A driving control method, device, equipment, and medium based on vehicle redundancy

Abstract

This application provides a vehicle redundancy-based driving control method, device, equipment, and medium, effectively solving the problem of physical or psychological impact on vehicle occupants when existing autonomous driving systems perform emergency braking to ensure vehicle safety. The method includes: acquiring a standard real-time distance of the vehicle, detecting a first real-time distance, and recording a first position; based on a comparison between the standard real-time distance and the first real-time distance, selecting the redundant controller to replace the main controller to control the vehicle; the redundant controller calculating the target instantaneous acceleration for the vehicle to decelerate uniformly and stop at the first position based on the first real-time distance; controlling the vehicle to drive based on the corresponding target instantaneous acceleration in each time period until the vehicle meets preset control switching conditions, causing the vehicle to switch to the main controller for control.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, and more specifically, to a driving control method, device, equipment, and medium based on vehicle redundancy. Background Art

[0002] Common vehicle active safety control designs often use a single distance or speed as the control target. For example, when the vehicle reaches the limit of the collision distance with the vehicle in front, emergency braking behavior is taken. It is impossible to control the vehicle's driving state reasonably and intelligently, which often causes the vehicle to brake suddenly in an emergency. Sudden braking of the vehicle will cause certain physical or psychological impact to the occupants, and may even cause physical injury to the occupants.

[0003] In recent years, with the rapid development of autonomous driving technology, Level 3 autonomous driving has become widely popular, which has avoided the impact of sudden braking to a certain extent. However, due to the complex road conditions, the decision-making and path planning capabilities of Level 3 autonomous driving systems in complex traffic scenarios still need to be improved. There are frequent occurrences of accidents involving Level 3 autonomous driving systems, even resulting in injuries or deaths of passengers, which has raised concerns among consumers about the safety and reliability of autonomous driving.

[0004] Therefore, redundant design for safe driving of autonomous vehicles is particularly important. Summary of the Invention

[0005] In view of this, the purpose of this application is to provide a driving control method, device, equipment and medium based on vehicle redundancy. This driving control method, device, equipment and medium based on vehicle redundancy effectively solves the problem that existing autonomous driving systems cause certain physical or psychological impact on the occupants of the vehicle when taking emergency braking to ensure vehicle safety.

[0006] In a first aspect, embodiments of this application provide a driving control method based on vehicle redundancy, wherein the vehicle includes a main controller and a redundant controller, and the method includes:

[0007] The standard real-time distance between the vehicle and the first target vehicle during the driving process under the control of the main controller is obtained, and the first real-time distance between the vehicle and the first target vehicle in the first time period is detected, and the first position of the first target vehicle is recorded.

[0008] Based on the comparison between the standard real-time distance and the first real-time distance, the redundant controller is selected to replace the main controller to control the vehicle; the redundant controller is used to control the vehicle to decelerate uniformly.

[0009] When the redundant controller controls the vehicle, the redundant controller calculates the target instantaneous acceleration of the vehicle as it decelerates uniformly and stops at the first position based on the first real-time distance; different target instantaneous accelerations correspond to different time periods;

[0010] The vehicle is controlled to travel based on the target instantaneous acceleration corresponding to each time period until the vehicle meets the preset control switching conditions, so that the vehicle is switched to be controlled by the main controller.

[0011] In conjunction with the first aspect, this application provides a first possible implementation of the first aspect, wherein after controlling the vehicle to travel based on the target instantaneous acceleration corresponding to each time period, the following steps are included:

[0012] Real-time detection of whether a second vehicle appears in front of the vehicle, and determination of whether the second vehicle meets the preset target vehicle conditions;

[0013] If so, then the second target vehicle is identified, and the instantaneous acceleration corresponding to the second target vehicle is calculated.

[0014] In conjunction with the first aspect, this application provides a second possible implementation of the first aspect, wherein calculating the instantaneous acceleration of the target vehicle corresponding to the second target vehicle includes:

[0015] The calculation priorities corresponding to the second target vehicle and the first target vehicle are issued respectively; different target vehicles correspond to different levels of calculation priority.

[0016] Based on the calculation priorities corresponding to the second target vehicle and the first target vehicle, the target vehicle corresponding to the instantaneous acceleration calculated by the redundant controller is determined.

[0017] In conjunction with the first aspect, this application provides a third possible implementation of the first aspect, wherein selecting the redundant controller to replace the main controller to control the vehicle based on the comparison result of the standard real-time distance and the first real-time distance includes:

[0018] The standard real-time distance is compared with the first real-time distance to obtain a comparison result, and the target comparison result is selected based on the comparison result;

[0019] Based on the target comparison result, a replacement instruction is generated so that the main controller and the redundant controller respond to the replacement instruction respectively.

[0020] In conjunction with the first aspect, this application provides a fourth possible implementation of the first aspect, wherein, before obtaining a comparison result by comparing the standard real-time distance with the first real-time distance, the following steps are included:

[0021] Automatically retrieve the vehicle's driving data and determine whether the vehicle is in the target driving mode based on the driving data;

[0022] If so, then based on the target driving mode, the standard real-time distance is compared with the first real-time distance.

[0023] In conjunction with the first aspect, this application provides a fifth possible implementation of the first aspect, wherein controlling the vehicle to travel based on the target instantaneous acceleration corresponding to each time period includes:

[0024] Based on the real-time distance of the previous time period, the instantaneous acceleration of the target corresponding to the next time period adjacent to the previous time period is calculated;

[0025] According to the target instantaneous acceleration corresponding to the next time period, the vehicle speed is adjusted in the next time period so that the real-time acceleration of the vehicle corresponds to the target instantaneous acceleration.

[0026] In conjunction with the first aspect, this application provides a sixth possible implementation of the first aspect, wherein calculating the target instantaneous acceleration of the vehicle as it uniformly decelerates and stops at the first position based on the first real-time distance includes:

[0027] The real-time driving speed of the vehicle after traveling the first real-time distance is obtained, and the real-time driving speed and the first real-time distance are input into the instantaneous acceleration calculation network;

[0028] Based on the instantaneous acceleration calculation network, the real-time driving speed and the first real-time distance are processed to obtain the target instantaneous acceleration for driving to the first position and stopping.

[0029] Secondly, embodiments of this application provide a vehicle redundancy-based driving control device, wherein the vehicle includes a main controller and a redundant controller, and the device includes:

[0030] The prediction module is used to obtain the standard real-time distance between the vehicle and the first target vehicle during the driving process under the control of the main controller, detect the first real-time distance between the vehicle and the first target vehicle in the first time period, and record the first position of the first target vehicle.

[0031] An alternative module is used to select the redundant controller to replace the main controller to control the vehicle based on a comparison between the standard real-time distance and the first real-time distance; the redundant controller is used to control the vehicle to decelerate uniformly.

[0032] The detection module is used to calculate the target instantaneous acceleration of the vehicle as it decelerates uniformly and stops at a first position based on the first real-time distance when the redundant controller controls the vehicle; different target instantaneous accelerations correspond to different time periods.

[0033] The control module is used to control the vehicle to drive based on the target instantaneous acceleration corresponding to each time period until the vehicle meets the preset control switching conditions, so that the vehicle switches to the main controller for control.

[0034] Thirdly, embodiments of this application provide an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of any of the vehicle redundancy-based driving control methods described above.

[0035] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of any of the vehicle redundancy-based driving control methods described above.

[0036] This application provides a vehicle redundancy-based driving control method. The vehicle includes a main controller and a redundant controller. The method first acquires the standard real-time distance between the vehicle and a first target vehicle during the driving process under the control of the main controller, detects the first real-time distance traveled by the vehicle and the first target vehicle within a first time period, and records the first position of the first target vehicle. Secondly, based on the comparison between the standard real-time distance and the first real-time distance, the redundant controller is selected to replace the main controller to control the vehicle. The redundant controller is used to control the vehicle to drive at a uniform deceleration. Then, when the redundant controller controls the vehicle, it calculates the target instantaneous acceleration for the vehicle to drive at a uniform deceleration and stop at the first position based on the first real-time distance. Different target instantaneous accelerations correspond to different time periods. Finally, the vehicle is controlled to drive at the corresponding target instantaneous acceleration within a preset future time period until there is no first target vehicle ahead of the vehicle in the direction of travel, and the main controller resumes control of the vehicle. This achieves uniform deceleration of the vehicle in autonomous driving mode when there is a vehicle in front, avoiding the occurrence of sudden braking. This effectively solves the problem that existing autonomous driving systems cause physical or psychological impact on vehicle occupants when taking emergency braking to ensure vehicle safety. Attached Figure Description

[0037] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0038] Figure 1 A flowchart illustrating the first vehicle redundancy-based driving control method provided in this application embodiment is shown.

[0039] Figure 2 A schematic diagram of the vehicle and the first target vehicle provided in the embodiments of this application is shown;

[0040] Figure 3 This document illustrates a flowchart of the startup process of the redundant controller provided in an embodiment of this application.

[0041] Figure 4 A structural block diagram of the first vehicle redundancy-based driving control device provided in an embodiment of this application is shown;

[0042] Figure 5 A structural block diagram of a first electronic device provided in an embodiment of this application is shown.

[0043] Some of the attached figures are explained below:

[0044] T0 - First target vehicle; S0 - Standard real-time distance; V0 - Instantaneous velocity; a0 - Instantaneous acceleration. Detailed Implementation

[0045] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0046] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0047] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0048] Level 3 autonomous driving has become widespread and has mitigated the impact of sudden braking to some extent. However, due to the complex road conditions, the decision-making and path planning capabilities of Level 3 autonomous driving systems in complex traffic scenarios still need improvement. Accidents involving Level 3 autonomous driving systems, sometimes resulting in injuries or fatalities to occupants, occur frequently, raising concerns among consumers about the safety and reliability of autonomous driving.

[0049] Based on this, embodiments of this application provide a driving control method, device, equipment, and medium based on vehicle redundancy, which are described below through embodiments.

[0050] Example 1

[0051] To facilitate understanding of this embodiment, a detailed description of a vehicle redundancy-based driving control method disclosed in this application embodiment will be provided first. For example... Figure 1 The flowchart shown illustrates a vehicle redundancy-based driving control method. This application provides a vehicle redundancy-based driving control method, wherein the vehicle includes a main controller and redundant controllers, and the method includes:

[0052] S101. Obtain the standard real-time distance between the vehicle and the first target vehicle during the driving process under the control of the main controller, detect the first real-time distance between the vehicle and the first target vehicle in the first time period, and record the first position of the first target vehicle.

[0053] S102. Based on the comparison result between the standard real-time distance and the first real-time distance, the redundant controller is selected to replace the main controller to control the vehicle; the redundant controller is used to control the vehicle to decelerate uniformly.

[0054] S103. When the redundant controller controls the vehicle, the redundant controller calculates the target instantaneous acceleration of the vehicle as it decelerates uniformly and stops at the first position based on the first real-time distance; different target instantaneous accelerations correspond to different time periods.

[0055] S104. Control the vehicle to drive based on the target instantaneous acceleration corresponding to each time period until the vehicle meets the preset control switching conditions, so that the vehicle is switched to the main controller for control.

[0056] In step S101, the vehicle is equipped with a lidar, a visual imaging camera, a vehicle speed sensor, and a vehicle acceleration sensor. The visual imaging camera is used to capture instantaneous vehicles ahead of the vehicle in the current lane, and to determine whether the instantaneous vehicle ahead is within the effective detection range and unobstructed. If it is determined that the instantaneous vehicle ahead is within the effective detection range of the visual imaging camera and unobstructed, then the instantaneous vehicle ahead is identified as the first target vehicle T0. The lidar detects the standard real-time distance S0 between the vehicle and the first target vehicle T0. Figure 2 As shown, the detection time interval of the lidar is 100ms. The detected real-time distances are named the first real-time distance S1, the second real-time distance S2, and the third real-time distance S3, respectively. The vehicle speed sensor is used to measure the instantaneous speed V0 of the vehicle, and the vehicle acceleration sensor is used to provide the instantaneous acceleration a0 of the vehicle. The detected first target vehicle T0, standard real-time distance S0, instantaneous speed V0, and instantaneous acceleration a0 are all input to the main controller and the redundant controller. That is, when the main controller controls the vehicle, the redundant controller also monitors the status of the vehicle based on the first target vehicle T0, standard real-time distance S0, instantaneous speed V0, and instantaneous acceleration a0, and records the first position of the first target vehicle. The specific recording method of the first position can be represented in various ways, depending on the actual situation. For example, the first position of the first target vehicle can be recorded as S0 in front of the vehicle.

[0057] In step S102, after receiving various data from the lidar, vehicle acceleration sensor, and visual imaging camera—namely, the first target vehicle T0, standard real-time distance S0, instantaneous speed V0, and instantaneous acceleration a0—the redundant controller compares the standard real-time distance S0 with the first real-time distance S1. Based on the comparison result, it determines that the main controller is unable to perform non-emergency braking on the vehicle based on the processed predicted distance and the instantaneous distance, resulting in a shock to the vehicle's interior heating system. In this case, the redundant controller replaces the main controller in controlling the vehicle. Figure 3 As shown, in this application, the redundant controller is used to control the vehicle to drive at a constant deceleration. Before the redundant controller controls the vehicle, the vehicle is adaptively configured so that the redundant controller can completely take over the function of the main controller, and the redundant controller can safely and effectively control the vehicle based on the comparison result obtained by comparing the standard real-time distance S0 with the first real-time distance S1.

[0058] In a specific implementation of step S102, one embodiment is as follows: based on the comparison result between the standard real-time distance and the first real-time distance, selecting the redundant controller to replace the main controller to control the vehicle includes:

[0059] S10211. Compare the standard real-time distance with the first real-time distance to obtain a comparison result, and filter out the target comparison result based on the comparison result;

[0060] S10212. Generate a replacement instruction based on the target comparison result, so that the main controller and the redundant controller respond to the replacement instruction respectively.

[0061] In steps S10211-S10212, the redundant controller compares the standard real-time distance S0 with the first real-time distance S1 to obtain a comparison result. The comparison result includes two possibilities: the standard real-time distance S0 ≥ the first real-time distance S1 and the standard real-time distance S0 < the first real-time distance S1. If the standard real-time distance S0 ≥ the first real-time distance S1, that is, the distance between the first target vehicle T0 and the vehicle is increasing, and although the first target vehicle T0 is captured by the visual imaging camera, it is not within the range where braking measures are required. In this case, the redundant controller does not need to control the vehicle, and the main controller continues to control the vehicle. If the standard real-time distance S0 < the first real-time distance S1, that is, the distance between the first target vehicle T0 and the vehicle is decreasing, and it is within the range where braking measures are required. In this case, the redundant controller needs to control the vehicle, instead of continuing to control the vehicle with the main controller. The system filters out target comparison results based on the comparison results. Since no braking measures are required when the standard real-time distance S0 ≥ the first real-time distance S1, such comparison results are filtered out. This filters out comparison results where the predicted distance < the instantaneous distance, and determines the comparison result where the standard real-time distance S0 < the first real-time distance S1 as the target comparison result. Based on the generated substitution command, the substitution command includes a first sub-command for the redundant controller and a second sub-command for the main controller. The first sub-command includes relevant configuration data of the redundant controller and a command for the redundant controller to replace the main controller in controlling the vehicle. The second sub-command matches and corresponds to the first sub-command. The second sub-command stops the controller from controlling the vehicle and cooperates with the redundant controller to control the vehicle. The substitution command is sent to the main controller and the redundant controller respectively, so that the main controller and the redundant controller respond to the substitution command and execute braking measures on the vehicle.

[0062] In a specific implementation of step S102, another embodiment exists: before obtaining the comparison result by comparing the standard real-time distance with the first real-time distance, the following steps are included:

[0063] S10221. Automatically retrieve the vehicle's driving data and determine whether the vehicle is in the target driving mode based on the driving data;

[0064] S10222 If so, then based on the target driving mode, determine to compare the standard real-time distance with the first real-time distance.

[0065] In steps S10221-S10222, before comparing the standard real-time distance S0 with the first real-time distance S1, the redundant controller automatically retrieves the vehicle's driving data from the log data generated by the main controller during driving. The driving data also includes various data collected by the above-mentioned multiple sensors. The controller reads and analyzes the driving data and extracts features related to the driving mode from the driving data, such as vehicle speed, acceleration, steering angle, driving trajectory, etc. The extracted features are matched and compared with a preset target driving mode, where the target driving mode is an autonomous driving mode. After determining that the feature matches the target driving mode, it is determined that the vehicle is in autonomous driving mode. At this time, the predicted distance is compared with the instantaneous distance. If it is determined that the feature does not match the target driving mode, that is, the vehicle is not in autonomous driving mode, the standard real-time distance S0 is not compared with the first real-time distance S1, and there is no need to control the vehicle based on the redundant controller.

[0066] In step S103, the first target vehicle T0 is stationary. The first real-time distance S1 between the vehicle and the first target vehicle T0 is calculated by the redundant controller after receiving the first real-time distance S1 detected by the lidar. Based on the first real-time distance S1, the redundant controller calculates the target instantaneous acceleration a1 required for the vehicle to decelerate uniformly and stop at a first position. This target instantaneous acceleration is the instantaneous acceleration a1 required for the vehicle to decelerate uniformly to the position of the first target vehicle T0 and stop. Different time periods have corresponding target instantaneous accelerations; that is, the real-time distance traveled by the vehicle after obtaining the instantaneous acceleration a1 is not exactly the same. It's also possible that road conditions are flawed, causing the calculated distance corresponding to the instantaneous acceleration a1 of the vehicle to differ from the real-time distance. Therefore, this application needs to calculate the target instantaneous acceleration within adjacent time periods based on the real-time distance traveled within the preset time period. Specifically, after obtaining the first real-time distance S1, for the second time period following the first time period corresponding to the first real-time distance S1, the first, second, third, etc., time periods mentioned in this application are all sequentially adjacent, each time period being 100ms, corresponding to the detection frequency of the lidar. That is, instantaneous acceleration needs to be calculated in each future time period, corresponding to a1. n express.

[0067] In a specific implementation of step S103, one embodiment is as follows: calculating the target instantaneous acceleration of the vehicle as it uniformly decelerates and stops at the first position based on the first real-time distance includes:

[0068] S1031. Obtain the real-time driving speed of the vehicle as it travels the first real-time distance, and input the real-time driving speed and the first real-time distance into the instantaneous acceleration calculation network;

[0069] S1032. Based on the instantaneous acceleration calculation network, process the real-time driving speed and the first real-time distance to obtain the target instantaneous acceleration for driving to the first position and stopping.

[0070] In steps S1031-S1032, the real-time driving speed of the vehicle traveling the real-time distance is obtained. The real-time driving speed is detected by the vehicle speed sensor and denoted as V1. The real-time driving speed V1 is then compared with the real-time distance S. 11 The input is fed into the instantaneous acceleration calculation network, which is represented by formulas (1)-(2):

[0071] V1+a1t=0;(1)

[0072]

[0073] The instantaneous acceleration of the target is calculated based on the instantaneous acceleration calculation network. Then for the instantaneous acceleration corresponding to each future time period All of these can be calculated based on the instantaneous acceleration calculation network.

[0074] In step S104, after calculating the target instantaneous acceleration a1, the redundant controller controls the vehicle to drive based on the corresponding target instantaneous acceleration in the second time period. That is, it controls the vehicle's brake pedal according to the target instantaneous acceleration a1, and detects the vehicle's real-time instantaneous acceleration based on the vehicle acceleration sensor on the vehicle, and controls the real-time instantaneous acceleration to correspond with the target instantaneous acceleration, thereby avoiding the impact on the occupants of the vehicle caused by the sudden braking of the first target vehicle T0, until the vehicle meets the preset control switching conditions. The preset control switching conditions include the visual imaging camera not detecting the first target vehicle T0, or the first target vehicle T0 being outside the effective detection range of the visual imaging camera, or there being an obstruction between the vehicle and the first target vehicle T0. If any one of these conditions is met, it is determined that there is no need to control the vehicle to decelerate uniformly, that is, there is no vehicle in front of the lane where the vehicle is located. At this time, the main controller resumes control of the vehicle, allowing the vehicle to drive normally and steadily. When the actual acceleration of the vehicle is consistent with the output acceleration of the redundant controller and the time for which they are consistent reaches the preset stationary time, that is, the maximum time for the calculated target instantaneous acceleration to be maintained is 1 second, but if the maintenance time is as long as 2 seconds, that is, 2 seconds is the preset stationary time, then it is determined that the first target vehicle has braked suddenly or is in a truly stationary state, and the vehicle's hazard lights will automatically turn on to warn the following vehicles and avoid affecting them.

[0075] In a specific implementation of step S104, one embodiment is as follows: controlling the vehicle to travel based on the target instantaneous acceleration corresponding to each time period includes:

[0076] S10411. Based on the real-time distance of the previous time period, calculate the instantaneous acceleration of the target corresponding to the next time period adjacent to the previous time period;

[0077] S10412. According to the target instantaneous acceleration corresponding to the next time period, control the vehicle to adjust its speed in the next time period so that the vehicle's real-time acceleration corresponds to the target instantaneous acceleration.

[0078] In steps S10411-S10412, after calculating the target instantaneous acceleration a1 in the second time period, the redundant controller receives an adjustment command. This adjustment command is sent to the vehicle's brake pedal to control the vehicle to travel based on the corresponding target instantaneous acceleration in the third time period. Specifically, the brake pedal is controlled according to the target instantaneous acceleration a1; a larger target instantaneous acceleration a1 results in stronger control of the brake pedal, and a smaller target instantaneous acceleration a1 results in weaker control. For example, if the target instantaneous acceleration is -10, then... After the real-time acceleration is -10, the control intensity of the brake pedal is maintained, and after driving for a third time period according to the target instantaneous acceleration, the second real-time distance S2 between the vehicle and the first target vehicle is detected by the lidar, and the target instantaneous acceleration is recalculated based on the second real-time distance S2, and the real-time instantaneous acceleration of the vehicle is kept in perfect correspondence with the instantaneous speed corresponding to the target instantaneous acceleration and the target instantaneous acceleration. Steps S10411-S10412 are repeated, thereby avoiding the impact on the occupants of the vehicle caused by the sudden braking of the first target vehicle.

[0079] In a specific implementation of step S104, another embodiment is as follows: after controlling the vehicle to drive based on the target instantaneous acceleration corresponding to each time period, the following is included:

[0080] S10421. Real-time detection of whether a second vehicle appears in front of the vehicle, and determination of whether the second vehicle meets the preset target vehicle conditions;

[0081] S10422. If so, then determine that the second target vehicle has been obtained, and calculate the instantaneous acceleration of the target corresponding to the second target vehicle.

[0082] In steps S10421-S10422, during the process of the redundant controller performing uniform deceleration control on the vehicle, the visual imaging camera continuously and in real time detects whether a second vehicle appears in front of the vehicle, and determines whether the second vehicle meets the preset target vehicle conditions. The target vehicle conditions are that the second vehicle is within the effective detection range of the visual imaging camera, the instantaneous distance S0 is less than the instantaneous distance S0 of the first target vehicle, and there are no obstructions. The obstructions include fixed facilities on the road such as railings or flower beds, generally 200-300 meters away. If the conditions are met, it is confirmed that a second target vehicle T1 has appeared in front of the vehicle, and the second target vehicle T1 is in the middle between the vehicle and the first target vehicle T0. At this time, the uniform deceleration control of the vehicle based on the first target vehicle T0 is stopped, and the target instantaneous acceleration of the second target vehicle T1 is calculated for the vehicle based on steps S101-S104. The uniform deceleration control operation for the second target vehicle T1 is performed based on the target instantaneous acceleration, thereby avoiding the phenomenon of sudden braking of the vehicle based on the second target vehicle T1 and ensuring the riding experience of the passengers in the vehicle.

[0083] In a specific implementation of step S10422, another embodiment exists: the calculation of the instantaneous acceleration of the target vehicle corresponding to the second target vehicle includes:

[0084] S104221. Issue the calculation priorities corresponding to the second target vehicle and the first target vehicle respectively; different target vehicles correspond to different levels of calculation priority;

[0085] S104222. Based on the calculation priorities corresponding to the second target vehicle and the first target vehicle, determine the target vehicle corresponding to the instantaneous acceleration calculated by the redundant controller.

[0086] In steps S104221-S104222, after confirming the appearance of the second target vehicle, the redundant controller issues calculation priorities to the second target vehicle T1 and the first target vehicle T0 respectively. The calculation priority levels corresponding to different target vehicles are different, that is, the calculation priorities of the second target vehicle T1 and the first target vehicle T0 are not the same, and the calculation priority of the second target vehicle T1 is higher than that of the first target vehicle T0. After determining the calculation priorities of the second target vehicle T1 and the first target vehicle T0, the target vehicle corresponding to the instantaneous acceleration calculated by the redundant controller is determined based on the calculation priorities corresponding to the second target vehicle T1 and the first target vehicle T0 respectively. Therefore, after the appearance of the second target vehicle T1, the target vehicle corresponding to the instantaneous acceleration calculated by the redundant controller is the second target vehicle T1, and the calculation for the first target vehicle T0 is stopped.

[0087] Example 2

[0088] This application also provides a driving control device based on vehicle redundancy, such as... Figure 4 The diagram shows a block diagram of a vehicle redundancy-based driving control device. The function implemented by this device corresponds to the steps described above in executing a vehicle redundancy-based driving control method on a terminal device. This device can be understood as a server component including a processor. The vehicle in the vehicle redundancy-based driving control device described in this application includes a main controller and a redundancy controller. The device includes:

[0089] The acquisition module 401 is used to acquire the standard real-time distance between the vehicle and the first target vehicle during the driving process under the control of the main controller, detect the first real-time distance between the vehicle and the first target vehicle in a first time period, and record the first position of the first target vehicle.

[0090] The replacement module 402 is used to select the redundant controller to replace the main controller to control the vehicle based on the comparison result between the standard real-time distance and the first real-time distance; the redundant controller is used to control the vehicle to decelerate uniformly.

[0091] The calculation module 403 is used to calculate the target instantaneous acceleration of the vehicle as it decelerates uniformly and stops at a first position based on the first real-time distance when the redundant controller controls the vehicle; different target instantaneous accelerations correspond to different time periods.

[0092] The control module 404 is used to control the vehicle to drive based on the target instantaneous acceleration corresponding to each time period until the vehicle meets the preset control switching conditions, so that the vehicle switches to the main controller for control.

[0093] In one feasible implementation, the control module includes:

[0094] The judgment module is used to detect in real time whether a second vehicle appears in front of the vehicle and to determine whether the second vehicle meets the preset target vehicle conditions.

[0095] The first calculation module is used to determine the second target vehicle if the condition is met, and to calculate the instantaneous acceleration of the target vehicle corresponding to the second target vehicle.

[0096] In one feasible implementation, the control module further includes:

[0097] The distribution module is used to distribute the calculation priorities corresponding to the second target vehicle and the first target vehicle, respectively; different target vehicles correspond to different levels of calculation priority.

[0098] The second calculation module is used to determine the target vehicle corresponding to the instantaneous acceleration of the target calculated by the redundant controller based on the calculation priorities corresponding to the second target vehicle and the first target vehicle, respectively.

[0099] In one feasible implementation, the alternative module includes:

[0100] The first comparison module is used to compare the standard real-time distance with the first real-time distance to obtain a comparison result, and to filter out the target comparison result based on the comparison result;

[0101] A generation module is used to generate a replacement instruction based on the target comparison result, so that the main controller and the redundant controller respond to the replacement instruction respectively.

[0102] In one feasible implementation, the alternative module further includes:

[0103] The retrieval module is used to automatically retrieve the vehicle's driving data and determine whether the vehicle is in the target driving mode based on the driving data.

[0104] The second comparison module is used to determine, if so, to compare the standard real-time distance with the first real-time distance based on the target driving mode.

[0105] In one feasible implementation, the control module also includes:

[0106] The third calculation module is used to calculate the instantaneous acceleration of the target in the next time period adjacent to the previous time period based on the real-time distance of the previous time period.

[0107] The adjustment module is used to control the vehicle speed to be adjusted in the next time period according to the target instantaneous acceleration corresponding to the next time period, so that the real-time acceleration of the vehicle corresponds to the target instantaneous acceleration.

[0108] In one feasible implementation, the computing module includes:

[0109] The input module is used to obtain the real-time driving speed of the vehicle as it travels the first real-time distance, and input the real-time driving speed and the first real-time distance into the instantaneous acceleration calculation network;

[0110] The processing module is used to process the real-time driving speed and the first real-time distance based on the instantaneous acceleration calculation network to obtain the target instantaneous acceleration for driving to the first position and stopping.

[0111] Example 3

[0112] This application also provides an electronic device, such as Figure 5 As shown, it includes: a processor 501, a memory 502, and a bus 503. The memory 502 stores machine-readable instructions that can be executed by the processor 501. When the electronic device is running, the processor 501 and the memory 502 communicate through the bus 503. When the machine-readable instructions are executed by the processor 501, the steps of any one of the vehicle redundancy-based driving control methods described above are executed.

[0113] Example 4

[0114] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, performs the steps of any of the vehicle redundancy-based driving control methods described above.

[0115] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0116] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0117] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0118] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a platform server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0119] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A driving control method based on vehicle redundancy, characterized in that, The vehicle includes a main controller and a redundant controller, and the method includes: The standard real-time distance between the vehicle and the first target vehicle during the driving process under the control of the main controller is obtained, and the first real-time distance between the vehicle and the first target vehicle in the first time period is detected, and the first position of the first target vehicle is recorded. Based on the comparison between the standard real-time distance and the first real-time distance, the redundant controller is selected to replace the main controller to control the vehicle; the redundant controller is used to control the vehicle to decelerate uniformly. When the redundant controller controls the vehicle, the redundant controller calculates the target instantaneous acceleration of the vehicle as it decelerates uniformly and stops at the first position based on the first real-time distance; different target instantaneous accelerations correspond to different time periods; The vehicle is controlled to travel based on the target instantaneous acceleration corresponding to each time period until the vehicle meets the preset control switching conditions, so that the vehicle is switched to be controlled by the main controller.

2. The method according to claim 1, characterized in that, After controlling the vehicle to drive based on the target instantaneous acceleration corresponding to each time period, the following steps are included: Real-time detection of whether a second vehicle appears in front of the vehicle, and determination of whether the second vehicle meets the preset target vehicle conditions; If so, then the second target vehicle is identified, and the instantaneous acceleration corresponding to the second target vehicle is calculated.

3. The method according to claim 2, characterized in that, The calculation of the instantaneous acceleration corresponding to the second target vehicle includes: The calculation priorities corresponding to the second target vehicle and the first target vehicle are issued respectively; different target vehicles correspond to different levels of calculation priority. Based on the calculation priorities corresponding to the second target vehicle and the first target vehicle, the target vehicle corresponding to the instantaneous acceleration calculated by the redundant controller is determined.

4. The method according to claim 1, characterized in that, The step of selecting the redundant controller to replace the main controller for vehicle control based on the comparison result between the standard real-time distance and the first real-time distance includes: The standard real-time distance is compared with the first real-time distance to obtain a comparison result, and the target comparison result is selected based on the comparison result; Based on the target comparison result, a replacement instruction is generated so that the main controller and the redundant controller respond to the replacement instruction respectively.

5. The method according to claim 4, characterized in that, Before obtaining the comparison result by comparing the standard real-time distance with the first real-time distance, the process includes: Automatically retrieve the vehicle's driving data and determine whether the vehicle is in the target driving mode based on the driving data; If so, then based on the target driving mode, the standard real-time distance is compared with the first real-time distance.

6. The method according to claim 1, characterized in that, The control of the vehicle to drive based on the target instantaneous acceleration corresponding to each time period includes: Based on the real-time distance in the previous time period, the instantaneous acceleration of the target in the next time period is calculated; According to the target instantaneous acceleration corresponding to the next time period, the vehicle speed is adjusted in the next time period so that the real-time acceleration of the vehicle corresponds to the target instantaneous acceleration.

7. The method according to claim 1, characterized in that, The calculation of the target instantaneous acceleration of the vehicle as it uniformly decelerates and stops at the first position based on the first real-time distance includes: The real-time driving speed of the vehicle after traveling the first real-time distance is obtained, and the real-time driving speed and the first real-time distance are input into the instantaneous acceleration calculation network; Based on the instantaneous acceleration calculation network, the real-time driving speed and the first real-time distance are processed to obtain the target instantaneous acceleration within a preset future time period.

8. A driving control device based on vehicle redundancy, characterized in that, The vehicle includes a main controller and a redundant controller, and the device includes: The acquisition module is used to acquire the standard real-time distance between the vehicle and the first target vehicle during the driving process under the control of the main controller, detect the first real-time distance between the vehicle and the first target vehicle in the first time period, and record the first position of the first target vehicle. An alternative module is used to select the redundant controller to replace the main controller to control the vehicle based on a comparison between the standard real-time distance and the first real-time distance; the redundant controller is used to control the vehicle to decelerate uniformly. The calculation module is used to calculate the target instantaneous acceleration of the vehicle as it decelerates uniformly and stops at a first position based on the first real-time distance when the redundant controller controls the vehicle; different target instantaneous accelerations correspond to different time periods; The control module is used to control the vehicle to drive based on the target instantaneous acceleration corresponding to each time period until the vehicle meets the preset control switching conditions, so that the vehicle switches to the main controller for control.

9. An electronic device, characterized in that, include: The device includes a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device is running, the processor communicates with the memory via the bus. When the machine-readable instructions are executed by the processor, they perform the steps of a vehicle redundancy-based driving control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of a vehicle redundancy-based driving control method as described in any one of claims 1 to 7.

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