Safety control method and device applied to driving assistance system, equipment and medium

Abstract

The invention provides a safety control method and device applied to a driving assistance system, equipment and a medium, and the method comprises the steps that under the condition that any auxiliary driving function of a vehicle is activated, a first auxiliary driving mode corresponding to the any auxiliary driving function is determined; acquiring driving environment data of the current driving environment of the vehicle, and determining a second auxiliary driving mode matched with the driving environment according to the driving environment data; wherein any one of the first auxiliary driving mode and the second auxiliary driving mode is a driving mode or a parking mode. And under the condition that the first auxiliary driving mode and the second auxiliary driving mode belong to the same auxiliary driving mode, vehicle driving control is carried out according to an auxiliary driving task output by a driving decision-making layer.

Description

Technical Field

[0001] This specification relates to the field of intelligent driving technology, and in particular to safety control methods, devices, equipment and media applied to driving assistance systems. Background Art

[0002] Advanced Driver Assistance Systems (ADAS) is a system that combines multiple sensor technologies, intelligent algorithms and in-vehicle computing platforms to improve the driver's driving safety, convenience and comfort. ADAS helps drivers avoid potential traffic accidents or driving errors by monitoring the vehicle's surroundings in real time and interacting with the driver, while reducing the driver's burden and enhancing the driving experience.

[0003] The driving assistance system can provide the driver with driving and parking functions. The driver activates the driving function or the parking function to allow the driving assistance system to control the vehicle accordingly according to the activated function. However, there are huge differences in the applicable driving scenarios and control logic of these two functions. If the control logic of the driving assistance system to control the vehicle is not suitable for the current driving scenario when the driver is using the assisted driving function (driving function or parking function), it is easy to cause a traffic accident. For example, the parking control logic usually includes low-speed movement and precise parking operations, while the vehicle needs to maintain a certain speed and smooth driving in the driving scenario. If the driving assistance system mistakenly executes the parking control logic in the driving scenario, the vehicle may suddenly slow down or stop, causing the risk of rear-end collision with the following vehicle. For another example, in the parking scenario, the vehicle speed requirement is low. If the driving assistance system mistakenly applies the driving control logic to the parking scenario, the vehicle may suddenly accelerate or move forward, causing the vehicle to collide with surrounding obstacles or pedestrians. Summary of the invention

[0004] In order to overcome the problems existing in the related art, this specification provides a safety control method, device, equipment and medium applied to a driving assistance system.

[0005] According to a first aspect of an embodiment of this specification, there is provided a safety control method for a driving assistance system, the method comprising: When any assisted driving function of the vehicle is activated, determining a first assisted driving mode corresponding to the any assisted driving function; Acquiring driving environment data of the current driving environment of the vehicle, and determining a second assisted driving mode matching the driving environment according to the driving environment data; wherein any one of the first assisted driving mode and the second assisted driving mode is a driving mode or a parking mode; When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

[0006] According to a second aspect of an embodiment of this specification, there is provided a safety control device for a driving assistance system, the device comprising: a first assisted driving mode determination module, configured to determine a first assisted driving mode corresponding to any assisted driving function of the vehicle when the assisted driving function is activated; wherein the assisted driving function includes a driving function and a parking function; a second assisted driving mode determination module, configured to obtain driving environment data of a current driving environment of the vehicle, and determine a second assisted driving mode matching the driving environment according to the driving environment data; A driving control module is used to control the vehicle's driving according to the assisted driving task output by the driving decision layer when the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode; wherein the assisted driving mode includes a driving mode and a parking mode.

[0007] According to a third aspect of the embodiments of this specification, an electronic device is provided, comprising 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 of the method described in the first aspect are implemented.

[0008] According to a fourth aspect of the embodiments of this specification, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the program, when executed by a processor, implements the steps of the method described in the first aspect.

[0009] The technical solutions provided by the embodiments of this specification may have the following beneficial effects: In the embodiment of the present specification, when any auxiliary driving function of the vehicle is activated, a first auxiliary driving mode corresponding to the auxiliary driving function is determined, and driving environment data of the current driving environment of the vehicle is obtained, and a second auxiliary driving mode matching the driving environment is determined according to the driving environment data. By verifying whether the first auxiliary driving mode and the second auxiliary driving mode belong to the same auxiliary driving mode, it can be determined whether the currently activated auxiliary driving function is adapted to the current driving environment of the vehicle, and when the currently activated auxiliary driving function is adapted to the current driving environment of the vehicle, the driving control of the vehicle is performed according to the auxiliary driving task output by the driving decision layer, thereby avoiding the execution of inappropriate driving control logic in the current driving scene, and improving the operational safety of the driving assistance system.

[0010] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present specification. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the specification and, together with the description, serve to explain the principles of the specification.

[0012] Figure 1 It is a working framework diagram of a driving assistance system shown in this specification according to an exemplary embodiment.

[0013] Figure 2 This is a flow chart of a safety control method applied to a driving assistance system according to an exemplary embodiment of the present specification.

[0014] Figure 3 It is a working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment.

[0015] Figure 4 This is another working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment.

[0016] Figure 5 This is another working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment.

[0017] Figure 6 This is another working framework diagram for verifying the link safety of a driving assistance system shown in this specification according to an exemplary embodiment.

[0018] Figure 7 It is a structural schematic diagram of an electronic device according to an exemplary embodiment of the present specification.

[0019] Figure 8 Detailed description of the invention is a block diagram of a safety control device applied to a driving assistance system according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0020] Advanced Driver Assistance Systems (ADAS) is a system that combines multiple sensor technologies, intelligent algorithms and in-vehicle computing platforms to improve the driver's driving safety, convenience and comfort. ADAS helps drivers avoid potential traffic accidents or driving errors by monitoring the vehicle's surroundings in real time and interacting with the driver, while reducing the driver's burden and enhancing the driving experience.

[0021] The driving assistance system can provide the driver with driving and parking functions. The driver activates the driving function or the parking function to allow the driving assistance system to control the vehicle accordingly according to the activated function. However, there are huge differences in the applicable driving scenarios and control logic of these two functions. If the control logic of the driving assistance system for controlling the vehicle is not suitable for the current driving scenario when the driver is using the assisted driving function (driving function or parking function), it is easy to cause a traffic accident. For example, the parking control logic usually includes low-speed movement and precise parking operations, while the vehicle needs to maintain a certain speed and smooth driving in the driving scenario. If the driving assistance system mistakenly executes the parking logic in the driving scenario, the vehicle may suddenly slow down or stop, causing the risk of rear-end collision with the following vehicle. For another example, in the parking scenario, the vehicle speed requirement is low. If the driving assistance system mistakenly applies the driving control logic to the parking scenario, the vehicle may suddenly accelerate or move forward, causing the vehicle to collide with surrounding obstacles or pedestrians.

[0022] Figure 1 This is a working framework diagram of a driving assistance system according to an exemplary embodiment of this specification. Figure 1 As shown, when the driver activates the vehicle's driving function 10A or parking function 10B, the driving decision layer 11 makes a vehicle control decision based on the driving mode request or the parking mode request according to information such as the current traffic environment, road conditions or driving goals, and outputs the driving task or the parking task to the vehicle control system 12, so that the vehicle control system 12 can control the vehicle's operating state according to the instructions of the driving task or the parking task. For example, the vehicle control system 12 can control the motor, braking system, steering system, etc. to ensure that the vehicle performs corresponding operations according to the control instructions output by the driving decision layer 11.

[0023] However, in real driving scenarios, the driver may accidentally activate a driving assistance function that is not suitable for the current driving scenario, causing the control logic of the driving assistance system to be inappropriate for the current driving scenario. For example, the driver mistakenly activates the driving function 10A in the parking lot, and the driving decision layer 11 generates a driving control instruction in response to the driving function 10A and outputs it to the vehicle control system 12, so that the vehicle control system 12 controls the vehicle according to the driving task. Of course, even if the driver operates in accordance with the specifications, the hardware problems of the vehicle itself may also lead to driving decision errors. For example, after the user presses the driving function button, a parking mode request is generated.

[0024] In view of the above technical problems, this specification provides a safety control method applied to a driving assistance system to improve the operational safety of the driving assistance system.

[0025] Next, the embodiments of this specification are described in detail.

[0026] Figure 2 This is a flowchart of a safety control method applied to a driving assistance system according to an exemplary embodiment of this specification. Figure 2 As shown, steps 201-203 are included: Step 201: When any assisted driving function of a vehicle is activated, determine a first assisted driving mode corresponding to the any assisted driving function.

[0027] Step 202: Acquire driving environment data of the current driving environment of the vehicle, and determine a second assisted driving mode matching the driving environment based on the driving environment data; wherein any one of the first assisted driving mode and the second assisted driving mode is a driving mode or a parking mode.

[0028] Step 203: When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

[0029] The vehicle's assisted driving functions may include parking functions and driving functions. The driving function can help the driver perform various driving operations in driving scenarios such as highways and urban roads without human intervention. For example, on urban roads, the driving function can realize path planning based on real-time traffic data and select the optimal route to avoid congested or traffic accident areas. The parking function can help the driver automatically identify parking spaces and control the vehicle to enter the parking space safely and accurately without human intervention. For example, in residential areas or private garages, the parking space is small and it may take multiple adjustments to the direction to park in the parking space. The vehicle can be parked in the garage through automatic parking or remote parking.

[0030] There may be multiple ways to activate any of the auxiliary driving functions of the vehicle. In one embodiment, a parking function switch and a driving function switch may be configured on the vehicle and / or the remote control device, respectively. The parking function switch or the driving function switch may be a physical switch or a virtual switch. The driver may turn on the driving function switch and the parking function switch in multiple ways such as contact and voice commands. Specifically, the remote control device may be an electronic device such as a mobile phone, glasses, a watch, a notebook, etc. The physical switch may be a physical button for starting the driving function and a physical button for starting the parking function set on a position such as the steering wheel or the center console of the vehicle. The virtual switch may be a driving function icon or a parking function icon displayed on the vehicle screen and / or the remote control device. The driver may choose to turn on the driving function switch or the parking function switch according to actual driving needs. For example, the driver may choose to turn on the driving function switch when there is a driving need; the driver may choose to turn on the parking function switch when there is a parking need. After the driver turns on the driving function switch, the activated auxiliary driving function is the driving function; after the driver turns on the parking function switch, the activated auxiliary driving function is the parking function.

[0031] In another embodiment, in a real-world usage scenario, the driver may accidentally touch the parking function switch while driving, or intend to turn on the parking function in a parking scenario, but mistakenly enable the driving function switch. The driving assistance system is likely to make a driving decision in response to an erroneous parking request or driving request. In order to prevent the driver from accidentally touching or mistakenly enabling the assisted driving function, a driving and parking integrated switch can be provided to the driver, that is, the driving function and the parking function are integrated into the driving and parking integrated switch. Whether the driver has a driving demand or a parking demand, the driving and parking integrated switch is turned on, and the vehicle can intelligently sense the driving scenario in which the vehicle is located and intelligently turn on the driving function and the parking function.

[0032] When the assisted driving function is activated, it is determined whether the activated assisted driving function is a driving function or a parking function. If the driving function is activated, the first assisted driving mode corresponding to the driving function is determined to be the driving mode; if the parking function is activated, the first assisted driving mode corresponding to the parking function is determined to be the parking mode.

[0033] Acquire driving environment data of the driving environment in which the vehicle is currently located, and determine a second assisted driving mode that matches the driving environment based on the driving environment data. Exemplarily, the driving environment can be classified into a driving environment and a parking environment, and based on the driving environment data, it can be determined whether the driving environment in which the vehicle is currently located is a driving environment or a parking environment. If it is determined that the driving environment in which the vehicle is currently located is a driving environment, then the second assisted driving mode that matches the driving environment is determined to be a driving mode; if it is determined that the driving environment in which the vehicle is currently located is a parking environment, then the second assisted driving mode that matches the driving environment is determined to be a parking mode.

[0034] In the case where the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. For example, the first assisted driving mode is the driving mode, and the second assisted driving mode is the driving mode, then the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode. For another example, the first assisted driving mode is the driving mode, and the second assisted driving mode is the parking mode, then the first assisted driving mode and the second assisted driving mode belong to different assisted driving modes. In the case where the first assisted driving mode and the second assisted driving mode belong to different assisted driving modes, an alarm prompt is output and / or the driving control of the vehicle according to the assisted driving task output by the driving decision layer is prohibited, and the alarm prompt is used to remind the driver to take over the vehicle.

[0035] Figure 3 This is a working framework diagram of verifying the link safety of a driving assistance system according to an exemplary embodiment of this specification. Figure 3 As shown, when the driving function 10A of the vehicle is activated, the vehicle sends a driving mode request to the driving decision layer 11, and the first auxiliary driving mode can be judged to be the driving mode according to the driving mode request; when the parking function 10B of the vehicle is activated, the vehicle sends a parking mode request to the driving decision layer 11, and the first auxiliary driving mode can be judged to be the parking mode according to the parking mode request. The driving decision layer 11 can be provided with a scene adaptation module 111, and the scene adaptation module 111 can be used to obtain the driving environment data of the current driving environment of the vehicle, and determine the second auxiliary driving mode matching the driving environment according to the driving environment data. In the case where the first auxiliary mode and the second auxiliary mode belong to the same auxiliary driving mode, it means that the currently activated auxiliary driving function is adapted to the current driving environment of the vehicle, and the driving control of the vehicle can be performed according to the auxiliary driving task output by the driving decision layer. When the first assistance mode and the second assistance mode belong to different assisted driving modes, it means that the currently activated assisted driving function is not suitable for the current driving environment of the vehicle, and the assisted driving task output by the driving decision layer may be wrong. The vehicle driving control according to the assisted driving task output by the driving decision layer may be prohibited.

[0036] By verifying whether the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, it is possible to determine whether the currently activated assisted driving function is suitable for the vehicle's current driving environment. When the currently activated assisted driving function is suitable for the vehicle's current driving environment, the vehicle's driving control is performed according to the assisted driving tasks output by the driving decision layer, thereby solving the problem of the driving assistance system making incorrect vehicle control decisions when the driver or the driving assistance system activates an assisted driving function that is not suitable for the vehicle's scenario.

[0037] In one embodiment, the driving decision layer may include a driving state machine. When any assisted driving function of the vehicle is activated, a first assisted driving mode corresponding to any assisted driving function is determined. The functional state output by the driving state machine for the activated assisted driving function is obtained, and a third assisted driving mode corresponding to the functional state is determined. Driving environment data of the driving environment in which the vehicle is currently located is obtained, and a second assisted driving mode matching the driving environment is determined based on the driving environment data. When the first assisted driving mode, the second assisted driving mode, and the third assisted driving mode all belong to the same assisted driving mode, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. When the first assisted driving mode, the second assisted driving mode, and the third assisted driving mode belong to different assisted driving modes, an alarm prompt is output and / or the driving control of the vehicle is prohibited according to the assisted driving task output by the driving decision layer, and the alarm prompt is used to remind the driver to take over the vehicle.

[0038] Figure 4 This is another working framework diagram for verifying the link safety of a driving assistance system according to an exemplary embodiment of this specification. Figure 4 As shown, after the driving function 10A is activated, a driving mode request is sent to the parking state machine 112, or after the parking function 10B is activated, a parking mode request is sent to the parking state machine 112. The first auxiliary driving mode can be determined by reading the driving mode request or the parking mode request. The parking state machine 112 can switch the functional state to the corresponding driving function state or parking function state in response to the driving function or the parking function being activated, and the third auxiliary driving mode corresponding to the functional state can be determined by reading the functional state switched by the parking state machine. For example, the parking state machine can switch the functional state to the driving function state in response to the driving function being activated, read the driving function state and determine that the third auxiliary driving mode corresponding to the driving function state is the driving mode. For another example, the parking state machine can switch the functional state to the parking function state in response to the parking function being activated, and determine that the third auxiliary driving mode corresponding to the parking function state is the parking function. The scene adaptation module 111 can obtain the driving environment data of the driving environment in which the vehicle is currently located, and determine the second assisted driving mode matching the driving environment according to the driving environment data. The driving decision layer 11 can generate a driving task or a parking task, and send the driving task or the parking task to the vehicle control system 12.

[0039] Due to the limitation of the algorithm, the functional state of the parking state machine may not accurately correspond to the activated auxiliary driving function. For example, the parking state machine may switch to a parking function state in response to the activation of the driving function. If the parking state machine switches to an incorrect functional state, it will affect the driving decision result of the driving decision layer. For example, in an application framework of a driving decision layer, the driving decision layer may also include a control large model, which is used to respond to the functional state output by the parking state machine, call the driving control logic corresponding to the functional state to generate an auxiliary driving task, and output the auxiliary driving task to control the driving of the vehicle. For example, the auxiliary driving function activated by the vehicle is the driving function, but the functional state switched by the parking state machine is the parking state. The control large model responds to the parking state output by the traveling state machine, executes the parking-related control logic and outputs the parking-related auxiliary driving task to control the driving of the vehicle. It can be seen that if the parking state machine switches to an incorrect functional state, it will affect the decision correctness of the functional nodes associated with it in the driving decision layer 11.

[0040] Therefore, this embodiment can not only verify whether the assisted driving function is activated incorrectly according to the external driving environment, but also verify whether the driving state machine in the driving decision layer correctly responds to the activated assisted driving function by verifying the consistency between the activated assisted driving function, the functional state output by the driving state machine and the external driving environment, thereby ensuring that in the functional chain of the driving assistance system, the assisted driving mode triggered by the assisted driving function activation node and the driving state machine node are the same assisted driving mode, and verifying that the assisted driving mode is adapted to the current driving scenario, thereby improving the operational safety of the driving assistance system.

[0041] In one embodiment, when any auxiliary driving function of the vehicle is activated, a first auxiliary driving mode corresponding to any auxiliary driving function is determined. Driving environment data of the driving environment in which the vehicle is currently located is obtained, and a second auxiliary driving mode matching the driving environment is determined according to the driving environment data. A fourth auxiliary driving mode corresponding to the auxiliary driving task output by the driving decision layer is determined. When the first auxiliary driving mode, the second auxiliary driving mode and the fourth auxiliary driving mode all belong to the same auxiliary driving mode, the driving control of the vehicle is performed according to the auxiliary driving task output by the driving decision layer. When the first auxiliary driving mode, the second auxiliary driving mode and the fourth auxiliary driving mode belong to different auxiliary driving modes, an alarm prompt is output and / or the driving control of the vehicle according to the auxiliary driving task output by the driving decision layer is prohibited, and the alarm prompt is used to remind the driver to take over the vehicle. Among them, when determining the fourth auxiliary driving mode corresponding to the auxiliary driving task output by the driving decision layer, the type of the auxiliary driving task can be determined. If the auxiliary driving task is a driving task, the fourth auxiliary driving mode can be determined to be a driving mode; if the auxiliary driving task is a parking task, the fourth auxiliary driving mode can be determined to be a parking mode.

[0042] By verifying the consistency of the assisted driving tasks output by the driving decision layer, the activated assisted driving functions and the external environment, it can be ensured that the activated assisted driving functions are consistent with the driving scenarios, and the assisted decision layer also outputs the assisted driving tasks corresponding to the activated assisted driving functions. In real-world application scenarios, the problem that the driver correctly activates the assisted driving function, but the driving decision layer executes the wrong driving control logic without being discovered can be solved. For example, in a parking scenario, the driver activates the parking function, but the vehicle executes the driving control logic. Through the above verification method, the problem of the driving control logic and the parking control logic in the driving decision layer being interconnected can be discovered in a timely manner.

[0043] In one embodiment, when any assisted driving function of the vehicle is activated, a first assisted driving mode corresponding to any assisted driving function is determined. The functional state output by the parking state machine for the first assisted driving mode is obtained, and a third assisted driving mode corresponding to the functional state is determined. A fourth assisted driving mode corresponding to the assisted driving task output by the driving decision layer is determined. Driving environment data of the current driving environment of the vehicle is obtained, and a second assisted driving mode matching the driving environment is determined based on the driving environment data. When the first assisted driving mode, the second assisted driving mode, the third assisted driving mode and the fourth assisted driving mode belong to the same assisted driving mode, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

[0044] Figure 5This is another working framework diagram for verifying the link safety of a driving assistance system according to an exemplary embodiment of this specification. Figure 5 As shown, after the driving function 10A is activated, a driving mode request is sent to the parking state machine 112, or after the parking function 10B is activated, a parking mode request is sent to the parking state machine 112. The first assisted driving mode can be determined by reading the driving mode request or the parking mode request. The parking state machine 112 can switch the functional state to the corresponding driving function state or parking function state in response to the driving function or the parking function being activated, and can read the functional state switched by the parking state machine, and determine the third assisted driving mode corresponding to the functional state. The control large model 113 can generate an assisted driving task in response to the functional state output by the parking state machine. For example, when the control large model 113 receives the driving instruction sent by the parking state machine 112, it calls the driving control logic, generates the driving task, and outputs the driving task to the vehicle control system 12; for another example, when the control large model 113 receives the parking instruction sent by the parking state machine 112, it calls the parking control logic, generates the parking task, and outputs the parking task to the vehicle control system 12. The scene adaptation module 111 can obtain the driving environment data of the driving environment in which the vehicle is currently located, and determine the second assisted driving mode matching the driving environment according to the driving environment data. The scene adaptation module 111 can be integrated into the control large model 113, or it can be independent of the control large model 113, and this specification does not impose any restrictions on this.

[0045] In one embodiment, when any assisted driving function of the vehicle is activated, a first assisted driving function corresponding to any assisted driving function is determined. Driving environment data of the current driving environment of the vehicle is obtained, and a second assisted driving mode matching the driving environment is determined according to the driving environment data. When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, the type of assisted driving task output by the driving decision layer is determined. If the assisted driving task is a driving task and the driving control parameters of the driving task meet the driving safety conditions, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. If not, an alarm is issued, and the alarm is used to remind the driver to take over the vehicle. If the assisted driving task is a parking task and the driving control parameters of the parking task meet the parking safety constraints, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. If not, an alarm is issued, and the alarm is used to remind the driver to take over the vehicle.

[0046] Exemplarily, driving safety constraints and parking safety constraints may be set in accordance with automobile functional safety standards. For example, driving safety constraints may include that the deceleration of the smart cruise control shall not be greater than 0.5g, the starting acceleration shall not be greater than 0.3g, etc. Parking safety constraints may include that the acceleration of the memory parking function shall not be greater than 0.15g, the maximum speed shall not be greater than 30km / h, etc.

[0047] In this embodiment, on the basis of verifying that the assisted driving function activated by the vehicle is adapted to the actual driving scene in which the vehicle is located, it is further verified whether the driving control parameters of the driving task output by the driving decision layer or the parking control parameters of the parking task meet the corresponding safety specifications. In real application scenarios, the problem of correctly activating the assisted driving function and the driving control parameters of the assisted driving task output by the driving decision layer not meeting the safety specifications, causing traffic accidents, can be solved. For example, in a parking scenario, the vehicle is parked at the driving speed during the parking process. Through the above verification method, it can be ensured that the control operation of the vehicle meets the safety specifications on the basis of ensuring that the activated assisted driving function is adapted to the vehicle driving scene.

[0048] In one embodiment, when any assisted driving function of the vehicle is activated, a first assisted driving mode corresponding to any assisted driving function is determined. The functional state output by the driving state machine for the activated assisted driving function is obtained, and a third assisted driving mode corresponding to the functional state is determined. The driving environment data of the driving environment in which the vehicle is currently located is obtained, and the second assisted driving mode matching the driving environment is determined according to the driving environment data. The fourth assisted driving mode corresponding to the assisted driving task output by the driving decision layer is determined. When the first assisted driving mode, the second assisted driving mode, the third assisted driving mode and the fourth assisted driving mode belong to the same assisted driving mode, the type of the assisted driving task output by the driving decision layer is determined, and if the assisted driving task is a driving task and the driving control parameters of the driving task meet the driving safety constraint conditions, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer; if the assisted driving task is a parking task and the driving control parameters of the parking task meet the parking safety constraint conditions, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

[0049] In this embodiment, by verifying the consistency of the activated assisted driving function of the vehicle, the functional state output by the parking state machine, the assisted driving task output by the driving decision layer and the driving scene the vehicle is in, it can be determined whether the vehicle has activated the appropriate assisted driving function, and whether the auxiliary decision layer in the black box state correctly responds to the activated assisted driving function. Moreover, on this basis, by further verifying whether the driving control parameters of the assisted driving task output by the auxiliary decision layer meet the safety specifications, the operational safety of the assisted driving system can be further guaranteed.

[0050] Figure 6 This is another working framework diagram for verifying the link safety of a driving assistance system according to an exemplary embodiment of this specification. Figure 6 As shown, in Figure 5 Based on the control model 113, the parking task and the driving task outputted by the control model 113 can be respectively inputted into the driving safety verification module 60A and the parking safety verification module 60B. The driving safety verification module can be encapsulated with a driving safety verification logic, which is used to verify whether the driving control parameters of the driving task meet the driving safety constraint conditions. When the driving control parameters of the driving task meet the driving safety constraint conditions, the driving task is forwarded to the vehicle control system 12. The parking safety verification module can be encapsulated with a parking safety verification logic, which is used to verify whether the driving control parameters of the parking task meet the parking safety constraint conditions. When the driving control parameters of the parking task meet the parking safety constraint conditions, the parking task is sent to the vehicle control system 12.

[0051] In one embodiment, when determining a second assisted driving mode that matches the driving environment based on driving environment data, environmental features can be extracted from the driving environment data, the driving environment can be classified according to the environmental features, and the second assisted driving mode corresponding to the classification result can be determined, wherein the categories of the driving environment include driving environment and parking environment.

[0052] The driving environment data may include vehicle driving state data and vehicle surrounding environment data. The vehicle driving state data may include vehicle speed, vehicle position, etc. The vehicle surrounding environment data may include road signs, lane signs, road conditions, the positional relationship between the vehicle and other vehicles, and obstacle types, etc. The environmental features extracted from the driving environment data can characterize the driving scene category, for example, parking space features, traffic light features, street features, parking lot sign features, etc. The driving environment can be classified according to these environmental features. The classification of the driving environment can be achieved by machine learning or rule judgment, and this specification does not impose any restrictions on the specific classification algorithm.

[0053] Corresponding to the embodiments of the aforementioned method, this specification also provides embodiments of a device and a terminal to which it is applied.

[0054] Figure 7 1 is a schematic diagram of a structure of an electronic device according to an exemplary embodiment of the present specification. Figure 7As shown, at the hardware level, the electronic device 700 includes a processor 702, an internal bus 704, a network interface 706, a memory 708, and a non-volatile memory 710, and may also include hardware required for other services. One or more embodiments of this specification can be implemented based on software, such as the processor 702 reading the corresponding computer program from the non-volatile memory 710 into the memory 708 and then running it. Of course, in addition to the software implementation, one or more embodiments of this specification do not exclude other implementations, such as logic devices or a combination of software and hardware, etc., that is, the execution subject of the following processing flow is not limited to each logic module, but can also be hardware or logic devices.

[0055] Figure 8 This is a block diagram of a safety control device applied to a driving assistance system according to an exemplary embodiment of the present specification. Figure 8 As shown, the device can be applied to Figure 7 In the electronic device 700 shown in the figure, the technical solution of this specification is implemented. The device includes: A first assisted driving mode determination module 802, configured to determine a first assisted driving mode corresponding to any assisted driving function when any assisted driving function of the vehicle is activated; A second assisted driving mode determination module 804 is used to obtain driving environment data of the current driving environment of the vehicle, and determine a second assisted driving mode matching the driving environment according to the driving environment data; wherein any one of the first assisted driving mode and the second assisted driving mode is a driving mode or a parking mode; The driving control module 806 is used to control the driving of the vehicle according to the assisted driving task output by the driving decision layer when the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode.

[0056] Optionally, the device further includes a third auxiliary mode determination module, which is used to obtain the functional state output by the parking state machine for the activated auxiliary driving function, and determine a third auxiliary driving mode corresponding to the functional state. The driving control module 806 is specifically used to control the driving of the vehicle according to the auxiliary driving task output by the driving decision layer when the first auxiliary driving mode, the second auxiliary driving mode and the third auxiliary driving mode all belong to the same auxiliary driving mode.

[0057] Optionally, the driving decision layer includes a control big model, and the driving control module 806 is specifically used for the control big model to respond to the functional state output by the driving state machine and output an auxiliary driving task to control the vehicle driving.

[0058] Optionally, the device further includes a fourth assisted driving mode determination module, configured to determine a fourth assisted driving mode corresponding to the assisted driving task. The driving control module 806 is specifically configured to control the driving of the vehicle according to the assisted driving task output by the driving decision layer when the first assisted driving mode, the second assisted driving mode and the fourth assisted driving mode all belong to the same assisted driving mode.

[0059] Optionally, the driving control module 806 is specifically used to determine the type of the assisted driving task output by the driving decision layer when the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode. If the assisted driving task is a driving task and the driving control parameters of the driving task meet the driving safety constraint conditions, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer. If the assisted driving task is a parking task and the driving control parameters of the parking task meet the parking safety constraint conditions, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

[0060] Optionally, the second assisted driving mode determination module 804 is specifically used to extract environmental features from the driving environment data, classify the driving environment according to the environmental features, and determine a second assisted driving mode corresponding to the classification result; wherein the categories of the driving environment include driving environment and parking environment.

[0061] Optionally, the device also includes an alarm module, which is specifically used to output an alarm prompt and / or prohibit vehicle driving control according to the assisted driving task output by the driving decision layer when the first assisted driving mode and the second assisted driving mode belong to different assisted driving modes, and the alarm prompt is used to remind the driver to take over the vehicle.

[0062] The implementation process of the functions and effects of each module in the above-mentioned device is specifically described in the implementation process of the corresponding steps in the above-mentioned method, which will not be repeated here.

[0063] For the device embodiment, since it basically corresponds to the method embodiment, the relevant parts can refer to the partial description of the method embodiment. The device embodiment described above is only schematic, wherein the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or they may be distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this specification. Ordinary technicians in this field can understand and implement it without paying creative work.

[0064] The present specification also provides a computer-readable storage medium having a computer program stored thereon, and when the program is executed by a processor, the steps of any of the aforementioned safety control methods for a driving assistance system provided in the present application are implemented.

[0065] Specifically, computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and memory devices, including, for example, semiconductor memory devices (such as EPROM, EEPROM and flash memory devices), magnetic disks (such as internal hard disks or removable disks), magneto-optical disks, and CD ROM and DVD-ROM disks.

Claims

1. A safety control method for a driving assistance system, characterized in that: The method comprises: When any assisted driving function of the vehicle is activated, determining a first assisted driving mode corresponding to the any assisted driving function; Acquiring driving environment data of the current driving environment of the vehicle, and determining a second assisted driving mode matching the driving environment according to the driving environment data; wherein any one of the first assisted driving mode and the second assisted driving mode is a driving mode or a parking mode; When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

2. The method according to claim 1, characterized in that The driving decision layer includes a parking state machine, and the method further includes: Acquire a functional state output by the parking state machine for the activated assisted driving function, and determine a third assisted driving mode corresponding to the functional state; When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, controlling the driving of the vehicle according to the assisted driving task output by the driving decision layer includes: When the first assisted driving mode, the second assisted driving mode and the third assisted driving mode all belong to the same assisted driving mode, the driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

3. The method according to claim 2, characterized in that The driving decision layer also includes a control model, and the driving control of the vehicle is performed according to the auxiliary driving task output by the driving decision layer, including: The control model outputs an auxiliary driving task to control the vehicle's driving in response to the functional state output by the parking state machine.

4. The method according to claim 1, characterized in that: The method further comprises: determining a fourth assisted driving mode corresponding to the assisted driving task; When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, controlling the driving of the vehicle according to the assisted driving task output by the driving decision layer includes: In the case where the first assisted driving mode, the second assisted driving mode and the fourth assisted driving mode all belong to the same assisted driving mode, driving control of the vehicle is performed according to the assisted driving task output by the driving decision layer.

5. The method according to claim 1, characterized in that When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, controlling the driving of the vehicle according to the assisted driving task output by the driving decision layer includes: When the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode, determining a type of the assisted driving task output by the driving decision layer; If the auxiliary driving task is a driving task and the driving control parameters of the driving task meet the driving safety constraint conditions, then the vehicle driving control is performed according to the auxiliary driving task output by the driving decision layer; If the assisted driving task is a parking task and the driving control parameters of the parking task meet the parking safety constraint conditions, the vehicle driving control is performed according to the assisted driving task output by the driving decision layer.

6. The method according to claim 1, characterized in that The determining, according to the driving environment data, a second assisted driving mode matching the driving environment comprises: Environmental features are extracted from the driving environment data, the driving environment is classified according to the environmental features, and a second assisted driving mode corresponding to the classification result is determined; wherein the categories of the driving environment include a driving environment and a parking environment.

7. The method according to claim 1, characterized in that In the case that the first assisted driving mode and the second assisted driving mode belong to different assisted driving modes, an alarm prompt is output and / or driving control of the vehicle according to the assisted driving task output by the driving decision layer is prohibited, and the alarm prompt is used to remind the driver to take over the vehicle.

8. A safety control device for a driving assistance system, characterized in that: The device comprises: A first assisted driving mode determination module, configured to, when any assisted driving function of the vehicle is activated, determine a first assisted driving mode corresponding to any assisted driving function; a second assisted driving mode determination module, configured to obtain driving environment data of a current driving environment of the vehicle, and determine a second assisted driving mode matching the driving environment according to the driving environment data; wherein any one of the first assisted driving mode and the second assisted driving mode is a driving mode or a parking mode; The driving control module is used to control the driving of the vehicle according to the assisted driving task output by the driving decision layer when the first assisted driving mode and the second assisted driving mode belong to the same assisted driving mode.

9. An electronic 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 of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the method according to any one of claims 1 to 7 are implemented.

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