Vehicle automatic driving control method and system, medium and vehicle

Abstract

The invention provides a vehicle automatic driving control method and system, a medium and a vehicle, when the vehicle runs and a first domain controller fails to work normally, a second domain controller takes over the work of the first domain controller to perform vehicle high-order automatic driving control; when the first domain controller and the second domain controller both go wrong and cannot work normally, the first controller controls the vehicle to perform low-order automatic driving, and automatic redundancy switching is realized; and the first domain controller and the second domain controller perform high-order automatic driving control according to the radar information and the camera information, and the first controller performs low-order automatic driving control, so that the cost is reduced, basic safety guarantee can be provided for the vehicle by adopting the first controller, and the safety of the vehicle is improved. The vehicle can still safely run to a certain extent, the safety performance of the vehicle is remarkably improved, and the driving feeling and safety of a user are greatly improved.

Description

Technical Field

[0001] The present invention belongs to the technical field related to vehicle autonomous driving, and particularly relates to a vehicle autonomous driving control method, system, medium and vehicle. Background Art

[0002] The statements in this part only provide background technical information related to the present invention, and do not necessarily constitute prior art.

[0003] A driverless vehicle uses on-vehicle sensors to perceive the surrounding environment of the vehicle, and controls the steering and speed of the vehicle according to the road, vehicle position and obstacle information obtained by the perception, so that the vehicle can drive safely and reliably on the road.

[0004] The safety of a vehicle is the most important issue during vehicle driving. At present, more attention is focused on the safety performance improvement of a single vehicle electronic controller and driving strategies. Although there are also vehicle electronic controllers with redundant designs to avoid the failure of one vehicle electronic controller, which can improve the vehicle safety to a certain extent. However, if the redundant designed controller or communication connection fails, there is no feasible method to ensure vehicle driving safety. Summary of the Invention

[0005] To overcome the deficiencies of the above-mentioned prior art, the present invention provides a vehicle autonomous driving control method, system, medium and vehicle, which significantly improves the safety performance of the vehicle and greatly enhances the driving experience and safety of users.

[0006] To achieve the above object, the present invention adopts the following technical solutions: In a first aspect, the present invention provides a vehicle autonomous driving control method, including: Based on the real-time collected vehicle radar information and vehicle camera information, perform high-level autonomous driving control on the vehicle through a first domain controller or a second domain controller; Monitor the working state of the first domain controller or the second domain controller through a vehicle controller. When the working state of the first domain controller or the second domain controller is abnormal, switch to the second domain controller or the first domain controller to perform high-level autonomous driving control on the vehicle; When the working states of both the first domain controller and the second domain controller are abnormal, perform low-level autonomous driving control on the vehicle through the first controller based on the real-time collected vehicle camera information.

[0007] As an alternative implementation, when the operating states of both the first domain controller and the second domain controller are abnormal, low-level autonomous driving control of the vehicle is performed by the first controller or the second controller based on the vehicle camera information collected in real time; wherein, the first controller and the second controller are redundant to each other.

[0008] As an alternative implementation, the operating state of the first controller or the second controller is monitored by the vehicle controller. When the operating state of the first controller or the second controller is abnormal, the second controller or the first controller is switched to perform low-level autonomous driving control of the vehicle.

[0009] As an alternative implementation, when the operating states of the first domain controller, the second domain controller, the first controller, and the second controller are all abnormal, the vehicle controller controls the vehicle to decelerate until it stops.

[0010] As an alternative implementation, based on the vehicle radar information and vehicle camera information collected in real time, high-level autonomous driving control of the vehicle is performed by the first domain controller or the second domain controller. Specifically: The vehicle radar information collected by the lidar and the vehicle camera information collected by the camera are sent to the first domain controller or the second domain controller; The first domain controller or the second domain controller performs path planning based on the received vehicle radar information and vehicle camera information, and performs high-level autonomous driving control of the vehicle according to the path planning result.

[0011] As an alternative implementation, it further includes: generating a first high-level autonomous driving control scheme by the first domain controller based on the vehicle radar information and vehicle camera information collected in real time; Generating a second high-level autonomous driving control scheme by the second domain controller based on the vehicle radar information and vehicle camera information collected in real time; wherein, the first domain controller and the second domain controller generate corresponding high-level autonomous driving control schemes through different algorithms; For the first high-level autonomous driving control scheme and the second high-level autonomous driving control scheme, the final high-level autonomous driving control scheme is obtained by voting.

[0012] As an alternative implementation, the vehicle controller receives the vehicle radar information and vehicle camera information collected in real time, and performs path planning in combination with the vehicle nitrogen concept position; and controls the vehicle to decelerate to a set speed and stop according to the path planning result.

[0013] In a second aspect, the present invention provides a vehicle autonomous driving control system, including: A first domain controller or a second domain controller for performing high-level autonomous driving control on a vehicle according to real-time collected vehicle radar information and vehicle camera information; A vehicle controller for monitoring the working state of the first domain controller or the second domain controller, and when the working state of the first domain controller or the second domain controller is abnormal, switching to the second domain controller or the first domain controller to perform high-level autonomous driving control on the vehicle; When the working states of both the first domain controller and the second domain controller are abnormal, based on the real-time collected vehicle camera information, switching to the first controller to perform low-level autonomous driving control on the vehicle In a third aspect, the present invention provides a computer-readable storage medium, characterized in that at least one program code is stored in the storage medium, and the at least one program code is loaded and executed by a processor to implement a vehicle autonomous driving control method as described above.

[0014] In a fifth aspect, the present invention provides a vehicle, characterized in that the autonomous driving vehicle is configured with the above-mentioned vehicle autonomous driving control system.

[0015] The above one or more technical solutions have the following beneficial effects: In the present invention, when the vehicle is in motion and the first domain controller has a problem and cannot work properly, the second domain controller takes over the work of the first domain controller to perform high-level autonomous driving control on the vehicle; when both the first domain controller and the second domain controller have problems and cannot work properly, the first controller controls the vehicle to perform low-level autonomous driving, realizing automatic redundant switching; moreover, the first domain controller and the second domain controller perform high-level autonomous driving control according to radar information and camera information, and the first controller performs low-level autonomous driving control. While reducing costs, using the first controller can provide basic safety protection for the vehicle, still ensuring the vehicle can drive safely to a certain extent, significantly improving the safety performance of the vehicle and greatly enhancing the driving experience and safety of users.

[0016] Advantages of additional aspects of the present invention will be partially given in the following description, partially become apparent from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The specification drawings constituting a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0018] Figure 1 It is a block diagram of a vehicle autonomous driving control system in an embodiment of the present invention; Figure 2 This is the design diagram of the vehicle peripheral equipment in the embodiment of the present invention; Figure 3 This is the flowchart of the vehicle automatic driving control method in the embodiment of the present invention; Figure 4 This is another flowchart of the vehicle automatic driving control method in the embodiment of the present invention; Figure 5 This is the structural schematic diagram of the main controller provided in the embodiment of the present invention; Figure 6 This is the structural schematic diagram of another main controller provided in the embodiment of the present invention. Detailed implementation manners

[0019] It should be noted that the following detailed description is exemplary and is intended to provide further illustration of the present invention. Unless otherwise specified, 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 the present invention belongs.

[0020] It should be noted that the terms used herein are only for describing the specific implementation manners and are not intended to limit the exemplary implementation manners according to the present invention.

[0021] In the case of no conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0022] In this embodiment, by designing a vehicle automatic driving control method, during the driving process of the vehicle in the driverless mode, if one control function module or two redundant control function modules have abnormalities, the normal and safe driving of the vehicle can be ensured.

[0023] Figure 1 This is the structural schematic diagram of the control system of the vehicle in an embodiment of the present application. From Figure 1 it can be seen that the automatic driving control system 100 of the vehicle includes: a first domain controller 110, a second domain controller 120, a peripheral device 130, a vehicle controller 140, a first controller 150, and a second controller 160.

[0024] The first domain controller 110 is communicatively connected to the second domain controller 120 and is redundant with each other. The first domain controller 110 and the second domain controller 120 are also respectively communicatively connected to the peripheral device 130 and the vehicle controller 140. Among them, the peripheral device can include various types, including but not limited to cameras, integrated inertial navigation devices, millimeter-wave radars, lidars, etc., and multiple of each type of peripheral device can be provided.

[0025] The connection manners of the first domain controller 110, the second domain controller 120 and the peripheral device 130 can be in various forms, including but not limited to serial ports, USB interfaces, Ethernet, CAN interfaces, etc. The connection manners of the first domain controller 110, the second domain controller 120 and the vehicle controller 140 can be in various forms, including but not limited to CAN interfaces, etc. In some embodiments of the present application, the vehicle control system 100 further includes a cloud server 200, which is communicatively connected to the cloud server 200 to enable the cloud server 200 to manage the vehicle.

[0026] Wherein, the first domain controller 110 or the second domain controller 120 controls the vehicle to drive autonomously according to the data collected by the peripheral device 130. The vehicle controller 140 monitors the working state of the first domain controller 110 or the second domain controller 120. When the working state of the first domain controller 110 or the second domain controller 120 is abnormal, it controls the switch to the second domain controller 120 or the first domain controller 110 to take over the vehicle's autonomous driving right, and reports the fault information of the first domain controller 110 or the second domain controller 120 to the cloud server and / or surrounding vehicles.

[0027] It can be understood that the first domain controller 110 controls the vehicle to drive autonomously according to the data collected by the peripheral device 130. The vehicle controller 140 monitors the working state of the first domain controller 110. When the working state of the first domain controller 110 is abnormal, it controls the switch to the second domain controller 120 to take over the vehicle's autonomous driving right.

[0028] Or, the second domain controller 120 controls the vehicle to drive autonomously according to the data collected by the peripheral device 130. The vehicle controller 140 monitors the working state of the second domain controller 120. When the working state of the second domain controller 120 is abnormal, it controls the switch to the first domain controller 110 to take over the vehicle's autonomous driving right.

[0029] Both the first domain controller 110 and the second domain controller 120 have independent control capabilities, and the two are redundant with each other, and both can control the vehicle to drive autonomously according to the data collected from the peripheral device 130.

[0030] When the working states of both the first domain controller 110 and the second domain controller 120 are abnormal, the first controller 150 or the second controller 160 controls the vehicle to drive autonomously according to the data collected by the peripheral device 130. The vehicle controller 140 monitors the working state of the first controller 150 or the second controller 160. When the working state of the first controller 150 or the second controller 160 is abnormal, it controls the switch to the second controller 160 or the first controller 150 to take over the vehicle's autonomous driving right.

[0031] It can be understood that the first controller 150 controls the vehicle to drive autonomously according to the data collected by the peripheral device 130, and the vehicle controller 140 monitors the working state of the first controller 150. When the working state of the first controller 150 is abnormal, it controls the switch to the second controller 160 to take over the vehicle's autonomous driving right.

[0032] Alternatively, the second controller 160 controls the vehicle to drive autonomously according to the data collected by the peripheral device 130, and the vehicle controller 140 monitors the working state of the second controller 160. When the working state of the second controller 160 is abnormal, it controls the switch to the first controller 150 to take over the vehicle's autonomous driving right.

[0033] Both the first controller 150 and the second controller 160 have independent control capabilities, and the two are redundant with each other. Both can control the vehicle to drive autonomously according to the data collected from the peripheral device 130.

[0034] When the vehicle is driving according to the autonomous driving task during the intelligent driving process, where the autonomous driving task can be sent by the cloud server 200 to the vehicle control system 110, or can be set by the driver on the vehicle through the terminal device; it can also be formed by interacting with surrounding vehicles through the V2X communication technology (vehicle to everything, vehicle wireless communication technology). Among them, the so-called V2X is the vehicle's information exchange technology with the outside world, and the outside information includes but is not limited to environmental information, surrounding vehicle information, etc. V2X means Vehicle to X, where X represents infrastructure, vehicle, pedestrian, etc., and X can also be any possible "person or thing" (Everything). The information interaction modes of V2X include: interaction between vehicle and vehicle (Vehicle to Vehicle, V2V), interaction between vehicle and road (Vehicle to Infrastructure, V2I), interaction between vehicle and person (Vehicle to Pedestrian, V2P), and interaction between vehicle and network (Vehicle to Network, V2N).

[0035] The peripheral device 130 includes 1 lidar, 6 millimeter-wave radars (among which, 3 forward millimeter-wave radars and 3 rearward millimeter-wave radars), 10 cameras (among which, 4 fisheye surround-view cameras, 1 forward multi-functional camera, 1 rear-view camera, and 4 side-view cameras), and 1 combined inertial navigation.

[0036] Refer to Figure 2, specifically, the lidar 201 is arranged at the middle position on the top of the vehicle, facing the front of the vehicle, and the midline of the field of view of the lidar 201 is parallel to the longitudinal direction of the vehicle. Exemplarily, according to the lidar solution adopted, its maximum detection distance exceeds 100 mm, for example, 120 m.

[0037] A forward millimeter-wave radar 202 is arranged at the center position of the front bumper of the vehicle. Centered on the center position of the front bumper at the front end of the vehicle, forward millimeter-wave radars 202 are also symmetrically arranged on both sides of the front end of the vehicle; the rearward millimeter-wave radar 203 is installed at the central position of the rear end of the vehicle, and rearward millimeter-wave radars 203 are also symmetrically arranged on both sides of the rear end of the vehicle.

[0038] The front-view multi-functional camera 204 is set at the center of the top of the vehicle, the rear-view camera 205 is set at the central position of the rear end of the vehicle; the side-view cameras 206 are set on both sides of the front end of the vehicle, and specifically can be set at the center between the forward millimeter-wave radar 202 and the vehicle rearview mirror. The fish-eye surround-view cameras 207 are respectively set at the central position of the front end of the vehicle, the central position of the rear end of the vehicle, and the rearview mirror.

[0039] The advantages of millimeter-wave radar are long detection distance, speed recognition, and strong anti-interference ability. The millimeter-wave radar has a narrow beam, high angular resolution, wide bandwidth, good concealment, and good penetration and propagation characteristics for smoke, dust, rain, and fog, is not affected by bad weather, and has strong anti-environment change ability.

[0040] The domain controller, as an intelligent driving computing platform, receives sensor perception information, and after fusing information processing, it makes planning and decision-making to realize the assisted driving function: Covering highway and urban conditions: intelligent anti-collision function, etc.; intelligent auxiliary functions (automatic lane change, emergency lane keeping, emergency steering), etc.; intelligent cruise functions (adaptive cruise, traffic jam assist).

[0041] Low-speed conditions: intelligent parking functions (automatic parking, memory parking, parking assistance).

[0042] When in a high-speed scenario: when realizing forward assistance, mainly supporting functions such as automatic lane change, adaptive cruise, intelligent dodging, emergency lane keeping, traffic jam assist, etc., cameras + millimeter-wave radar + lidar can better detect obstacles in adjacent lanes; when in a single-lane driving scenario, when realizing forward assistance, mainly supporting functions such as automatic emergency braking, traffic sign recognition, traffic signal lights, intelligent speed limit control, etc.

[0043] In low-speed conditions: six millimeter-wave radars are used to detect surrounding obstacles and search for parking spaces, and the domain controller plans the parking route to realize the parking function.

[0044] After receiving an autonomous driving task, the autonomous driving control system 100 of the vehicle first controls the autonomous driving of the vehicle by the first domain controller 110 according to the data collected by the peripheral devices, that is, the autonomous driving task is completed.

[0045] As Figure 3 shown, a vehicle autonomous driving control method is proposed, including: Step S301: Based on the real-time collected vehicle radar information and vehicle camera information, perform high-order autonomous driving control on the vehicle through the first domain controller or the second domain controller.

[0046] During the driving of the vehicle, if there is a problem with the first domain controller 110 in the vehicle autonomous driving control system, automatic redundant switching can be performed according to the fault control switching strategy. The fault control switching strategy is formulated in advance and can form a set of strategies at the software level and be integrated into the vehicle autonomous driving control system. During the driving of the vehicle, when the first domain controller 110 has a problem, the second domain controller 120 can take over the control right of the vehicle according to the preset control strategy.

[0047] It can be understood that the vehicle controller 140 monitors the operating status information of the first domain controller 110. If it is determined that the first domain controller 110 is abnormal, it controls the switch to the second domain controller 120 to replace the work of the first domain controller 110 and continue to control the vehicle.

[0048] Step S302: Monitor the working status of the first domain controller or the second domain controller through the vehicle controller. When the working status of the first domain controller or the second domain controller is abnormal, switch to the second domain controller or the first domain controller to perform high-order autonomous driving control on the vehicle.

[0049] After the second domain controller 120 takes over the control right of the vehicle, different measures can be taken for the vehicle according to different situations. The vehicle is usually driven under the management of the cloud server. Therefore, the fault information of the first domain controller 110 of the vehicle can be reported to the cloud server 200 so that the cloud server 200 can know what kind of fault the first domain controller 110 has, which is convenient for the cloud server 200 to manage the first domain controller 110; on the other hand, for vehicles equipped with V2X communication technology, the fault information of the first domain controller 110 can also be broadcast to the surrounding vehicles of the vehicle to request assistance from the surrounding vehicles and make the surrounding vehicles aware that the vehicle has a fault and avoid it in time, significantly improving road safety and greatly reducing the accident rate.

[0050] After taking over the control of the vehicle, the second domain controller 120 can control the intelligent vehicle in various ways to meet different scenario requirements. First, it can report its takeover behavior and the fault information of the first domain controller 110 to the cloud server 200. The fault information includes but is not limited to the fault type code, etc., so that the cloud server 200 can understand the details of the fault of the first domain controller 110.

[0051] It should be noted that after the second domain controller takes over the control of the vehicle, it can send the fault information of the first domain controller 110 it monitors and its own takeover behavior to the server 200, or send the fault information of the first domain controller 110 it monitors and its own takeover behavior to surrounding vehicles. Of course, it can also send the fault information of the first domain controller 110 it monitors and its own takeover behavior to the server and surrounding vehicles at the same time. The sending object of the fault information can be set according to actual needs, and the present application does not further limit the sending object of the fault information.

[0052] Step S303: When the working states of both the first domain controller and the second domain controller are abnormal, based on the vehicle camera information collected in real time, the vehicle is controlled for low-level autonomous driving through the first controller.

[0053] When the working states of both the first domain controller 110 and the second domain controller 120 are abnormal, the first controller 150 or the second controller 160 controls the autonomous driving of the vehicle according to the data collected by the peripheral device 130. The vehicle controller 140 monitors the working states of the first controller 150 or the second controller 160. When the working state of the first controller 150 or the second controller 160 is abnormal, the control is switched to the second controller 160 or the first controller 150 to take over the autonomous driving right of the vehicle.

[0054] It can be understood that the first controller 150 controls the autonomous driving of the vehicle according to the data collected by the peripheral device 130. The vehicle controller 140 monitors the working state of the first controller 150. When the working state of the first controller 150 is abnormal, the control is switched to the second controller 160 to take over the autonomous driving right of the vehicle.

[0055] In the vehicle autonomous driving control method proposed in this embodiment, when the vehicle is in the driving process and the first domain controller has a problem and cannot work properly, the second domain controller takes over the work of the first domain controller to perform high-order vehicle autonomous driving control; when both the first domain controller and the second domain controller have problems and cannot work properly, the first controller controls the vehicle to perform low-order autonomous driving to achieve automatic redundant switching; moreover, the first domain controller and the second domain controller of this application perform high-order autonomous driving control based on radar information and camera information, and the first controller performs low-order autonomous driving control. While reducing costs, using the first controller can provide basic safety guarantees for the vehicle, still ensuring the vehicle can drive safely to a certain extent, significantly improving the safety performance of the vehicle and greatly enhancing the driving experience and safety of users.

[0056] As Figure 4 shown, a vehicle autonomous driving control method provided in this embodiment further includes: Step S401: When the working states of both the first domain controller and the second domain controller are abnormal, based on the vehicle camera information collected in real time, the vehicle is controlled to perform low-order autonomous driving through the first controller or the second controller; wherein, the first controller and the second controller are redundant to each other.

[0057] Step S402: The vehicle control unit monitors the working state of the first controller or the second controller. When the working state of the first controller or the second controller is abnormal, the vehicle is switched to the second controller or the first controller to perform low-order autonomous driving control.

[0058] In this embodiment, when the working states of the first domain controller, the second domain controller, the first controller, and the second controller are all abnormal, the vehicle control unit controls the vehicle to perform a deceleration process until it stops.

[0059] The vehicle control unit receives the vehicle radar information and vehicle camera information collected in real time, and performs path planning in combination with the real-time position of the vehicle; controls the vehicle to decelerate to a set speed and stop according to the path planning result.

[0060] It is understandable that the vehicle controller plans a safe and feasible parking path based on the environmental perception results and the real-time position of the vehicle. For example, the A* algorithm can be used to search for the optimal path from the current position to the target parking position in the map or environmental model. When planning the path, factors such as the vehicle's dynamic constraints, road rules, obstacle distribution, and the shape and size of the parking area need to be considered to ensure that the planned path meets the actual driving ability and safety requirements of the vehicle. Design a speed control algorithm to calculate an appropriate deceleration strategy according to the result of path planning and the current speed of the vehicle, so that the vehicle can smoothly decelerate to the set speed. The speed control algorithm usually adopts the principle of feedback control, compares the actual speed of the vehicle with the target speed, and adjusts the control parameters of the power system and the braking system according to the error. For example, by adjusting the output torque of the motor or controlling the braking force of the braking system, precise control of the vehicle speed can be achieved. The vehicle controller sends control commands to each actuator of the vehicle according to the results of path planning and speed control, including the steering system, power system, and braking system, etc. For the steering system, according to the steering angle information of path planning, control the electric power steering (EPS) system or the hydraulic steering system to make the vehicle drive along the predetermined path. For the power system and the braking system, they need to work together to precisely control the speed and acceleration of the vehicle to ensure that the vehicle can smoothly drive towards the parking position according to the planned path and speed requirements and accurately stop when reaching the target position.

[0061] In this embodiment, the first domain controller and the second domain controller are designed to be redundant with each other, and the first controller and the second controller are also designed to be redundant with each other. When the working states of both domain controllers are abnormal, low-level autonomous driving control can still be performed based on the vehicle camera information through the first controller or the second controller, avoiding the complete failure of the vehicle's autonomous driving function due to the failure of a single or multiple controllers, and ensuring that the system can still maintain the basic autonomous driving ability in multiple failure scenarios. In the case where multiple key controllers are abnormal, the vehicle's autonomous driving function may be completely disordered, and there is a very high risk of losing control during continued driving. Decelerating until stopping can timely eliminate this risk and prevent serious accidents such as collisions and rollovers caused by the vehicle losing control, maximizing the safety of the passengers in the vehicle and other pedestrians and vehicles on the road.

[0062] In this embodiment, it further includes: generating a first high-level autonomous driving control scheme through a first domain controller based on real-time collected vehicle radar information and vehicle camera information; generating a second high-level autonomous driving control scheme through a second domain controller based on real-time collected vehicle radar information and vehicle camera information; wherein, the first domain controller and the second domain controller generate corresponding high-level autonomous driving control schemes through different algorithms; and obtaining a final high-level autonomous driving control scheme through a voting method for the first high-level autonomous driving control scheme and the second high-level autonomous driving control scheme.

[0063] As an alternative implementation, the first domain controller adopts a rule-based decision-making algorithm or a traditional machine learning algorithm. Based on the preprocessed data, according to a preset rule library and logic, it analyzes the current driving state of the vehicle and the surrounding environment conditions, and formulates a first high-level autonomous driving control scheme, such as planning a driving path, adjusting the vehicle speed, controlling the steering angle, etc. The second domain controller adopts a deep learning algorithm, and through training on a large amount of historical data, learns the optimal driving strategies in different scenarios. The preprocessed data is input into the trained model, and the model outputs a second high-level autonomous driving control scheme to realize the decision-making of the vehicle driving behavior.

[0064] Voting is carried out on the control schemes generated by the first domain controller and the second domain controller. Each control scheme includes specific control instructions such as accelerating, decelerating, turning left, turning right, etc. and their related parameters such as speed values, angle values, etc. During voting, each control instruction is voted on separately. If the instructions of the two schemes are the same, the instruction directly enters the final scheme; if the instructions are different, according to preset priority rules such as safety first, efficiency first or by statistically analyzing the historical accuracy rates of the two schemes in similar scenarios, different weights are assigned for voting, and finally each control instruction is determined and combined to form a final high-level autonomous driving control scheme.

[0065] It should be noted that for the control schemes generated by the first domain controller and the second domain controller, the vehicle control unit conducts a voting selection. When the final high-level autonomous driving control scheme is determined, the vehicle control unit sends the final high-level autonomous driving control scheme to the first domain controller or the second domain controller, and the first domain controller or the second domain controller conducts autonomous driving control; when the working state of one of the first domain controller or the second domain controller is abnormal, the other domain controller conducts autonomous driving control, and at this time, the high-level autonomous driving control scheme is also only determined by the domain controller with the normal current working state.

[0066] In this embodiment, the first domain controller and the second domain controller process various complex driving scenarios through different decision-making algorithms. The different decision-making algorithms analyze and process data from different perspectives. By integrating the two solutions through a voting mechanism, multiple factors and decision-making ideas can be comprehensively considered, avoiding the limitations that may exist in a single algorithm, and thus obtaining a more optimized decision result. The dual-domain controller and the voting mechanism provide an additional safety guarantee mechanism. Even if a certain domain controller is interfered with externally (such as a cyber attack or electromagnetic interference) and generates an incorrect control solution, the other normally operating domain controller may still enable the correct solution to be implemented through the voting mechanism, reducing the likelihood of safety accidents. In addition, since the two domain controllers adopt different decision-making algorithms, during system upgrade and maintenance, different algorithms can be optimized and improved separately without affecting each other. This allows R & D personnel to flexibly select and update suitable algorithms according to the actual situation and technological development, continuously enhancing the performance and functions of the system. When a problem occurs in the system, the architecture of the dual-domain controller helps to quickly locate the fault. By analyzing the solutions generated by the two domain controllers and the voting results, it is easier to determine which domain controller or which algorithm has a problem, and thus conduct targeted fault troubleshooting and repair to improve the maintenance efficiency.

[0067] As an alternative implementation, the coverage areas of each camera are mapped into a unified grid map or topological map. According to the different importance levels of different regions, corresponding weights are assigned to each region. For example, since the entrance and exit areas have frequent personnel and material flows and high security risks, they are assigned higher weights, while some remote corners, non-critical channels and other regions have lower importance levels and are assigned lower weights; in path planning, when a certain grid is accessed, the weight value of the grid is obtained from the determined weight data, and the weight value is used as the path cost of the grid. The total path cost is the sum of the costs of all the grids passed through. For example, if the weights of three grids passed by a path are 60, 80, and 40 respectively, then the total path cost is 60 + 80 + 40 = 180; according to the calculated path cost, the path planning algorithm will search for the path with the minimum cost as the optimal path, and the first controller or the second controller controls the vehicle for low-level autonomous driving according to the obtained optimal path.

[0068] By considering the camera coverage area and environmental information to assign weights in this embodiment, the advantages of different cameras can be fully utilized, and the role of each camera can be fully exerted. In different environments, the performance of each camera will be different. For example, in bad weather or special lighting conditions, some cameras may have more advantages. By dynamically adjusting the weights, the system can adapt to various complex environments, ensure the reliability of path planning, and enhance the adaptability and robustness of the system.

[0069] This embodiment provides a vehicle automatic driving control system, including: A first domain controller or a second domain controller, which is used to perform high-order automatic driving control on the vehicle according to the vehicle radar information and vehicle camera information collected in real time; A vehicle controller, which is used to monitor the working state of the first domain controller or the second domain controller, and when the working state of the first domain controller or the second domain controller is abnormal, switch to the second domain controller or the first domain controller to perform high-order automatic driving control on the vehicle; When the working states of both the first domain controller and the second domain controller are abnormal, based on the vehicle camera information collected in real time, switch to the first controller to perform low-order automatic driving control on the vehicle.

[0070] In an exemplary embodiment, a computer-readable storage medium is further provided. At least one computer program is stored in the computer-readable storage medium, and the at least one computer program is loaded and executed by a processor of a computer device so that the computer implements any one of the above vehicle automatic driving module monitoring methods.

[0071] In a possible implementation manner, the above computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, etc.

[0072] In an exemplary embodiment, a computer program product or a computer program is further provided. The computer program product or the computer program includes computer instructions, and the computer instructions are stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions so that the computer device executes any one of the above vehicle automatic driving control methods.

[0073] This disclosure embodiment further provides a vehicle, and the vehicle includes the above vehicle door anti-collision warning device.

[0074] See Figure 5 , Figure 5 shows a schematic structural diagram of a main controller provided by this disclosure embodiment. The main controller includes at least one processor, a memory, and at least one communication interface.

[0075] The processor is, for example, a general-purpose central processing unit (CPU), a digital signal processor (DSP), a network processor (NP), a graphics processing unit (GPU), a neural-network processing unit (NPU), a data processing unit (DPU), a microprocessor, or one or more integrated circuits for implementing the solutions of the present disclosure. For example, the processor includes an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. The PLD is, for example, a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. It can implement or execute various logic blocks, modules, and circuits described in connection with the disclosed content of the embodiments of the present disclosure. The processor can also be a combination for implementing computing functions, such as a combination of one or more microprocessors, a combination of a DSP and a microprocessor, and so on.

[0076] In some examples, the main control further includes a bus. The bus is used to transfer information between the components of the main control. The bus can be a peripheral component interconnect (PCI) bus, an extended industry standard architecture (EISA) bus, or the like. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 5 only a thick line is used to represent it in the figure, but it does not mean that there is only one bus or one type of bus.

[0077] The memory is, for example, a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, such as a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, such as an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory is, for example, standalone and connected to the processor via a bus. The memory can also be integrated with the processor.

[0078] The communication interface uses any device such as a transceiver to communicate with other devices or communication networks, which can be an Ethernet, a radio access network (RAN) or a wireless local area network (WLAN), etc. The communication interface can include a wired communication interface and can also include a wireless communication interface. Specifically, the communication interface can be an Ethernet interface, a fast Ethernet (FE) interface, a gigabit Ethernet (GE) interface, an asynchronous transfer mode (ATM) interface, a wireless local area network (WLAN) interface, a controller area network (CAN) interface, a cellular network communication interface or a combination thereof. The Ethernet interface can be an optical interface, an electrical interface or a combination thereof. In the embodiments of the present disclosure, the communication interface can be used for the main control to communicate with other devices (such as gateways).

[0079] In some examples, the processor 101 can include one or more CPUs, such as Figure 5 the CPU0 and CPU1 shown in. Each of these processors can be a single-CPU processor or a multi-CPU processor. The processor here can refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0080] In some other examples, the main controller may include multiple processors, such as the two processors shown in Figure 5 . Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processors herein may refer to one or more devices, circuits, and / or processing cores for processing data (such as computer program instructions).

[0081] In some examples, the memory is used to store the program code 104 for implementing the solutions of the present disclosure, and the processor may execute the program code stored in the memory. The program code may include one or more software modules. Optionally, the processor itself may also store the program code or instructions for implementing the solutions of the present disclosure.

[0082] The steps of the method disclosed in combination with the embodiments of the present disclosure may be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules may be located in mature storage media in the art such as random access memory, flash memory, read-only memory, programmable read-only memory, or electrically erasable programmable memory, registers, etc. This storage media is located in the memory, and the processor reads the information in the memory and combines its hardware to complete the steps of the above method. To avoid repetition, it will not be described in detail here.

[0083] Figure 6 FIG. is a schematic structural diagram of another main controller provided by the embodiments of the present disclosure. The main controller includes one or more processors (central processing units, CPUs) and one or more memories. Among them, at least one computer program is stored in the one or more memories, and the at least one computer program is loaded and executed by the one or more processors. Of course, the main controller may also have components such as wired or wireless network interfaces, keyboards, and input / output interfaces for input / output. The main controller may also include other components for implementing the functions of the device, which will not be elaborated here.

[0084] The embodiments of the present disclosure also provide a computer-readable storage medium. At least one instruction is stored in the computer-readable storage medium, and the instruction is loaded and executed by the processor to enable the main controller to implement any one of the above vehicle autonomous driving control methods.

[0085] The embodiments of the present disclosure also provide a computer program (product). When the computer program is executed by the main controller, the main controller can execute the corresponding steps and / or processes in the above method embodiments.

[0086] The embodiments of the present disclosure also provide a chip. The chip includes a processor, and the processor is used to call and run the instructions stored in the memory, so that the main controller installed with the chip executes any one of the above vehicle control methods.

[0087] Another chip provided by an embodiment of the present disclosure includes: an input interface, an output interface, a processor, and a memory. The input interface, the output interface, the processor, and the memory are connected through an internal connection path. The processor is configured to execute the code in the memory. When the code is executed, the processor is configured to execute any of the vehicle control methods described above.

[0088] Wherein, the chip can be located in the main control.

[0089] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the main control, the processes or functions described in the embodiments of the present disclosure are generated in whole or in part. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. The computer-readable storage medium can be any available medium that can be accessed by a computer, or a data storage device such as a server or a data center that includes one or more integrated available media. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid-state disk SolidStateDisk), etc.

[0090] To clearly illustrate the interchangeability of hardware and software, the steps and components of each embodiment have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. A person of ordinary skill in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0091] The computer program code for implementing the method of the embodiments of the present disclosure can be written in one or more programming languages. The computer program code can be provided to the main control, so that when the program code is executed by the main control 1, the functions / operations specified in the flowchart and / or block diagram are implemented. The program code can be executed entirely on the main control, partially on the main control, as an independent software package, partially on the main control and partially on a remote computer, or entirely on a remote computer or server.

[0092] In the context of the embodiments of the present disclosure, the computer program code or related data can be carried by any suitable carrier, so that the device, apparatus or controller can perform the various processes and operations described above. Examples of the carrier include signals, computer-readable media, etc. Examples of signals can include electrical, optical, radio, acoustic or other forms of propagated signals, such as carrier waves, infrared signals, etc.

[0093] Those skilled in the art can clearly understand that, for the convenience and conciseness of description, the specific working processes of the systems, devices and modules described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0094] It should be understood that in the various embodiments of the present disclosure, the magnitudes of the sequence numbers of the various processes do not mean the order of execution, and the order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present disclosure.

[0095] It should be understood that the term "comprising" (also known as "includes", "including", "comprises" and / or "comprising") when used in this specification specifies the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or their groups.

[0096] It should be understood that determining B based on A does not mean determining B solely based on A, and B can also be determined based on A and / or other information.

[0097] The above are only optional embodiments of the present disclosure, and are not intended to limit the present disclosure. Any modifications, equivalent replacements, improvements, etc. made within the principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A vehicle autonomous driving control method, characterized in that, Including: Based on the vehicle radar information and vehicle camera information collected in real time, the vehicle is controlled for high-level autonomous driving through the first domain controller or the second domain controller; The vehicle control unit monitors the working state of the first domain controller or the second domain controller. When the working state of the first domain controller or the second domain controller is abnormal, the vehicle is switched to the second domain controller or the first domain controller for high-level autonomous driving control; When the working states of both the first domain controller and the second domain controller are abnormal, based on the vehicle camera information collected in real time, the vehicle is controlled for low-level autonomous driving through the first controller.

2. The vehicle automatic driving control method according to claim 1, characterized in that, When the working states of both the first domain controller and the second domain controller are abnormal, based on the vehicle camera information collected in real time, the vehicle is controlled for low-level autonomous driving through the first controller or the second controller; wherein, the first controller and the second controller are redundant to each other.

3. The vehicle automatic driving control method according to claim 2, characterized in that, The vehicle control unit monitors the working state of the first controller or the second controller. When the working state of the first controller or the second controller is abnormal, the vehicle is switched to the second controller or the first controller for low-level autonomous driving control.

4. The vehicle automatic driving control method according to claim 2, characterized in that, When the working states of the first domain controller, the second domain controller, the first controller and the second controller are all abnormal, the vehicle control unit controls the vehicle to decelerate until it stops.

5. The vehicle automatic driving control method according to claim 1, wherein Based on the vehicle radar information and vehicle camera information collected in real time, controlling the vehicle for high-level autonomous driving through the first domain controller or the second domain controller specifically includes: Sending the vehicle radar information collected by the lidar and the vehicle camera information collected by the camera to the first domain controller or the second domain controller; The first domain controller or the second domain controller performs path planning according to the received vehicle radar information and vehicle camera information, and controls the vehicle for high-level autonomous driving according to the path planning result.

6. The vehicle automatic driving control method according to claim 1, characterized in that Further including: Based on the vehicle radar information and vehicle camera information collected in real time, a first high-level autonomous driving control scheme is generated through the first domain controller; Based on the vehicle radar information and vehicle camera information collected in real time, a second high-level autonomous driving control scheme is generated through the second domain controller; wherein, the first domain controller and the second domain controller generate corresponding high-level autonomous driving control schemes through different algorithms; For the first high-level autonomous driving control scheme and the second high-level autonomous driving control scheme, the final high-level autonomous driving control scheme is obtained by voting.

7. The vehicle automatic driving control method according to claim 4, wherein The vehicle control unit receives the vehicle radar information and vehicle camera information collected in real time, performs path planning in combination with the real-time position of the vehicle; and controls the vehicle to decelerate to a set speed and stop according to the path planning result.

8. A vehicle autonomous driving control system, characterized in that, Including: The first domain controller or the second domain controller, which is used to control the vehicle for high-level autonomous driving according to the vehicle radar information and vehicle camera information collected in real time; A vehicle controller, which is used to monitor the working states of the first domain controller or the second domain controller, and when the working states of the first domain controller or the second domain controller are abnormal, switch to the second domain controller or the first domain controller to perform high-level autonomous driving control on the vehicle; When the working states of both the first domain controller and the second domain controller are abnormal, based on the vehicle camera information collected in real time, switch to the first controller to perform low-level autonomous driving control on the vehicle.

9. A computer-readable storage medium, characterized in that, At least one program code is stored in the storage medium, and the at least one program code is loaded and executed by a processor to implement a vehicle autonomous driving control method according to any one of claims 1 to 7.

10. An autonomous vehicle, characterized in that, The autonomous vehicle is configured with the vehicle autonomous driving control system according to claim 8.

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