Vehicle control system and method, vehicle and storage medium

Abstract

The invention discloses a vehicle control system and method, a vehicle and a storage medium, and the system comprises a sensing module which is used for sensing the first traffic information of the vehicle based on the surrounding environment information of the vehicle; the sensing and checking module is used for sensing second traffic information of the vehicle based on the vehicle surrounding environment information, checking the first traffic information according to the second traffic information, feeding back first checking result information to the sensing module, and enabling the sensing module to output target traffic information based on the first checking result information; the decision module is used for planning a first movement track of the vehicle according to the target traffic information; and the decision checking module is used for planning a second movement track of the vehicle according to the target traffic information, checking the first movement track according to the second movement track, and feeding back second checking result information to the decision module, so that the decision module determines a target movement track based on the second checking result information. According to the invention, the risk of misrecognition and misoperation is reduced, and the driving safety is remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular, to a vehicle control system, method, vehicle, and storage medium. Background Art

[0002] In the related art, the architecture of an advanced autonomous driving system is divided into three parts: a perception layer, a decision-making layer, and an execution layer. The perception layer integrates data from various sensors such as cameras, millimeter-wave radars, ultrasonic radars, lidars, and positioning antennas to achieve target fusion and recognition of the surrounding environment; the decision-making layer receives the information from the perception layer, performs computational analysis, and issues precise control instructions to the execution layer based on these analysis results; the execution layer then executes specific driving operations according to the instructions provided by the decision-making layer.

[0003] However, current autonomous driving systems usually rely on a single fixed algorithm for information processing. This method is prone to problems such as misrecognition and misoperation, resulting in the inability to achieve effective minimum-risk control of the vehicle, and thus it is difficult to meet the requirements of safe operation. Summary of the Invention

[0004] The present invention aims to at least solve one of the technical problems existing in the prior art.

[0005] To this end, an object of the present invention is to provide a vehicle control system that not only improves the accuracy of vehicle control, but also reduces the risks of misrecognition and misoperation, achieves minimum-risk control of the vehicle, thus achieving the goal of safe operation and significantly improving driving safety.

[0006] To this end, a second object of the present invention is to provide a vehicle control method.

[0007] To this end, a third object of the present invention is to provide a vehicle.

[0008] To this end, a fourth object of the present invention is to provide a computer-readable storage medium.

[0009] To achieve the above object, an embodiment of the first aspect of the present invention discloses a vehicle control system, including: a sensor module for acquiring vehicle surrounding environment information; a perception module for perceiving first traffic information of the vehicle based on the vehicle surrounding environment information; a perception check module for perceiving second traffic information of the vehicle based on the vehicle surrounding environment information, checking the first traffic information according to the second traffic information, and feeding back first check result information to the perception module, so that the perception module outputs target traffic information based on the first check result information; a decision module for planning a first movement trajectory of the vehicle according to the target traffic information; a decision check module for planning a second movement trajectory of the vehicle according to the target traffic information, checking the first movement trajectory according to the second movement trajectory, and feeding back second check result information to the decision module, so that the decision module determines a target movement trajectory based on the second check result information; and a control module for controlling the vehicle according to the target movement trajectory.

[0010] In the vehicle control system according to an embodiment of the present invention, the sensor module acquires vehicle surrounding environment information, the perception module perceives first traffic information based on the vehicle surrounding environment information, and transmits the first traffic information to the perception check module. The perception check module perceives and calculates second traffic information based on different algorithms according to the vehicle surrounding environment information, checks the first traffic information, and feeds back the first check result information to the perception module to ensure the accuracy and consistency of the target traffic information output by the perception module.

[0011] Subsequently, the decision module plans a first movement trajectory of the vehicle according to the target traffic information, the decision check module plans a second movement trajectory of the vehicle according to the target traffic information, and checks the first movement trajectory to judge their consistency. Then, the second check result is fed back to the decision module, and the decision module optimizes and outputs the target movement trajectory according to the second check result information. The control module executes specific control instructions according to the received target movement trajectory to achieve precise vehicle control. In this way, through this multi-level check and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risks of mis-identification and mis-operation are reduced, realizing the minimum-risk control of the vehicle, thereby achieving the goal of safe operation and significantly improving driving safety.

[0012] In addition, the vehicle control system according to the above embodiment of the present invention may further have the following additional technical features: In some embodiments, when planning the first movement trajectory of the vehicle according to the target traffic information, the decision module is configured to: predict a third movement trajectory of traffic participants around the vehicle based on the target traffic information; and plan the first movement trajectory according to the third movement trajectory.

[0013] In some embodiments, when planning the second motion trajectory of the vehicle according to the target traffic information, the decision checking module is configured to: predict the fourth motion trajectory of traffic participants around the vehicle based on the target traffic information; and plan the second motion trajectory according to the fourth motion trajectory.

[0014] In some embodiments, when checking the first traffic information according to the second traffic information to feed back first check result information to the perception module, so that the perception module outputs target traffic information based on the first check result information, the perception checking module is configured to: when the first traffic information is consistent with the second traffic information, the perception checking module feeds back to the perception module a first check result indicating that the first traffic information is accurate, so that when the perception module receives the first check result, it outputs the first traffic information as the target traffic information.

[0015] In some embodiments, when checking the first traffic information according to the second traffic information to feed back first check result information to the perception module, so that the perception module outputs target traffic information based on the first check result information, the perception checking module is further configured to: when the first traffic information is inconsistent with the second traffic information, feed back to the perception module a second check result indicating that there is an error in the first traffic information, and provide an optimization strategy to the perception module based on the second check result, so that the perception module outputs the target traffic information based on the optimization strategy.

[0016] In some embodiments, the perception module outputs the target traffic information based on the optimization strategy, including: after the perception checking module determines first difference information according to the first traffic information and the second traffic information, generating second optimized traffic information according to the first difference information, and feeding back the first difference information to the perception module, so that the perception module generates first optimized traffic information according to the first difference information, until the first optimized traffic information is consistent with the second optimized traffic information, and then outputting the first optimized traffic information as the target traffic information.

[0017] In some embodiments, when checking the first motion trajectory according to the second motion trajectory to feed back second check result information to the decision module, so that the decision module determines the target motion trajectory based on the second check result information, the decision checking module is configured to: when the first motion trajectory is consistent with the second motion trajectory, feed back to the decision module a third check result indicating that the first motion trajectory is accurate, so that when the decision module receives the third check result, it outputs the first motion trajectory as the target motion trajectory.

[0018] In some embodiments, when the first motion trajectory is checked according to the second motion trajectory to feedback second check result information to the decision-making module, so that the decision-making module determines the target motion trajectory based on the second check result information, the decision-making and checking module is further configured to: when the first motion trajectory is inconsistent with the second motion trajectory, feedback to the decision-making module a fourth check result for characterizing that there is an error in the first motion trajectory, and provide a correction strategy to the decision-making module based on the fourth check result, so that the decision-making module outputs the target motion trajectory based on the correction strategy.

[0019] In some embodiments, the decision-making module outputs the target motion trajectory based on the correction strategy, including: after the decision-making and checking module determines second difference information according to the first motion trajectory and the second motion trajectory, generating a second corrected motion trajectory according to the second difference information, and feeding back the second difference information to the decision-making module, so that the decision-making module generates a first corrected motion trajectory according to the second difference information, until the first corrected motion trajectory and the second corrected motion trajectory are consistent, and then outputting the first corrected motion trajectory as the target motion trajectory.

[0020] To achieve the above object, an embodiment of the second aspect of the present invention discloses a vehicle control method, including: acquiring vehicle surrounding environment information; sensing first traffic information of the vehicle based on the vehicle surrounding environment information; sensing second traffic information of the vehicle based on the vehicle surrounding environment information, checking the first traffic information according to the second traffic information, so as to output target traffic information based on first check result information; planning a first motion trajectory of the vehicle according to the target traffic information; planning a second motion trajectory of the vehicle according to the target traffic information, checking the first motion trajectory according to the second motion trajectory, so as to determine the target motion trajectory based on second check result information; controlling the vehicle according to the target motion trajectory.

[0021] According to the vehicle control method of the embodiments of the present invention, vehicle surrounding environment information is acquired, first traffic information and second traffic information are sensed based on the vehicle surrounding environment information, the first traffic information is checked according to the second traffic information, and the target traffic information is output according to the first check result information, so as to ensure the accuracy and consistency of the target traffic information.

[0022] Subsequently, the first motion trajectory and the second motion trajectory of the vehicle are planned according to the target traffic information, and the first motion trajectory is checked to determine their consistency. Then, the target motion trajectory is optimized and output according to the second check result information. Specific control instructions are executed according to the received target motion trajectory to achieve precise vehicle control. In this way, through this multi-level check and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risks of mis-identification and mis-operation are reduced, realizing the minimum-risk control of the vehicle, thus achieving the goal of safe operation and significantly improving driving safety.

[0023] To achieve the above object, an embodiment of the third aspect of the present invention discloses a vehicle, including: the vehicle control system according to any one of the embodiments of the first aspect of the present invention, or a processor, a memory, and a vehicle control program stored on the memory and executable on the processor, where the vehicle control program, when executed by the processor, implements the vehicle control method according to any one of the embodiments of the second aspect of the present invention.

[0024] According to the vehicle of the embodiment of the present invention, the sensor module obtains the vehicle surrounding environment information, the perception module perceives the first traffic information based on the vehicle surrounding environment information, and transmits the first traffic information to the perception check module. The perception check module perceives and calculates the second traffic information based on the vehicle surrounding environment information using different algorithms, checks the first traffic information, and feeds back the first check result information to the perception module to ensure the accuracy and consistency of the target traffic information output by the perception module.

[0025] Subsequently, the decision-making module plans the first motion trajectory of the vehicle according to the target traffic information, the decision check module plans the second motion trajectory of the vehicle according to the target traffic information, and checks the first motion trajectory to determine their consistency. Then, the second check result is fed back to the decision-making module, and the decision-making module optimizes and outputs the target motion trajectory according to the second check result information. The control module executes specific control instructions according to the received target motion trajectory to achieve precise vehicle control. In this way, through this multi-level check and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risks of mis-identification and mis-operation are reduced, realizing the minimum-risk control of the vehicle, thus achieving the goal of safe operation and significantly improving driving safety.

[0026] To achieve the above object, an embodiment of the fourth aspect of the present invention discloses a computer-readable storage medium, on which a vehicle control program is stored, and the vehicle control program, when executed by a processor, implements the vehicle control method according to the embodiment of the second aspect of the present invention.

[0027] A computer-readable storage medium according to an embodiment of the present invention, when the vehicle control program stored thereon is executed by a processor, acquires vehicle surrounding environment information, senses first traffic information and second traffic information based on the vehicle surrounding environment information, checks the first traffic information according to the second traffic information, and outputs target traffic information according to the first check result information to ensure the accuracy and consistency of the target traffic information.

[0028] Subsequently, a first motion trajectory and a second motion trajectory of the vehicle are planned according to the target traffic information, and the first motion trajectory is checked to judge their consistency. Then, the target motion trajectory is optimized and output according to the second check result information, and specific control instructions are executed according to the received target motion trajectory to achieve precise vehicle control. In this way, through this multi-level check and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risk of misidentification and misoperation is reduced, realizing the minimum risk control of the vehicle, thus achieving the goal of safe operation and significantly improving driving safety.

[0029] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention; Figure 2 is a flowchart of a vehicle control method according to an embodiment of the present invention; Figure 3 is a structural block diagram of a vehicle according to an embodiment of the present invention; Figure 4 is a structural block diagram of a vehicle according to another embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0031] Embodiments of the present invention will be described in detail below. The embodiments described with reference to the drawings are exemplary. Embodiments of the present invention will be described in detail below.

[0032] Next, reference is made to Figure 1 to describe a vehicle control system according to an embodiment of the present invention.

[0033] As Figure 1 shown, it is a schematic structural diagram of a vehicle control system according to an embodiment of the present invention. The vehicle control system 100 includes: a sensor module 110, a perception module 120, a perception check module 130, a decision module 140, a decision check module 150, and a control module 160.

[0034] Among them, the sensor module 110 is used to obtain the vehicle surrounding environment information; the perception module 120 is used to perceive the first traffic information of the vehicle based on the vehicle surrounding environment information; the perception inspection module 130 is used to perceive the second traffic information of the vehicle based on the vehicle surrounding environment information, check the first traffic information according to the second traffic information, and feed back the first inspection result information to the perception module 120, so that the perception module 120 outputs the target traffic information based on the first inspection result information; the decision-making module 140 is used to plan the first movement trajectory of the vehicle according to the target traffic information; the decision-making inspection module 150 is used to plan the second movement trajectory of the vehicle according to the target traffic information, check the first movement trajectory according to the second movement trajectory, and feed back the second inspection result information to the decision-making module 140, so that the decision-making module 140 determines the target movement trajectory based on the second inspection result information; the control module 160 is used to control the vehicle according to the target movement trajectory.

[0035] Among them, the sensor assembly 110 includes, for example, but is not limited to, lidar, forward long-range camera, forward mid-range camera, forward short-range camera, side-view camera, rear-view camera, forward millimeter-wave radar, angular millimeter-wave radar, and rearward millimeter-wave radar.

[0036] In an embodiment, the sensor module 110 is responsible for obtaining detailed information about the vehicle surrounding environment, while the perception module 120 generates the first traffic information by analyzing this environment information. Specifically, the perception module 120 identifies the road conditions where the vehicle is located and the surrounding obstacles, such as pedestrians, bicycles, etc., and determines the positional relationship between the obstacles and the vehicle. In this way, the perception module 120 can accurately perceive the traffic conditions around the vehicle, including the positions and types of obstacles, so as to determine the first traffic information of the vehicle. This process not only helps to identify the static and dynamic elements around the vehicle, but also clarifies the specific positions of these elements relative to the vehicle, ensuring a comprehensive judgment of the current traffic environment.

[0037] At the same time, the perception inspection module 130 also perceives the second traffic information of the vehicle based on the vehicle surrounding environment information. Among them, the perception module 120 and the perception inspection module 130 respectively use different perception algorithms to perceive traffic information. In addition, the types of sensor data obtained by the perception module 120 and the perception inspection module 130 can also be different. For example, the perception module 120 can use the data of sensors such as forward long-range camera, forward mid-range camera, forward short-range camera, side-view camera, rear-view camera to perceive the first traffic information, and the perception inspection module 130 can use the data of sensors such as side-view camera, rear-view camera, forward millimeter-wave radar, angular millimeter-wave radar, and rearward millimeter-wave radar to perceive the second traffic information, so that traffic information can be obtained comprehensively and using different perception algorithms.

[0038] The perception module 120 transmits the first traffic information identified by perception to the perception inspection module 130. The perception inspection module 130 inspects the first traffic information based on the second traffic information to check whether the data determined by the first traffic information is consistent with the second traffic information, and feeds back the first inspection result information to the perception module. The perception module 120 transmits the target traffic information to the decision-making module 140 and the decision-making inspection module 150 according to the fed-back first inspection result information.

[0039] Among them, the first traffic information and the second traffic information are continuously updated in real time based on the vehicle surrounding environment information to ensure that the system always obtains and receives the latest traffic conditions. The perception module 120 and the perception inspection module 130 will complete the perception, identification and inspection of the first traffic information and the second traffic information within the first preset time (such as 150 ms) to ensure their accuracy and consistency. Once the work of this cycle is completed, the two immediately start the next cycle, continuously updating and verifying the traffic information, enabling the vehicle control system to quickly respond to any new changes or emergencies, and ensuring the safety and efficiency of driving.

[0040] After receiving the target traffic information, the decision-making module 140 plans the first movement trajectory of the vehicle according to the traffic environment, vehicle location, obstacle information, vehicle speed information, etc. included in the target traffic information, and transmits the first movement trajectory to the decision-making inspection module 150.

[0041] After receiving the target traffic information, the decision-making inspection module 150 also plans the second movement trajectory of the vehicle according to the traffic environment, vehicle location, obstacle information, vehicle speed information, etc. included in the target traffic information. Among them, the algorithms for the decision-making module 140 and the decision-making inspection module 150 to determine the movement trajectory are different, and the first movement trajectory and the second movement trajectory are compared to judge whether the first movement trajectory is consistent with the second movement trajectory. After the judgment, the second inspection result information is fed back to the decision-making module 140. The decision-making module 140 outputs the target movement trajectory according to the second inspection result information and transmits the target movement trajectory to the control module 160. The control module 160 executes specific control instructions according to the received target movement trajectory, such as accelerating, decelerating, braking or steering operations, and can even complete complex combined driving tasks. Through this multi-level inspection and optimization mechanism, the system not only improves the accuracy of vehicle control, but also effectively reduces the risk of misidentification and misoperation, realizes the minimum risk control of the vehicle, and thus achieves the goal of safe operation, significantly improving driving safety.

[0042] Thus, for the above vehicle control system 100, the sensor module 110 obtains the vehicle surrounding environment information, the perception module 120 perceives the first traffic information based on the vehicle surrounding environment information, and transmits the first traffic information to the perception inspection module 130. The perception inspection module 130 perceives and calculates the second traffic information using different algorithms based on the vehicle surrounding environment information, inspects the first traffic information, and feeds back the first inspection result information to the perception module 120 to ensure the accuracy and consistency of the target traffic information output by the perception module 120.

[0043] Subsequently, the decision-making module 140 plans the first motion trajectory of the vehicle according to the target traffic information. The decision-making inspection module 150 plans the second motion trajectory of the vehicle according to the target traffic information, and inspects the first motion trajectory to judge their consistency. Then, the second inspection result is fed back to the decision-making module 140. The decision-making module 140 optimizes and outputs the target motion trajectory according to the second inspection result information. The control module 160 executes specific control instructions according to the received target motion trajectory to achieve precise vehicle control. In this way, through this multi-level inspection and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risk of misidentification and misoperation is reduced, realizing the minimum-risk control of the vehicle, thus achieving the goal of safe operation and significantly improving driving safety.

[0044] In an embodiment of the present invention, when planning the first motion trajectory of the vehicle according to the target traffic information, the decision-making module 140 is configured to: predict the third motion trajectory of the traffic participants around the vehicle based on the target traffic information; and plan the first motion trajectory according to the third motion trajectory.

[0045] In the embodiment, when planning the first motion trajectory of the vehicle according to the target traffic information, the decision-making module 140 first predicts the third motion trajectory of the surrounding traffic participants based on the target traffic information. For example, assume that a car is approaching an intersection ahead, and at the same time a pedestrian is about to cross the road on the side. The decision-making module 140 will use the target traffic information and the positions, speeds, and directions of the surrounding traffic participants to predict the future motion trajectories of the pedestrian and the vehicle. Specifically, the system may predict that the car will reach the intersection in 5 seconds, while the pedestrian may start crossing the road 3 seconds later. Based on the predicted third motion trajectory with this information, the decision-making module 140 will plan a safe and efficient first motion trajectory for the vehicle itself, such as decelerating to wait for the pedestrian to pass or changing lanes in advance to avoid the upcoming converging vehicle. In this way, the decision-making module 140 not only considers the current traffic conditions but also foresees potential risks, ensuring that the selected path can avoid collisions and optimize driving efficiency. Through this method, the system can make intelligent decisions in a complex dynamic environment, improving the safety and smoothness of driving.

[0046] In an embodiment of the present invention, when planning a second motion trajectory of a vehicle according to target traffic information, the decision checking module 150 is configured to: predict a fourth motion trajectory of traffic participants around the vehicle based on the target traffic information; and plan the second motion trajectory according to the fourth motion trajectory.

[0047] In the embodiment, when the decision checking module 150 plans the second motion trajectory of the vehicle according to the target traffic information, it first predicts the fourth motion trajectory of the surrounding traffic participants based on the target traffic information. For example, assume that a car is approaching at a front intersection, and at the same time, a pedestrian is about to cross the road on the side. The decision module 140 will use the target traffic information and the positions, speeds, and directions of the surrounding traffic participants to predict the future motion trajectories of the pedestrian and the vehicle, and plan the second motion trajectory according to the future motion trajectories of the pedestrian and the vehicle.

[0048] Then, the decision checking module 150 compares the second motion trajectory with the first motion trajectory generated by the decision module 140 to verify its consistency and safety.

[0049] In an embodiment of the present invention, when checking the first traffic information according to the second traffic information to feedback the first check result information to the perception module, so that the perception module 120 outputs the target traffic information based on the first check result information, the perception checking module 130 is configured to: when the first traffic information is consistent with the second traffic information, the perception checking module 130 feeds back a first check result indicating that the first traffic information is accurate to the perception module 120, so that when the perception module 120 receives the first check result, it outputs the first traffic information as the target traffic information.

[0050] In the embodiment, when checking the first traffic information according to the second traffic information and feeding back the first check result information to the perception module 120, if the first traffic information is consistent with the second traffic information, the perception checking module 130 will feed back a first check result indicating that the first traffic information is accurate to the perception module 120. For example, the perception module 120 identifies a stationary car ahead and generates corresponding first traffic information; at the same time, the perception checking module 130 also confirms the existence, position, and status of this stationary car based on an independent algorithm. In this case, the perception checking module 130 will notify the perception module 120 that the generated first traffic information is accurate. After receiving this positive first check result, the perception module 120 will directly output the first traffic information as the target traffic information, ensuring that the output target traffic information is reliable and consistent, and thus improving the safety of vehicle driving.

[0051] In an embodiment of the present invention, when the first traffic information is checked according to the second traffic information to feed back the first check result information to the perception module 120, so that the perception module 120 outputs the target traffic information based on the first check result information, the perception check module 130 is further configured to: when the first traffic information is inconsistent with the second traffic information, feed back to the perception module 120 a second check result indicating that the first traffic information is incorrect, and provide an optimization strategy to the perception module 120 based on the second check result, so that the perception module 120 outputs the target traffic information based on the optimization strategy.

[0052] In an embodiment, when the first traffic information is checked according to the second traffic information and the first check result information is fed back to the perception module 120, if the first traffic information is inconsistent with the second traffic information, the perception check module 130 feeds back to the perception module 120 a second check result indicating that the first traffic information is incorrect. For example, assume that the perception module 120 identifies a moving car ahead and generates corresponding first traffic information; while the perception check module 130 detects based on an independent algorithm that the car is actually stationary, and the two pieces of information are inconsistent. In this case, the perception check module 130 will notify the perception module 120 that the first traffic information it generated is incorrect. Subsequently, the perception check module 130 will also provide specific optimization strategies based on the second check result. After receiving these optimization strategies, the perception module 120 will make corrections according to the provided guidance, re-evaluate and generate more accurate target traffic information. In this way, through the feedback and optimization mechanism, the system can ensure that the output target traffic information is more accurate and reliable, thereby improving the safety and effectiveness of the overall system.

[0053] In an embodiment of the present invention, the perception module 120 outputs the target traffic information based on the optimization strategy, including: after the perception check module 130 determines the first difference information according to the first traffic information and the second traffic information, generates second optimized traffic information according to the first difference information, and feeds back the first difference information to the perception module 120, so that the perception module 120 generates first optimized traffic information according to the first difference information, until the first optimized traffic information and the second optimized traffic information are consistent, and then outputs the first optimized traffic information as the target traffic information.

[0054] In an embodiment, when the perception checking module 130 detects that the first traffic information is inconsistent with the second traffic information, the first difference information is determined based on these two sets of information. For example, assume that the perception module 120 identifies a moving car ahead, while the perception checking module 130 discovers through an independent algorithm that the car is actually stationary. The perception checking module 130 generates the first difference information based on this difference and generates the second optimized traffic information accordingly. Then, the perception checking module 130 feeds back the first difference information to the perception module 120. After receiving the first difference information, the perception module 120 adjusts the original first traffic information according to this information to generate the first optimized traffic information. The system repeats this process until the first optimized traffic information and the second optimized traffic information are consistent. Once the two are consistent, the perception module 120 outputs the first optimized traffic information as the final target traffic information. In this way, through the iterative optimization and verification mechanism, the system can ensure that the output target traffic information is accurate, thereby improving the reliability and safety of the vehicle control system.

[0055] In an embodiment of the present invention, when checking the first motion trajectory according to the second motion trajectory to feed back the second check result information to the decision-making module, so that the decision-making module 140 determines the target motion trajectory based on the second check result information, the decision-checking module 150 is used for: when the first motion trajectory is consistent with the second motion trajectory, feeding back to the decision-making module 140 a third check result indicating that the first motion trajectory is accurate, so that when the decision-making module 140 receives the third check result, it outputs the first motion trajectory as the target motion trajectory.

[0056] In an embodiment, if the first motion trajectory is consistent with the second motion trajectory, the decision-checking module 150 will feed back to the decision-making module 140 a third check result indicating that the first motion trajectory is accurate. For example, assume that the decision-making module 140 plans a path for the vehicle to accelerate through the green light ahead as the first motion trajectory, and the decision-checking module 150 also confirms the safety and feasibility of this path based on an independent algorithm. In this case, the decision-checking module 150 will notify the decision-making module 140 that the first motion trajectory it generates is accurate. After receiving this positive feedback of the third check result, the decision-making module 140 will output the first motion trajectory as the target motion trajectory, ensuring that the output target motion trajectory is reliable and consistent, thereby not only improving the reliability of the system, but also enhancing the safety and efficiency of driving.

[0057] In an embodiment of the present invention, when checking the first motion trajectory according to the second motion trajectory to feedback the second check result information to the decision-making module 140, so that the decision-making module 140 determines the target motion trajectory based on the second check result information, the decision-checking module 150 is further configured to: when the first motion trajectory is inconsistent with the second motion trajectory, feedback to the decision-making module 140 a fourth check result for characterizing that there is an error in the first motion trajectory, and provide a correction strategy to the decision-making module 140 based on the fourth check result, so that the decision-making module 140 outputs the target motion trajectory based on the correction strategy.

[0058] In the embodiment, if the first motion trajectory is inconsistent with the second motion trajectory, the decision-checking module 150 feeds back to the decision-making module 140 a fourth check result for characterizing that there is an error in the first motion trajectory. For example, the decision-making module 140 plans a first motion trajectory for a vehicle to accelerate through the intersection ahead, while the decision-checking module 150 detects based on an independent algorithm that there may be a risk in this path (such as another vehicle may suddenly break in), resulting in the second motion trajectory being inconsistent with the first motion trajectory. In this case, the decision-checking module 150 will notify the decision-making module 140 that there is a potential error in the first motion trajectory it generates. Subsequently, the decision-checking module 150 will also provide a specific correction strategy based on the fourth check result to ensure the accuracy and safety of the finally output target motion trajectory. After receiving these correction strategies, the decision-making module 140 will re-evaluate and adjust its motion trajectory planning according to the provided guidance, and generate a safer and more reasonable target motion trajectory. Once the adjustment is completed, the decision-making module 140 will output the finally determined target motion trajectory to ensure that the subsequent control module can operate based on the optimized data. In this way, through the feedback and correction mechanism, the system can significantly improve the safety and reliability of driving, and ensure making the optimal decision in the complex and changeable traffic environment.

[0059] In an embodiment of the present invention, the decision-making module 140 outputs the target motion trajectory based on the correction strategy, including: after the decision-checking module 150 determines the second difference information according to the first motion trajectory and the second motion trajectory, generates a second corrected motion trajectory according to the second difference information, and feeds back the second difference information to the decision-making module, so that the decision-making module 140 generates a first corrected motion trajectory according to the second difference information, until the first corrected motion trajectory and the second corrected motion trajectory are consistent, and then outputs the first corrected motion trajectory as the target motion trajectory.

[0060] In an embodiment, when the first motion trajectory is inconsistent with the second motion trajectory, the decision checking module 150 first determines second difference information based on these two sets of trajectories. For example, there is a difference between the first motion trajectory planned by the decision module 140 for the vehicle to accelerate through the intersection ahead and the more conservative second motion trajectory independently generated by the decision checking module 150 (such as the latter suggesting deceleration to avoid potential risks). The decision checking module 150 generates second difference information based on this difference and generates a second corrected motion trajectory accordingly. Then, the decision checking module 150 feeds back the second difference information to the decision module 140. After receiving the second difference information, the decision module 140 adjusts the original first motion trajectory according to this information to generate a first corrected motion trajectory. The system repeats this process until the first corrected motion trajectory and the second corrected motion trajectory are consistent. Once the two are consistent, the decision module 140 outputs the first corrected motion trajectory as the final target motion trajectory. In this way, through the iterative optimization and verification mechanism, the system can ensure that the output target motion trajectory is accurate, thereby improving the reliability and safety of the vehicle control system.

[0061] For the vehicle control system 100 according to an embodiment of the present invention, the sensor module 110 acquires vehicle surrounding environment information, the perception module 120 perceives first traffic information based on the vehicle surrounding environment information, and transmits the first traffic information to the perception checking module 130. The perception checking module 130 perceives and calculates second traffic information based on the vehicle surrounding environment information using different algorithms, checks the first traffic information, and feeds back the first check result information to the perception module 120 to ensure the accuracy and consistency of the target traffic information output by the perception module 120.

[0062] Subsequently, the decision module 140 plans a first motion trajectory of the vehicle according to the target traffic information, and the decision checking module 150 plans a second motion trajectory of the vehicle according to the target traffic information and checks the first motion trajectory to determine their consistency. Then, the second check result is fed back to the decision module 140, and the decision module 140 optimizes and outputs the target motion trajectory according to the second check result information. The control module 160 executes specific control instructions according to the received target motion trajectory to achieve precise vehicle control. In this way, through this multi-level checking and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risks of misidentification and misoperation are reduced, realizing the minimum-risk control of the vehicle, thereby achieving the goal of safe operation and significantly improving driving safety.

[0063] A further embodiment of the present invention also discloses a vehicle control method.

[0064] As Figure 2 shown, it is a flowchart of the vehicle control method according to an embodiment of the present invention.

[0065] AsFigure 2 As shown, the vehicle control method at least includes steps S1 to S6.

[0066] Step S1: Obtain the vehicle surrounding environment information.

[0067] Step S2: Sense the first traffic information of the vehicle based on the vehicle surrounding environment information.

[0068] Step S3: Sense the second traffic information of the vehicle based on the vehicle surrounding environment information, check the first traffic information according to the second traffic information, and output the target traffic information based on the first check result information.

[0069] Step S4: Plan the first motion trajectory of the vehicle according to the target traffic information.

[0070] Step S5: Plan the second motion trajectory of the vehicle according to the target traffic information, check the first motion trajectory according to the second motion trajectory, and determine the target motion trajectory based on the second check result information.

[0071] Step S6: Control the vehicle according to the target motion trajectory.

[0072] In an embodiment of the present invention, when planning the first motion trajectory of the vehicle according to the target traffic information, it includes: predicting the third motion trajectory of traffic participants around the vehicle based on the target traffic information; planning the first motion trajectory according to the third motion trajectory.

[0073] In an embodiment of the present invention, when planning the second motion trajectory of the vehicle according to the target traffic information, it includes: predicting the fourth motion trajectory of traffic participants around the vehicle based on the target traffic information; planning the second motion trajectory according to the fourth motion trajectory.

[0074] In an embodiment of the present invention, when checking the first traffic information according to the second traffic information to feedback the first check result information to the sensing module, so that the sensing module outputs the target traffic information based on the first check result information, it includes: when the first traffic information is consistent with the second traffic information, the sensing check module feedbacks the first check result indicating that the first traffic information is accurate to the sensing module, so that when the sensing module receives the first check result, it outputs the first traffic information as the target traffic information.

[0075] In an embodiment of the present invention, when checking the first traffic information according to the second traffic information to output the target traffic information based on the first check result information, it includes: when the first traffic information is inconsistent with the second traffic information, feedback the second check result indicating that there is an error in the first traffic information, provide an optimization strategy based on the second check result, and output the target traffic information based on the optimization strategy.

[0076] In an embodiment of the present invention, outputting target traffic information based on an optimization strategy includes: after determining first difference information according to first traffic information and second traffic information, generating second optimized traffic information and first optimized traffic information according to the first difference information, until the first optimized traffic information and the second optimized traffic information are consistent, and then outputting the first optimized traffic information as the target traffic information.

[0077] In an embodiment of the present invention, when checking a first motion trajectory according to a second motion trajectory to determine a target motion trajectory based on second check result information, it includes: when the first motion trajectory is consistent with the second motion trajectory, feeding back a third check result for characterizing that the first motion trajectory is accurate, and when receiving the third check result, outputting the first motion trajectory as the target motion trajectory.

[0078] In an embodiment of the present invention, when checking a first motion trajectory according to a second motion trajectory to determine a target motion trajectory based on second check result information, it includes: when the first motion trajectory is inconsistent with the second motion trajectory, feeding back a fourth check result for characterizing that there is an error in the first motion trajectory, providing a correction strategy based on the fourth check result, and outputting the target motion trajectory based on the correction strategy.

[0079] In an embodiment of the present invention, outputting a target motion trajectory based on a correction strategy includes: after determining second difference information according to the first motion trajectory and the second motion trajectory, generating a second corrected motion trajectory and a first corrected motion trajectory according to the second difference information, until the first corrected motion trajectory and the second corrected motion trajectory are consistent, and then outputting the first corrected motion trajectory as the target motion trajectory.

[0080] According to the vehicle control method of an embodiment of the present invention, vehicle surrounding environment information is acquired, first traffic information and second traffic information are sensed based on the vehicle surrounding environment information, the first traffic information is checked according to the second traffic information, and target traffic information is output according to the first check result information to ensure the accuracy and consistency of the target traffic information.

[0081] Subsequently, a first motion trajectory and a second motion trajectory of the vehicle are planned according to the target traffic information, the first motion trajectory is checked to judge their consistency, then the target motion trajectory is optimized and output according to the second check result information, and specific control instructions are executed according to the received target motion trajectory to achieve precise vehicle control. In this way, through this multi-level checking and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risks of misidentification and misoperation are reduced, realizing the minimum-risk control of the vehicle, thereby achieving the goal of safe operation and significantly improving driving safety.

[0082] A further embodiment of the present invention also discloses a vehicle.

[0083] In some embodiments, as Figure 3 shown, the vehicle 200 includes the vehicle control system 100 described in the above embodiments of the present invention.

[0084] In other embodiments, as Figure 4 shown, the vehicle 200 includes a processor 201, a memory 202, and a vehicle control program stored on the memory 202 and executable on the processor 201. When the vehicle control program is executed by the processor 201, it implements the vehicle control method described in the above embodiments of the present invention.

[0085] For the vehicle 200 according to the embodiment of the present invention, the sensor module 110 obtains the vehicle surrounding environment information, the perception module 120 perceives the first traffic information based on the vehicle surrounding environment information, and transmits the first traffic information to the perception inspection module 130. The perception inspection module 130 perceives and calculates the second traffic information based on the vehicle surrounding environment information using different algorithms, checks the first traffic information, and feeds back the first inspection result information to the perception module 120 to ensure the accuracy and consistency of the target traffic information output by the perception module 120.

[0086] Subsequently, the decision module 140 plans the first movement trajectory of the vehicle according to the target traffic information. The decision inspection module 150 plans the second movement trajectory of the vehicle according to the target traffic information, and checks the first movement trajectory to judge the consistency between the two. Then, the second inspection result is fed back to the decision module 140. The decision module 140 optimizes and outputs the target movement trajectory according to the second inspection result information. The control module 160 executes specific control instructions according to the received target movement trajectory to achieve precise vehicle control. In this way, through this multi-level inspection and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risks of misidentification and misoperation are reduced, realizing the minimum-risk control of the vehicle, thus achieving the goal of safe operation and significantly improving driving safety.

[0087] A further embodiment of the present invention also discloses a computer-readable storage medium. A vehicle control program is stored on the computer-readable storage medium. When the vehicle control program is executed by a processor, it implements the vehicle control method described in the above embodiments of the present invention.

[0088] For the computer-readable storage medium according to the embodiment of the present invention, when the vehicle control program stored thereon is executed by a processor, it obtains the vehicle surrounding environment information, perceives the first traffic information and the second traffic information based on the vehicle surrounding environment information, checks the first traffic information according to the second traffic information, and outputs the target traffic information according to the first inspection result information to ensure the accuracy and consistency of the target traffic information.

[0089] Subsequently, the first and second movement trajectories of the vehicle are planned according to the target traffic information, and the first movement trajectory is checked to determine their consistency. Then, the target movement trajectory is optimized and output according to the second inspection result information. Specific control instructions are executed according to the received target movement trajectory to achieve precise vehicle control. Through this multi-level inspection and optimization mechanism, not only the accuracy of vehicle control is improved, but also the risks of mis-identification and mis-operation are reduced, realizing the minimum-risk control of the vehicle, thus achieving the goal of safe operation and significantly improving driving safety.

[0090] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example.

[0091] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A vehicle control system, characterized in that, Including: A sensor module, configured to obtain information about the vehicle's surrounding environment; A perception module, configured to perceive the first traffic information of the vehicle based on the information about the vehicle's surrounding environment; A perception checking module, configured to perceive the second traffic information of the vehicle based on the information about the vehicle's surrounding environment, check the first traffic information according to the second traffic information, and feed back first check result information to the perception module, so that the perception module outputs target traffic information based on the first check result information; A decision-making module, configured to plan a first movement trajectory of the vehicle according to the target traffic information; A decision-making checking module, configured to plan a second movement trajectory of the vehicle according to the target traffic information, check the first movement trajectory according to the second movement trajectory, and feed back second check result information to the decision-making module, so that the decision-making module determines a target movement trajectory based on the second check result information; A control module, configured to control the vehicle according to the target movement trajectory.

2. The vehicle control system according to claim 1, characterized in that When planning the first movement trajectory of the vehicle according to the target traffic information, the decision-making module is configured to: Predict a third movement trajectory of traffic participants around the vehicle based on the target traffic information; Plan the first movement trajectory according to the third movement trajectory.

3. The vehicle control system according to claim 1, wherein When planning the second movement trajectory of the vehicle according to the target traffic information, the decision-making checking module is configured to: Predict a fourth movement trajectory of traffic participants around the vehicle based on the target traffic information; Plan the second movement trajectory according to the fourth movement trajectory.

4. The vehicle control system according to claim 1, wherein, When checking the first traffic information according to the second traffic information to feed back first check result information to the perception module, so that the perception module outputs target traffic information based on the first check result information, the perception checking module is configured to: When the first traffic information is consistent with the second traffic information, the perception checking module feeds back a first check result indicating that the first traffic information is accurate to the perception module, so that when the perception module receives the first check result, it outputs the first traffic information as the target traffic information.

5. The vehicle control system according to claim 1, wherein When checking the first traffic information according to the second traffic information to feed back first check result information to the perception module, so that the perception module outputs target traffic information based on the first check result information, the perception checking module is further configured to: When the first traffic information is inconsistent with the second traffic information, feed back a second check result indicating that there is an error in the first traffic information to the perception module, and provide an optimization strategy to the perception module based on the second check result, so that the perception module outputs the target traffic information based on the optimization strategy.

6. The vehicle control system according to claim 5, characterized in that The perception module outputs the target traffic information based on the optimization strategy, including: After determining the first difference information based on the first traffic information and the second traffic information, the perception check module generates second optimized traffic information according to the first difference information, and feeds back the first difference information to the perception module, so that the perception module generates first optimized traffic information according to the first difference information. After the first optimized traffic information and the second optimized traffic information are consistent, the first optimized traffic information is output as the target traffic information.

7. The vehicle control system according to claim 1, characterized in that, When checking the first motion trajectory according to the second motion trajectory to feed back the second check result information to the decision-making module, so that the decision-making module determines the target motion trajectory based on the second check result information, the decision check module is used for: When the first motion trajectory is consistent with the second motion trajectory, feedback to the decision-making module a third check result for characterizing that the first motion trajectory is accurate, so that when the decision-making module receives the third check result, the first motion trajectory is output as the target motion trajectory.

8. The vehicle control system according to claim 1, wherein When checking the first motion trajectory according to the second motion trajectory to feed back the second check result information to the decision-making module, so that the decision-making module determines the target motion trajectory based on the second check result information, the decision check module is also used for: When the first motion trajectory is inconsistent with the second motion trajectory, feedback to the decision-making module a fourth check result for characterizing that there is an error in the first motion trajectory, and provide a correction strategy to the decision-making module based on the fourth check result, so that the decision-making module outputs the target motion trajectory based on the correction strategy.

9. The vehicle control system according to claim 8, characterized in that, The decision-making module outputs the target motion trajectory based on the correction strategy, including: After determining the second difference information according to the first motion trajectory and the second motion trajectory, the decision check module generates a second corrected motion trajectory according to the second difference information, and feeds back the second difference information to the decision-making module, so that the decision-making module generates a first corrected motion trajectory according to the second difference information. After the first corrected motion trajectory and the second corrected motion trajectory are consistent, the first corrected motion trajectory is output as the target motion trajectory.

10. A vehicle control method, characterized in that, Including: Obtain the vehicle surrounding environment information; Perceive the first traffic information of the vehicle based on the vehicle surrounding environment information; Perceive the second traffic information of the vehicle based on the vehicle surrounding environment information, check the first traffic information according to the second traffic information, and output the target traffic information based on the first check result information; Plan the first motion trajectory of the vehicle according to the target traffic information; Plan the second motion trajectory of the vehicle according to the target traffic information, check the first motion trajectory according to the second motion trajectory, and determine the target motion trajectory based on the second check result information; Control the vehicle according to the target motion trajectory.

11. A vehicle, characterized in that, Including: The vehicle control system according to any one of claims 1-9; Or, A processor, a memory, and a vehicle control program stored on the memory and executable on the processor, wherein when the vehicle control program is executed by the processor, the vehicle control method according to claim 10 is implemented.

12. A computer-readable storage medium, characterized in that, A vehicle control program is stored on the computer-readable storage medium, and when the vehicle control program is executed by the processor, the vehicle control method according to claim 10 is implemented.

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