Method, device, equipment, storage medium and program product for controlling vehicle

Abstract

The embodiment of the invention provides a method, device and equipment for controlling a vehicle, a computer readable medium and a computer program product. A method described herein includes, in response to detecting a target fault associated with a primary system of a vehicle, determining whether the vehicle is adapted to be controlled by a lateral control module of a backup system based on environmental information of the vehicle; in response to the vehicle being adapted to be controlled by the lateral control module, determining, with the lateral control module, a lateral control instruction for the vehicle; determining a target longitudinal control strategy of the vehicle from a group of preset longitudinal control strategies by using a longitudinal control module of the backup system and based on the environmental information; and using the backup system and based on the lateral control instruction and the target longitudinal control strategy to control the vehicle. Therefore, when the main system of the vehicle breaks down, the vehicle can be controlled through different control modules of the backup system based on the environment information of the vehicle, and the safety of the vehicle can be improved.

Description

Technical Field

[0001] Example embodiments of the present disclosure relate generally to the field of computers, and more particularly, to methods, devices, apparatus, computer-readable storage media, and computer program products for controlling a vehicle. Background Art

[0002] With the development of technology, in order to reduce the requirements of driving behavior on drivers and free drivers from some driving responsibilities, autonomous driving and assisted driving technologies have come into being.

[0003] Usually, vehicles can assist drivers with driving based on road condition information collected by onboard sensors and other sensing devices, or use control units to process road condition information and directly control the vehicle. However, while facilitating drivers and improving driving experience, it is worth paying attention to how to make vehicles drive more safely and improve vehicle safety performance in automatic driving, assisted driving and other modes. Summary of the invention

[0004] In a first aspect of the present disclosure, a method for controlling a vehicle is provided. The method includes: in response to detecting a target fault associated with a primary system of the vehicle, determining whether the vehicle is suitable for control by a lateral control module of a backup system based on environmental information of the vehicle; in response to the vehicle being suitable for control by the lateral control module, determining a lateral control instruction for the vehicle using the lateral control module; determining a target longitudinal control strategy for the vehicle from a set of preset longitudinal control strategies using a longitudinal control module of the backup system and based on the environmental information; and controlling the vehicle using the backup system and based on the lateral control instruction and the target longitudinal control strategy.

[0005] In a second aspect of the present disclosure, a device for controlling a vehicle is provided. The device includes: a judgment module configured to determine whether the vehicle is suitable for being controlled by a lateral control module of a backup system based on environmental information of the vehicle in response to detecting a target fault associated with a main system of the vehicle; an instruction determination module configured to determine a lateral control instruction for the vehicle using the lateral control module in response to the vehicle being suitable for being controlled by the lateral control module; a strategy determination module configured to determine a target longitudinal control strategy for the vehicle from a set of preset longitudinal control strategies using the longitudinal control module of the backup system and based on environmental information; and a vehicle control module configured to control the vehicle using the backup system and based on the lateral control instruction and the target longitudinal control strategy.

[0006] In a third aspect of the present disclosure, an electronic device is provided. The electronic device includes at least one processing unit; and at least one memory, the at least one memory is coupled to the at least one processing unit and stores instructions for execution by the at least one processing unit, and when the instructions are executed by the at least one processing unit, the electronic device executes the method of the first aspect of the present disclosure.

[0007] In a fourth aspect of the present disclosure, a computer-readable storage medium is provided, wherein a computer program is stored on the computer-readable storage medium, and the computer program can be executed by a processor to perform the method according to the first aspect of the present disclosure.

[0008] In a fifth aspect of the present disclosure, a computer program is provided, which includes computer executable instructions, and when the instructions are executed by a processor, the method according to the first aspect of the present disclosure is implemented.

[0009] It should be understood that the contents described in the summary of the present invention are not intended to limit the key features or important features of the embodiments of the present disclosure, nor are they intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In the following, in conjunction with the accompanying drawings and with reference to the following detailed description, the above and other features, advantages and aspects of various implementations of the present disclosure will become more apparent. In the accompanying drawings, the same or similar reference numerals represent the same or similar elements, wherein:

[0011] Figure 1 A schematic diagram showing an example environment in which embodiments according to the present disclosure may be implemented;

[0012] Figure 2 A block diagram of a control system of an example vehicle according to some embodiments of the present disclosure is shown;

[0013] Figure 3 A flow chart showing a process for controlling a vehicle according to some embodiments of the present disclosure;

[0014] Figure 4 A schematic structural block diagram of an apparatus for controlling a vehicle according to some embodiments of the present disclosure is shown; and

[0015] Figure 5 A block diagram of a computing device is shown in which one or more embodiments of the present disclosure may be implemented. DETAILED DESCRIPTION

[0016] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although some embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein. On the contrary, these embodiments are provided to provide a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0017] In the description of the embodiments of the present disclosure, the term "including" and similar terms should be understood as open inclusion, that is, "including but not limited to". The term "based on" should be understood as "based at least in part on". The term "one embodiment" or "the embodiment" should be understood as "at least one embodiment". The terms "first", "second", etc. may refer to different or the same objects. Other explicit and implicit definitions may also be included below.

[0018] The embodiments of the present disclosure may involve user data, data acquisition and / or use, etc. These aspects are subject to the corresponding laws, regulations and relevant provisions. In the embodiments of the present disclosure, all data collection, acquisition, processing, processing, forwarding, use, etc. are carried out on the premise that the user knows and confirms. Accordingly, when implementing each embodiment of the present disclosure, the type, scope of use, usage scenario, etc. of the data or information that may be involved should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with the relevant laws and regulations. The specific notification and / or authorization method can vary according to the actual situation and application scenario, and the scope of the present disclosure is not limited in this respect.

[0019] As discussed above, how to make vehicles run more safely and improve vehicle safety performance is worthy of attention. In traditional vehicle control systems, when the main system fails, the vehicle is still controlled by, for example, manual intervention. This method is not only less intelligent, but also easily causes the driver to make mistakes due to panic, which in turn affects the safety performance of the vehicle.

[0020] Some control schemes have been proposed that provide a backup system for the main system and configure the backup system to intervene in vehicle management in the event of a failure of the main system to take over the vehicle. However, in the control systems provided by these schemes, the backup system often has only a single function, that is, it can only be applied to specific scenarios, resulting in limited application scenarios of the vehicle control scheme, and thus still requiring manual intervention by the driver.

[0021] In view of this, an embodiment of the present disclosure provides a method for controlling a vehicle. The method includes: in response to detecting a target fault associated with a main system of the vehicle, determining whether the vehicle is suitable for being controlled by a lateral control module of a backup system based on environmental information of the vehicle; in response to the vehicle being suitable for being controlled by the lateral control module, determining a lateral control instruction for the vehicle using the lateral control module; determining a target longitudinal control strategy for the vehicle from a set of preset longitudinal control strategies using a longitudinal control module of the backup system and based on environmental information; and controlling the vehicle using the backup system and based on the lateral control instruction and the target longitudinal control strategy.

[0022] In this way, the embodiments of the present disclosure can utilize the backup system to achieve simultaneous lateral and longitudinal control of the vehicle based on the vehicle's environmental information when the vehicle's main system fails, thereby improving the safety of the vehicle.

[0023] Example scenario

[0024] See first Figure 1 , which illustrates a schematic diagram of an example environment 100 in which embodiments according to the present disclosure may be implemented.

[0025] like Figure 1 As shown in , the environment 100 may include a vehicle 110 and a control system 120 for controlling the vehicle 110. For example, the vehicle 110 may provide a control system 120 based on a device such as its local vehicle machine. The vehicle 110 may use its configured sensors such as cameras, radars, etc. to obtain sensor information of the physical environment in which the vehicle 110 is located. Further, the vehicle 110 may send the sensor information to the control system 120 to implement the control of the vehicle 110 using the control system 120. For example, the control system 120 may make decisions and output control signals based on the sensor information sent by the vehicle 110, and use the control information (e.g., instructions) to control the movement of the vehicle 110. For example, the control system 120 may generate a trajectory of the vehicle 110 based on the position of obstacles in the physical environment captured by the camera, and control the vehicle 110 to travel according to the trajectory to implement the automatic driving function of the vehicle 110.

[0026] In some embodiments, the control system 120 may be part of the driving system of the vehicle 110 , for example, the control system 120 may be composed of one or more units in the driving system of the vehicle 110 .

[0027] The specific implementation of the architecture for controlling the system 120 will be described in detail below.

[0028] Example Architecture

[0029] Figure 21 shows a block diagram of an architecture 200 of an example control system 120 according to some embodiments of the present disclosure. Figure 2 As shown, the control system 120 may include a main system 210 and a backup system 220. It should be understood that Figure 2 The architecture 200 shown in FIG. 2 is merely an exemplary illustration for ease of understanding and is not intended to be limiting.

[0030] In the architecture 200, the host system 210 may be associated with a first set of sensors to obtain sensor data 211, and the host system 210 may also be associated with map data 212 and positioning data 213 of the vehicle 110. Accordingly, the host system 110 may obtain the status of the current physical environment of the vehicle 110 based on the sensor data 211, the map data 212 and the positioning data 213 of the vehicle 110. The main system 110 includes a perception module 214 for perceiving environmental information (e.g., obstacle information, lane line information, etc.), a prediction module 215 for generating prediction information (e.g., obstacle movement prediction information), a planning module 216 for planning a driving route (e.g., planning a trajectory, speed, etc. at which the vehicle 110 can safely travel in the future based on the results output by the perception model 214 and / or the prediction module 215), and a control module 217 for controlling the vehicle 110 to travel based on the planning of the planning module 216 (e.g., the control module 216 can generate control instructions based on the target trajectory for the vehicle 110, and correspondingly issue control instructions to corresponding components of the vehicle 110 to achieve control of the vehicle 110).

[0031] The main system 210 may fail. For example, a sensor associated with the main system 210 may fail, resulting in the inability to collect sensor data 211, making the main system 210 unable to make subsequent decisions. For another example, at least one of the perception module 214, prediction module 215, planning module 216, and control module 217 in the main system 210 fails, resulting in the main system 210 being unable to ultimately generate instructions for controlling the vehicle 110, unable to control the vehicle 110, etc. In this case, the control system 120 can use the fallback system 220 to take over the control authority of the vehicle to control the vehicle 110. In some embodiments, the system scale and control capability of the main system 210 can be better than the fallback system 220 to save the configuration resources of the fallback system 220 and avoid wasting resources.

[0032] In some embodiments, there may be multiple backup systems 220 so that different backup systems 220 can work more effectively for specific fault types. It should be understood that the operating strategies configured in different backup systems and the modules included may be different, so as to provide backup control or takeover control for faults in a differentiated and targeted manner. In some embodiments, the risk of a fault can be determined based on the results of the Automotive Safety Integrity Level (ASIL) decomposition to improve the rationality of fault handling.

[0033] In some embodiments, the backup system 220 is a safety backup system for failure of the main system 210. Thus, if the main system 210 fails (eg, a sensing algorithm fails), the backup system 220 provided in the control system 120 can be used to control the vehicle.

[0034] In some embodiments, Figure 2 As shown, the backup system 220 can still use the input data of the main system 210 (for example, the sensor data 211, map data 212 and positioning data 213 associated with the main system 210) to make decisions and generate instructions for controlling the vehicle 110, which can make the takeover more consistent (for example, the backup system 220 can make decisions closer to those made by the main system 210, so that there will be no obvious difference in the passengers' ride) and reduce the configuration requirements of the backup system 220 (for example, it may not be associated with new sensors, etc.).

[0035] In some embodiments, the backup system 220 may also need to be separately configured with a data source different from the main system 210 (e.g., a new set of sensors) to generate instructions for controlling the vehicle 110 using other input data different from the input data associated with the main system 210 (e.g., sensor data 211). In this way, a backup plan with a higher emergency level can be provided in the event of a more dangerous failure (e.g., a sensor failure) to configure the backup strategy differently. In this way, while ensuring that the backup system corresponding to the failure type can be used normally, the backup system is designed to be lightweight and more reasonably, and it can be decoupled from the main system at the hardware and software levels. The advantage of the decoupled design is that it can still be safely taken over when a failure occurs at the hardware level of the main system.

[0036] It should be understood that the units included in the control system 120 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units can be implemented using software and / or firmware, such as machine executable instructions stored on a storage medium. In addition to or as an alternative to machine executable instructions, some or all of the units in the control system 120 can be implemented at least in part by one or more hardware logic components. As an example and not limitation, exemplary types of hardware logic components that can be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0037] Example Process

[0038] Figure 3 1 shows a flow chart of a process 300 for controlling a vehicle according to some embodiments of the present disclosure. The process 300 may be implemented at the control system 120. For ease of discussion, reference will be made to Figure 1 Environment 100 and Figure 2 The process 300 is described with reference to the framework 200 .

[0039] In block 310, the control system 120 determines whether the vehicle 110 is suitable for being controlled by the lateral control module of the backup system 220 based on the environmental information of the vehicle 110 in response to detecting a target fault associated with the primary system 210 of the vehicle 110. The target fault here is a fault occurring on the primary system 210.

[0040] In some embodiments, the control system 120 may also obtain the real-time speed of the vehicle 110. In response to the speed not reaching the target speed, the control system 120 may determine that the backup system 220 may take over the vehicle 110. Since the speed of the vehicle 110 may change during driving, when the speed reaches the target speed, the control system 120 may further determine whether the backup system 220 may take over the vehicle 110 based on the environmental information obtained in real time.

[0041] In some embodiments, the control system 120 may obtain environmental information of the external physical environment of the vehicle 110 through various sensors such as cameras and radars. The environmental information may, for example, indicate the length of the lane line, the offset distance between the vehicle 110 and the lane line, the curvature radius of the lane line, the distance between the vehicle 110 and the preceding vehicle, and the like.

[0042] In some embodiments, the control system 120 may also determine whether the environmental information matches the operational design domain (ODD) of the lateral control module based on the acquired environmental information. The operational design domain here may indicate the conditions that the backup system 220 should meet to take over the vehicle 110. The control system 120 may configure the operational design domain of the backup system 220 in a whitelist or blacklist manner.

[0043] In some embodiments, the control system 120 may determine a first threshold associated with the lane length in real time based on the acquired speed of the vehicle 110. The first threshold may indicate the distance required for the vehicle 110 to stop at this speed. It is understood that the faster the speed of the vehicle 110, the larger the required first threshold. In some embodiments, the control system 120 may obtain a two-dimensional table associated with the speed and the first threshold, and then query the two-dimensional table to obtain the first threshold that matches the speed.

[0044] The control system 120 further determines the comparison result of the lane line length and the first threshold value based on the lane line length indicated in the environmental information. The control system 120 can determine that the environmental information does not match the operational design domain of the lateral control module in response to the lane line length being less than the first threshold value. The control system 120 can determine that the environmental information matches the operational design domain of the lateral control module in response to the lane line length being greater than or equal to the first threshold value. Exemplarily, in an intersection scenario, the lane line length in front of the vehicle 110 is limited. The control system 120 can compare the lane line length with the first threshold value determined in real time, and when the lane line length is less than the first threshold value, determine that the lane line is too short to park safely. The control system 120 can determine that the environmental information does not match the operational design domain of the lateral control module.

[0045] In some embodiments, the control system 120 may also determine the offset distance between the vehicle 110 and the lane line based on the environmental information. This offset distance may be, for example, the lateral distance between the front axle of the vehicle and the lane line, which may indicate the positional relationship between the vehicle 110 and the lane line. The control system 120 may predetermine a second threshold associated with the offset distance. In response to the offset distance being greater than the second threshold, the control system 120 may determine that the vehicle 110 is in a lane change scenario at this time, and determine that the environmental information does not match the operational design domain of the lateral control module. The control system 120 may also determine that the vehicle 110 is still traveling normally at this time in response to the offset distance being less than or equal to the second threshold, and determine that the environmental information matches the operational design domain of the lateral control module. Exemplarily, the control system 120 may compare the offset distance with the second threshold, and when the offset distance is greater than the second threshold, determine that the vehicle 110 is in a lane change scenario, and the vehicle 110 deviates from the lane and cannot stop safely. The control system 120 may determine that the environmental information does not match the operational design domain of the lateral control module.

[0046] In some embodiments, the control system 120 may also obtain the radius of curvature of the lane line indicated in the environmental information. The radius of curvature of the lane line may indicate an indicator of the deviation of the road from the positive line. The larger the radius of curvature, the smaller the degree of deviation, and, when the road is a straight line, the radius of curvature may be approximately regarded as infinite. The control system 120 may predetermine a third threshold associated with the radius of curvature. The control system 120 may determine that the environmental information does not match the operational design domain of the lateral control module in response to the radius of curvature being less than the third threshold. The control system 120 may determine that the environmental information matches the operational design domain of the lateral control module in response to the radius of curvature being greater than or equal to the third threshold. Exemplarily, the control system 120 may compare the radius of curvature with the third threshold, and when the radius of curvature is less than the third threshold, determine that the curvature degree of the lane in which the vehicle 110 is located is large, the vehicle 110 is in a small curvature curve, and cannot be safely parked. The control system 120 may determine that the environmental information does not match the operational design domain of the lateral control module.

[0047] In the event that the environmental information does not match the operational design domain, it is determined that the vehicle 110 is not suitable for control by the lateral control module of the backup system 220. At block 350, the control system 120 performs emergency braking of the vehicle 110 using the backup system 220 in response to the vehicle 110 being not suitable for control by the lateral control module.

[0048] In some embodiments, in response to the environmental information not matching the operational design domain, the control system 110 may determine that the ODD range is exceeded. The control system 120 may then utilize the backup system 220 to control the vehicle to perform emergency braking at maximum deceleration.

[0049] In this case, the control system 120 may also send a prompt message to a user (e.g., a driver) associated with the vehicle 110 to prompt the user to take over manually. The control system 120 may, for example, use a speaker to play a prompt voice to send the prompt message. The control system 120 may, for example, also send the prompt message by playing a prompt video / prompt text / prompt image on a display screen.

[0050] In some embodiments, the control system 120 may determine that the vehicle 110 is suitable for control by the lateral control module of the backup system 220 if the environmental information matches the operational design domain. At block 320, the control system 120 determines a lateral control command for the vehicle 110 using the lateral control module in response to the vehicle 110 being suitable for control by the lateral control module.

[0051] The lateral control module here may include, for example, an input unit, a lane line filter unit, a state judgment unit, a state evaluation unit, and an output unit. The input unit may be used to obtain LSI lateral input, and may process chassis vehicle signals and environmental information. The lane line filter unit may be used to process lane line filtering. The state judgment unit may be used to judge the vehicle state. The state evaluation unit may be used for FSA function state evaluation. The output unit may be used to output a control signal. The lateral control instruction determined by the lateral control module may, for example, instruct the vehicle 110 to perform operations such as lane keeping and ODD determination.

[0052] At block 330 , the control system 120 utilizes the longitudinal control module of the backup system 220 and determines a target longitudinal control strategy for the vehicle 110 from a set of preset longitudinal control strategies based on the environmental information.

[0053] In some embodiments, in addition to the lateral control module, the backup system 220 also includes a longitudinal control module. The longitudinal control module may include, for example, a signal processing unit, a target fusion unit, a collision detection unit, a parking unit, and an arbitration unit. The signal processing unit may be used to perform VSP vehicle signal processing. The target fusion unit may be used to perform OPS target fusion. The collision detection unit may be used to perform COLC collision detection and adaptive deceleration. The parking unit may be used for FSC comfort parking. The arbitration unit may be used for longitudinal SAD function arbitration.

[0054] In some embodiments, the control system 120 may pre-acquire a set of preset longitudinal control strategies, which includes at least one longitudinal control strategy. The control system 120 may determine a target longitudinal control strategy that matches the actual situation of the vehicle 110 from the set of preset longitudinal control strategies so that the longitudinal control module of the backup system 220 may control the vehicle 110 based on the determined target longitudinal control strategy.

[0055] Regarding the determination of the target longitudinal control strategy, in some embodiments, the control system 120 may determine, from a set of preset longitudinal control strategies, a first longitudinal control strategy that instructs the vehicle to travel along a lane at a predetermined speed, where the predetermined speed is lower than a speed threshold, based on the speed of the vehicle 110 and the length of the lane line indicated by the environmental information. Specifically, in the case where the lane line length exceeds the first threshold, the control system 120 may determine that the environmental information matches the operating design domain, and the backup system 220 may take over the vehicle 110. The control system 120 may further determine whether the lane line continues. In the case where the lane line continues, the control system 120 may determine that the vehicle 110 needs to be controlled to continue traveling along the lane, and may determine that the backup system 220 needs to execute the first longitudinal control strategy. In some embodiments, the first longitudinal control strategy may also be referred to as a limp home function, a limp home strategy, or the like.

[0056] In some embodiments, the control system 120 may also determine, from a set of preset longitudinal control strategies, a second longitudinal control strategy that instructs the vehicle 110 to stop at a first deceleration based on the speed of the vehicle 110 and the length of the lane line indicated by the environmental information. Specifically, when the lane line length exceeds the first threshold, the control system 120 may determine that the environmental information matches the operating design domain, and the backup system 220 may take over the vehicle 110. The control system 120 may further determine whether the lane line continues. In the case where the lane line does not continue, the control system 120 may determine that the vehicle 110 needs to be controlled to stop, and may determine that the backup system 220 needs to execute the second longitudinal control strategy. In some embodiments, the second longitudinal control strategy may also be referred to as a free parking function, a free parking strategy, or the like.

[0057] In some embodiments, the control system 120 can also determine a third longitudinal control strategy from a set of preset longitudinal control strategies that instructs the vehicle to stop at a second deceleration based on the target object indicated in the environmental information. The target object here is the object that appears in the running direction of the vehicle 110 (i.e., in front of the vehicle 110), for example, it can be the vehicle in front. Specifically, the control system 120 can determine the collision time (Time to Collision, TTC for short) between the vehicle 110 and the target object based on at least the distance between the vehicle 110 and the target object and the speed of the vehicle 110. When the TTC is less than the threshold, the control system 120 can determine that the vehicle 110 needs to be controlled to perform adaptive deceleration to maintain a certain safe distance from the target object, and it can be determined that the backup system 220 needs to execute the third longitudinal control strategy. In some embodiments, the third longitudinal control strategy can also be referred to as an adaptive deceleration function, an adaptive deceleration strategy, etc.

[0058] In some embodiments, different longitudinal control strategies in a set of preset longitudinal control strategies have different priorities, and the control system 120 may preferentially determine a longitudinal control strategy with a higher priority as the target longitudinal control strategy. Exemplarily, the priority ranking among the first longitudinal control strategy, the second longitudinal control strategy, and the third longitudinal control strategy may be that the priority of the third longitudinal control strategy is higher than that of the second longitudinal control strategy, and the priority of the second longitudinal control strategy is higher than that of the first longitudinal control strategy. That is, the control system 120 preferentially determines the third longitudinal control strategy as the target control strategy.

[0059] In some embodiments, the target longitudinal control strategy is not fixed. The target longitudinal control strategy can be switched from a longitudinal control strategy with a lower priority to a longitudinal control strategy with a higher priority. For example, it can be switched from the first longitudinal control strategy to the third longitudinal control strategy. In some embodiments, the target longitudinal control strategy cannot be switched from a longitudinal control strategy with a higher execution priority to a longitudinal control strategy with a lower priority. For example, it cannot be switched from the third longitudinal control strategy to the first longitudinal control strategy.

[0060] At block 340 , the control system 120 controls the vehicle 110 using the backup system 220 and based on the lateral control command and the target longitudinal control strategy.

[0061] In some embodiments, after determining the lateral control command and the target longitudinal control strategy, the control system 120 may utilize the backup system 220 to execute the lateral control command and the target longitudinal control strategy to control the vehicle 110 .

[0062] In some embodiments, when the first longitudinal control strategy is determined as the target longitudinal control strategy, the control system 120 can dynamically adjust the speed of the vehicle 110 based on the first longitudinal control strategy while executing the lateral control instruction so that the vehicle travels at a predetermined speed lower than the speed threshold. In some embodiments, the control system 120 can dynamically adjust the speed by, for example, using an anti-saturation PID method.

[0063] In some embodiments, when the second longitudinal control strategy is determined to be the target longitudinal control strategy, the control system 120 can control the vehicle 110 to stop based on the first deceleration indicated by the second longitudinal control strategy while executing the lateral control instruction. The first deceleration here is determined based on the speed of the vehicle. Specifically, when the second longitudinal control strategy is determined to be the target longitudinal control strategy, the control system 120 can determine the first deceleration that matches the actual speed of the vehicle 110. Exemplarily, the control system 120 can query from a pre-acquired two-dimensional table associated with speed and deceleration to determine the first deceleration that matches the speed. The control system 120 can then control the vehicle 110 to stop at the determined first deceleration.

[0064] In some embodiments, when the third longitudinal control strategy is determined to be the target longitudinal control strategy, the control system 120 can control the vehicle 110 to travel based on the second deceleration indicated by the third longitudinal control strategy while executing the lateral control instruction so that the vehicle 110 at least maintains the target distance with the target object during the longitudinal control process. The second deceleration here is determined based on the motion information of the target object. The target distance here is determined based on the real-time speed of the vehicle 110. In some embodiments, the control system 120 can query from a pre-acquired two-dimensional table associated with speed and distance to determine the distance that matches the real-time speed of the vehicle, and this distance is the target distance. The target distance can be regarded as a safe distance between the vehicle 110 and the target object during driving. It can be understood that as the real-time speed of the vehicle 110 changes, this target distance also changes.

[0065] Regarding the determination of the second deceleration, in some embodiments, the control system 120 may determine the second deceleration based on the longitudinal parameters. Specifically, the control system 120 may determine the relative speed between the vehicle 110 and the target object, the relative acceleration between the vehicle and the target object, and the distance between the vehicle and the target object. The control system 120 may then determine the second deceleration based on the relative speed, relative acceleration, and distance. It should be noted that the determination here includes 4 situations: the acceleration of the target object is constant; the target object is braked to a standstill, and the vehicle 110 is still moving (this will make the speed of the target object negative, which is not realistic, so special processing is required); the speed of the target object is greater than the speed of the vehicle 110, and the relative acceleration is less than 0; and the speed of the target object is less than the speed of the vehicle 110, and the relative acceleration is greater than 0. When determining the second deceleration, it can be assumed that the target object keeps its longitudinal acceleration unchanged, and its longitudinal required acceleration is constant. The control system 120 may determine the second deceleration based on the relative speed, relative acceleration, and distance based on a predetermined calculation formula.

[0066] Exemplarily, when the main system 210 fails, the control system 120 can trigger the backup system 220 through a heartbeat message and cut off the control of the main system 210 over the vehicle 110. The control system 120 then matches the operation design domain in response to the environmental information, determines that the vehicle 110 is suitable for being controlled by the lateral control module of the backup system 220, and uses the lateral control module to determine the lateral control instructions for the vehicle 110. If there are no other vehicles directly in front of the vehicle at this time and there is no risk of collision, the control system 120 determines the length of the lane line directly in front of the vehicle 110. When the lane line length does not meet the determination conditions of the first longitudinal control strategy and meets the determination conditions of the second longitudinal control strategy, the control system 120 can determine the second longitudinal control strategy as the target longitudinal control strategy. The control system 120 queries the first deceleration corresponding to the current vehicle speed and uses the backup system 220 to control the vehicle 110 to stop along the current lane. If another vehicle (target vehicle) appears in front of the vehicle 110 at this time, and the control system 120 determines that the TTC between the vehicle 110 and the target vehicle is small and there is a risk of collision, the control system 120 can switch to confirm that the third longitudinal control strategy is the target longitudinal control strategy. The control system 120 dynamically adjusts the vehicle deceleration so that the vehicle 110 and the target vehicle always maintain a certain safe distance. During the process of the backup system 220 controlling the vehicle, if the main system 210 returns to normal, the control system 120 can inform the backup system 220 to instruct the backup system 220 to return the control authority of the vehicle 110 to the main system 210.

[0067] In summary, the embodiments of the present disclosure can utilize a backup system to simultaneously control the vehicle in the lateral and longitudinal directions based on the vehicle's environmental information when the vehicle's main system fails, thereby improving the safety of the vehicle.

[0068] Example devices and equipment

[0069] Figure 4 A schematic structural block diagram of a device 400 for controlling a vehicle according to some embodiments of the present disclosure is shown. As shown in the figure, the device 400 includes a judgment module 410, which is configured to determine whether the vehicle is suitable for being controlled by a lateral control module of a backup system based on environmental information of the vehicle in response to detecting a target fault associated with a main system of the vehicle. The device 400 also includes an instruction determination module 420, which is configured to determine a lateral control instruction for the vehicle using the lateral control module in response to the vehicle being suitable for being controlled by the lateral control module. The device 400 also includes a strategy determination module 430, which is configured to determine a target longitudinal control strategy for the vehicle from a set of preset longitudinal control strategies using the longitudinal control module of the backup system and based on environmental information. The device 400 also includes a vehicle control module 440, which is configured to control the vehicle using the backup system and based on the lateral control instruction and the target longitudinal control strategy.

[0070] In some embodiments, the judgment module 410 includes: a first judgment module configured to determine whether the environmental information matches the operating design domain of the lateral control module; and a determination module configured to determine that the vehicle is suitable for being controlled by the lateral control module in response to the environmental information matching the operating design domain.

[0071] In some embodiments, the first judgment module includes: a lane line length acquisition module, configured to obtain the lane line length indicated in the environmental information; and a first determination module, configured to determine that the environmental information does not match the operating design domain of the lateral control module in response to the lane line length being less than a first threshold.

[0072] In some embodiments, the first threshold is determined based on the speed of the vehicle.

[0073] In some embodiments, the first judgment module includes: an offset distance determination module, configured to determine the offset distance between the vehicle and the lane line based on environmental information; and a second determination module, configured to determine that the environmental information does not match the operating design domain of the lateral control module in response to the offset distance being greater than a second threshold.

[0074] In some embodiments, the first judgment module includes: a curvature radius acquisition module, configured to obtain the curvature radius of the lane line indicated in the environmental information; and a third determination module, configured to determine that the environmental information does not match the operating design domain of the lateral control module in response to the curvature radius being less than a third threshold.

[0075] In some embodiments, the apparatus 400 further includes: an emergency braking module configured to perform emergency braking of the vehicle using a backup system in response to the vehicle being unsuitable for being controlled by the lateral control module.

[0076] In some embodiments, the strategy determination module 430 includes: a first strategy determination module, configured to determine a first longitudinal control strategy from a set of preset longitudinal control strategies based on the vehicle speed and the lane line length indicated by the environmental information, the first longitudinal control strategy indicating that the vehicle is traveling along a lane at a predetermined speed, and the predetermined speed is lower than a speed threshold.

[0077] In some embodiments, the strategy determination module 430 includes: a second strategy determination module, configured to determine a second longitudinal control strategy from a set of preset longitudinal control strategies based on the vehicle's speed and the lane line length indicated by environmental information, the second longitudinal control strategy instructing the vehicle to stop at a first deceleration, and the first deceleration is determined based on the speed.

[0078] In some embodiments, the strategy determination module 430 includes: a third strategy determination module, configured to determine a third longitudinal control strategy from a set of preset longitudinal control strategies based on the target object indicated in the environmental information, the third longitudinal control strategy instructing the vehicle to stop at a second deceleration, and the second deceleration is determined based on the motion information of the target object.

[0079] In some embodiments, the device 400 also includes a second deceleration determination module configured to: determine the relative speed of the vehicle and the target object; determine the relative acceleration of the vehicle and the target object; determine the distance between the vehicle and the target object; and determine the second deceleration based on the relative speed, relative acceleration and distance.

[0080] In some embodiments, the third control strategy is configured to enable the vehicle to maintain at least a target distance from the target object during the longitudinal control process, where the target distance is determined based on the real-time speed of the vehicle.

[0081] The units included in the device 400 can be implemented in various ways, including software, hardware, firmware, or any combination thereof. In some embodiments, one or more units can be implemented using software and / or firmware, such as machine executable instructions stored on a storage medium. In addition to or as an alternative to machine executable instructions, some or all of the units in the device 400 can be implemented at least in part by one or more hardware logic components. As an example and not limitation, exemplary types of hardware logic components that can be used include field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0082] Figure 5 1 shows a block diagram of an electronic device / server 500 in which one or more embodiments of the present disclosure may be implemented. It should be understood that Figure 5 The electronic device / server 500 shown is merely exemplary and should not constitute any limitation on the functionality and scope of the embodiments described herein.

[0083] like Figure 5As shown, the electronic device / server 500 is in the form of a general electronic device. The components of the electronic device / server 500 may include, but are not limited to, one or more processors or processing units 510, a memory 520, a storage device 530, one or more communication units 540, one or more input devices 550, and one or more output devices 560. The processing unit 510 may be an actual or virtual processor and is capable of performing various processes according to a program stored in the memory 520. In a multi-processor system, multiple processing units execute computer executable instructions in parallel to improve the parallel processing capabilities of the electronic device / server 500.

[0084] The electronic device / server 500 typically includes a plurality of computer storage media. Such media can be any available media accessible to the electronic device / server 500, including but not limited to volatile and non-volatile media, removable and non-removable media. The memory 520 can be a volatile memory (e.g., register, cache, random access memory (RAM)), a non-volatile memory (e.g., a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), flash memory) or some combination thereof. The storage device 530 can be a removable or non-removable medium, and can include a machine-readable medium, such as a flash drive, a disk, or any other medium, which can be used to store information and / or data (e.g., training data for training) and can be accessed within the electronic device / server 500.

[0085] The electronic device / server 500 may further include additional removable / non-removable, volatile / non-volatile storage media. Figure 5 As shown in , a disk drive for reading or writing from a removable, non-volatile disk (e.g., a "floppy disk") and an optical drive for reading or writing from a removable, non-volatile optical disk may be provided. In these cases, each drive may be connected to the bus (not shown) by one or more data media interfaces. The memory 520 may include a computer program product 525 having one or more program modules that are configured to perform various methods or actions of various embodiments of the present disclosure.

[0086] The communication unit 540 implements communication with other electronic devices through a communication medium. Additionally, the functions of the components of the electronic device / server 500 can be implemented with a single computing cluster or multiple computing machines that can communicate through a communication connection. Therefore, the electronic device / server 500 can operate in a networked environment using a logical connection with one or more other servers, a network personal computer (PC), or another network node.

[0087] Input device 550 may be one or more input devices, such as a mouse, keyboard, tracking ball, etc. Output device 560 may be one or more output devices, such as a display, speaker, printer, etc. Electronic device / server 500 may also communicate with one or more external devices (not shown) through communication unit 540 as needed, such as storage devices, display devices, etc., communicate with one or more devices that enable users to interact with electronic device / server 500, or communicate with any device that enables electronic device / server 500 to communicate with one or more other electronic devices (e.g., network card, modem, etc.). Such communication may be performed via an input / output (I / O) interface (not shown).

[0088] According to an exemplary implementation of the present disclosure, a computer-readable storage medium is provided, on which one or more computer instructions are stored, wherein the one or more computer instructions are executed by a processor to implement the method described above.

[0089] Various aspects of the present disclosure are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products implemented according to the present disclosure. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0090] These computer-readable program instructions can be provided to a processing unit of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processing unit of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0091] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0092] The flow chart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple implementations of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a part of a module, program segment or instruction, and a part of a module, program segment or instruction includes one or more executable instructions for realizing the logical function of the specification. In some implementations as replacements, the function marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two continuous square boxes can actually be executed substantially in parallel, and they can sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be realized by a special hardware-based system that performs the function or action of the specification, or can be realized by a combination of special hardware and computer instructions.

[0093] The above descriptions of various implementations of the present disclosure are exemplary, non-exhaustive, and not limited to the disclosed implementations. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described implementations. The selection of terms used herein is intended to best explain the principles of the implementations, practical applications, or improvements to the technology in the marketplace, or to enable other persons of ordinary skill in the art to understand the implementations disclosed herein.

Claims

1. A method for controlling a vehicle, comprising: In response to detecting a target fault associated with a primary system of a vehicle, determining whether the vehicle is suitable for control by a lateral control module of a backup system based on environmental information of the vehicle; determining, using the lateral control module, a lateral control command for the vehicle in response to the vehicle being suitable for control by the lateral control module; Determining a target longitudinal control strategy for the vehicle from a set of preset longitudinal control strategies using a longitudinal control module of the backup system and based on the environmental information; as well as The vehicle is controlled using the backup system and based on the lateral control command and the target longitudinal control strategy.

2. The method of claim 1 , wherein determining whether the vehicle is suitable for control by a lateral control module of a backup system comprises: determining whether the environmental information matches an operational design domain of the lateral control module; as well as In response to the environmental information matching the operational design domain, it is determined that the vehicle is suitable for control by the lateral control module.

3. The method of claim 2, wherein determining whether the environmental information matches an operational design domain of the lateral control module comprises: Obtaining the lane line length indicated in the environmental information; as well as In response to the lane line length being less than a first threshold, it is determined that the environmental information does not match the operational design domain of the lateral control module. The method of claim 3 , wherein the first threshold is determined based on a speed of the vehicle.

5. The method of claim 2, wherein determining whether the environmental information matches an operational design domain of the lateral control module comprises: Based on the environmental information, determining an offset distance between the vehicle and the lane line; as well as In response to the offset distance being greater than a second threshold, it is determined that the environmental information does not match the operational design domain of the lateral control module.

6. The method of claim 2, wherein determining whether the environmental information matches an operational design domain of the lateral control module comprises: Obtaining the curvature radius of the lane line indicated in the environmental information; as well as In response to the radius of curvature being less than a third threshold, it is determined that the environmental information does not match the operational design domain of the lateral control module.

7. The method according to claim 1, further comprising: In response to the vehicle being unsuitable for control by the lateral control module, emergency braking of the vehicle is performed using the backup system.

8. The method of claim 1, wherein determining a target longitudinal control strategy for the vehicle from a set of preset longitudinal control strategies comprises: Based on the speed of the vehicle and the lane length indicated by the environmental information, a first longitudinal control strategy is determined from the set of preset longitudinal control strategies, the first longitudinal control strategy instructing the vehicle to travel along the lane at a predetermined speed, and the predetermined speed is lower than a speed threshold.

9. The method of claim 1, wherein determining a target longitudinal control strategy for the vehicle from a set of preset longitudinal control strategies comprises: Based on the speed of the vehicle and the lane length indicated by the environmental information, a second longitudinal control strategy is determined from the set of preset longitudinal control strategies, the second longitudinal control strategy instructing the vehicle to stop at a first deceleration, and the first deceleration is determined based on the speed.

10. The method of claim 1, wherein determining a target longitudinal control strategy for the vehicle from a set of preset longitudinal control strategies comprises: Based on the target object indicated in the environmental information, a third longitudinal control strategy is determined from the set of preset longitudinal control strategies, the third longitudinal control strategy instructing the vehicle to stop at a second deceleration, wherein the second deceleration is determined based on the motion information of the target object.

11. The method of claim 10, further comprising determining the second deceleration based on: determining a relative speed between the vehicle and the target object; determining a relative acceleration of the vehicle and the target object; determining a distance between the vehicle and the target object; as well as The second deceleration is determined based on the relative speed, the relative acceleration, and the distance. 12 . The method of claim 10 , wherein the third control strategy is configured to enable the vehicle to maintain at least a target distance from the target object during longitudinal control, the target distance being determined based on a real-time speed of the vehicle.

13. A device for controlling a vehicle, comprising: a determination module configured to determine, in response to detecting a target fault associated with a primary system of a vehicle, whether the vehicle is suitable for control by a lateral control module of a backup system based on environmental information of the vehicle; a command determination module configured to determine a lateral control command for the vehicle using the lateral control module in response to the vehicle being suitable for control by the lateral control module; a strategy determination module configured to determine a target longitudinal control strategy of the vehicle from a set of preset longitudinal control strategies using the longitudinal control module of the backup system and based on the environmental information; as well as A vehicle control module is configured to control the vehicle using the backup system and based on the lateral control command and the target longitudinal control strategy.

14. An electronic device comprising: at least one processing unit; as well as At least one memory, the at least one memory being coupled to the at least one processing unit and storing instructions for execution by the at least one processing unit, the instructions causing the electronic device to perform the method according to any one of claims 1 to 12 when executed by the at least one processing unit.

15. A computer-readable storage medium having a computer program stored thereon, wherein the computer program can be executed by a processor to implement the method according to any one of claims 1 to 12.

16. A computer program product comprising computer executable instructions, wherein the computer executable instructions, when executed by a processor, implement the method according to any one of claims 1 to 12.

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