator to reset the control system 120 .

[0118] Processing G: Transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator 130.

[0119] In the vehicle automatic driving control method and system according to the present invention, the safety boundary of vehicle driving or traveling is clearly defined in the geographical dimension with a specific granularity and the time dimension with a specific granularity. This boundary is the highest constitution of vehicle driving. The priority between the control command (ACA) output by the vehicle control system and the manual driving command (ACM) issued by the vehicle operator is a priority at the level of special law. Both are ultimately subject to the constraints of the constitution: all control commands or manual driving commands that exceed the safety boundary are judged as illegal and prohibited from being transmitted to the vehicle's actuators, thereby ensuring the upper-level coordination of ACA and ACM priorities.

[0120] Fifth embodiment

[0121] The fifth embodiment of the present invention further provides a vehicle (not shown), which includes the above-mentioned vehicle automatic driving control system 100A or vehicle automatic driving control system 100B.

[0122] Sixth embodiment

[0123] The sixth embodiment of the present invention also provides a computer-readable storage medium (not shown) in which a computer program is stored. When the computer program runs on a computer, the computer executes the above-mentioned vehicle automatic driving control method 200A or vehicle automatic driving control method 200B.

[0124] The present invention is described by flowcharts and / or block diagrams of methods and systems according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks 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.

[0125] 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.

[0126] 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 The steps for the functions specified in one or more boxes.

[0127] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in the vehicle automatic driving control method of the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit it here.

[0128] Compared with the prior art, the vehicle automatic driving control method and system of the present invention have the following advantages:

[0129] 1. Based on the dynamic vector parameter interval for a vehicle in a safe driving state under a comprehensive situation generated by dynamically collected dynamic vector parameters from multiple vehicles, by using a command judgment device with multiple input ports, when affected by interference factors (such as hacker attacks), dangerous driving commands (including control commands output by the control system and manual driving commands issued by the vehicle operator) that exceed the boundary of the dynamic vector parameter interval can be disabled to shield the influence of interference factors (such as shielding hacker attacks), thereby ensuring the safety of vehicle driving.

[0130] 2. Based on the dynamically collected dynamic vector parameters from multiple vehicles, the dynamic optimal automatic driving control instructions for the vehicle to be in the best driving state under a comprehensive situation are generated. The automatic driving control instructions can be adjusted dynamically in real time to enable the vehicle to maintain the optimal automatic driving strategy to ensure the comfort of the vehicle's driving.

[0131] It is to be understood that the above specific embodiments are merely exemplary embodiments adopted to illustrate the principles of the present invention and do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention shall be included in the protection scope of the present invention.

Claims

1. An automatic driving control system for a vehicle, wherein the vehicle comprises an information sensing device for sensing information; a control system for outputting a control instruction based on the information output by the information sensing device; and an actuator for controlling the vehicle based on the control instruction output by the control system, characterized in that: The automatic driving control system also includes: A dynamic vector parameter interval DVA generating device is used to collect dynamic vector parameters sent by the information sensing devices of multiple vehicles and generate DVA in real time, wherein the dynamic vector parameters include the information sensed by the information sensing device, and the DVA is a parameter interval in which the vehicle is in a safe driving state under a comprehensive condition determined after statistical calculation of the dynamic vector parameters sent by the multiple vehicles, and the DVA is dynamically adjusted in real time as the collected information changes; A DVA database is used to receive and store a plurality of DVAs for a plurality of said comprehensive situations generated by said dynamic vector parameter interval DVA generating device; and An instruction judgment device is used to receive the DVA from the DVA database in real time, and judge whether the control instruction output by the control system exceeds the boundary of the DVA corresponding to the current comprehensive situation of the vehicle under the current comprehensive situation of the vehicle, and determine whether to transmit the control instruction to the actuator accordingly.

2. The automatic driving control system according to claim 1, characterized in that: The DVA generating device is also used to generate a dynamic optimal driving control instruction in real time, wherein the dynamic optimal driving control instruction is a driving control instruction for the vehicle to be in an optimal driving state under a comprehensive situation after statistical calculation of the dynamic vector parameters sent by the multiple vehicles, and the dynamic optimal driving control instruction is dynamically adjusted in real time as the collected information changes; The DVA database is also used to receive and store a plurality of the dynamic optimal automatic driving control instructions for a plurality of the comprehensive situations generated by the dynamic vector parameter interval DVA generating device; and The instruction judgment device is also used to receive the dynamically optimal automatic driving control instructions from the DVA database in real time, and to judge whether the control instructions output by the control system exceed the boundary of the DVA corresponding to the current comprehensive situation under the current comprehensive situation of the vehicle, and to determine whether to transmit the dynamically optimal automatic driving control instructions corresponding to the current comprehensive situation to the actuator accordingly.

3. The automatic driving control system according to claim 1 or 2, characterized in that: The information perceived by the information perception device is multi-dimensional information including time dimension information, vehicle condition dimension information, road condition dimension information, environmental condition dimension information and vehicle operating status dimension information, and the comprehensive situation is a combination of multiple variables including geographic location + time + vehicle condition + road condition + environmental condition + vehicle operating status.

4. The automatic driving control system according to any one of claims 1 to 3, characterized in that: The DVA generating device comprises: a dynamic vector parameter collecting unit, configured to collect the dynamic vector parameters sent by the information sensing devices of the plurality of vehicles at predetermined time intervals during autonomous driving; and The DVA generation unit is arranged in the cloud server, and is used for receiving the dynamic vector parameters continuously sent by the dynamic vector parameter collection unit, and performing statistical calculations on the dynamic vector parameters through a predetermined statistical strategy algorithm, so as to generate the DVA for the comprehensive situation, or both the DVA and the dynamic optimal automatic driving control instructions for the comprehensive situation in real time.

5. The automatic driving control system according to claim 4, characterized in that: The DVA generation unit includes: A statistical data point acquisition module, used for taking, for a geographical location, a plurality of different vehicle operation state dimension information acquired under different combinations of time variables, vehicle condition variables, road condition variables and environmental condition variables as a plurality of statistical data points, wherein when the vehicle operation state dimension information includes a plurality of different types of parameter information, the acquired statistical data points are presented as a plurality of statistical data points of corresponding number but different types; a data dot matrix acquisition module, configured to form one or more data dot matrices from the plurality of statistical data points obtained for the geographic location, wherein, when the vehicle operation status dimension information includes a plurality of different types of parameter information, a plurality of data dot matrices of a corresponding number but different types are obtained, wherein corresponding different data dot matrices are obtained for different geographic locations; and A DVA acquisition module is used to set the most dense dot matrix area boundary in the one or more data dot matrices obtained for the geographic location as one or more boundaries of the DVA for the geographic location in the combination, and the one or more boundaries determine the DVA for the geographic location in the combination, wherein when the vehicle operating status dimensional information includes multiple different types of parameter information, a corresponding number of multiple boundaries are obtained.

6. The automatic driving control system according to claim 5, characterized in that: The DVA generating device also includes: A dynamically optimal autonomous driving control instruction generation module is used to calculate the arithmetic mean of the statistical data points in the DVA as the dynamically optimal autonomous driving control instruction for the comprehensive situation, wherein the DVA includes multiple data dot matrices corresponding to multiple vehicle operating status dimensional information including different types of parameter information, and the arithmetic mean of the statistical data points in the same type of dot matrices in the DVA is calculated respectively to obtain a corresponding number of multiple arithmetic mean values, and the combination of the multiple arithmetic mean values ​​constitutes the dynamically optimal autonomous driving control instruction for the comprehensive situation.

7. The automatic driving control system according to any one of claims 1 to 6, characterized in that: When the command judgment device judges that the control command output by the control system does not exceed the boundary of the DVA corresponding to the current comprehensive situation of the vehicle under the current comprehensive situation of the vehicle, the command judgment device adopts any one of the following two processings: Process A: transmitting the control instruction output by the control system to the actuator; Process B: transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator, and When the command judgment device judges that the control command output by the control system exceeds the boundary of the DVA corresponding to the current comprehensive situation of the vehicle under the current comprehensive situation of the vehicle, the control command output by the control system is refused to be transmitted to the actuator, and one of the following two processing is adopted: Process C: transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator; Processing D: A warning is issued to the vehicle operator, and if the control system does not receive a new manual driving instruction within a predetermined time, the control system issues an emergency braking control instruction to the actuator to stop the vehicle, and sends an emergency stop signal to the outside of the vehicle, and requires the vehicle operator to reset the control system.

8. The automatic driving control system according to any one of claims 1 to 7, characterized in that: The control system is arranged on a cloud server and is hardware-separated from the actuator of the vehicle.

9. The automatic driving control system according to claim 8, characterized in that: The control system uses N cloud servers to call the information INF1-INF1 output by the information sensing devices of N sets of the vehicles. N , and based on the N sets of information INF1-INF N , output N control instructions ACA1-ACA respectively N , where the first control instruction ACA1 has the highest priority, the second control instruction ACA2, the third control instruction ACA3...the Nth control instruction ACA N Etc. have priorities from high to low, where N is an integer equal to or greater than 2.

10. The automatic driving control system according to claim 9, characterized in that: The instruction judgment device has N control instruction input ports CIP1-CIP N , respectively receiving the N control instructions ACA1-ACA output by the control system N , in determining the N-way control instructions ACA1-ACA N When one or more control instructions do not exceed the boundary of the DVA, only the control instruction with the highest priority is transmitted to the executor, where N is an integer equal to or greater than 2.

11. The automatic driving control system according to claim 10, characterized in that: The instruction judgment device also has M artificial instruction input ports MIP1-MIP N , respectively receiving M manual driving instructions ACM1-ACM issued by M operators of the vehicle M , where M is an integer equal to or greater than 1, and the manual driving instruction ACM1-ACM M The priority is higher than the control instructions ACA1-ACA N , and the M manual driving instructions ACM1-ACM M The internal priority of the control unit is set to time priority by default. When a manual driving instruction with time priority is issued, the instruction judgment device activates the corresponding manual instruction input port and closes other manual instruction input ports and all the control instruction input ports until the activated manual instruction input port is closed, and The command judgment device allows the vehicle operator to close one or more manual command input ports.

12. The automatic driving control system according to claim 10, characterized in that: The instruction judgment device first judges whether the first control instruction ACA1 exceeds the boundary of the DVA. If it is judged that the first control instruction ACA1 does not exceed the boundary of the DVA, the first control instruction ACA1 is transmitted to the executor; if the instruction judgment device judges that the first control instruction ACA1 exceeds the boundary of the DVA, the first control instruction ACA1 is disabled, and at the same time, according to the priority, it starts to judge whether the second control instruction ACA2 exceeds the boundary of the DVA. If it is judged that the second control instruction ACA2 does not exceed the boundary of the DVA, the second control instruction ACA2 is transmitted to the executor, and the same processing is performed in sequence until the first control instruction ACA1 is dynamically updated and is judged not to exceed the boundary of the DVA, then the first control instruction ACA1 is restored to be transmitted to the executor, and other control instructions are disabled at the same time.

13. The automatic driving control system according to claim 11, characterized in that: While the instruction judgment device transmits the manual driving instruction to the actuator, it still continuously receives the N control instructions output by the control system and the manual instructions issued by the vehicle operator and judges whether each instruction exceeds the boundary of the DVA. When it is judged that all the manual driving instructions exceed the boundary of the DVA, the M manual instruction input ports are closed and any one of the following three processes is performed: Process E: Open the N control command input ports CIP1-CIP N , respectively receiving the N control instructions ACA1-ACA output by the control system N , in determining the N-way control instructions ACA1-ACA N When one or more control instructions do not exceed the boundary of the DVA, only the control instruction with the highest priority is transmitted to the actuator; Process F: the control system issues an emergency braking control command to the actuator to stop the vehicle, sends an emergency stop signal to the outside of the vehicle, and requires the vehicle operator to reset the control system; and Processing G: Transmitting the dynamically optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator.

14. An automatic driving control method for the automatic driving control system according to any one of claims 1 to 13, comprising the following steps: The step of generating a dynamic vector parameter interval DVA is as follows: the dynamic vector parameters sent by the information sensing devices of multiple vehicles are collected, and the DVA is generated in real time, wherein: The dynamic vector parameters include the information sensed by the information sensing device, the DVA is a parameter interval in which the vehicle is in a safe driving state under a comprehensive condition determined by statistical calculation of the dynamic vector parameters sent by the multiple vehicles, and the DVA is dynamically adjusted in real time as the collected information changes; as well as Instruction judgment step: receiving the DVA in real time, and judging whether the control instruction output by the vehicle control system exceeds the boundary of the DVA corresponding to the current comprehensive situation of the vehicle under the current comprehensive situation of the vehicle, and determining whether to transmit the control instruction to the actuator of the vehicle accordingly.

15. The vehicle automatic driving control method according to claim 14, characterized in that: In the DVA generation step, a dynamic optimal driving control instruction is also generated in real time, wherein the dynamic optimal driving control instruction is a driving control instruction for determining that the vehicle is in an optimal driving state under the comprehensive condition after statistical calculation of the dynamic vector parameters sent by the multiple vehicles, and the dynamic optimal driving control instruction is dynamically adjusted in real time as the collected information changes; as well as In the instruction judgment step, the dynamically optimal automatic driving control instruction is also received in real time, and it is judged whether the control instruction output by the vehicle's control system exceeds the boundary of the DVA corresponding to the current comprehensive situation of the vehicle under the current comprehensive situation of the vehicle, and based on this, it is determined whether the dynamically optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle is transmitted to the actuator.

16. The automatic driving control method according to claim 14 or 15, characterized in that: The information perceived by the information perception device is multi-dimensional information including time dimension information, vehicle condition dimension information, road condition dimension information, environmental condition dimension information and vehicle operating status dimension information, and the comprehensive situation is a combination of multiple variables including geographic location + time + vehicle condition + road condition + environmental condition + vehicle operating status.

17. The automatic driving control method according to any one of claims 14 to 16, characterized in that: The DVA generation step includes: A dynamic vector parameter collecting step: collecting the dynamic vector parameters sent by the information sensing devices of the multiple vehicles at predetermined time intervals during automatic driving by a dynamic vector parameter collecting unit disposed outside the multiple vehicles; and DVA generation step: The dynamic vector parameters continuously sent by the dynamic vector parameter collection unit are received by a DVA generation unit arranged in the cloud server, and statistical calculations are performed on the dynamic vector parameters through a predetermined statistical strategy algorithm to generate the DVA of the comprehensive situation, or both the DVA and the dynamic optimal automatic driving control instructions for the comprehensive situation in real time.

18. The automatic driving control method according to claim 17, characterized in that: The DVA generation step includes: The step of acquiring statistical data points: taking, for a geographical location, a plurality of different vehicle operation status dimension information acquired under different combinations of time variables, vehicle condition variables, road condition variables and environmental condition variables as a plurality of statistical data points, wherein when the vehicle operation status dimension information includes a plurality of different types of parameter information, the acquired statistical data points are presented as a plurality of statistical data points of corresponding number but different types; A data dot matrix acquisition step: forming one or more data dot matrices from the plurality of statistical data points obtained for the geographical location, wherein, when the vehicle operation status dimension information includes a plurality of different types of parameter information, a plurality of data dot matrices of corresponding number but different types are obtained, wherein corresponding different data dot matrices are obtained for different geographical locations; and DVA acquisition step: setting the most dense dot matrix area boundary in the one or more data dot matrices obtained for the geographic location as one or more boundaries of the DVA for the geographic location in the combination, the one or more boundaries determine the DVA for the geographic location in the combination, wherein, in the case where the vehicle operating status dimensional information includes multiple different types of parameter information, a corresponding number of multiple boundaries are obtained.

19. The automatic driving control method according to claim 18, characterized in that: The DVA generation step also includes: Dynamic optimal autonomous driving control instruction generation step: for the comprehensive situation, calculate the arithmetic mean of the statistical data points within the dynamic vector parameter interval as the dynamic optimal autonomous driving control instruction, wherein the DVA includes multiple data point matrices corresponding to multiple vehicle operating status dimension information including different types of parameter information, and calculate the arithmetic mean of the statistical data points in the same type of matrices within the DVA respectively to obtain a corresponding number of multiple arithmetic mean values, and the combination of the multiple arithmetic mean values ​​constitutes the dynamic optimal autonomous driving control instruction for the comprehensive situation.

20. The automatic driving control method according to any one of claims 14 to 19, characterized in that: In the instruction judging step, when it is judged that under the current comprehensive situation of the vehicle, the control instruction output by the control system does not exceed the boundary of the DVA corresponding to the current comprehensive situation of the vehicle, any one of the following two processing is adopted: Process A: transmitting the control instruction output by the control system to the actuator; Process B: transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator; When it is determined that, under the current comprehensive condition of the vehicle, the control instruction output by the control system exceeds the boundary of the DVA corresponding to the current comprehensive condition of the vehicle, refusing to transmit the control instruction output by the control system to the actuator, and taking any one of the following two actions: Process C: transmitting the dynamic optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator; Processing D: issuing a warning to the vehicle operator, and if the control system does not receive a new manual driving instruction within a predetermined time, issuing an emergency braking control instruction to the actuator through the control system to stop the vehicle, and issuing an emergency stop signal to the outside of the vehicle, and requiring the vehicle operator to reset the control system.

21. The automatic driving control method according to any one of claims 14 to 19, characterized in that: The control system is set in the cloud and uses N cloud servers, and calls the information INF1-INF1 output by the information sensing device of N sets of the vehicle N , and based on the N sets of information INF1-INF N , output N control instructions ACA1-ACA respectively N , where the first control instruction ACA1 has the highest priority, the second control instruction ACA2, the third control instruction ACA3...the Nth control instruction ACA N The priorities are from high to low, wherein N is an integer equal to or greater than 2, and the command judgment device has N control command input ports CIP1-CIP N , In the instruction judgment step, the N control instruction input ports CIP1-CIP N Respectively receive the N control instructions ACA1-ACA output by the control system N , in determining the N-way control instructions ACA1-ACA N When one or more control instructions do not exceed the boundary of the DVA, only the control instruction with the highest priority is transmitted to the executor, where N is an integer equal to or greater than 2.

22. The automatic driving control method according to claim 21, characterized in that: The instruction judgment device also has M artificial instruction input ports MIP1-MIP N ,and In the instruction judgment step, the M artificial instruction input ports MIP1-MIP N Respectively receive M manual driving instructions ACM1-ACM issued by M operators of the vehicle M , where M is an integer equal to or greater than 1, and the manual driving instruction ACM1-ACM M The priority is higher than the control instructions ACA1-ACA N , and the M manual driving instructions ACM1-ACM M The internal priority of the control command is time priority by default. When a manual driving command is issued, the command judgment device activates the corresponding manual command input port and closes other manual command input ports and all the control command input ports until the activated manual command input port is closed, and In the command determination step, the vehicle operator is allowed to close one or more manual command input ports.

23. The automatic driving control method according to claim 21, characterized in that: In the instruction judgment step, firstly, it is judged whether the first control instruction ACA1 exceeds the boundary of the DVA. If it is judged that the first control instruction ACA1 does not exceed the boundary of the DVA, the first control instruction ACA1 is transmitted to the executor; if the instruction judgment device judges that the first control instruction ACA1 exceeds the boundary of the DVA, the first control instruction ACA1 is disabled, and at the same time, according to the priority, it starts to judge whether the second control instruction ACA2 exceeds the boundary of the DVA. If it is judged that the second control instruction ACA2 does not exceed the boundary of the DVA, the second control instruction ACA2 is transmitted to the executor; if the instruction judgment device judges that the second control instruction ACA2 exceeds the boundary of the DVA, the second control instruction (ACA2) is disabled, and at the same time, according to the priority, it starts to judge whether the third control instruction ACA3 exceeds the boundary of the DVA, and the same processing is performed in sequence until the first control instruction ACA1 is dynamically updated and is judged not to exceed the boundary of the DVA, then the first control instruction ACA1 is restored to be transmitted to the executor, and other control instructions are disabled.

24. The automatic driving control method according to claim 22, characterized in that: In the instruction judgment step, while the manual driving instruction is transmitted to the actuator through the instruction judgment device, the N control instructions output by the control system and the manual instructions issued by the vehicle operator are still continuously received to judge whether each instruction exceeds the boundary of the DVA. When the driving mode of the vehicle is set to automatic driving priority by the vehicle operator, when it is judged that all the manual driving instructions exceed the boundary of the DVA, the M manual instruction input ports are closed, and any one of the following three processes is performed: Process E: Open the N control command input ports CIP1-CIP N , respectively receiving the N control instructions ACA1-ACA output by the control system N , in determining the N-way control instructions ACA1-ACA N When one or more control instructions do not exceed the boundary of the DVA, only the control instruction with the highest priority is transmitted to the actuator; Process F: the control system issues an emergency braking control command to the actuator to stop the vehicle, sends an emergency stop signal to the outside of the vehicle, and requires the vehicle operator to reset the control system; and Processing G: Transmitting the dynamically optimal automatic driving control instruction corresponding to the current comprehensive situation of the vehicle to the actuator.

25. A vehicle, characterized in that: The vehicle includes an automatic driving control system for a vehicle as described in any one of claims 1-13; or includes an instruction judgment device in an automatic driving control system for a vehicle as described in any one of claims 1-13 and operates in coordination with a DVA generation device and a DVA database in the automatic driving control system.

26. A computer-readable storage medium storing a computer program, which, when executed on a computer, enables the computer to execute the automatic driving control method for a vehicle according to any one of claims 14 to 24.

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