Vehicle operation control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle operation control method, device and equipment and a storage medium. In the operation process of a target vehicle, the working state of a main controller is detected; if it is determined that the working state of the main controller is abnormal, starting a standby controller and recording a starting time point corresponding to the standby controller; intercepting second track regulation data after the starting time point from the first track regulation data; track regulation and control are conducted on the target vehicle through the standby controller, and third track regulation and control data are obtained; and according to the second track control data, performing interpolation filling on the third track control data to obtain target track control data, and controlling the target vehicle to run through the target track control data. The reliability and stability of auxiliary driving are improved, and the probability of safety accidents is reduced. The method can be widely applied to the technical field of vehicles.

Description

Technical Field

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

[0002] In the field of vehicles, autonomous driving technology enables a vehicle to drive autonomously through sensors, algorithms, and control systems. Among them, the L3 level (conditional autonomous driving) requires the system to take over the driving task in specific scenarios. To reduce costs and improve safety, heterogeneous redundancy technology is widely used - primary and backup controllers with different architectures are adopted (such as a high-performance main control chip paired with a low-performance backup chip), and the risk of common cause failures is reduced through hardware differences. When the primary controller fails, although the performance of the backup controller is lower, it can still be basically maintained for use, significantly reducing the hardware cost while improving safety.

[0003] In related technologies, research and application of primary and backup controllers have found that when the primary controller has an abnormality and needs to be switched to the backup controller for use, due to limited performance, the backup controller often has difficulty adapting to the current complex working conditions quickly. Coupled with the relatively low regular control refresh frequency of the backup controller itself, safety accidents are likely to occur after takeover, and the practicability is not good.

[0004] In summary, the problems existing in the related technologies need to be solved urgently. Summary of the Invention

[0005] An object of the present application is to solve at least to some extent one of the technical problems existing in the related technologies.

[0006] To this end, an object of an embodiment of the present application is to provide a vehicle operation control method, device, equipment, and storage medium.

[0007] To achieve the above technical object, the technical solutions adopted in the embodiments of the present application include:

[0008] On the one hand, an embodiment of the present application provides a vehicle operation control method, which is applied to a target vehicle, and the target vehicle includes a primary controller and a backup controller; the method includes:

[0009] During the operation of the target vehicle, detect the working state of the primary controller;

[0010] If it is determined that the working state of the primary controller appears abnormal, enable the backup controller and record the enabling time point corresponding to the backup controller; wherein, the first trajectory regular control data of the target vehicle sent in real time by the primary controller is stored in the backup controller, and the performance of the primary controller is better than that of the backup controller;

[0011] Intercept the second trajectory control data after the enabling time point from the first trajectory control data;

[0012] Perform trajectory control on the target vehicle through the standby controller to obtain third trajectory control data;

[0013] Interpolate and fill the third trajectory control data according to the second trajectory control data to obtain target trajectory control data, and control the operation of the target vehicle through the target trajectory control data.

[0014] In addition, according to a vehicle operation control method of the above embodiments of the present application, the following additional technical features may also be included:

[0015] Further, in an embodiment of the present application, the method further includes:

[0016] If it is determined that the working state of the main controller is normal, perform trajectory control on the target vehicle through the main controller to obtain the first trajectory control data;

[0017] Control the operation of the target vehicle through the first trajectory control data, and send the first trajectory control data to the standby controller.

[0018] Further, in an embodiment of the present application, the detecting the working state of the main controller includes:

[0019] Monitor the historical time point when the standby controller last received the pulse signal sent by the main controller;

[0020] Calculate the time interval between the historical time point and the current time point through the standby controller;

[0021] If the time interval exceeds a preset time threshold, determine that the working state of the main controller is abnormal.

[0022] Further, in an embodiment of the present application, the standby controller also stores the first environmental perception data of the target vehicle sent by the main controller in real time; the method further includes:

[0023] If it is determined that the working state of the main controller is abnormal, intercept the second environmental perception data after the enabling time point from the first environmental perception data;

[0024] Perform environmental perception through the standby controller to obtain third environmental perception data;

[0025] Fuse and process the third environmental perception data according to the second environmental perception data to obtain the environmental perception data corresponding to the target vehicle.

[0026] Further, in an embodiment of the present application, the fusing the third environmental perception data according to the second environmental perception data to obtain the environmental perception data corresponding to the target vehicle includes:

[0027] Dividing the second environmental perception data according to the perception distance corresponding to the standby controller to obtain fourth environmental perception data and fifth environmental perception data; wherein, the fourth environmental perception data is the environmental perception data with a distance from the target vehicle less than or equal to the perception distance, and the fifth environmental perception data is the environmental perception data with a distance from the target vehicle greater than the perception distance;

[0028] Interpolating and filling the third environmental perception data according to the fourth environmental perception data, and splicing the third environmental perception data through the fifth environmental perception data to obtain the environmental perception data corresponding to the target vehicle.

[0029] Further, in an embodiment of the present application, the controlling the operation of the target vehicle through the target trajectory control data includes:

[0030] Obtaining the vehicle speed data of the target vehicle;

[0031] Determining target driving parameters according to the vehicle speed data; wherein, the target driving parameters include driving duration or driving distance, and the target driving parameters and the vehicle speed data are negatively correlated;

[0032] Controlling the operation of the target vehicle through the target trajectory control data, and monitoring the cumulative driving parameters of the current target vehicle after enabling the standby controller;

[0033] When the cumulative driving parameters reach the target driving parameters, controlling the operation of the target vehicle through the currently determined third trajectory control data.

[0034] Further, in an embodiment of the present application, the method further includes:

[0035] If it is determined that the working state of the main controller is abnormal, sending a prompt message to the driver of the target vehicle; wherein, the prompt message is used to prompt the driver to take over the target vehicle.

[0036] On the other hand, an embodiment of the present application provides a vehicle operation control device, which is applied to a target vehicle, and the target vehicle includes a main controller and a standby controller; the device includes:

[0037] A detection unit, configured to detect the working state of the main controller during the operation of the target vehicle;

[0038] An enabling unit, configured to enable the backup controller and record the enabling time point corresponding to the backup controller if it is determined that the working state of the main controller is abnormal; wherein, the backup controller stores the first trajectory planning and control data of the target vehicle sent by the main controller in real time, and the performance of the main controller is superior to that of the backup controller;

[0039] An intercepting unit, configured to intercept the second trajectory planning and control data after the enabling time point from the first trajectory planning and control data;

[0040] A processing unit, configured to perform trajectory planning and control on the target vehicle through the backup controller to obtain third trajectory planning and control data;

[0041] An execution unit, configured to perform interpolation filling on the third trajectory planning and control data according to the second trajectory planning and control data to obtain target trajectory planning and control data, and control the operation of the target vehicle through the target trajectory planning and control data.

[0042] On the other hand, an embodiment of the present application provides an electronic device, including:

[0043] At least one processor;

[0044] At least one memory, configured to store at least one program;

[0045] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned vehicle operation control method.

[0046] On the other hand, an embodiment of the present application further provides a computer-readable storage medium, in which a program executable by a processor is stored, and the program executable by the processor is used to implement the above-mentioned vehicle operation control method when executed by the processor.

[0047] The advantages and beneficial effects of the present application will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present application:

[0048] A vehicle operation control method, device, equipment and storage medium disclosed in an embodiment of the present application. The present application is applied to a target vehicle including a main controller and a standby controller. During the operation of the target vehicle, the working state of the main controller is detected; if it is determined that the working state of the main controller is abnormal, the standby controller is enabled and the enabling time point corresponding to the standby controller is recorded; wherein, the standby controller stores the first trajectory planning and control data of the target vehicle sent by the main controller in real time, and the performance of the main controller is better than that of the standby controller; the second trajectory planning and control data after the enabling time point is intercepted from the first trajectory planning and control data; the standby controller is used to perform trajectory planning and control on the target vehicle to obtain the third trajectory planning and control data; according to the second trajectory planning and control data, the third trajectory planning and control data is interpolated and filled to obtain the target trajectory planning and control data, and the target vehicle is controlled to operate through the target trajectory planning and control data. The present application can interpolate and fill the trajectory planning and control data of the standby controller with the trajectory planning and control data processed by the high-performance main controller, effectively making up for the problems of slow enabling and insufficient performance of the standby controller, which is beneficial to improving the reliability and stability of assisted driving and reducing the probability of safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following introduces the accompanying drawings of the relevant technical solutions in the embodiments of the present application or the prior art. It should be understood that the accompanying drawings in the following introduction are only for conveniently and clearly presenting some embodiments of the technical solutions in the present application. For those skilled in the art, other drawings can be obtained based on these drawings without creative efforts.

[0050] Figure 1 It is a schematic diagram of the implementation environment of a vehicle operation control method provided in an embodiment of the present application;

[0051] Figure 2 It is a schematic flowchart of a vehicle operation control method provided in an embodiment of the present application;

[0052] Figure 3 It is a schematic structural diagram of a vehicle operation control device provided in an embodiment of the present application;

[0053] Figure 4 It is a schematic structural diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0054] The present application will be further described below in conjunction with the accompanying drawings of the specification and specific embodiments. The described embodiments should not be construed as limiting the present application. All other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present application.

[0055] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments. However, it can be understood that "some embodiments" can be the same subset or different subsets of all possible embodiments, and can be combined with each other without conflict.

[0056] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0057] In the field of vehicles, autonomous driving technology enables a vehicle to drive autonomously through sensors, algorithms, and control systems. Among them, Level 3 (conditional autonomous driving) requires the system to take over the driving task in specific scenarios. To reduce costs and improve safety, heterogeneous redundancy technology is widely used - primary and backup controllers with different architectures are adopted (such as a high-performance main control chip paired with a low-performance backup chip), and the risk of common-cause failures is reduced through hardware differences. When the primary controller fails, although the performance of the backup controller is lower, it can still be basically maintained for use, significantly reducing the hardware cost while improving safety.

[0058] In related technologies, research and application of primary and backup controllers have found that when the primary controller malfunctions and needs to be switched to the backup controller for use, due to limited performance, the backup controller often has difficulty quickly adapting to the current complex working conditions. Coupled with the relatively low regulation and control refresh frequency of the backup controller itself, safety accidents are likely to occur after takeover, and the practicality is poor.

[0059] In view of this, embodiments of the present application provide a vehicle operation control method, device, equipment, and storage medium. The present application is applied to a target vehicle including a main controller and a backup controller. During the operation of the target vehicle, the working state of the main controller is detected; if it is determined that the working state of the main controller is abnormal, the backup controller is enabled and the enabling time point corresponding to the backup controller is recorded; wherein, the backup controller stores the first trajectory planning and control data of the target vehicle sent by the main controller in real time, and the performance of the main controller is better than that of the backup controller; the second trajectory planning and control data after the enabling time point is intercepted from the first trajectory planning and control data; the target vehicle is subjected to trajectory planning and control through the backup controller to obtain the third trajectory planning and control data; according to the second trajectory planning and control data, the third trajectory planning and control data is interpolated and filled to obtain the target trajectory planning and control data, and the target vehicle is controlled to run through the target trajectory planning and control data. The present application can interpolate and fill the trajectory planning and control data of the backup controller with the trajectory planning and control data processed by the high-performance main controller, effectively making up for the problems of slow enabling and insufficient performance of the backup controller, which is beneficial to improving the reliability and stability of assisted driving and reducing the probability of safety accidents.

[0060] Please refer to Figure 1 , Figure 1 FIG. shows a schematic diagram of the implementation environment of a vehicle operation control method provided in an embodiment of the present application. In this implementation environment, the main body involved is the vehicle, which is denoted as the target vehicle in the present application. The target vehicle includes a main controller and a backup controller, which are used to implement the assisted driving of the vehicle. In addition, it should be noted that, in addition to the main controller and the backup controller, the target vehicle may also include other controllers, and the present application does not limit this.

[0061] Next, in combination with the introduction of the foregoing implementation environment, a vehicle operation control method provided in an embodiment of the present application will be introduced and described.

[0062] Please refer to Figure 2 , Figure 2 FIG. is a schematic diagram of a vehicle operation control method provided in an embodiment of the present application. The vehicle operation control method includes but is not limited to:

[0063] Step 210, during the operation of the target vehicle, detect the working state of the main controller;

[0064] Step 220, if it is determined that the working state of the main controller is abnormal, enable the backup controller and record the enabling time point corresponding to the backup controller; wherein, the backup controller stores the first trajectory planning and control data of the target vehicle sent by the main controller in real time, and the performance of the main controller is better than that of the backup controller;

[0065] Step 230: Intercept the second trajectory control data after the enabling time point from the first trajectory control data;

[0066] Step 240: Perform trajectory control on the target vehicle through the standby controller to obtain the third trajectory control data;

[0067] Step 250: Interpolate and fill the third trajectory control data according to the second trajectory control data to obtain the target trajectory control data, and control the operation of the target vehicle through the target trajectory control data.

[0068] In the embodiment of the present application, a vehicle operation control method is provided. This method can interpolate and fill the trajectory control data of the standby controller with the trajectory control data processed by the high-performance main controller, effectively making up for the problems of slow startup and insufficient performance of the standby controller, which is beneficial to improving the reliability and stability of assisted driving and reducing the probability of safety accidents.

[0069] Specifically, in the embodiment of the present application, for the target vehicle, the main controller and the standby controller inside it are the core components of the assisted driving system, jointly ensuring the safety and reliability of the target vehicle during driving. Among them, the main controller, as the main decision-making unit of the system, is responsible for real-time processing of sensor data (such as inputs from cameras, radars, lidars, etc.), executing key functions such as path planning, obstacle recognition, and lane keeping, determining the trajectory control data, and sending control instructions to the actuator through the vehicle bus (such as CAN or Ethernet).

[0070] The standby controller is a redundant design of the main controller. When the main controller fails or has abnormal performance, it seamlessly takes over the task and realizes rapid switching by continuously monitoring the main control state and system operation parameters (such as heartbeat signals, data verification, etc.), avoiding function interruption caused by single-point failure. In the embodiment of the present application, the main controller and the standby controller can adopt a heterogeneous architecture to reduce the risk of common cause failures, and ensure state consistency through synchronous communication. Specifically, the performance of the main controller can be set to be better, and the performance of the standby controller can be relatively poor. For example, the main controller is a high-performance SoC, and the standby controller is an MCU. This can better adapt to the actual usage situation (in most cases, the main controller is working), reducing the cost of the assisted driving system. For the specific model selection of the main controller and the standby controller, it can be determined according to actual needs, and the present application does not limit this.

[0071] During the operation of the target vehicle, the system continuously monitors the working state of the main controller. For example, it can determine whether an abnormality occurs through methods such as heartbeat detection, data verification, or a hardware watchdog. Once an abnormality in the working state of the main controller is detected (such as calculation timeout, communication interruption, or abnormal output data), the fault switching mechanism will be immediately triggered to enable the backup controller to take over the vehicle control right, and accurately record the time point when the switching occurs for subsequent processing.

[0072] In the embodiments of this application, for the backup controller, it can receive in real time the trajectory planning and control data of the target vehicle sent by the main controller. The trajectory planning and control data here is denoted as the first trajectory planning and control data. In the embodiments of this application, the trajectory planning and control data refers to the path planning and control instruction information for guiding the vehicle's driving, which is calculated in real time by the assisted driving system during the assisted driving or autonomous driving process of the vehicle. It can include the geometric features of the vehicle's future driving trajectory (such as the curvature of the reference path, the heading angle, the offset of the lane centerline) and the matching dynamic control parameters (such as the target vehicle speed, acceleration, steering angle, braking pressure, etc.). These data integrate environmental perception data (such as the position of obstacles, traffic rule constraints) and vehicle state feedback data (such as the current pose of the vehicle, yaw rate), and calculate a driving strategy that takes into account safety, comfort, and efficiency through relevant planning algorithms. For the trajectory planning and control data, it is generally determined in the form of structured data, recording the corresponding relevant values at each time point to ensure that the vehicle can still drive smoothly along the expected trajectory. The first trajectory planning and control data is the trajectory planning and control data obtained by the main controller through real-time processing and synchronously transmitted to the backup controller. When the backup controller is enabled to take over, it can use the first trajectory planning and control data and does not need to start tasks from scratch.

[0073] In the embodiments of this application, when an abnormality occurs in the main controller and triggers the backup controller to take over, after the backup controller is enabled, it will extract the trajectory planning and control data after the enabling time point from the first trajectory planning and control data synchronized by the main controller before, which is denoted as the second trajectory planning and control data. The second trajectory planning and control data is the data after the switching time point determined by the main controller and can be used as a reference for the initial control of the backup controller. In this way, the target vehicle can still conveniently continue the reasonable trajectory planned by the main controller at the moment of switching, avoiding sudden changes in driving caused by control interruption. For the backup controller, after it is enabled, it can perform trajectory planning and control by itself, that is, combine the real-time perceived vehicle state (such as vehicle speed, steering angle) and environmental perception data (such as obstacle dynamics, lane line changes), and recalculate and generate a set of trajectory planning and control data through its own planning and control algorithm, which is denoted as the third trajectory planning and control data.

[0074] It should be noted that in the embodiments of the present application, due to the performance gap between the standby controller and the main controller, the types of trajectory planning and control algorithms used can be different. Regarding the fineness of the obtained trajectory planning and control data, generally, the planning and control refresh frequency of the standby controller is relatively low, and the amount of data is relatively small. Especially when just switched, the standby controller has just started to work and may not have time to output relevant trajectory planning and control data. Considering these characteristics, in the embodiments of the present application, the third trajectory planning and control data can be interpolated and filled based on the second trajectory planning and control data to obtain the target trajectory planning and control data. Here, interpolation and filling means filling the missing or sparse data points in the time or space dimension based on the existing second trajectory planning and control data and the third trajectory planning and control data calculated in real time by the standby controller using mathematical interpolation algorithms (such as linear interpolation, spline interpolation, or Kalman filter prediction), so as to generate a more complete and coherent target trajectory planning and control data. For example, if the standby controller causes the missing of a trajectory point at a certain moment due to calculation delay, the system can interpolate and calculate based on the trajectory points at the previous and subsequent moments of the second trajectory planning and control data to ensure the continuity of the control instruction timing; and if the output data of the standby controller is relatively rough (such as a large interval between path points), interpolation can be performed through the second trajectory planning and control data to increase the intermediate points to make the trajectory smoother and improve the stability and comfort of vehicle driving. After obtaining the target trajectory planning and control data, the operation control of the target vehicle can be realized based on it.

[0075] In the embodiments of the present application, interpolating and filling the third trajectory planning and control data based on the second trajectory planning and control data makes up for the data sparsity problem caused by the insufficient performance of the standby controller, fully utilizes the high-quality planning information left by the main controller, enables the vehicle to maintain reasonable driving behavior after switching, and avoids potential safety hazards such as sudden braking and steering mutations caused by discontinuous data. This process not only inherits part of the planning logic of the main controller but also incorporates the independent judgment of the standby controller on the current scenario, thereby dynamically adapting to possible changing driving conditions while ensuring control continuity, and finally achieving smooth and safe trajectory tracking and vehicle control.

[0076] It can be understood that, in an embodiment of the present application, a vehicle operation control method is provided. During the operation of the target vehicle, the working state of the main controller is detected; if it is determined that the working state of the main controller is abnormal, the backup controller is enabled and the enabling time point corresponding to the backup controller is recorded; wherein, the first trajectory planning and control data of the target vehicle sent by the main controller in real time is stored in the backup controller, and the performance of the main controller is better than that of the backup controller; the second trajectory planning and control data after the enabling time point is intercepted from the first trajectory planning and control data; the backup controller is used to perform trajectory planning and control on the target vehicle to obtain the third trajectory planning and control data; according to the second trajectory planning and control data, the third trajectory planning and control data is interpolated and filled to obtain the target trajectory planning and control data, and the target vehicle is controlled to run through the target trajectory planning and control data. The present application can interpolate and fill the trajectory planning and control data of the backup controller through the trajectory planning and control data processed by the high-performance main controller, effectively making up for the problems of slow startup and insufficient performance of the backup controller, which is beneficial to improving the reliability and stability of assisted driving and reducing the probability of safety accidents.

[0077] Specifically, in some embodiments, the method further includes:

[0078] If it is determined that the working state of the main controller is normal, the backup controller is used to perform trajectory planning and control on the target vehicle to obtain the first trajectory planning and control data;

[0079] The target vehicle is controlled to run through the first trajectory planning and control data, and the first trajectory planning and control data is sent to the backup controller.

[0080] In the embodiment of the present application, when the system confirms that the main controller is running normally, the main controller is responsible for performing core trajectory planning and control calculations, generating the first trajectory planning and control data, and directly using it to control the driving of the target vehicle. At the same time, the main controller will synchronize the first trajectory planning and control data to the backup controller in real time, so that the backup controller always maintains the same latest vehicle control strategy as the main controller. This design realizes the hot backup between the main and backup controllers, which not only ensures the efficient operation dominance of the main controller in the normal state, but also ensures that the backup controller can obtain the latest control parameters at any time, providing a seamless connection basis for possible abnormal switching. Through this continuous data mirroring mechanism, the system effectively reduces the system response delay and driving risk during the main-backup switch while maintaining the main control of the main controller.

[0081] Specifically, in some embodiments, the detecting the working state of the main controller includes:

[0082] The standby controller monitors the historical time point when the pulse signal sent by the master controller was last received;

[0083] The standby controller calculates the time interval between the historical time point and the current time point;

[0084] If the time interval exceeds a preset time threshold, it is determined that the working state of the master controller is abnormal.

[0085] In the embodiments of the present application, the standby controller can detect the working state of the master controller by continuously monitoring the pulse signal sent by the master controller. Specifically, the standby controller records the time point when the heartbeat pulse of the master controller was last received, denoted as the historical time point, and calculates the time interval between this historical time point and the current time point in real time. If this time interval exceeds a preset time threshold (such as 50 milliseconds or 100 milliseconds, etc.), it is determined that the master controller may have abnormal conditions such as communication interruption, calculation jamming, or system crash, thereby triggering the fault switching process.

[0086] In the embodiments of the present application, the detection mechanism based on heartbeat timeout is based on hardware-level signals, has the characteristics of low latency and high reliability, can effectively identify the unresponsive state of the master controller, and provides a clear abnormal determination basis for the rapid takeover of the redundant system.

[0087] Specifically, in some embodiments, the standby controller also stores the first environmental perception data of the target vehicle sent by the master controller in real time; the method further includes:

[0088] If it is determined that the working state of the master controller is abnormal, the second environmental perception data after the enabling time point is intercepted from the first environmental perception data;

[0089] The standby controller performs environmental perception to obtain third environmental perception data;

[0090] According to the second environmental perception data, the third environmental perception data is fused to obtain the environmental perception data corresponding to the target vehicle.

[0091] In the embodiments of the present application, the backup controller can also receive in real time the environmental perception data of the target vehicle sent by the main controller, and record it as the first environmental perception data. In the embodiments of the present application, the environmental perception data refers to the digital description of the surrounding environment formed by the vehicle through real-time acquisition and processing by various sensors (such as cameras, millimeter-wave radars, lidar, ultrasonic radars, etc.). These data contain key information required during vehicle driving, such as the position of lane lines, traffic sign recognition results, the positions and motion states (speed, direction, etc.) of surrounding vehicles / pedestrians / obstacles, the boundaries of drivable areas, traffic light states, and other dynamic and static environmental elements. These information can be presented in the form of structured data and integrate multi-sensor data to improve the perception accuracy and robustness. The environmental perception data provides the basic input for the trajectory planning and control of the vehicle, enabling the system to understand the current driving scenario and make reasonable decisions, and is the core element to ensure the safe operation of assisted driving or autonomous driving functions.

[0092] When the main controller fails and triggers the backup controller to take over, the backup controller can extract the second environmental perception data after the enabling time point from the first environmental perception data that is synchronously received in real time from the main controller and stored as the reference. At the same time, the backup controller generates the third environmental perception data based on the data collected in real time by its own sensors. To ensure the continuity and accuracy of environmental perception, the backup controller performs fusion processing on these two sets of data, such as through time alignment, data weighting, or Kalman filtering, etc., to integrate the high-precision perception information left by the main controller with the real-time observation results of the backup controller, and finally generates the complete environmental perception data of the target vehicle.

[0093] Specifically, in some embodiments, the step of performing fusion processing on the third environmental perception data according to the second environmental perception data to obtain the environmental perception data corresponding to the target vehicle includes:

[0094] Dividing the second environmental perception data according to the perception distance corresponding to the backup controller to obtain the fourth environmental perception data and the fifth environmental perception data; wherein, the fourth environmental perception data is the environmental perception data with a distance from the target vehicle less than or equal to the perception distance, and the fifth environmental perception data is the environmental perception data with a distance from the target vehicle greater than the perception distance;

[0095] Interpolating and filling the third environmental perception data according to the fourth environmental perception data, and splicing the third environmental perception data through the fifth environmental perception data to obtain the environmental perception data corresponding to the target vehicle.

[0096] Generally speaking, the main controller has relatively good performance and can process richer environmental perception data. Correspondingly, the corresponding perception distance is farther. For example, in some scenarios, the target vehicle is equipped with a millimeter-wave radar and a lidar. The perception distance of the millimeter-wave radar is relatively short, and the perception distance of the lidar is relatively far. The main controller will process the data of both the millimeter-wave radar and the lidar simultaneously and can sense the situation at a farther distance from the target vehicle (such as 50m); while the backup controller often has difficulty supporting the processing of lidar data and can only process the data of the millimeter-wave radar, and the relative perception distance will be relatively short (such as 20m).

[0097] In the embodiments of the present application, when the backup controller takes over the control of the target vehicle, when determining the environmental perception data corresponding to the target vehicle, the second environmental perception data left by the main controller can be intelligently divided based on its effective perception range: the environmental data within the short distance (less than or equal to the perception distance of the backup controller) of the vehicle is classified as the fourth environmental perception data, and the long-distance data is classified as the fifth environmental perception data.

[0098] For the fourth environmental perception data within the short distance, the backup controller can use the interpolation filling method to fuse it with the third environmental perception data generated in real time by the backup controller, and fill the perception blind area or low-confidence area through technologies such as spatio-temporal alignment and motion compensation to ensure the continuous tracking of key obstacles around the vehicle; while for the fifth environmental perception data at a long distance, it is directly spatio-temporally spliced with the third environmental perception data to form a complete global environmental perception.

[0099] In the embodiments of the present application, for the hierarchical fusion strategy of environmental perception data, it can make good use of the advantages of high precision and long perception distance of the historical data of the main controller, can provide finer and larger-range environmental perception data for the backup controller, and at the same time takes into account the real-time perception situation, which is beneficial to improving the accuracy and reliability of vehicle path planning.

[0100] Specifically, in some embodiments, controlling the operation of the target vehicle by the target trajectory control data includes:

[0101] Obtain the vehicle speed data of the target vehicle;

[0102] Determine the target driving parameter according to the vehicle speed data; wherein, the target driving parameter includes the driving duration or the driving distance, and the target driving parameter and the vehicle speed data are in a negatively correlated relationship;

[0103] Control the operation of the target vehicle by the target trajectory control data, and monitor the cumulative driving parameter of the current target vehicle after the backup controller is enabled;

[0104] When the cumulative driving parameter reaches the target driving parameter, control the target vehicle to run through the third trajectory planning and control data determined currently.

[0105] In the embodiments of the present application, when using the target trajectory planning and control data generated by interpolation filling to control a vehicle, the continuous situation of the control strategy can be dynamically adjusted in combination with the real-time vehicle speed. Specifically, the current vehicle speed can be obtained, and a negatively correlated target driving parameter can be automatically set based on the high or low vehicle speed (for example, a shorter time / distance threshold is adopted at high speed, and appropriately extended at low speed). During the takeover period of the standby controller, the system can continuously monitor the time or distance of the vehicle's cumulative driving. When the preset threshold is reached, the control is switched to completely rely on the third trajectory planning and control data calculated in real time by the standby controller.

[0106] In the embodiments of the present application, through a progressive transition mechanism, the control continuity in the initial stage of the primary and standby switching is ensured (through interpolation data buffering), and the native planning and control algorithm of the standby controller can be switched in time after the vehicle runs stably, avoiding long-term dependence on interpolation data that may have timeliness deviation. Moreover, through the parameter design adaptive to the vehicle speed, the system shortens the transition period in dangerous scenarios such as sudden braking at high speed to improve the response real-time performance, and extends the transition period in low-speed complex scenarios to ensure the control smoothness, which is beneficial to achieving the dynamic balance between safety and performance.

[0107] Specifically, in some embodiments, the method further includes:

[0108] If it is determined that the working state of the primary controller is abnormal, send a prompt message to the driver of the target vehicle; wherein, the prompt message is used to prompt the driver to take over the target vehicle.

[0109] In the embodiments of the present application, when the system detects that the working state of the primary controller is abnormal and triggers the takeover of the standby controller, a warning message will be sent to the driver synchronously through the in-vehicle human-machine interface (such as the instrument panel, head-up display or voice prompt), clearly prompting the driver to be ready to take over the vehicle control right. The prompt message can include the reason for takeover (such as "main system failure"), the activation state of the standby system and the recommended operation guide (such as "please keep your hands on the steering wheel"), and at the same time, it can be accompanied by sound and light alarms to enhance the warning intensity.

[0110] It can be understood that in the embodiments of the present application, a dual guarantee of human-machine collaboration is built in the redundant control architecture: on the one hand, the standby controller ensures the continuity of autonomous driving in a short time, and on the other hand, through timely human intervention reminder, enough situation awareness and reaction time are reserved for the driver to avoid the safety risks caused by system degradation, and finally realize the smooth transition of the control right of the target vehicle from the machine to the person.

[0111] Refer to Figure 3, an embodiment of the present application further provides a vehicle operation control device, including:

[0112] A detection unit 310, configured to detect the working state of the main controller during the operation of the target vehicle;

[0113] An enabling unit 320, configured to enable the standby controller and record the enabling time point corresponding to the standby controller if it is determined that the working state of the main controller is abnormal; wherein, the standby controller stores the first trajectory planning and control data of the target vehicle sent by the main controller in real time, and the performance of the main controller is better than that of the standby controller;

[0114] An intercepting unit 330, configured to intercept second trajectory planning and control data after the enabling time point from the first trajectory planning and control data;

[0115] A processing unit 340, configured to perform trajectory planning and control on the target vehicle through the standby controller to obtain third trajectory planning and control data;

[0116] An execution unit 350, configured to perform interpolation filling on the third trajectory planning and control data according to the second trajectory planning and control data to obtain target trajectory planning and control data, and control the operation of the target vehicle through the target trajectory planning and control data.

[0117] It can be understood that the content in the above method embodiments is applicable to the device embodiments of the present application. The functions specifically implemented by the device embodiments of the present application are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those of the above method embodiments.

[0118] Refer to Figure 4 , an embodiment of the present application provides an electronic device, including:

[0119] At least one processor 410;

[0120] At least one memory 420, configured to store at least one program;

[0121] When at least one program is executed by at least one processor 410, at least one processor 410 is caused to implement the above-mentioned vehicle operation control method.

[0122] Similarly, the content in the above method embodiments is applicable to the electronic device embodiments of the present application. The functions specifically implemented by the electronic device embodiments of the present application are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those of the above method embodiments.

[0123] An embodiment of the present application also provides a computer-readable storage medium, in which there is a program executable by a processor 410. The program executable by the processor 410, when executed by the processor 410, is used to execute the above-mentioned vehicle operation control method.

[0124] Similarly, the content in the above method embodiments is applicable to this computer-readable storage medium embodiment. The functions specifically implemented by this computer-readable storage medium embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those of the above method embodiments.

[0125] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order mentioned in the operation diagrams. For example, depending on the functions / operations involved, two consecutive blocks shown may actually be executed substantially simultaneously or the blocks can sometimes be executed in the reverse order. In addition, the embodiments presented and described in the flowcharts of the present application are provided by way of example for the purpose of providing a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logical flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and the sub-operations described as part of a larger operation are executed independently.

[0126] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the functions and / or features may be integrated in a single physical device and / or software module, or one or more functions and / or features may be implemented in separate physical devices or software modules. It can also be understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present application. Rather, given the attributes, functions, and internal relationships of the various functional modules in the devices disclosed herein, the actual implementation of the module will be understood within the ordinary skill of the engineer. Thus, those skilled in the art can implement the present application as set forth in the claims without undue experimentation. It can also be understood that the specific concepts disclosed are illustrative only and are not intended to limit the scope of the present application, which is determined by the full scope of the appended claims and their equivalents.

[0127] If a function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a 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 part of this 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 for causing a device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes: USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs, etc., which can store program codes of various kinds.

[0128] The logic and / or steps represented in the flowchart or described in other ways herein, for example, can be considered as a definite sequence list of executable instructions for implementing logical functions, and can be specifically implemented in any computer-readable medium for use by an instruction execution system, apparatus, or device (such as a computer-based system, a system including a processor, or other systems that can fetch instructions from the instruction execution system, apparatus, or device and execute the instructions), or used in combination with these instruction execution systems, apparatus, or devices. For the purposes of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0129] More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection part (electronic device) having one or more wirings, a portable computer disk cartridge (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, a computer-readable medium can even be paper or other suitable media on which a program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other media, then editing, interpreting, or processing it in other suitable ways as necessary, and then storing it in a computer memory.

[0130] It should be understood that various parts of the present application can be implemented by hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, any one or a combination of the following techniques well known in the art can be used: discrete logic circuits having logic gate circuits for implementing logical functions on data signals, application specific integrated circuits having appropriate combinational logic gate circuits, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

[0131] In the above description of this specification, descriptions with reference to the terms "one embodiment / example", "another embodiment / example", or "certain embodiments / examples", etc. mean 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 application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0132] Although the embodiments of the present application 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 purposes of the present application, and the scope of the present application is defined by the claims and their equivalents.

[0133] The above has specifically described the preferred embodiments of the present application, but the present application is not limited to the embodiments. Those skilled in the art can make various equivalent deformations or substitutions without departing from the spirit of the present application, and these equivalent deformations or substitutions are all included within the scope defined by the claims of the present application.

Claims

1. A vehicle operation control method, characterized in that Applied to a target vehicle, the target vehicle includes a main controller and a backup controller; the method includes: During the operation of the target vehicle, detect the working state of the main controller; If it is determined that the working state of the main controller is abnormal, enable the backup controller and record the enabling time point corresponding to the backup controller; wherein, the backup controller stores the first trajectory planning and control data of the target vehicle sent by the main controller in real time, and the performance of the main controller is better than that of the backup controller; Intercept the second trajectory planning and control data after the enabling time point from the first trajectory planning and control data; Perform trajectory planning and control on the target vehicle through the backup controller to obtain third trajectory planning and control data; Interpolate and fill the third trajectory planning and control data according to the second trajectory planning and control data to obtain target trajectory planning and control data, and control the operation of the target vehicle through the target trajectory planning and control data.

2. The vehicle operation control method according to claim 1, characterized in that, The method further includes: If it is determined that the working state of the main controller is normal, perform trajectory planning and control on the target vehicle through the main controller to obtain the first trajectory planning and control data; Control the operation of the target vehicle through the first trajectory planning and control data, and send the first trajectory planning and control data to the backup controller.

3. The vehicle operation control method according to claim 1, characterized in that, The detecting the working state of the main controller includes: Monitor, through the backup controller, the historical time point when the pulse signal sent by the main controller was last received; Calculate, through the backup controller, the time interval between the historical time point and the current time point; If the time interval exceeds a preset time threshold, determine that the working state of the main controller is abnormal.

4. A vehicle operation control method according to claim 1, characterized in that, The backup controller also stores the first environment perception data of the target vehicle sent by the main controller in real time; the method further includes: If it is determined that the working state of the main controller is abnormal, intercept the second environment perception data after the enabling time point from the first environment perception data; Perform environment perception through the backup controller to obtain third environment perception data; Fuse and process the third environment perception data according to the second environment perception data to obtain the environment perception data corresponding to the target vehicle.

5. The vehicle operation control method according to claim 4, wherein The fusing and processing the third environment perception data according to the second environment perception data to obtain the environment perception data corresponding to the target vehicle includes: Divide the second environment perception data according to the perception distance corresponding to the backup controller to obtain fourth environment perception data and fifth environment perception data; wherein, the fourth environment perception data is the environment perception data with a distance from the target vehicle less than or equal to the perception distance, and the fifth environment perception data is the environment perception data with a distance from the target vehicle greater than the perception distance; Interpolate and fill the third environment perception data according to the fourth environment perception data, and splice the third environment perception data with the fifth environment perception data to obtain the environment perception data corresponding to the target vehicle.

6. The vehicle operation control method according to claim 1, wherein The controlling the operation of the target vehicle through the target trajectory planning and control data includes: Obtain the vehicle speed data of the target vehicle; Determine the target driving parameter according to the vehicle speed data; wherein, the target driving parameter includes the driving duration or the driving distance, and the target driving parameter and the vehicle speed data are negatively correlated; Control the operation of the target vehicle through the target trajectory control data, and monitor the cumulative driving parameter of the target vehicle after enabling the standby controller; When the cumulative driving parameter reaches the target driving parameter, control the operation of the target vehicle through the currently determined third trajectory control data.

7. A vehicle operation control method according to any one of claims 1-6, characterized in that, The method further includes: If it is determined that the operating state of the main controller is abnormal, send a prompt message to the driver of the target vehicle; wherein, the prompt message is used to prompt the driver to take over the target vehicle.

8. A vehicle operation control device, characterized in that, Applied to a target vehicle, the target vehicle includes a main controller and a standby controller; the device includes: A detection unit, configured to detect the operating state of the main controller during the operation of the target vehicle; An enabling unit, configured to enable the standby controller and record the enabling time point corresponding to the standby controller if it is determined that the operating state of the main controller is abnormal; wherein, the standby controller stores the first trajectory control data of the target vehicle sent by the main controller in real time, and the performance of the main controller is superior to that of the standby controller; An intercepting unit, configured to intercept the second trajectory control data after the enabling time point from the first trajectory control data; A processing unit, configured to perform trajectory control on the target vehicle through the standby controller to obtain third trajectory control data; An execution unit, configured to perform interpolation filling on the third trajectory control data according to the second trajectory control data to obtain target trajectory control data, and control the operation of the target vehicle through the target trajectory control data.

9. An electronic device, characterized in that, Includes: At least one processor; At least one memory, configured to store at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a vehicle operation control method as described in any one of claims 1-7.

10. A computer-readable storage medium storing a program executable by a processor, characterized in that, The program executable by the processor, when executed by the processor, is used to implement a vehicle operation control method as described in any one of claims 1-7.

Images