Rescue method and system based on automatic driving active safety and ECALL

Abstract

The invention relates to the technical field of automatic driving, and provides a rescue method and system based on automatic driving active safety and ECALL. The method comprises the steps that the acceleration change, collected by an acceleration sensor, of a vehicle, the deceleration or inertia force, collected by a collision sensor, of the vehicle during collision, the inclination angle and speed change, collected by a rollover sensor, of the vehicle and vehicle airbag information are received; whether the acceleration change of the vehicle exceeds a first set threshold value or not is judged, and if yes, an ECALL system is triggered; judging whether the deceleration or inertia force of the vehicle during collision exceeds a second set threshold value or not, and if yes, triggering an ECALL system; whether the inclination angle and the speed change of the vehicle exceed a third set threshold value or not is judged, and if yes, an ECALL system is triggered; according to the vehicle air bag information, whether the vehicle air bag is unfolded or not is judged, if yes, an ECALL system is triggered, and if not, the ECALL system is not triggered.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and in particular to a rescue method and system based on autonomous driving active safety and ECALL. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] The Chinese patent with application number "CN2019110541726" discloses an ECALL implementation method, device and storage medium based on a vehicle-mounted T-BOX. The patent triggers ECALL by the user operating a second button module. However, after a vehicle accident, the user may not be able to operate the button or it may be inconvenient to trigger the button, and the rescue opportunity may be lost.

[0004] In addition, the prior art uses a method in which the ECALL is triggered only when the airbag pops up, but in some accidents, the airbag will not be triggered. In addition, in this case, if the user may not be able to operate the button or it is inconvenient to trigger the button, the rescue opportunity may be lost. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a rescue method and system based on active safety of automatic driving and ECALL. The present invention combines automatic driving with ECALL, does not require manual button pressing, and after the set conditions are met, the automatic driving domain controller sends a signal to trigger ECALL, so as to promptly discover the accident vehicle and carry out rescue as soon as possible, thereby maximizing the safety of the owner's life.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a rescue method based on active safety of autonomous driving and ECALL.

[0008] A rescue method based on active safety of autonomous driving and ECALL, comprising:

[0009] Receive the acceleration change of the vehicle collected by the acceleration sensor, the deceleration or inertia force of the vehicle when a collision occurs collected by the collision sensor, the tilt angle and speed change of the vehicle collected by the rollover sensor, and the vehicle airbag information;

[0010] Determine whether the acceleration change of the vehicle exceeds the first set threshold value, if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds the second set threshold value, if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed the third set threshold value, if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, if so, trigger the ECALL system, otherwise, do not trigger.

[0011] Furthermore, triggering the ECALL system includes sending a trigger signal to the ECALL system so that the ECALL system automatically dials an emergency service number.

[0012] Furthermore, triggering the ECALL system also includes sending a trigger signal to the ECALL system so that the ECALL system sends the location of the vehicle and the accident information to an emergency service center.

[0013] Furthermore, triggering the ECALL system also includes sending a trigger signal to the ECALL system, so that the ECALL system sends a notification to the mobile terminal of the vehicle owner or the mobile terminal of a preset contact person through the vehicle communication network.

[0014] Furthermore, the vehicle's acceleration change, the vehicle's deceleration or inertia force when a collision occurs, the vehicle's tilt angle and speed change, and the vehicle's airbag information are backed up.

[0015] A second aspect of the present invention provides a rescue system based on autonomous driving active safety and ECALL.

[0016] A rescue system based on active safety of autonomous driving and ECALL, comprising:

[0017] A receiving module, which is configured to: receive the acceleration change of the vehicle collected by the acceleration sensor, the deceleration or inertia force of the vehicle when a collision occurs collected by the collision sensor, the tilt angle and speed change of the vehicle collected by the rollover sensor, and the vehicle airbag information;

[0018] The trigger module is configured to: determine whether the acceleration change of the vehicle exceeds a first set threshold, and if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds a second set threshold, and if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed a third set threshold, and if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, and if so, trigger the ECALL system, otherwise, do not trigger.

[0019] A third aspect of the present invention provides a rescue system based on autonomous driving active safety and ECALL.

[0020] A rescue system based on active safety of autonomous driving and ECALL, comprising: an autonomous driving domain controller, and an acceleration sensor, a collision sensor, a rollover sensor, an OBD interface and an ECALL system all connected thereto,

[0021] The acceleration sensor is used to collect the acceleration change of the vehicle, the collision sensor is used to collect the deceleration or inertia force of the vehicle when a collision occurs, the rollover sensor is used to collect the tilt angle and speed change of the vehicle, and the OBD interface is used to collect vehicle airbag information;

[0022] The autonomous driving domain controller is used to determine whether the acceleration change of the vehicle exceeds a first set threshold value, and if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds a second set threshold value, and if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed a third set threshold value, and if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, and if so, trigger the ECALL system, otherwise, do not trigger.

[0023] A fourth aspect of the present invention provides a computer-readable storage medium.

[0024] A computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the rescue method based on active safety of autonomous driving and ECALL as described in the first aspect above.

[0025] A fifth aspect of the present invention provides a computer device.

[0026] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein when the processor executes the program, the steps in the rescue method based on active safety of autonomous driving and ECALL as described in the first aspect above are implemented.

[0027] A sixth aspect of the present invention provides a computer program product or a computer program.

[0028] The present invention provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps in the rescue method based on active safety of autonomous driving and ECALL as described in the first aspect above.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention ensures that the autonomous driving vehicle can quickly and effectively trigger an emergency call when an emergency occurs, thereby improving the efficiency and safety of accident handling. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0032] Figure 1 is a flowchart of a rescue method based on active safety of autonomous driving and ECALL shown in Embodiment 1 of the present invention;

[0033] Figure 2 is a structural diagram of a rescue system based on active safety of autonomous driving and ECALL shown in the second embodiment of the present invention;

[0034] Figure 3 It is a structural diagram of a rescue system based on active safety of autonomous driving and ECALL shown in the third embodiment of the present invention. DETAILED DESCRIPTION

[0035] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0036] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0037] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0038] It should be noted that the flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the methods and systems according to various embodiments of the present disclosure. It should be noted that each box in the flowchart or block diagram can represent a module, a program segment, or a part of a code, and the module, program segment, or a part of a code may include one or more executable instructions for implementing the logical functions specified in each embodiment. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, or they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the flowchart and / or block diagram, and the combination of boxes in the flowchart and / or block diagram can be implemented using a dedicated hardware-based system that performs a specified function or operation, or can be implemented using a combination of dedicated hardware and computer instructions.

[0039] Embodiment 1

[0040] like Figure 1 As shown, this embodiment provides a rescue method based on active safety of autonomous driving and ECALL, comprising the following steps:

[0041] Receive the acceleration change of the vehicle collected by the acceleration sensor, the deceleration or inertia force of the vehicle when a collision occurs collected by the collision sensor, the tilt angle and speed change of the vehicle collected by the rollover sensor, and the vehicle airbag information;

[0042] Determine whether the acceleration change of the vehicle exceeds the first set threshold value, if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds the second set threshold value, if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed the third set threshold value, if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, if so, trigger the ECALL system, otherwise, do not trigger.

[0043] The autonomous driving domain controller monitors the vehicle's environment and status in real time through various sensors such as cameras, radars, lidars, accelerometers, gyroscopes, etc. The data collected by these sensors is processed to identify potential accident risks.

[0044] The controller fuses data from different sensors together and uses algorithms to analyze whether an accident has occurred. For example, an accelerometer detects sudden acceleration or deceleration, and an airbag sensor detects airbag deployment, which may be signs of a collision.

[0045] Trigger condition judgment, including:

[0046] (1) Accident severity assessment: The autonomous driving domain controller assesses the severity of the accident based on sensor data. If a collision is detected and the collision intensity exceeds a preset threshold, the controller considers it an emergency that needs to be reported immediately.

[0047] (2) Preset trigger conditions: The controller usually sets a set of trigger conditions, such as acceleration threshold, airbag deployment detection, vehicle rollover detection, etc. If these conditions are met, the controller will decide to trigger the ECALL system.

[0048] (3) Sending a trigger signal: Once it is determined that an ECALL needs to be triggered, the autonomous driving domain controller generates a trigger signal. This is an electronic signal that may include information such as the time, location, and vehicle status of the accident.

[0049] The trigger signal is sent to the ECALL module via the vehicle's internal communication network.

[0050] (4) ECALL system response: After the ECALL module receives the trigger signal, it will automatically dial the emergency service number (such as 112 in Europe). This is usually done through the vehicle's embedded communication module (such as a GSM / 3G / 4G / 5G modem).

[0051] The ECALL system will send relevant information about the accident (such as the location of the vehicle, vehicle identification number, severity of the accident, etc.) to the emergency service center through the network. This information may include GPS positioning data and vehicle diagnostic data so that emergency personnel can accurately locate and understand the accident.

[0052] In addition to sending information to emergency services, the ECALL system may also send accident notifications to the owner's mobile phone or other pre-set contacts via the vehicle's in-vehicle communication network.

[0053] The entire link needs to respond quickly to ensure that the ECALL system can be triggered quickly after an accident occurs. Real-time processing of sensor data and timeliness of signal transmission are key to ensuring the effectiveness of the system.

[0054] Integration between autonomous driving domain controllers and ECALL systems requires ensuring communication and coordination between different systems. Typically, this involves the design of system interfaces and the compatibility of communication protocols.

[0055] To ensure the reliability of the system in the event of an accident, redundancy mechanisms are usually designed in. For example, important sensor data may be backed up in case the primary sensor fails.

[0056] The design and implementation of this link ensures that autonomous vehicles can quickly and effectively trigger emergency calls when an emergency occurs, improving the efficiency and safety of accident handling.

[0057] Embodiment 2

[0058] This embodiment provides a rescue system based on active safety of autonomous driving and ECALL.

[0059] like Figure 2 As shown, a rescue system based on active safety of autonomous driving and ECALL includes:

[0060] A receiving module, which is configured to: receive the acceleration change of the vehicle collected by the acceleration sensor, the deceleration or inertia force of the vehicle when a collision occurs collected by the collision sensor, the tilt angle and speed change of the vehicle collected by the rollover sensor, and the vehicle airbag information;

[0061] The trigger module is configured to: determine whether the acceleration change of the vehicle exceeds a first set threshold, and if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds a second set threshold, and if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed a third set threshold, and if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, and if so, trigger the ECALL system, otherwise, do not trigger.

[0062] In some embodiments, triggering the ECALL system includes sending a trigger signal to the ECALL system so that the ECALL system automatically dials an emergency service number.

[0063] In some embodiments, triggering the ECALL system further comprises sending a trigger signal to the ECALL system so that the ECALL system sends the location of the vehicle and the accident information to an emergency service center.

[0064] In some embodiments, triggering the ECALL system further includes sending a trigger signal to the ECALL system so that the ECALL system sends a notification to the vehicle owner's mobile terminal or a preset contact's mobile terminal via the vehicle communication network.

[0065] In some embodiments, the vehicle's acceleration changes, the vehicle's deceleration or inertial force when a collision occurs, the vehicle's tilt angle and speed changes, and the vehicle's airbag information are backed up.

[0066] Embodiment 3

[0067] like Figure 3 As shown, this embodiment provides a rescue system based on autonomous driving active safety and ECALL, including: an autonomous driving domain controller, and an acceleration sensor, a collision sensor, a rollover sensor, an OBD interface and an ECALL system all connected thereto,

[0068] The acceleration sensor is used to collect the acceleration change of the vehicle, the collision sensor is used to collect the deceleration or inertia force of the vehicle when a collision occurs, the rollover sensor is used to collect the tilt angle and speed change of the vehicle, and the OBD interface is used to collect vehicle airbag information;

[0069] The autonomous driving domain controller is used to determine whether the acceleration change of the vehicle exceeds a first set threshold value, and if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds a second set threshold value, and if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed a third set threshold value, and if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, and if so, trigger the ECALL system, otherwise, do not trigger.

[0070] The autonomous driving domain controller (AD domain controller) is a core component in the vehicle system, responsible for processing data from various sensors (such as radar, camera, lidar, etc.) and performing complex calculations and decisions to achieve autonomous driving functions. It also needs to monitor the vehicle's status and environment to ensure safe driving.

[0071] The ECALL system is a mandatory safety technology in Europe. When a vehicle is involved in a serious accident, the system can automatically send an emergency call to the emergency service center and provide the vehicle's location and accident information. This is to provide rapid rescue services when an accident occurs and reduce the processing time after the accident.

[0072] In an autonomous vehicle, the autonomous driving domain controller can trigger the ECALL system by following the steps below:

[0073] (1) Accident Detection: The autonomous driving domain controller continuously monitors the vehicle’s status and surrounding environment. Once an accident or potential serious safety issue, such as a collision or rollover, is detected, the controller will assess the severity of the accident.

[0074] (2) Determine the triggering conditions: Based on the severity of the accident, the autonomous driving domain controller will determine whether the ECALL system needs to be triggered. This usually includes detecting that the vehicle's acceleration exceeds the threshold, airbag deployment, collision detected by sensors, etc.

[0075] (3) Sending a trigger signal: If the autonomous driving domain controller determines that the ECALL system needs to be triggered, it sends a trigger signal to the ECALL module. This is an electronic signal, usually transmitted through the vehicle communication network.

[0076] (4) ECALL system response: After receiving the trigger signal, the ECALL module will automatically dial the emergency service number and send the vehicle's location, accident information and other data to the emergency service center. At the same time, the system may also send a notification to the owner or other preset contacts through the vehicle communication network.

[0077] The autonomous driving domain controller fuses data from different sensors to accurately detect when an accident occurs.

[0078] Real-time processing: Accident detection and signal triggering need to be processed in real time to ensure that emergency calls can be issued in a timely manner.

[0079] ECALL systems are often integrated with other control modules in the vehicle to ensure a quick response in emergency situations.

[0080] In this way, the autonomous driving domain controller can automatically trigger the ECALL system in the event of an incident, helping to improve safety and response speed.

[0081] Embodiment 4

[0082] This embodiment provides a computer-readable storage medium on which a computer program is stored. When the program is executed by a processor, the steps of the rescue method based on active safety of autonomous driving and ECALL as described in the above-mentioned embodiment 1 are implemented.

[0083] Embodiment 5

[0084] This embodiment provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the rescue method based on active safety of autonomous driving and ECALL as described in the first embodiment above are implemented.

[0085] Embodiment 6

[0086] This embodiment provides a computer program product or a computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the steps of the rescue method based on active safety of autonomous driving and ECALL described in the first embodiment.

[0087] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0088] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0089] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0090] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0091] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0092] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A rescue method based on active safety of autonomous driving and ECALL, characterized in that: include: Receive the acceleration change of the vehicle collected by the acceleration sensor, the deceleration or inertia force of the vehicle when a collision occurs collected by the collision sensor, the tilt angle and speed change of the vehicle collected by the rollover sensor, and the vehicle airbag information; Determine whether the acceleration change of the vehicle exceeds the first set threshold value, if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds the second set threshold value, if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed the third set threshold value, if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, if so, trigger the ECALL system, otherwise, do not trigger.

2. The rescue method based on active safety of autonomous driving and ECALL according to claim 1, characterized in that: The triggering of the ECALL system includes sending a trigger signal to the ECALL system so that the ECALL system automatically dials an emergency service number.

3. The rescue method based on active safety of autonomous driving and ECALL according to claim 2, characterized in that: The triggering of the ECALL system further comprises sending a trigger signal to the ECALL system so that the ECALL system sends the location of the vehicle and the accident information to an emergency service center.

4. The rescue method based on active safety of autonomous driving and ECALL according to claim 2, characterized in that: The triggering of the ECALL system also includes sending a trigger signal to the ECALL system, so that the ECALL system sends a notification to the mobile terminal of the vehicle owner or the mobile terminal of a preset contact person through the vehicle communication network.

5. The rescue method based on active safety of autonomous driving and ECALL according to claim 1, characterized in that: The vehicle's acceleration changes, the vehicle's deceleration or inertia force when a collision occurs, the vehicle's tilt angle and speed changes, and the vehicle's airbag information are backed up.

6. A rescue system based on active safety of autonomous driving and ECALL, characterized in that: include: A receiving module, which is configured to: receive the acceleration change of the vehicle collected by the acceleration sensor, the deceleration or inertia force of the vehicle when a collision occurs collected by the collision sensor, the tilt angle and speed change of the vehicle collected by the rollover sensor, and the vehicle airbag information; The trigger module is configured to: determine whether the acceleration change of the vehicle exceeds a first set threshold, and if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds a second set threshold, and if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed a third set threshold, and if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, and if so, trigger the ECALL system, otherwise, do not trigger.

7. A rescue system based on active safety of autonomous driving and ECALL, characterized in that: include: The autonomous driving domain controller, as well as the acceleration sensors, collision sensors, rollover sensors, OBD interfaces and ECALL systems connected to it, The acceleration sensor is used to collect the acceleration change of the vehicle, the collision sensor is used to collect the deceleration or inertia force of the vehicle when a collision occurs, the rollover sensor is used to collect the tilt angle and speed change of the vehicle, and the OBD interface is used to collect vehicle airbag information; The autonomous driving domain controller is used to determine whether the acceleration change of the vehicle exceeds a first set threshold value, and if so, trigger the ECALL system; determine whether the deceleration or inertia force of the vehicle when a collision occurs exceeds a second set threshold value, and if so, trigger the ECALL system; determine whether the tilt angle and speed change of the vehicle exceed a third set threshold value, and if so, trigger the ECALL system; determine whether the vehicle airbag is deployed based on the vehicle airbag information, and if so, trigger the ECALL system, otherwise, do not trigger.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps in the rescue method based on active safety of autonomous driving and ECALL as described in any one of claims 1-5 are implemented.

9. A computer device comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps in the rescue method based on active safety of autonomous driving and ECALL as described in any one of claims 1-5 are implemented.

10. A computer program product, characterized in that The computer program product includes a computer program, and when the computer program is executed by a processor, the steps in the rescue method based on active safety of autonomous driving and ECALL are implemented as described in any one of claims 1 to 5.

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