Intelligent driving vehicle safety guarantee method and device

Abstract

The invention discloses a safety guarantee method for an intelligent driving vehicle. The safety guarantee method comprises the steps that S1, the control behavior of a driver is detected; s2, whether the vehicle breaks down or not is diagnosed according to the braking system and the motor torque; s3, further determining whether the intelligent driving vehicle is out of control due to vehicle machine faults; and S4, when the vehicle machine is judged to have the fault problem, forcibly switching the manual driving mode. The invention further discloses an intelligent driving vehicle safety guarantee device. According to the method, the intelligent driving vehicle can exit the vehicle automatic driving mode when system faults such as software and hardware occur in the automatic driving process, safety accidents caused by out-of-control of the vehicle can be avoided, and the out-of-control situation of the intelligent vehicle can be effectively handled.

Description

Technical Field

[0001] The present invention relates to the field of intelligent driving safety technology, and in particular to an intelligent driving vehicle safety assurance method and device. Background Art

[0002] At present, with the rapid development of artificial intelligence, informatization, modernization and other technical fields, intelligent driving vehicles have made significant progress in the past few decades, providing an intelligent solution for alleviating traffic safety issues, driving fatigue, and efficient transportation operations. At present, the L3 level autonomous driving technology of unmanned vehicles is becoming increasingly mature, and some companies have made major breakthroughs in the field of L4 level autonomous driving technology.

[0003] Although intelligent driving has brought great impacts on people's daily life and travel, there are still many safety problems in intelligent driving vehicles that are difficult to solve. Common safety problems of intelligent driving vehicles include system failure, sensor failure, software loopholes, communication security problems, human-computer interaction problems, etc. If the intelligent driving vehicle fails to solve the problem of vehicle computer failure and loss of control in the automatic driving mode in a timely manner, it will cause a safety accident.

[0004] Therefore, it is necessary to invent a smart driving vehicle safety assurance method and device to provide safe and effective protection measures when an unexpected failure occurs in the smart driving vehicle in the automatic driving mode. Summary of the invention

[0005] The purpose of the present invention is to overcome the existing defects and provide a smart driving vehicle safety assurance method and device, which can enable the smart driving vehicle to exit the vehicle automatic driving mode when a system failure such as software or hardware occurs during the automatic driving process, can avoid the occurrence of safety accidents caused by vehicle loss of control, and can effectively handle the situation where the smart vehicle loses control.

[0006] The technical solution to achieve the above purpose is: A method for ensuring safety of an intelligent driving vehicle according to one embodiment of the present invention includes: Step S1, detecting the driver's control behavior; Step S2, diagnosing whether the vehicle has a fault according to the braking system and the motor torque; Step S3, further confirming whether the intelligent driving vehicle has a computer failure causing loss of control; Step S4: When it is determined that the vehicle computer is faulty, the manual driving mode is forcibly switched.

[0007] Preferably, in step S1, detecting the driver's operating behavior includes: detecting changes in the brake system pedal travel, brake pressure, and corresponding motor torque output parameters.

[0008] Preferably, in step S2, when it is detected that the motor torque has not decreased accordingly after the driver has issued emergency braking signals more than twice in a row, it is determined that a vehicle fault occurs, the intelligent driving vehicle fault alarm device is triggered, and the vehicle's hazard warning lights are turned on immediately.

[0009] Preferably, in step S3, further confirming whether the intelligent driving vehicle has a vehicle computer failure resulting in loss of control includes: Step S31, notifying the driver through the vehicle computer failure and loss of control confirmation device, and waiting for further confirmation from the driver; Step S32, when the driver cancels the vehicle fault confirmation, the fault alarm is released and the hazard warning flasher is turned off; Step S33: When the driver confirms the vehicle failure, the vehicle failure safety protection device is triggered.

[0010] Preferably, in step S4, when it is determined that the vehicle computer has a fault, forcibly switching to the manual driving mode includes: Step S41, triggering the interrupt controller to forcibly execute the interrupt instruction; Step S42, the steering interruption signal and the braking interruption signal are input to cut off the control of the vehicle steering and braking by the vehicle system in the automatic driving mode; Step S43, the high voltage variable resistor rapidly reduces the current of the battery input to the motor according to a certain ratio; Step S44, the driver takes over the braking and steering of the vehicle until it stops safely by the side of the road; Step S45, after the vehicle computer fault is eliminated, the intelligent driving vehicle safety protection device exits operation.

[0011] A second intelligent driving vehicle safety protection device of the present invention includes: A detection device, used for detecting the driver's control behavior; A diagnostic device, used to diagnose whether the vehicle has a fault based on the brake system and motor torque; A trigger device, used to trigger the intelligent driving vehicle fault alarm device and turn on the vehicle's hazard warning flashers immediately; The execution device is used to force switching to manual driving mode when a vehicle computer failure is detected.

[0012] Preferably, the detection device includes a pedal sensor, a brake pressure sensor and a motor torque sensor, which are respectively used to collect a pedal position signal, a brake pressure signal and a motor torque signal of the driving vehicle, and transmit them to the diagnostic device; The diagnostic device includes a processor and a memory, which are respectively used to process the signals collected by the pedal sensor, the brake pressure sensor and the motor torque sensor, determine whether the vehicle has a fault and store the signals collected by the pedal sensor, the brake pressure sensor and the motor torque sensor, as well as program instructions of the intelligent driving vehicle safety assurance method, and output the judgment result to the trigger device; The trigger device includes a vehicle hazard warning flashing light and a vehicle computer failure out of control confirmation device, which are respectively used for vehicle hazard warning and confirmation whether the vehicle computer failure is out of control, and output the confirmation result to the execution device through the processor; The actuator includes a high-voltage variable resistor and an interrupt controller, which are used to quickly reduce the current of the battery input motor according to a certain proportion, control the vehicle to decelerate to low speed and input steering interrupt signal and braking interrupt signal, and the automatic driving mode vehicle system controls the steering and braking of the vehicle, and finally switches to the manual driving mode. The vehicle decelerates until it stops safely by the side of the road, and the vehicle fault is eliminated.

[0013] Preferably, the processor is bidirectionally communicatively connected with the memory and the vehicle computer fault and loss of control confirmation device, the input end of the processor is respectively connected with the pedal sensor, brake pressure sensor and motor torque sensor, the output end of the processor is respectively connected with the vehicle hazard warning flasher, interrupt controller and high-voltage variable resistor, and the processor is independent of the vehicle computer controller.

[0014] Preferably, the high-voltage variable resistor is located between the battery current output bus and the drive motor, is not affected by the motor controller, and is independently controlled by the processor.

[0015] Preferably, the vehicle computer failure and loss of control confirmation device includes any one or more of buttons, voice and touch screen devices, so as to ensure that the driver can make an accurate choice at the first time.

[0016] The beneficial effects of the present invention are as follows: in order to solve the problem of safety failures, the present invention adopts measures such as redundancy and fault tolerance of the system, strengthening sensor technology and data processing algorithms, encrypting and protecting communication security, and designing a safe and reliable human-computer interaction interface. The hardware and software of the safety assurance device are independent of the hardware and software of the vehicle computer, and the processor is independent of the vehicle computer controller. When a failure occurs in the vehicle computer system, the normal operation of the device and the feasibility of the solution are guaranteed; the control of braking and steering can be cut off when a smart vehicle loses control in the automatic driving mode, and the manual driving mode can be forced to switch. By controlling the power output, braking and steering of the smart vehicle to park safely by the side of the road, the problem of stalling and losing control of the smart vehicle can be fundamentally solved. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1is a flow chart of a method for ensuring safety of an intelligent driving vehicle according to the present invention; Figure 2 It is a specific flow chart of the present invention for further confirming whether the intelligent driving vehicle has a vehicle computer failure resulting in loss of control; Figure 3 This is a specific flow chart of the present invention for forcibly switching to the manual driving mode when determining that the vehicle computer has a fault problem; Figure 4 It is a module diagram of a safety assurance device for an intelligent driving vehicle of the present invention; Figure 5 It is a specific module diagram of the detection device, diagnosis device, trigger device and execution device in the present invention. DETAILED DESCRIPTION

[0018] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. In the description of the present invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] like Figure 1 As shown, a method for ensuring safety of an intelligent driving vehicle includes: Step S1, detecting the driver's control behavior.

[0021] In an embodiment, detecting the driver's control behavior includes: detecting the changes in the brake system pedal travel, brake pressure and corresponding motor torque output parameters. By detecting the changes in the brake system signal, it is possible to preliminarily identify whether the driver performs emergency braking with human intervention during the automatic driving of the intelligent vehicle; by detecting the changes in the motor torque signal, it is possible to further confirm whether the controller of the vehicle reduces the motor torque accordingly after receiving the brake signal in the automatic driving mode.

[0022] Step S2, diagnose whether the vehicle has a fault based on the braking system and the motor torque.

[0023] In the embodiment, when it is detected that the motor torque has not decreased accordingly after the driver has issued emergency braking signals more than twice in a row, it is determined that a vehicle fault occurs, and the intelligent driving vehicle fault alarm device is triggered. The vehicle's hazard warning lights are turned on immediately, and surrounding vehicles can be reminded to avoid the vehicle in time.

[0024] Step S3, further confirming whether the intelligent driving vehicle has a computer failure causing loss of control.

[0025] In the embodiment, it is further confirmed whether the intelligent driving vehicle has a vehicle computer failure causing loss of control, such as Figure 2 As shown, specifically including: Step S31, notifying the driver through the vehicle computer failure and loss of control confirmation device 32, waiting for the driver's further confirmation, to prevent the driver from triggering the safety protection device due to operating errors.

[0026] Step S32: When the driver cancels the vehicle fault confirmation, the fault alarm is canceled and the hazard warning lights are turned off.

[0027] Step S33: When the driver confirms the vehicle failure, the vehicle failure safety protection device is triggered.

[0028] Step S4: When it is determined that the vehicle computer is faulty, the manual driving mode is forcibly switched.

[0029] In the embodiment, when it is determined that the vehicle computer has a fault, the manual driving mode is forcibly switched, such as Figure 3 As shown, specifically including: Step S41, triggering the interrupt controller 42 to forcibly execute the interrupt instruction.

[0030] Step S42, the steering interrupt signal and the brake interrupt signal input cut off the control of the vehicle steering and braking by the vehicle computer system in the automatic driving mode; the steering interrupt signal can cut off the communication control of the vehicle computer system over the vehicle steering wheel, and the brake interrupt signal can cut off the communication control of the vehicle computer system over the vehicle braking system. Both interrupt signals are not affected by the vehicle computer system.

[0031] In step S43, the high-voltage variable resistor 41 rapidly reduces the current of the battery input to the motor according to a certain ratio. The high-voltage variable resistor 41 can control the current of the battery input to the motor, thereby controlling the output of the motor torque to prevent the vehicle from stalling.

[0032] Step S44, the driver takes over the braking and steering of the vehicle until it stops safely by the side of the road; Step S45, after the vehicle computer fault is eliminated, the intelligent driving vehicle safety protection device exits operation.

[0033] like Figure 4As shown, a safety assurance device for an intelligent driving vehicle includes: a detection device 1, a diagnosis device 2, a trigger device 3 and an execution device 4.

[0034] The detection device 1 is used to detect the driver's control behavior.

[0035] In the embodiment, the detection device 1 includes a pedal sensor 11 , a brake pressure sensor 12 and a motor torque sensor 13 , which are respectively used to collect a pedal position signal, a brake pressure signal and a motor torque signal of the driving vehicle, and transmit them to the diagnosis device 2 .

[0036] The diagnostic device 2 is used to diagnose whether the vehicle has a fault based on the braking system and the motor torque.

[0037] In the embodiment, the diagnostic device 2 includes a processor 21 and a memory 22, which are respectively used to process signals collected by the pedal sensor 11, the brake pressure sensor 12 and the motor torque sensor 13, determine whether the vehicle has a fault and store the signals collected by the pedal sensor 11, the brake pressure sensor 12 and the motor torque sensor 13, as well as store program instructions and related computer programs of the intelligent driving vehicle safety assurance method, and output the judgment results to the trigger device 3.

[0038] The trigger device 3 is used to trigger the intelligent driving vehicle fault alarm device to turn on the vehicle's hazard warning flashers immediately.

[0039] In the embodiment, the trigger device 3 includes a vehicle hazard warning flashing light 31 and a vehicle computer failure out of control confirmation device 32, which are respectively used for vehicle hazard warning and confirming whether the vehicle computer failure is out of control, and outputs the confirmation result to the execution device 4 through the processor 21.

[0040] The execution device 4 is used to forcibly switch to the manual driving mode when determining that the vehicle computer has a fault problem.

[0041] In the embodiment, the actuator 4 includes a high-voltage variable resistor 41 and an interrupt controller 42, which are respectively used to quickly reduce the current of the battery input to the motor according to a certain proportion, control the vehicle to decelerate to a low speed and input a steering interrupt signal and a braking interrupt signal, and the automatic driving mode vehicle system controls the steering and braking of the vehicle, and finally switches to the manual driving mode, the vehicle decelerates until it stops safely by the side of the road, and the vehicle fault is eliminated.

[0042] In the embodiment, the processor 21 is bidirectionally connected to the memory 22 and the vehicle fault and loss of control confirmation device 32, the input end of the processor 21 is respectively connected to the pedal sensor 11, the brake pressure sensor 12 and the motor torque sensor 13, the output end of the processor 21 is respectively connected to the vehicle hazard warning flasher 31, the interrupt controller 42 and the high-voltage variable resistor 41, and the processor 21 is independent of the vehicle controller.

[0043] In the embodiment, the high-voltage variable resistor 41 is located between the battery current output bus and the drive motor, is not affected by the motor controller, and is independently controlled by the processor 21 .

[0044] In the embodiment, the vehicle computer failure and out-of-control confirmation device 32 includes any one or more of buttons, voice and touch screen devices, so as to ensure that the driver can make an accurate choice at the first time.

[0045] The specific working principle is as follows: The pedal sensor 11, the brake pressure sensor 12 and the motor torque sensor 13 are used to collect the pedal position signal, the brake pressure signal and the motor torque signal of the driving vehicle respectively, and send them to the processor 21 to preliminarily identify whether the driver performs emergency braking with human intervention during the automatic driving of the intelligent vehicle; by detecting the change of the motor torque signal and judging the relationship between the two signals, it can be further confirmed whether the vehicle controller reduces the output of the motor torque accordingly after receiving the brake signal in the automatic driving mode; if the motor torque still does not decrease accordingly after detecting two consecutive emergency braking signals, the intelligent driving vehicle fault alarm device will be triggered, and the vehicle's emergency warning system will be turned on immediately. The hazard warning flashing lights 31 are turned on, and the driver is notified through the vehicle computer fault and loss of control confirmation 32 device, waiting for the driver's further confirmation; if the driver triggers it due to his own operating error, the vehicle fault confirmation is cancelled, the fault alarm is lifted, and the hazard warning flashing lights 31 are turned off; if the driver confirms the vehicle fault, the vehicle safety protection device is triggered, indicating that the intelligent driving vehicle has a hardware fault or software fault during the automatic driving process, causing the vehicle to lose control, and the motor torque is out of control at high speed, triggering the interrupt controller 42 to force the execution of the interrupt instruction, and triggering the high-voltage variable resistor 41, quickly reducing the current of the battery input motor, and forcing the exit of the automatic driving mode, and the driver takes over the vehicle braking and steering wheel until it stops safely.

[0046] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that the technical solutions described in the above embodiments may still be modified, or some or all of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for ensuring the safety of an intelligent driving vehicle, characterized in that: include: Step S1, detecting the driver's control behavior; Step S2, diagnosing whether the vehicle has a fault according to the braking system and the motor torque; Step S3, further confirming whether the intelligent driving vehicle has a computer failure causing loss of control; Step S4: When it is determined that the vehicle computer is faulty, the manual driving mode is forcibly switched.

2. The intelligent driving vehicle safety assurance method according to claim 1, characterized in that: In the step S1, detecting the driver's operating behavior includes: detecting the change of the brake system pedal stroke, the brake pressure and the change of the corresponding motor torque output parameter.

3. The intelligent driving vehicle safety assurance method according to claim 2, characterized in that: In step S2, when it is detected that the motor torque has not been reduced accordingly after the driver has issued emergency braking signals for more than two consecutive times, it is determined that a vehicle fault has occurred, and the intelligent driving vehicle fault alarm device is triggered to turn on the vehicle's hazard warning lights immediately.

4. The intelligent driving vehicle safety assurance method according to claim 3, characterized in that: In step S3, further confirming whether the intelligent driving vehicle has a vehicle computer failure resulting in loss of control includes: Step S31, notifying the driver through the vehicle computer failure and loss of control confirmation device, and waiting for further confirmation from the driver; Step S32, when the driver cancels the vehicle fault confirmation, the fault alarm is released and the hazard warning flasher is turned off; Step S33: When the driver confirms the vehicle failure, the vehicle failure safety protection device is triggered.

5. The intelligent driving vehicle safety assurance method according to claim 4, characterized in that: In step S4, when it is determined that there is a vehicle computer failure, the manual driving mode is forcibly switched, including: Step S41, triggering the interrupt controller to forcibly execute the interrupt instruction; Step S42, the steering interruption signal and the braking interruption signal are input to cut off the control of the vehicle steering and braking by the vehicle system in the automatic driving mode; Step S43, the high voltage variable resistor rapidly reduces the current of the battery input to the motor according to a certain ratio; Step S44, the driver takes over the braking and steering of the vehicle until it stops safely by the side of the road; Step S45, after the vehicle computer fault is eliminated, the intelligent driving vehicle safety protection device exits operation.

6. A safety protection device for an intelligent driving vehicle, characterized in that: include: A detection device, used for detecting the driver's control behavior; A diagnostic device, used to diagnose whether the vehicle has a fault based on the brake system and motor torque; A trigger device, used to trigger the intelligent driving vehicle fault alarm device and turn on the vehicle's hazard warning flashers immediately; The execution device is used to force switching to manual driving mode when a vehicle computer failure is detected.

7. The intelligent driving vehicle safety protection device according to claim 6, characterized in that: The detection device includes a pedal sensor, a brake pressure sensor and a motor torque sensor, which are respectively used to collect a pedal position signal, a brake pressure signal and a motor torque signal of the driving vehicle, and transmit them to the diagnosis device; The diagnostic device includes a processor and a memory, which are respectively used to process the signals collected by the pedal sensor, the brake pressure sensor and the motor torque sensor, determine whether the vehicle has a fault and store the signals collected by the pedal sensor, the brake pressure sensor and the motor torque sensor, as well as program instructions of the intelligent driving vehicle safety assurance method, and output the judgment result to the trigger device; The trigger device includes a vehicle hazard warning flashing light and a vehicle computer failure out of control confirmation device, which are respectively used for vehicle hazard warning and confirmation whether the vehicle computer failure is out of control, and output the confirmation result to the execution device through the processor; The actuator includes a high-voltage variable resistor and an interrupt controller, which are used to quickly reduce the current of the battery input motor according to a certain proportion, control the vehicle to decelerate to low speed and input steering interrupt signal and braking interrupt signal, and the automatic driving mode vehicle system controls the steering and braking of the vehicle, and finally switches to the manual driving mode. The vehicle decelerates until it stops safely by the side of the road, and the vehicle fault is eliminated.

8. The intelligent driving vehicle safety protection device according to claim 7, characterized in that: The processor is bidirectionally connected to the memory and the vehicle computer fault and loss of control confirmation device. The input end of the processor is respectively connected to the pedal sensor, brake pressure sensor and motor torque sensor. The output end of the processor is respectively connected to the vehicle hazard warning flasher, interrupt controller and high-voltage variable resistor. The processor is independent of the vehicle computer controller.

9. The intelligent driving vehicle safety protection device according to claim 8, characterized in that: The high-voltage variable resistor is located between the battery current output bus and the drive motor, is not affected by the motor controller, and is controlled solely by the processor.

10. The intelligent driving vehicle safety protection device according to claim 7, characterized in that: The vehicle computer failure and out-of-control confirmation device includes any one or more of buttons, voice and touch screen devices, which are used to ensure that the driver can make an accurate choice in the first time.

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