Signal arbitration method and system for autonomous vehicle

Abstract

The invention specifically discloses a signal arbitration method and system for an automatic driving vehicle, and the method comprises the steps: setting a signal arbitration module, carrying out the screening, judgment and arbitration of control signals in an automatic driving control system of the vehicle, and determining whether the subsequent execution operation is carried out on each signal or not; if yes, specific signal processing and selection are carried out according to the requirements of different scenes, and function signals in the specific scenes are judged to determine whether to allow execution of specific functions or not; if not, invalid signals, error signals and abnormal signals are screened out, so that the processing time of the automatic driving control system is shortened. The response efficiency and the intelligent level of automatic driving of the vehicle can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving control, and more specifically, to a signal arbitration method and system for an autonomous driving vehicle. Background Art

[0002] With the rapid development of intelligent driving cars, the signal interaction between automotive electronic devices is becoming more and more frequent, and the types of signals are increasing. At present, autonomous driving vehicles make decisions and process the received input signals through the vehicle controller or domain controller, but there are problems of signal congestion and slow response speed for signal processing in different complex scenarios. Therefore, it is of great significance to screen and judge various signals during vehicle driving so that the vehicle can make intelligent decisions based on real-time data, avoid misoperation and invalid operation, and improve the response efficiency and intelligence level of the system. Summary of the invention

[0003] The present invention provides a signal arbitration method and system for an autonomous driving vehicle, which solves the problems of slow signal processing response speed and prone to abnormal situations such as signal congestion and loss in existing autonomous driving vehicles, and can improve the response efficiency and intelligence level of the vehicle's autonomous driving.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] A signal arbitration method for an autonomous driving vehicle, comprising:

[0006] Set up a signal arbitration module to screen, judge and arbitrate control signals in the vehicle's automatic driving control system, and decide whether each signal should be subsequently executed;

[0007] If yes, specific signal processing and selection are performed according to the requirements of different scenarios, and the function signal in the specific scenario is judged to determine whether to allow the execution of the specific function;

[0008] If not, invalid signals, error signals and abnormal signals are screened out to reduce the processing time of the autonomous driving control system.

[0009] Preferably, it also includes:

[0010] The signal arbitration module arbitrates the functional signals of a specific scene to eliminate signal interference that does not meet the conditions, obtain the optimal operation of the specific scene, and determine whether to allow the corresponding function to be turned on.

[0011] Preferably, it also includes:

[0012] The signal arbitration module performs real-time arbitration on the vehicle position signal and the vehicle status signal, and determines whether the vehicle is allowed to trigger a specific function. If not, the triggering of the specific function is stopped.

[0013] Preferably, it also includes:

[0014] During the automatic driving process, the signal arbitration module arbitrates the driver's operation signal and determines whether there is human intervention. If so, the vehicle automatic driving mode is exited and switched to manual driving mode.

[0015] Preferably, it also includes:

[0016] In the manual driving mode, the signal arbitration module arbitrates the driver's operation signal and determines whether the driver completely releases the steering wheel or stops applying pressure to the accelerator and brake. If so, the manual driving mode is exited and switched to the vehicle's automatic driving mode.

[0017] Preferably, it also includes:

[0018] During automatic driving, the signal arbitration module arbitrates the request signal of the occupants in the vehicle to determine whether the occupants in the vehicle require parking. If so, the parking process is triggered.

[0019] Preferably, it also includes:

[0020] The signal arbitration module is signal-connected to the perception module, decision-making module and planning module in the automatic driving control system. The signal arbitration module arbitrates the image signal and sensor signal collected by the perception module to determine whether to send them to the decision-making module and the planning module.

[0021] The present invention also provides a signal arbitration system for an autonomous driving vehicle, using the above-mentioned signal arbitration method, comprising: a signal arbitration module and an autonomous driving control system;

[0022] The signal arbitration module is connected to the automatic driving control system signal, and the signal arbitration module screens, judges and arbitrates the signals of the automatic driving control system to determine whether each signal performs subsequent execution operations.

[0023] Preferably, it also includes: an autonomous driving perception system;

[0024] The signal arbitration module is connected to the autonomous driving perception system signal, and the signal arbitration module arbitrates the image signals and sensor signals collected by the autonomous driving perception system to screen out invalid signals, error signals and abnormal signals.

[0025] Preferably, the autonomous driving perception system includes: a visual camera, a millimeter wave radar, a laser radar and a positioning device;

[0026] The signal arbitration module is arranged in a domain controller, and the domain controller is respectively connected with the visual camera, the millimeter wave radar, the laser radar and the positioning device by signal.

[0027] The present invention provides a signal arbitration method and system for an autonomous driving vehicle, which sets a signal arbitration module to screen, judge and arbitrate control signals of an autonomous driving control system, and decide whether to perform subsequent execution operations on each signal. This solves the problems of slow signal processing response speed and prone to abnormal situations such as signal congestion and loss in existing autonomous driving vehicles, and can improve the response efficiency and intelligence level of the vehicle's autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the specific embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below.

[0029] Figure 1 It is a schematic diagram of a signal arbitration method for an autonomous driving vehicle provided by the present invention.

[0030] Figure 2 It is a schematic diagram of a signal arbitration system for an autonomous driving vehicle provided by the present invention. DETAILED DESCRIPTION

[0031] In order to enable persons skilled in the art to better understand the solutions of the embodiments of the present invention, the embodiments of the present invention are further described in detail below in conjunction with the accompanying drawings and implementation modes.

[0032] In view of the problem that existing autonomous driving vehicles have slow signal processing response speed and are prone to abnormal situations such as signal congestion and loss, the present invention provides a signal arbitration method and system for autonomous driving vehicles, which solves the problem that existing autonomous driving vehicles have slow signal processing response speed and are prone to abnormal situations such as signal congestion and loss, and can improve the response efficiency and intelligence level of vehicle autonomous driving.

[0033] like Figure 1 As shown, a signal arbitration method for an autonomous driving vehicle includes:

[0034] S1: Set up a signal arbitration module to screen, judge and arbitrate control signals in the vehicle's automatic driving control system, and decide whether each signal should be subsequently executed.

[0035] S2: If yes, specific signal processing and selection are performed according to the requirements of different scenarios, and the functional signal in the specific scenario is judged to determine whether to allow the execution of the specific function.

[0036] S3: If not, filter out invalid signals, error signals and abnormal signals to reduce the processing time of the autonomous driving control system.

[0037] Specifically, through the newly added signal arbitration module architecture, the present invention can screen, judge and arbitrate various types of signals during the signal input process to determine whether the signal can pass and subsequently perform operations. When the signal arbitration module finds signal loss, error signal or other abnormal conditions, it can quickly make arbitration decisions to avoid system failure or misoperation caused by error signals, reduce the processing time of the controller, and improve the fault tolerance and safety of the system to ensure the stability of autonomous driving. The arbitration function enables the system to make decisions intelligently based on real-time data, avoid misoperation and invalid operation, and improve the response efficiency and intelligence level of the system.

[0038] The method also includes: arbitrating the function signal of the specific scene through the signal arbitration module to eliminate the interference of signals that do not meet the conditions, obtain the optimal operation of the specific scene, and determine whether to allow the corresponding function to be turned on.

[0039] Specifically, the signal arbitration module can process and select specific signals according to the needs of different scenarios. The arbitration module intelligently judges and screens the functional signals in specific scenarios to decide whether to allow the execution of specific functions. This architecture has strong universality and can adapt to a variety of autonomous driving scenarios and reduce development complexity.

[0040] In one embodiment, during the operation of an autonomous sanitation vehicle, the signal arbitration module receives and screens multiple sensor signals, such as air humidity, dust particle size, etc. The arbitration module processes these signals and determines whether to allow the sanitation vehicle to start the cleaning function or other auxiliary functions, such as switching to the washing and sweeping mode. Through signal arbitration, the system can intelligently determine the optimal operation in a specific scenario and eliminate signal interference that does not meet the conditions, thereby achieving efficient and safe automatic cleaning operations.

[0041] The method further includes: performing real-time arbitration on the vehicle position signal and the vehicle status signal through the signal arbitration module, and determining whether the vehicle is allowed to trigger a specific function, and if not, stopping the triggering of the specific function.

[0042] In one embodiment, when the sanitation vehicle is driving automatically, the signal arbitration module will arbitrate the position signal and vehicle status signal in real time. For example, when the vehicle reaches the designated cleaning section and meets the conditions of the automatic driving mode, the signal arbitration module approves the start of the cleaning function. If signals such as a full sewage tank or low battery are received during the cleaning process, the arbitration module will immediately decide whether to suspend the operation and notify the relevant staff. In this way, the system can not only accurately execute commands, but also prevent misoperation due to erroneous signals, thereby improving the reliability and safety of the operation.

[0043] In another embodiment, in an autonomous driving vehicle applied to a logistics distribution vehicle, the signal arbitration module comprehensively processes the location signal, cargo information, and signals from the storage area received by the vehicle, and arbitrates whether the cargo unloading operation can be performed. Only when all conditions are met will the arbitration module allow the system to automatically trigger the unloading function. During the arbitration process, if the system detects that there are obstacles at the distribution point or the loading and unloading area is occupied, the arbitration module will refuse to continue the unloading operation and upload the situation to the background management system for processing. When all problems are resolved and passed the judgment of the arbitration module, the system will allow the automatic unloading process to be restarted. In addition, if signals such as insufficient power or abnormal cargo are detected during operation, the arbitration module will automatically arbitrate whether to terminate the autonomous driving mode and switch to the safety mode to ensure safe operation.

[0044] The method also includes: during the automatic driving process, arbitrating the driver's operation signal through the signal arbitration module, and determining whether there is human intervention, and if so, exiting the vehicle automatic driving mode and switching to the manual driving mode.

[0045] In one embodiment, in an autonomous driving vehicle, manual touch sensors are installed at the steering wheel, accelerator pedal, and brake pedal of the vehicle to detect the driver's operating status in real time. When the vehicle is in autonomous driving mode, the signal arbitration module continuously monitors whether there is manual intervention through these sensors. During the autonomous driving process, if the driver touches the steering wheel lightly, the system will detect the touch pressure through the touch sensor and determine that the driver may have the intention to take over, but at this time the system will not immediately switch to manual driving mode, but continue to observe. Only when the touch pressure reaches the preset takeover threshold, or when it is detected that the steering wheel rotation angle exceeds the autonomous driving control range, will the system trigger the manual driving mode and put the autonomous driving in the background. Similarly, the sensor of the accelerator pedal or brake pedal can determine whether the driver actively intervenes in the operation through the detected pressure value.

[0046] The method also includes: in the manual driving mode, arbitrating the driver's operation signal through the signal arbitration module, and judging whether the driver completely releases the steering wheel or stops applying pressure to the accelerator and brake. If so, exiting the manual driving mode and switching to the vehicle automatic driving mode.

[0047] In actual applications, once the manual driving mode is activated, the vehicle will suspend the control authority of the autonomous driving until the driver completely lets go of the steering wheel or stops applying pressure to the accelerator and brake. At this time, the signal arbitration module will automatically switch back to the autonomous driving mode again to ensure a smooth transition between manual and autonomous driving modes, avoid system competition, and improve the safety and responsiveness of the vehicle in emergency situations.

[0048] The method also includes: during automatic driving, arbitrating the request signal of the occupant in the vehicle through the signal arbitration module to determine whether the occupant in the vehicle requires parking, and if so, triggering the parking process.

[0049] In one embodiment, when the autonomous driving bus arrives at a predetermined bus stop, the signal arbitration module receives and determines the geographic location signal of the stop, the number of passengers in the car, and the passenger request signal at the stop. If a passenger in the car presses the stop button or a passenger at the stop sends a boarding request signal, the system will automatically trigger the parking process; otherwise, the vehicle will decide whether to pass through the station without stopping according to the situation. Furthermore, when the signal arbitration module detects that the bus is full or there are too many passengers waiting at the station, it will adjust the bus's speed or recommend the start of an emergency bus based on real-time signals to optimize station operation efficiency. If a fault signal appears during this process (such as the door cannot be opened, the autonomous driving system is abnormal, etc.), the arbitration module will automatically stop the relevant actions and issue a fault warning to ensure operational safety.

[0050] The method also includes: the signal arbitration module is connected to the perception module, decision module and planning module in the automatic driving control system, and the signal arbitration module arbitrates the image signal and sensor signal collected by the perception module to determine whether to send them to the decision module and the planning module.

[0051] It can be seen that the present invention provides a signal arbitration method for an autonomous driving vehicle, which sets a signal arbitration module to screen, judge and arbitrate the control signals of the autonomous driving control system, and decide whether to perform subsequent execution operations on each signal. It solves the problems of slow signal processing response speed and prone to abnormal situations such as signal congestion and loss in existing autonomous driving vehicles, and can improve the response efficiency and intelligence level of the vehicle's autonomous driving.

[0052] Correspondingly, the present invention also provides a signal arbitration system for an autonomous driving vehicle, using the above-mentioned signal arbitration method, including: a signal arbitration module and an autonomous driving control system; the signal arbitration module is connected to the signal of the autonomous driving control system, and the signal arbitration module screens, judges and arbitrates the signals of the autonomous driving control system to determine whether each signal performs subsequent execution operations.

[0053] The system also includes: an autonomous driving perception system; the signal arbitration module is connected to the autonomous driving perception system signal, and the signal arbitration module arbitrates the image signals and sensor signals collected by the autonomous driving perception system to screen out invalid signals, error signals and abnormal signals.

[0054] Furthermore, the autonomous driving perception system includes: a visual camera, a millimeter wave radar, a laser radar and a positioning device. The signal arbitration module is arranged in a domain controller, and the domain controller is respectively connected to the visual camera, the millimeter wave radar, the laser radar and the positioning device by signal.

[0055] It can be seen that the present invention provides a signal arbitration system for an autonomous driving vehicle. The signal arbitration module is connected to the autonomous driving control system signal to screen, judge and arbitrate the control signals, and decide whether each signal should perform subsequent execution operations. This solves the problems of slow signal processing response speed and prone to abnormal situations such as signal congestion and loss in existing autonomous driving vehicles, and can improve the response efficiency and intelligence level of the vehicle's autonomous driving.

[0056] The above describes in detail the structure, features and effects of the present invention based on the embodiments shown in the drawings. The above is only a preferred embodiment of the present invention, but the present invention is not limited to the scope of implementation shown in the drawings. Any changes made in accordance with the concept of the present invention, or modifications to equivalent embodiments with equivalent changes, which still do not exceed the spirit covered by the description and drawings, should be within the protection scope of the present invention.

Claims

1. A signal arbitration method for an autonomous driving vehicle, characterized in that: include: Set up a signal arbitration module to screen, judge and arbitrate control signals in the vehicle's automatic driving control system, and decide whether each signal should be subsequently executed; If yes, specific signal processing and selection are performed according to the requirements of different scenarios, and the function signal in the specific scenario is judged to determine whether to allow the execution of the specific function; If not, invalid signals, error signals and abnormal signals are screened out to reduce the processing time of the autonomous driving control system.

2. The signal arbitration method for an autonomous driving vehicle according to claim 1, characterized in that: Also includes: The signal arbitration module arbitrates the functional signals of a specific scene to eliminate signal interference that does not meet the conditions, obtain the optimal operation of the specific scene, and determine whether to allow the corresponding function to be turned on.

3. The signal arbitration method for an autonomous driving vehicle according to claim 2, characterized in that: Also includes: The signal arbitration module performs real-time arbitration on the vehicle position signal and the vehicle status signal, and determines whether the vehicle is allowed to trigger a specific function. If not, the triggering of the specific function is stopped.

4. The signal arbitration method for an autonomous driving vehicle according to claim 3, characterized in that: Also includes: During the automatic driving process, the signal arbitration module arbitrates the driver's operation signal and determines whether there is human intervention. If so, the vehicle automatic driving mode is exited and switched to manual driving mode.

5. The signal arbitration method for an autonomous driving vehicle according to claim 4, characterized in that: Also includes: In the manual driving mode, the signal arbitration module arbitrates the driver's operation signal and determines whether the driver completely releases the steering wheel or stops applying pressure to the accelerator and brake. If so, the manual driving mode is exited and switched to the vehicle's automatic driving mode.

6. The signal arbitration method for an autonomous driving vehicle according to claim 5, characterized in that: Also includes: During automatic driving, the signal arbitration module arbitrates the request signal of the occupants in the vehicle to determine whether the occupants in the vehicle require parking. If so, the parking process is triggered.

7. The signal arbitration method for an autonomous driving vehicle according to claim 6, characterized in that: Also includes: The signal arbitration module is signal-connected to the perception module, decision-making module and planning module in the automatic driving control system. The signal arbitration module arbitrates the image signal and sensor signal collected by the perception module to determine whether to send them to the decision-making module and the planning module.

8. A signal arbitration system for an autonomous driving vehicle, using the signal arbitration method according to any one of claims 1 to 7, characterized in that: include: Signal arbitration module and autonomous driving control system; The signal arbitration module is connected to the automatic driving control system signal, and the signal arbitration module screens, judges and arbitrates the signals of the automatic driving control system to determine whether each signal performs subsequent execution operations.

9. The signal arbitration system for an autonomous driving vehicle according to claim 8, characterized in that: Also includes: Autonomous driving perception system; The signal arbitration module is connected to the autonomous driving perception system signal, and the signal arbitration module arbitrates the image signals and sensor signals collected by the autonomous driving perception system to screen out invalid signals, error signals and abnormal signals.

10. The signal arbitration system for an autonomous driving vehicle according to claim 9, characterized in that: The autonomous driving perception system includes: a visual camera, a millimeter wave radar, a laser radar and a positioning device; The signal arbitration module is arranged in a domain controller, and the domain controller is respectively connected with the visual camera, the millimeter wave radar, the laser radar and the positioning device by signal.

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