Automatic driving control method and device, electronic equipment and readable medium

Abstract

The invention provides an automatic driving control method and device, electronic equipment and a readable medium, and the method comprises the steps: obtaining steering wheel rotation angle deviation information in a vehicle automatic driving process, and determining whether a vehicle has a steering fault or not according to the steering wheel rotation angle deviation information; if it is judged that the vehicle has the steering fault, responding to power-off operation of the vehicle, and storing steering fault information; in response to the re-power-on operation of the vehicle, according to the steering fault information, automatic driving function suppression processing is carried out on the vehicle, and alarm prompt is carried out, so that timely response and safety management of the automatic driving vehicle when the steering fault occurs are realized, the risk that the vehicle cannot be timely maintained in the fault state is reduced, and the safety of the vehicle is improved. The driving potential safety hazard caused by the steering fault is avoided, the overall safety and reliability of the automatic driving system are improved, and the self-diagnosis and fault management capabilities of the vehicle to the transverse deviation fault are improved.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving technology, and in particular to an autonomous driving control method, device, electronic device and readable medium. Background Art

[0002] With the rapid development and application of autonomous driving technology, autonomous driving functions have become a key component of vehicle intelligence. In an autonomous driving system, the lateral control of the vehicle, that is, how to keep the vehicle in the lane and make precise turns, is a basic requirement to ensure the safety of autonomous driving; and accurate detection and calibration of the steering wheel angle is crucial for the lateral control of the vehicle, because any directional deviation may cause the vehicle to deviate from the expected path, thus affecting driving safety.

[0003] In the related technologies, sensor data collection and self-learning algorithms are usually used to dynamically compensate for steering wheel deviation. For example, in some technical solutions, the vehicle is controlled to collect steering wheel angle data under preset driving conditions, and the reference position of the steering wheel is adjusted accordingly. In other words, these methods mainly focus on how to correct small deviations during driving to increase the adaptability and comfort of the system.

[0004] However, while the relevant technologies can effectively correct steering wheel deviation to some extent, they generally lack the ability to cope with larger deviations or faults. When the steering sensor has a large deviation, or a situation that cannot be solved by self-learning compensation, these solutions often cannot provide timely fault detection and feedback mechanisms, which may cause the vehicle to continue to operate in the state of steering failure and cannot be repaired in time, greatly increasing the risk of accidents. Summary of the invention

[0005] The embodiments of the present invention provide an automatic driving control method, device, electronic device and readable medium, so as to at least solve the problem in the related art that when a steering sensor has a large deviation or a situation that cannot be solved by self-learning compensation, it is often impossible to provide a timely fault detection and feedback mechanism, which may cause the vehicle to continue to operate in the state of steering fault and cannot be repaired in time, greatly increasing the risk of accidents.

[0006] The embodiment of the present invention discloses an automatic driving control method, device, electronic device and readable medium, wherein the method includes:

[0007] Acquiring steering wheel angle deviation information during the automatic driving of the vehicle, and determining whether the vehicle has a steering fault according to the steering wheel angle deviation information;

[0008] If it is determined that the vehicle has a steering fault, in response to a power-off operation of the vehicle, storing steering fault information;

[0009] In response to the power-on operation of the vehicle, the automatic driving function of the vehicle is suppressed and an alarm is issued according to the steering fault information.

[0010] Optionally, the method further comprises:

[0011] Performing a steering angle deviation detection process on the vehicle to determine whether the vehicle has cleared the steering fault;

[0012] If it is determined that the vehicle has cleared the steering fault, the automatic driving function of the vehicle is restored.

[0013] Optionally, determining whether the vehicle has a steering fault according to the steering wheel angle deviation information includes:

[0014] It is determined whether the steering wheel angle deviation is less than a first preset threshold value; if it is determined that the steering wheel angle deviation is not less than the first preset threshold value, it is determined that the vehicle has the steering fault.

[0015] Optionally, it also includes:

[0016] If it is determined that the steering wheel angle deviation is less than the first preset threshold, steering compensation processing is performed on the vehicle according to the steering wheel angle deviation.

[0017] Optionally, the performing the automatic driving function suppression process on the vehicle includes:

[0018] A lateral control function of the vehicle is suppressed.

[0019] Optionally, before restoring the automatic driving function of the vehicle, the method further includes:

[0020] The steering fault information stored in the vehicle is cleared.

[0021] Optionally, the performing corner deviation detection processing on the vehicle includes:

[0022] Determine whether there is a calibration signal in the vehicle for indicating that the zero position of the vehicle corner has been recalibrated. If there is a calibration signal in the vehicle for indicating that the zero position of the vehicle corner has been recalibrated, it is determined that the vehicle has cleared the steering fault.

[0023] The embodiment of the present invention further discloses an automatic driving control device, the device comprising:

[0024] A steering fault determination module, used to obtain steering wheel angle deviation information during the automatic driving of the vehicle, and determine whether the vehicle has a steering fault according to the steering wheel angle deviation information;

[0025] a steering fault information storage module, configured to store steering fault information in response to a power-off operation of the vehicle if it is determined that the vehicle has a steering fault;

[0026] An alarm prompt module is used to respond to the power-on operation of the vehicle and, based on the steering fault information, suppress the automatic driving function of the vehicle and issue an alarm prompt.

[0027] Optionally, the device further comprises:

[0028] A turning angle deviation detection module, used for performing turning angle deviation detection processing on the vehicle to determine whether the vehicle has cleared the steering fault;

[0029] The automatic driving function recovery module is used to restore the automatic driving function of the vehicle if it is determined that the vehicle has cleared the steering fault.

[0030] Optionally, the steering fault determination module includes:

[0031] The steering fault determination submodule is used to determine whether the steering wheel angle deviation is less than a first preset threshold value. If it is determined that the steering wheel angle deviation is not less than the first preset threshold value, it is determined that the vehicle has the steering fault.

[0032] Optionally, the steering fault determination module further includes:

[0033] The steering compensation processing submodule is used to perform steering compensation processing on the vehicle according to the steering wheel angle deviation if it is determined that the steering wheel angle deviation is less than the first preset threshold.

[0034] Optionally, the alarm prompt module includes:

[0035] The lateral control function suppression submodule is used to suppress the lateral control function of the vehicle.

[0036] Optionally, the autonomous driving function recovery module includes:

[0037] The steering fault information clearing submodule is used to clear the steering fault information stored in the vehicle.

[0038] Optionally, the corner deviation detection module includes:

[0039] The steering fault clearing determination submodule is used to determine whether there is a calibration signal in the vehicle for indicating that the vehicle's turning angle zero position has been recalibrated. If there is a calibration signal in the vehicle for indicating that the vehicle's turning angle zero position has been recalibrated, it is determined that the vehicle has cleared the steering fault.

[0040] The embodiment of the present invention further discloses an electronic device, comprising a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other via the communication bus;

[0041] The memory is used to store computer programs;

[0042] The processor is used to implement the method described in the embodiment of the present invention when executing the program stored in the memory.

[0043] The embodiment of the present invention further discloses one or more computer-readable media on which instructions are stored. When executed by one or more processors, the processors are enabled to execute the method described in the embodiment of the present invention.

[0044] The embodiments of the present invention include the following advantages:

[0045] In an embodiment of the present invention, by acquiring steering wheel angle deviation information during the vehicle's automatic driving process, and determining whether the vehicle has a steering fault based on the steering wheel angle deviation information; if it is determined that the vehicle has a steering fault, then in response to a power-off operation of the vehicle, the steering fault information is stored; in response to a power-on operation of the vehicle, the automatic driving function of the vehicle is suppressed and an alarm is issued based on the steering fault information, thereby achieving timely response and safety management of the automatic driving vehicle when a steering fault occurs, reducing the risk of the vehicle not being able to be repaired in a timely manner in a faulty state, avoiding driving safety hazards caused by steering faults, improving the overall safety and reliability of the automatic driving system, and improving the vehicle's self-diagnosis and fault management capabilities for lateral deviation faults. BRIEF DESCRIPTION OF THE DRAWINGS

[0046] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0047] Figure 1 is a flowchart of a method for controlling an automatic driving system provided in an embodiment of the present invention;

[0048] Figure 2 is a schematic diagram of a system architecture provided in an embodiment of the present invention;

[0049] Figure 3 is a block diagram of the internal structure of the automatic driving controller provided in an embodiment of the present invention;

[0050] Figure 4It is a schematic diagram of an overall execution flow of the present invention provided in an embodiment of the present invention;

[0051] Figure 5 is another schematic diagram of the overall execution flow of the present invention provided in an embodiment of the present invention;

[0052] Figure 6 is a structural block diagram of an automatic driving control device provided in an embodiment of the present invention;

[0053] Figure 7 is a block diagram of an electronic device provided in an embodiment of the present invention;

[0054] Figure 8 is a schematic diagram of a computer-readable medium provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0055] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0056] With the rapid development and application of autonomous driving technology, autonomous driving functions have become a key component of vehicle intelligence. In an autonomous driving system, the lateral control of the vehicle, that is, how to keep the vehicle in the lane and make precise turns, is a basic requirement to ensure the safety of autonomous driving; and accurate detection and calibration of the steering wheel angle is crucial for the lateral control of the vehicle, because any directional deviation may cause the vehicle to deviate from the expected path, thus affecting driving safety.

[0057] In the related technologies, sensor data collection and self-learning algorithms are usually used to dynamically compensate for steering wheel deviation. For example, in some technical solutions, the vehicle is controlled to collect steering wheel angle data under preset driving conditions, and the reference position of the steering wheel is adjusted accordingly. In other words, these methods mainly focus on how to correct small deviations during driving to increase the adaptability and comfort of the system.

[0058] However, while the relevant technologies can effectively correct steering wheel deviation to some extent, they generally lack the ability to cope with larger deviations or faults. When the steering sensor has a large deviation, or a situation that cannot be solved by self-learning compensation, these solutions often cannot provide timely fault detection and feedback mechanisms, which may cause the vehicle to continue to operate in the state of steering failure and cannot be repaired in time, greatly increasing the risk of accidents.

[0059] In order to solve the above problems, the present invention is based on the core technical concept of timely judging and responding to steering failures of autonomous driving vehicles, and improves the autonomous driving control method in the related art. The present invention will be described in detail below with reference to the accompanying drawings:

[0060] Reference Figure 1 , shows a flowchart of a method for controlling an automatic driving system provided in an embodiment of the present invention, which may specifically include the following steps:

[0061] Step 101, obtaining steering wheel angle deviation information during the automatic driving process of the vehicle, and determining whether the vehicle has a steering fault according to the steering wheel angle deviation information;

[0062] In the embodiment of the present invention, Figure 2 As shown, a system architecture can be constructed to implement the automatic driving control method provided by the present invention. Specifically, the system architecture of the present invention can at least include the following contents: an automatic driving controller, which is mainly used for real-time detection of lateral angle deviation, self-learning compensation of angle deviation, automatic driving lateral control, angle deviation fault diagnosis and self-recovery, etc.; an environmental recognition perception sensor high-definition camera, which is used to perceive and identify information such as vehicles, roads, obstacles, lane lines, etc.; a steering controller serves the lateral motion control of the vehicle; a steering wheel angle sensor, which is used for real-time steering wheel angle detection; instruments and vehicle computers for fault display and function status prompts; a gateway responsible for signal interaction between controllers of each network segment; a fault diagnosis host computer, which is used for fault diagnosis and angle zero position calibration; and a bus architecture that supports communication and fault diagnosis of the above-mentioned controllers.

[0063] Based on the above architecture, in the specific implementation, the target, road, and obstacle information around the vehicle can be detected in real time through the perception sensor to obtain lane line information; at the same time, the steering wheel angle sensor provides real-time steering wheel angle information. The autonomous driving controller can receive the steering wheel angle information and the road environment information detected by the perception sensor, detect and judge the deviation between the actual steering wheel angle and the zero position when the vehicle is driving in a straight line (i.e., the steering wheel angle deviation information). And when a certain deviation is detected, the self-learning compensation deviation can be ensured to ensure the accuracy and stability of the autonomous driving lateral control alignment; when the deviation value is detected to be large and exceeds the self-learning compensation capability, it can be determined that the vehicle has a steering fault, and the steering fault can be recorded.

[0064] In one example, the autonomous driving controller can combine the information obtained by the high-definition camera and the angle sensor to detect the steering wheel angle of the vehicle under different road conditions in real time; for example, according to the lane line and road detection, when the vehicle is driving straight on a long straight road at a high speed, the steering wheel angle should be around 0 degrees. When the steering wheel angle is not detected to be 0 degrees, it can be considered that the angle has deviated.

[0065] Furthermore, when the steering wheel angle zero position deviates and the deviation is less than a certain threshold (such as 10°, which can be set according to system capabilities), the autonomous driving controller can perform zero-position compensation for the steering wheel angle through the lateral control angle compensation self-learning algorithm; no fault will be reported at this time, and the autonomous driving function will not be affected.

[0066] When the steering wheel angle deviation value is detected to exceed a certain threshold (such as 10°, which can be set according to the system capability), it can be considered that the steering sensor is abnormal, or the angle deviation exceeds the maximum deviation value of the vehicle during normal running-in. At this time, the system can set the zero-position deviation state of the angle to "fault", that is, determine that the vehicle has a steering fault, so as to carry out subsequent processing in a timely manner.

[0067] In some embodiments of the present invention, determining whether the vehicle has a steering fault according to the steering wheel angle deviation information includes:

[0068] It is determined whether the steering wheel angle deviation is less than a first preset threshold value; if it is determined that the steering wheel angle deviation is not less than the first preset threshold value, it is determined that the vehicle has the steering fault.

[0069] In specific implementation, the autonomous driving controller can combine the information obtained by the high-definition camera and the angle sensor to perform real-time detection of the steering wheel angle of the vehicle's driving status under different road conditions; for example, according to lane line and road detection, when the vehicle is driving straight on a long straight road at a high speed, the steering wheel angle should be around 0 degrees. When the steering wheel angle is not detected to be 0 degrees, it can be considered that the angle has deviated.

[0070] When the steering wheel angle deviation value is detected to exceed a certain threshold (such as 10°, which can be set according to the system capability), it can be considered that the steering sensor is abnormal, or the angle deviation exceeds the maximum deviation value of the normal vehicle running-in. At this time, the system can set the zero-position deviation state of the angle to "fault", that is, determine that the vehicle has a steering fault, so as to carry out subsequent processing in time.

[0071] In some embodiments of the present invention, it also includes:

[0072] If it is determined that the steering wheel angle deviation is less than the first preset threshold, steering compensation processing is performed on the vehicle according to the steering wheel angle deviation.

[0073] In actual applications, when the steering wheel angle zero position deviates and the deviation is less than a certain threshold (such as 10°, which can be set according to system capabilities), the automatic driving controller can compensate the steering wheel angle for zero position through the lateral control angle compensation self-learning algorithm; no fault will be reported at this time, and the automatic driving function will not be affected.

[0074] Step 102, if it is determined that the vehicle has a steering fault, in response to a power-off operation of the vehicle, storing steering fault information;

[0075] In an embodiment of the present invention, when it is detected that the deviation value is large and exceeds the self-learning compensation capability range (that is, when it is determined that the vehicle has a steering fault), the steering angle deviation fault information can be recorded, and the fault information can be written to the EEPROM when the power is turned off; so as to suppress the activation of the automatic driving function in the subsequent process, and report the corresponding prompt information to remind the driver.

[0076] Specifically, Figure 3 As shown, a lateral control module can be set in the internal application layer of the automatic driving controller for the detection of automatic driving lateral control and corner deviation, and a human-computer interaction module can be set for fault display and function prompts, and an automatic driving state machine can be set for automatic driving function status management; the electrically erasable programmable read-only memory (EEPROM) in the underlying software module can be used to store fault information: the middle layer module is used for communication interaction between the application layer and the bottom layer; after the lateral control module detects the corner deviation fault information, the vehicle corner deviation state can be set to a fault and passed to the middle layer; after receiving the signal of the corner deviation fault, the middle layer can write the fault state information into the EEPROM before the whole vehicle is powered off; and the fault state can be stored after powering off through the EEPROM; so as to suppress the activation of the automatic driving function in the subsequent process, and report the corresponding prompt information to remind the driver.

[0077] Step 103, in response to the power-on operation of the vehicle, the automatic driving function of the vehicle is suppressed and an alarm is issued according to the steering fault information.

[0078] In the specific implementation, after the vehicle is powered on again, the middle layer can automatically read the corner deviation fault status information in the EEPROM, and can pass the status information to the lateral control module. The lateral control module can be set to suppress the lateral control available state before the corner recalibration signal is detected or the zero position detection verification result is not met, so as to limit the vehicle's automatic driving function. At the same time, the corner deviation fault information can be passed to the human-computer interaction module, and the human-computer interaction module can control the prompt alarm information according to the signal status to display it to the human-computer interaction controller to notify the user to handle it in time.

[0079] Further, such as Figure 4As shown, after determining that the vehicle has a corner deviation fault, the driver can go to the after-sales service station for inspection according to the prompts. The technicians at the after-sales service station can use the corresponding after-sales diagnostic instrument to read the fault code and recalibrate the corner zero position according to the maintenance instructions; after the automatic driving controller detects the recalibrated flag, it can clear the steering fault information to restore the vehicle's automatic driving function to normal: Generally speaking, there are many root causes of corner deviation failures. In addition to after-sales recalibration, the fault can also be cleared by replacing the corner sensor, re-aligning the four wheels, adjusting the steering gear connection angle, etc.; in this case, the automatic driving control can continuously detect the corner deviation through the corner deviation detection processing. After the detection conditions are met, it is detected that the deviation has been restored, and the steering deviation fault information can also be cleared to restore the vehicle's automatic driving function to normal.

[0080] In some embodiments of the present invention, the step of suppressing the automatic driving function of the vehicle includes:

[0081] A lateral control function of the vehicle is suppressed.

[0082] In the specific implementation, after the vehicle is powered on again, the middle layer can automatically read the corner deviation fault status information in the EEPROM, and can pass the status information to the lateral control module. The lateral control module can be set to suppress the available state of lateral control before the corner recalibration signal is detected or the zero-position detection verification result is not met, thereby limiting the vehicle's automatic driving function.

[0083] In some embodiments of the present invention, the method further comprises:

[0084] Performing a steering angle deviation detection process on the vehicle to determine whether the vehicle has cleared the steering fault;

[0085] If it is determined that the vehicle has cleared the steering fault, the automatic driving function of the vehicle is restored.

[0086] In actual applications, after determining that the vehicle has a corner deviation fault, the driver can go to the after-sales service station for inspection according to the prompts. The technicians at the after-sales service station can use the corresponding after-sales diagnostic instrument to read the fault code and recalibrate the corner zero position according to the maintenance instructions; after the automatic driving controller detects the recalibrated flag, it can clear the steering fault information and restore the vehicle's automatic driving function to normal: Generally speaking, there are many root causes of corner deviation failures. In addition to after-sales recalibration, the fault can also be cleared by replacing the corner sensor, re-aligning the four wheels, adjusting the steering gear connection angle, etc.; in this case, the automatic driving control can continuously detect the corner deviation through the corner deviation detection processing. After the detection conditions are met, it is detected that the deviation has been restored, and the steering deviation fault information can also be cleared to restore the vehicle's automatic driving function to normal.

[0087] In some embodiments of the present invention, before restoring the automatic driving function of the vehicle, the method further includes:

[0088] The steering fault information stored in the vehicle is cleared.

[0089] In the specific implementation, after determining that the vehicle has a corner deviation fault, the driver can go to the after-sales service station for inspection according to the prompts. The technicians at the after-sales service station can use the corresponding after-sales diagnostic instrument to read the fault code and recalibrate the corner zero position according to the maintenance instructions; after the automatic driving controller detects the recalibrated flag, it can clear the steering fault information to restore the vehicle's automatic driving function to normal: Generally speaking, there are many root causes of corner deviation failures. In addition to after-sales recalibration, the fault can also be cleared by replacing the corner sensor, re-aligning the four wheels, adjusting the steering gear connection angle, etc.; in this case, the automatic driving control can continuously detect the corner deviation through the corner deviation detection processing. After the detection conditions are met, it is detected that the deviation has been restored, and the steering deviation fault information can also be cleared to restore the vehicle's automatic driving function to normal.

[0090] In some embodiments of the present invention, the performing corner deviation detection processing on the vehicle includes:

[0091] Determine whether there is a calibration signal in the vehicle for indicating that the zero position of the vehicle corner has been recalibrated. If there is a calibration signal in the vehicle for indicating that the zero position of the vehicle corner has been recalibrated, it is determined that the vehicle has cleared the steering fault.

[0092] In a specific implementation, after the angle sensor zero position is recalibrated by after-sales service, or the angle sensor is replaced, or the four-wheel alignment is re-adjusted, or the steering mechanical connection angle is adjusted, so that the angle zero position is restored to normal. The automatic driving controller can restore the vehicle automatic driving function through the angle deviation detection process, and the angle deviation detection process can include any of the following methods:

[0093] 1) If the calibration signal for recalibrating the zero position of the steering angle is detected, the fault information is immediately cleared and the automatic driving function is restored;

[0094] 2) Through real-time vehicle corner zero position detection, if the detection conditions are met and there is no deviation in the corner zero position, the fault information is cleared and the automatic driving function is restored;

[0095] While clearing the fault information, the autonomous driving controller can pass the normal state information of the corner deviation to the middle layer through its internal lateral control module, and write it to the EEPROM through the middle layer before the vehicle is powered off, overwriting the previous fault state information. Ensure that the recovered deviation state information can be obtained the next time the vehicle is powered on. When the vehicle is powered on again, if there is no fault in the corner zero position deviation state and no deviation in the corner zero position is detected, the lateral control can be kept available, making the autonomous driving function available.

[0096] The following will be combined Figure 5 The embodiments of the present invention are further described as follows:

[0097] Reference Figure 5 The overall execution process of the automatic driving control method provided by the present invention can be summarized as follows:

[0098] 1. The automatic driving controller combines the information from high-definition cameras and corner sensors to detect the angle of the vehicle's driving state under different road conditions in real time; for example, according to lane line and road detection, when the vehicle is driving straight on a long straight road at a high speed, the steering wheel angle should be around 0 degrees. When the detected steering wheel angle is not 0 degrees, it is considered that the angle has deviated.

[0099] 2. There is a deviation in the zero position of the steering wheel angle. When the deviation is less than a certain threshold (such as 10°, set according to the system capability), the automatic driving control will compensate the angle for zero position through the lateral control angle compensation self-learning algorithm; no fault will be reported at this time, and the automatic driving function will not be affected.

[0100] 3. If the steering wheel angle deviation value is continuously detected and exceeds a certain threshold (such as 10°, set according to system capabilities), it is considered that the steering sensor is abnormal, or the angle deviation exceeds the maximum deviation value that occurs during normal vehicle running-in, and the system should set the angle zero deviation status to "fault".

[0101] 4. A lateral control module can be set in the application layer inside the automatic driving controller for automatic driving lateral control and corner deviation detection, and a human-computer interaction module can be set for fault display and function prompts. An automatic driving state machine can also be set for automatic driving function state management; the electrically erasable programmable read-only memory (EEPROM) in the bottom software module can be used to store fault information: the middle layer module is used for communication interaction between the application layer and the bottom layer;

[0102] 4.1 After the lateral control module detects the corner deviation fault information, it can set the vehicle corner deviation state as a fault and pass it to the middle layer;

[0103] 4.2 After receiving the signal of the corner deviation fault, the middle layer can write the fault status information into the EEPROM before the vehicle is powered off; and the fault status can be stored in the EEPROM after the vehicle is powered off;

[0104] 4.3 After power is turned on again, the middle layer automatically reads the corner deviation fault status of the EEPROM and passes the status to the lateral control module. Before the lateral control module detects the corner recalibration or does not meet the zero position detection verification result, it suppresses the lateral control available state, and the automatic driving function is limited. At the same time, the corner deviation fault is passed to the human-machine interaction module, and the human-machine interaction module controls the prompt alarm information according to the signal status to display it to the human-machine interaction controller.

[0105] 5. After the failure, the after-sales service can be used to recalibrate the zero position of the steering angle sensor, replace the steering angle sensor, re-align the four wheels, or adjust the steering mechanical connection angle to restore the zero position of the steering angle to normal. The automatic driving controller can recover from the failure in any of the following ways:

[0106] 1) If the calibration signal for recalibrating the zero position of the steering angle is detected, the fault is cleared immediately and the automatic driving function is restored;

[0107] 2) Through real-time vehicle corner zero position detection, if the detection conditions are met and there is no deviation in the corner zero position, the fault information is cleared and the automatic driving function is restored;

[0108] 6. While clearing the fault, the automatic driving control transmits the normal state of the corner deviation to the middle layer through its internal lateral control module, and writes it to the EEPROM through the middle layer before the vehicle is powered off, overwriting the previous fault state. Ensure that the deviation state after recovery can be obtained after the next power-on.

[0109] 7. When the vehicle is powered on again, there is no fault in the corner zero deviation state, and no corner zero deviation is detected. The lateral control remains available and the autonomous driving function is available.

[0110] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0111] Reference Figure 6 , shows a structural block diagram of an automatic driving control device provided in an embodiment of the present invention, which may specifically include the following modules:

[0112] A steering fault determination module 601 is used to obtain steering wheel angle deviation information during the automatic driving process of the vehicle, and determine whether the vehicle has a steering fault according to the steering wheel angle deviation information;

[0113] A steering fault information storage module 602, configured to store steering fault information in response to a power-off operation of the vehicle if it is determined that the vehicle has a steering fault;

[0114] The alarm prompt module 603 is used to respond to the power-on operation of the vehicle and, based on the steering fault information, suppress the automatic driving function of the vehicle and issue an alarm prompt.

[0115] In an optional embodiment of the present invention, the device further comprises:

[0116] A turning angle deviation detection module, used for performing turning angle deviation detection processing on the vehicle to determine whether the vehicle has cleared the steering fault;

[0117] The automatic driving function recovery module is used to restore the automatic driving function of the vehicle if it is determined that the vehicle has cleared the steering fault.

[0118] In an optional embodiment of the present invention, the steering fault determination module 601 includes:

[0119] The steering fault determination submodule is used to determine whether the steering wheel angle deviation is less than a first preset threshold value. If it is determined that the steering wheel angle deviation is not less than the first preset threshold value, it is determined that the vehicle has the steering fault.

[0120] In an optional embodiment of the present invention, the steering fault determination module 601 further includes:

[0121] The steering compensation processing submodule is used to perform steering compensation processing on the vehicle according to the steering wheel angle deviation if it is determined that the steering wheel angle deviation is less than the first preset threshold.

[0122] In an optional embodiment of the present invention, the alarm prompt module 603 includes:

[0123] The lateral control function suppression submodule is used to suppress the lateral control function of the vehicle.

[0124] In an optional embodiment of the present invention, the automatic driving function recovery module includes:

[0125] The steering fault information clearing submodule is used to clear the steering fault information stored in the vehicle.

[0126] In an optional embodiment of the present invention, the turning angle deviation detection module includes:

[0127] The steering fault clearing determination submodule is used to determine whether there is a calibration signal in the vehicle for indicating that the vehicle's turning angle zero position has been recalibrated. If there is a calibration signal in the vehicle for indicating that the vehicle's turning angle zero position has been recalibrated, it is determined that the vehicle has cleared the steering fault.

[0128] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0129] In addition, an embodiment of the present invention further provides an electronic device, such as Figure 7 As shown, it includes a processor 701, a communication interface 702, a memory 703 and a communication bus 704, wherein the processor 701, the communication interface 702, and the memory 703 communicate with each other through the communication bus 704.

[0130] Memory 703, used for storing computer programs;

[0131] The processor 701 is used to execute the program stored in the memory 703 to implement the following steps:

[0132] Acquiring steering wheel angle deviation information during the automatic driving of the vehicle, and determining whether the vehicle has a steering fault according to the steering wheel angle deviation information;

[0133] If it is determined that the vehicle has a steering fault, in response to a power-off operation of the vehicle, storing steering fault information;

[0134] In response to the power-on operation of the vehicle, the automatic driving function of the vehicle is suppressed and an alarm is issued according to the steering fault information.

[0135] In an optional embodiment of the present invention, the method further includes:

[0136] Performing a steering angle deviation detection process on the vehicle to determine whether the vehicle has cleared the steering fault;

[0137] If it is determined that the vehicle has cleared the steering fault, the automatic driving function of the vehicle is restored.

[0138] In an optional embodiment of the present invention, determining whether the vehicle has a steering fault according to the steering wheel angle deviation information includes:

[0139] It is determined whether the steering wheel angle deviation is less than a first preset threshold value; if it is determined that the steering wheel angle deviation is not less than the first preset threshold value, it is determined that the vehicle has the steering fault.

[0140] In an optional embodiment of the present invention, it also includes:

[0141] If it is determined that the steering wheel angle deviation is less than the first preset threshold, steering compensation processing is performed on the vehicle according to the steering wheel angle deviation.

[0142] In an optional embodiment of the present invention, the step of suppressing the automatic driving function of the vehicle includes:

[0143] A lateral control function of the vehicle is suppressed.

[0144] In an optional embodiment of the present invention, before restoring the automatic driving function of the vehicle, the method further includes:

[0145] The steering fault information stored in the vehicle is cleared.

[0146] In an optional embodiment of the present invention, the performing corner deviation detection processing on the vehicle includes:

[0147] Determine whether there is a calibration signal in the vehicle for indicating that the zero position of the vehicle corner has been recalibrated. If there is a calibration signal in the vehicle for indicating that the zero position of the vehicle corner has been recalibrated, it is determined that the vehicle has cleared the steering fault.

[0148] The communication bus mentioned in the above terminal can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0149] The communication interface is used for communication between the above terminal and other devices.

[0150] The memory may include a random access memory (RAM) or a non-volatile memory, such as at least one disk memory. Optionally, the memory may also be at least one storage device located away from the aforementioned processor.

[0151] The above-mentioned processor can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0152] like Figure 8 As shown, in another embodiment provided by the present invention, a computer-readable storage medium 801 is also provided, in which instructions are stored. When the computer-readable storage medium is run on a computer, the computer executes an automatic driving control method described in the above embodiment.

[0153] In another embodiment provided by the present invention, a computer program product containing instructions is also provided. When the computer program product is run on a computer, the computer executes an automatic driving control method described in the above embodiment.

[0154] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website site, computer, server or data center to another website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state hard disk Solid State Disk (SSD)), etc.

[0155] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0156] Each embodiment in this specification is described in a related manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0157] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An automatic driving control method, characterized in that: The method comprises: Acquiring steering wheel angle deviation information during the automatic driving of the vehicle, and determining whether the vehicle has a steering fault according to the steering wheel angle deviation information; If it is determined that the vehicle has a steering fault, in response to a power-off operation of the vehicle, storing steering fault information; In response to the power-on operation of the vehicle, the automatic driving function of the vehicle is suppressed and an alarm is issued according to the steering fault information.

2. The method according to claim 1, characterized in that The method further comprises: Performing a steering angle deviation detection process on the vehicle to determine whether the vehicle has cleared the steering fault; If it is determined that the vehicle has cleared the steering fault, the automatic driving function of the vehicle is restored.

3. The method according to claim 1, characterized in that Determining whether the vehicle has a steering fault according to the steering wheel angle deviation information includes: It is determined whether the steering wheel angle deviation is less than a first preset threshold value; if it is determined that the steering wheel angle deviation is not less than the first preset threshold value, it is determined that the vehicle has the steering fault.

4. The method according to claim 3, characterized in that Also includes: If it is determined that the steering wheel angle deviation is less than the first preset threshold, steering compensation processing is performed on the vehicle according to the steering wheel angle deviation.

5. The method according to claim 1, characterized in that The performing of the automatic driving function suppression process on the vehicle includes: A lateral control function of the vehicle is suppressed.

6. The method according to claim 2, characterized in that Before restoring the automatic driving function of the vehicle, the method further includes: The steering fault information stored in the vehicle is cleared.

7. The method according to claim 2, characterized in that The performing corner deviation detection processing on the vehicle includes: Determine whether there is a calibration signal in the vehicle for indicating that the zero position of the vehicle corner has been recalibrated. If there is a calibration signal in the vehicle for indicating that the zero position of the vehicle corner has been recalibrated, it is determined that the vehicle has cleared the steering fault.

8. An automatic driving control device, characterized in that: The device comprises: A steering fault determination module, used to obtain steering wheel angle deviation information during the automatic driving of the vehicle, and determine whether the vehicle has a steering fault according to the steering wheel angle deviation information; a steering fault information storage module, configured to store steering fault information in response to a power-off operation of the vehicle if it is determined that the vehicle has a steering fault; An alarm prompt module is used to respond to the power-on operation of the vehicle and, based on the steering fault information, suppress the automatic driving function of the vehicle and issue an alarm prompt.

9. An electronic device, characterized in that: It includes a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; The memory is used to store computer programs; The processor is used to implement the method according to any one of claims 1 to 7 when executing the program stored in the memory.

10. One or more computer-readable media having instructions stored thereon, which when executed by one or more processors cause the processors to perform the method according to any one of claims 1 to 7.

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