Airport unmanned vehicle anti-robbery system based on drive-by-wire technology control

Abstract

The invention relates to an airport unmanned vehicle anti-robbery system based on a drive-by-wire technology, and belongs to the technical field of automatic driving, the airport unmanned vehicle anti-robbery system comprises a positioning module, a sensor sensing module, a drive-by-wire chassis module and a cloud monitoring platform, and the cloud monitoring platform is connected with the positioning module, the sensor sensing module and the drive-by-wire chassis module; and the cloud monitoring platform comprises an abnormity judgment module and a security decision module. Through the line control technology, when it is detected that the unmanned vehicle is robbed or faced with robbed threats, an original control signal source can be rapidly cut off, the unmanned vehicle is taken over by an airport security center or an authorized emergency control system, and the unmanned vehicle is braked, steered to a safe area or kept still in situ according to a preset safety strategy; therefore, a series of serious consequences possibly caused after the unmanned vehicle is snapped are effectively avoided, the safety and reliability of operation of the unmanned vehicle in the airport are remarkably improved, and the normal operation order and personnel and property safety of the airport are guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of autonomous driving, and in particular to an anti-seizure system for airport driverless vehicles based on drive-by-wire technology. Background Art

[0002] With the development of technology, driverless vehicles are increasingly widely used in various fields. Among them, as a special application scenario, the airport places higher requirements on the safety and reliability of driverless vehicles. In the airport environment, the driving of driverless vehicles has more stringent requirements; in addition to vehicle failures, more attention needs to be paid to the risk that driverless vehicles may face the seizure of control rights, which will not only cause property losses, but also may affect the normal operation of the airport. Therefore, the anti-seizure method for airport driverless vehicles based on drive-by-wire technology is an effective safety measure, which can improve the safety and reliability of driverless vehicles and ensure the normal operation of the airport. Summary of the Invention

[0003] To solve the above-mentioned problems in the prior art, the present invention provides an anti-seizure system for airport driverless vehicles based on drive-by-wire technology.

[0004] An anti-seizure system for airport driverless vehicles based on drive-by-wire technology includes a positioning module, a sensor perception module, a drive-by-wire chassis module, and a cloud monitoring platform. The cloud monitoring platform is respectively connected to the positioning module, the sensor perception module, and the drive-by-wire chassis module; the cloud monitoring platform includes an abnormality determination module and a safety decision-making module;

[0005] The positioning module is used to locate the vehicle position and synchronize it to the cloud monitoring platform;

[0006] The sensor perception module is used to obtain the vehicle surrounding environment data in real time and upload it to the cloud monitoring platform;

[0007] The drive-by-wire chassis module is used to control the vehicle and upload the vehicle chassis data to the cloud monitoring platform;

[0008] The abnormality determination module is used to perform abnormality detection on the vehicle. The abnormality detection includes vehicle position detection, vehicle surrounding environment data detection, and vehicle chassis data detection;

[0009] The safety decision-making module is used to brake the vehicle according to the abnormality detection result.

[0010] Further, the vehicle chassis data includes speed, acceleration, steering angle, door status, and driving mode.

[0011] Further, the detection of the vehicle chassis data by the abnormality determination module includes:

[0012] Obtain the ranges of speed, acceleration, and steering angle at the position where the planned path should be according to the autonomous driving planned path and the vehicle position;

[0013] Judge whether the vehicle conforms to the range by judging the values of the current speed, acceleration, and steering angle. If it exceeds the range, it is judged as abnormal;

[0014] Judge whether there is an operation at the driver's seat according to the driving mode and the door state. If the door state is opened and the driving mode changes, it is judged as abnormal.

[0015] Furthermore, the sensor perception module includes a camera and a lidar device; the camera obtains the image data around the vehicle, and the lidar device obtains the obstacle data around the vehicle.

[0016] Furthermore, the detection of the abnormal determination module for the vehicle surrounding environment data includes: performing target recognition on the surrounding of the vehicle through the camera and radar, and detecting whether the target has abnormal behavior; the targets include people and other vehicles.

[0017] Furthermore, the detection of the vehicle position by the abnormal determination module includes:

[0018] Obtain the planned path of autonomous driving, and set the threshold of the position deviation according to the road conditions and traffic rules;

[0019] Calculate the deviation between the vehicle position and the position where it should be on the planned path. If the deviation exceeds the set threshold, it is determined as a position anomaly; at the same time, the position data is corrected and the anomaly is judged through the vehicle acceleration, angular velocity, and attitude data obtained by the inertial measurement unit.

[0020] Furthermore, the data uploaded by the positioning module, the sensor perception module, and the drive-by-wire chassis module to the cloud monitoring platform also includes the vehicle ID and vehicle type.

[0021] Furthermore, the vehicle types include driverless vehicles and vehicles with a driver's seat. The braking method of the driverless vehicle is controlled by the drive-by-wire chassis module. The braking method of the vehicle with a driver's seat includes, in addition to the control of the drive-by-wire chassis module, the locking of the driver's seat.

[0022] The beneficial effects of the present invention: Through the drive-by-wire technology, when it is detected that the driverless vehicle is being snatched or under the threat of being snatched, the original control signal source can be quickly cut off, and taken over by the airport security center or the authorized emergency control system, and operations such as braking, steering to a safe area, or staying still are performed on the driverless vehicle according to the preset safety strategy, so as to effectively avoid a series of serious consequences that may be caused after the driverless vehicle is snatched, significantly improve the safety and reliability of the operation of the airport driverless vehicle, and ensure the normal operation order of the airport and the safety of personnel and property. Brief Description of the Drawings

[0023] Figure 1 This is the system structure diagram of the present invention;

[0024] Figure 2 This is the abnormal determination and analysis flowchart in the present invention. Detailed Embodiments

[0025] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] Embodiment 1, referring to Figure 1 and Figure 2 , a system for controlling anti-seizure of an airport driverless vehicle based on drive-by-wire technology, including a positioning module, a sensor perception module, a drive-by-wire chassis module, and a cloud monitoring platform. The cloud monitoring platform is respectively connected to the positioning module, the sensor perception module, and the drive-by-wire chassis module; the cloud monitoring platform includes an abnormal determination module and a safety decision-making module;

[0027] The positioning module is used to position the vehicle location and synchronize it to the cloud monitoring platform;

[0028] The sensor perception module is used to obtain the vehicle surrounding environment data in real time and upload it to the cloud monitoring platform;

[0029] The drive-by-wire chassis module is used to control the vehicle operation and upload the vehicle chassis data to the cloud monitoring platform;

[0030] The abnormal determination module is used to detect abnormalities of the vehicle. The abnormal detection includes vehicle location detection, vehicle surrounding environment data detection, and vehicle chassis data detection;

[0031] The safety decision-making module is used to brake the vehicle according to the abnormal detection result.

[0032] Furthermore, the vehicle chassis data includes speed, acceleration, steering angle, door status, and driving mode.

[0033] Furthermore, the detection of the vehicle chassis data by the abnormal determination module includes:

[0034] Obtain the ranges of speed, acceleration, and steering angle of the position where the planned path should be according to the autonomous driving planned path and the vehicle location;

[0035] Judge whether the values of the current speed, acceleration, and steering angle are within the range. If they exceed the range, judge it as abnormal.

[0036] Judge whether there is an operation at the driver's seat according to the driving mode and the door state. If the door state is open and the driving mode changes, judge it as abnormal.

[0037] Furthermore, the sensor perception module includes a camera and a lidar device; the camera acquires image data around the vehicle, and the lidar device acquires obstacle data around the vehicle.

[0038] Furthermore, the abnormal determination module's detection of the vehicle's surrounding environment data includes: performing target recognition around the vehicle through the camera and radar, and detecting whether the target has abnormal behavior; the targets include people and other vehicles.

[0039] Furthermore, the abnormal determination module's detection of the vehicle's position includes:

[0040] Obtain the planned path of autonomous driving, and set the threshold of the position deviation according to the road conditions and traffic rules;

[0041] Calculate the deviation between the vehicle's position and the position where it should be on the planned path. If the deviation exceeds the set threshold, it is determined as a position anomaly; at the same time, use the vehicle's acceleration, angular velocity, and attitude data obtained by the inertial measurement unit to correct the position data and judge for anomalies.

[0042] Furthermore, the data uploaded by the positioning module, the sensor perception module, and the drive-by-wire chassis module to the cloud monitoring platform also includes the vehicle's ID and vehicle type.

[0043] Furthermore, the vehicle types include driverless vehicles and vehicles with a driver's seat. The braking method of the driverless vehicle is controlled by the drive-by-wire chassis module. The braking method of the vehicle with a driver's seat includes, in addition to the control of the drive-by-wire chassis module, the locking of the driver's seat.

[0044] In this embodiment, during the implementation of preventing the seizure of airport driverless vehicles by drive-by-wire technology:

[0045] 1. Permission authentication and encrypted communication. Identity authentication: Only authorized control terminals can establish a connection with the driverless vehicle, and a two-way authentication mechanism (such as digital certificates or dynamic keys) is adopted. Communication encryption: Control signals and feedback data are transmitted through encryption (such as AES or RSA encryption) to prevent signals from being tampered with or hijacked.

[0046] 2. The drive-by-wire chassis module includes

[0047] Electronic throttle: Controls the vehicle's acceleration through electrical signals.

[0048] Electronic steering: Controls vehicle steering through electrical signals.

[0049] Electronic braking: Controls vehicle braking through electrical signals.

[0050] 3. Communication methods

[0051] CAN bus: Used for communication between various subsystems in the vehicle.

[0052] 4G / 5G: Used for communication with the cloud supervision center to ensure low latency and high reliability.

[0053] The method for preventing the seizure of an airport driverless vehicle based on drive-by-wire technology has the following advantages

[0054] (1) High safety: The drive-by-wire technology eliminates the traditional mechanical connection and controls the key components of the vehicle through electronic signals, which can effectively reduce the risk of being forcibly controlled by physical means. In case of seizure, the system can quickly cut off the driving operation authority and lock the vehicle function through remote or local electronic control.

[0055] (2) Controllability: The drive-by-wire technology allows the vehicle to achieve remote control functions. When an attempt is made to seize the driverless vehicle, the background management system can intervene remotely, shut down the vehicle power or control the vehicle to stop safely to avoid the escalation of danger.

[0056] (3) Resistance to physical damage: Since there are no traditional mechanical components (such as steering wheels, cable brakes, etc.), it is difficult for the seizure person to directly control the vehicle by violent destruction, thus enhancing the anti-seizure ability of the vehicle.

[0057] In summary, the method for preventing the seizure of an airport driverless vehicle based on drive-by-wire technology is of great significance for improving traffic flow, enhancing airport traffic safety, and airport intelligence.

[0058] In the description of the embodiments of the present invention, the terms "first", "second", "third", "fourth" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", "third", "fourth" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality" is two or more.

[0059] In the description of the embodiments of the present invention, specific features, structures, materials, or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0060] In the description of the embodiments of the present invention, it should be understood that "-" and "~" represent the range between two numerical values, and this range includes the endpoints. For example, "A - B" represents a range greater than or equal to A and less than or equal to B. "A ~ B" represents a range greater than or equal to A and less than or equal to B.

[0061] In the description of the embodiments of the present invention, the term "and / or" herein is merely a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " herein generally represents an "or" relationship between the associated objects before and after.

[0062] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An anti-seizure system for airport driverless vehicles controlled based on wire control technology, characterized in that, It includes a positioning module, a sensor perception module, a steer-by-wire chassis module, and a cloud monitoring platform. The cloud monitoring platform is respectively connected to the positioning module, the sensor perception module, and the steer-by-wire chassis module; the cloud monitoring platform includes an anomaly determination module and a safety decision-making module; The positioning module is used to locate the vehicle position and synchronize it to the cloud monitoring platform; The sensor perception module is used to obtain the vehicle surrounding environment data in real time and upload it to the cloud monitoring platform; The steer-by-wire chassis module is used to control the vehicle and upload the vehicle chassis data to the cloud monitoring platform; The anomaly determination module is used to detect anomalies of the vehicle. The anomaly detection includes vehicle position detection, vehicle surrounding environment data detection, and vehicle chassis data detection; The safety decision-making module is used to brake the vehicle through the steer-by-wire chassis module according to the anomaly detection result.

2. The anti-seizure system for controlling an airport unmanned vehicle based on a wire control technology according to claim 1, wherein The vehicle chassis data includes speed, acceleration, steering angle, door state, and driving mode.

3. The anti-seizure system for an airport driverless vehicle based on a by-wire technology according to claim 1, wherein, The detection of the vehicle chassis data by the anomaly determination module includes: Obtain the ranges of speed, acceleration, and steering angle of the position where the planned path should be according to the autonomous driving planned path and the vehicle position; Judge whether the vehicle conforms to the range by judging the current values of speed, acceleration, and steering angle. If it exceeds the range, it is judged as an anomaly; Judge whether there is an operation in the driver's seat according to the driving mode and the door state. If the door state is opened and the driving mode changes, it is judged as an anomaly.

4. A system for controlling the anti-seizure of an airport unmanned vehicle based on a wire control technology according to claim 1, wherein The sensor perception module includes a camera and a lidar device; the camera obtains the vehicle surrounding image data, and the lidar device obtains the vehicle surrounding obstacle data.

5. A system for controlling anti-seizure of an airport driverless vehicle based on a by-wire technology according to claim 4, characterized in that, The detection of the vehicle surrounding environment data by the anomaly determination module includes: performing target recognition on the vehicle surrounding through the camera and the radar, and detecting whether the target has abnormal behaviors; the targets include people and other vehicles.

6. The anti-seizure system for an airport driverless vehicle based on a wire control technology according to claim 1, wherein The detection of the vehicle position by the anomaly determination module includes: Obtain the autonomous driving planned path, and set the threshold of the position deviation according to the road conditions and traffic rules; Calculate the deviation between the vehicle position and the position where it should be on the planned path. If the deviation exceeds the set threshold, it is determined as a position anomaly; meanwhile, correct and perform anomaly judgment on the position data through the vehicle acceleration, angular velocity, and attitude data obtained by the inertial measurement unit.

7. A system for preventing the seizure of an airport driverless vehicle based on a wire control technology according to claim 1, characterized in that, The data uploaded by the positioning module, the sensor perception module, and the steer-by-wire chassis module to the cloud monitoring platform also includes the vehicle ID and vehicle type.

8. A system for preventing seizure of an airport unmanned vehicle based on a wire control technology according to claim 1, characterized in that, The vehicle types include driverless vehicles and vehicles with a driver's seat. The braking method of the driverless vehicle is controlled by the steer-by-wire chassis module. The braking method of the vehicle with a driver's seat includes, in addition to the control of the steer-by-wire chassis module, the locking of the driver's seat.

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