Vehicle control method, device and equipment based on auxiliary driving

Abstract

The invention discloses a vehicle control method, device and equipment based on aided driving, and the method comprises the steps: responding to an enabling operation of an aided driving function, and activating a main controller and a standby controller; driving state parameters and environment information of a target vehicle are collected and input into the main controller to generate a first control signal, the first control signal is sent to an action executing mechanism of the target vehicle and input into the standby controller to generate a second control signal, and the second control signal is sent to the action executing mechanism; monitoring the receiving state of the first control signal in real time through an action executing mechanism; if the receiving state corresponding to the first control signal is normal, an action executing mechanism is controlled to execute actions according to the first control signal; and if the receiving state corresponding to the first control signal is abnormal and the duration of the abnormal receiving state reaches a preset time threshold, controlling an action execution mechanism to execute an action according to the second control signal. The vehicle driving safety can be improved, and the method can be widely applied to the technical field of vehicles.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vehicle control method, device and equipment based on assisted driving. Background Art

[0002] Vehicles are the primary means of transportation in modern society, widely used for daily commuting, long-distance travel, and freight transportation. Currently, assisted driving technologies are being used in vehicles, significantly improving driving convenience and safety through the collaborative work of sensors, cameras, and algorithms. Advanced Driver Assistance Systems (ADAS) are a core component, encompassing functions such as adaptive cruise control (ACC), lane keeping assist (LKA), and automatic emergency braking (AEB). These systems monitor the road environment in real time and assist the driver with acceleration, steering, and braking, effectively reducing accidents caused by fatigue or distraction.

[0003] In related technologies, although ADAS systems can significantly improve driving convenience, their reliability still has certain limitations. For example, when driving at high speeds, the driver may reduce their alertness due to reliance on assisted driving. If the system suddenly fails (such as failure of the main controller), the vehicle may instantly lose its automatic control capability. At this time, the driver needs a certain reaction time to take over again. During this period, the high-speed vehicle will be in an unmanned state, which can easily cause rear-end collisions, lane deviation, or even more serious accidents, posing a high safety hazard.

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

[0005] The purpose of this application is to solve one of the technical problems existing in the related art to at least a certain extent.

[0006] To this end, one purpose of the embodiments of the present application is to provide a vehicle control method, device and equipment based on assisted driving.

[0007] In order to achieve the above technical objectives, the technical solutions adopted in the embodiments of the present application include:

[0008] In one aspect, an embodiment of the present application provides a vehicle control method based on assisted driving, which is applied to a target vehicle, wherein the target vehicle includes a main controller and a backup controller, and the performance of the main controller is better than that of the backup controller; the method includes:

[0009] activating the main controller and the backup controller in response to an activation operation of a driving assistance function;

[0010] Collecting driving state parameters and environmental information of the target vehicle;

[0011] Inputting the driving state parameter and the environmental information into the main controller to generate a first control signal and sending it to the action execution mechanism of the target vehicle, and inputting the driving state parameter and the environmental information into the backup controller to generate a second control signal and sending it to the action execution mechanism;

[0012] monitoring the reception status of the first control signal in real time by the action execution mechanism;

[0013] If the receiving state corresponding to the first control signal is normal, controlling the action execution mechanism to execute the action according to the first control signal;

[0014] If the receiving state corresponding to the first control signal is abnormal and the duration of the abnormal receiving state reaches a preset time threshold, the action execution mechanism is controlled to execute an action according to the second control signal.

[0015] In addition, the vehicle control method based on assisted driving according to the above embodiment of the present application may also have the following additional technical features:

[0016] Furthermore, in one embodiment of the present application, activating the main controller and the backup controller in response to an activation operation of the assisted driving function includes:

[0017] activating the main controller and the backup controller in response to a key operation by a driver;

[0018] Alternatively, the driver's voice information is received, the voice information is recognized, and the main controller and the backup controller are activated according to the recognition result.

[0019] Furthermore, in one embodiment of the present application, the target vehicle further includes a sensor, a camera, and a radar; and collecting the driving state parameters and environmental information of the target vehicle includes:

[0020] collecting driving state parameters of the target vehicle through the sensor;

[0021] The environmental information of the target vehicle is collected by the camera and the radar.

[0022] Furthermore, in one embodiment of the present application, the action execution mechanism includes an electric power steering system, an electronic stability control system, an electronic throttle, a shift actuator and an active suspension system.

[0023] Furthermore, in one embodiment of the present application, the first control signal is generated by the following steps:

[0024] inputting the driving state parameter and the environmental information into the main controller;

[0025] Performing path planning through the main controller to obtain trajectory control data;

[0026] Analyzing the trajectory control data to obtain control indicators in several dimensions;

[0027] The first control signal is generated according to the control index through a predetermined control algorithm.

[0028] Furthermore, in one embodiment of the present application, the real-time monitoring of the reception status of the first control signal by the action execution mechanism includes:

[0029] Monitoring, by the standby controller, a historical time point at which a pulse signal sent by the main controller was last received;

[0030] Calculating the time interval between the historical time point and the current time point by the standby controller;

[0031] If the time interval exceeds a preset time threshold, it is determined that the working state of the main controller is abnormal.

[0032] Furthermore, in one embodiment of the present application, after controlling the action execution mechanism to execute an action according to the second control signal, the method further includes:

[0033] Sending a reminder message to the driver of the target vehicle; wherein the reminder message is used to indicate that there is an abnormality in the main controller.

[0034] On the other hand, an embodiment of the present application provides a vehicle control device based on assisted driving, which is applied to a target vehicle, wherein the target vehicle includes a main controller and a backup controller, and the performance of the main controller is better than that of the backup controller; the device includes:

[0035] an activation unit, configured to activate the main controller and the backup controller in response to an activation operation of the driving assistance function;

[0036] A collection unit, used to collect driving state parameters and environmental information of the target vehicle;

[0037] a generating unit, configured to input the driving state parameter and the environmental information into the main controller to generate a first control signal and send the first control signal to the action execution mechanism of the target vehicle, and input the driving state parameter and the environmental information into the backup controller to generate a second control signal and send the second control signal to the action execution mechanism;

[0038] a monitoring unit, configured to monitor the reception status of the first control signal in real time through the action execution mechanism;

[0039] a first action unit, configured to control the action execution mechanism to execute an action according to the first control signal when the receiving state corresponding to the first control signal is normal;

[0040] The second action unit is configured to control the action execution mechanism to execute an action according to the second control signal when the receiving state corresponding to the first control signal is abnormal and the duration of the abnormal receiving state reaches a preset time threshold.

[0041] In another aspect, an embodiment of the present application provides an electronic device, including:

[0042] at least one processor;

[0043] at least one memory for storing at least one program;

[0044] When the at least one program is executed by the at least one processor, the at least one processor implements the above-mentioned vehicle control method based on assisted driving.

[0045] On the other hand, an embodiment of the present application further provides a computer-readable storage medium, which stores a program executable by a processor. When the program executable by the processor is executed by the processor, it is used to implement the above-mentioned vehicle control method based on assisted driving.

[0046] The advantages and benefits of this application will be partially given in the following description, and partially become apparent from the following description, or learned through practice of this application:

[0047] A vehicle control method, device and equipment based on assisted driving disclosed in an embodiment of the present application are applied to a target vehicle, wherein the target vehicle includes a main controller and a backup controller, and the performance of the main controller is better than that of the backup controller; the method includes: activating the main controller and the backup controller in response to the activation operation of the assisted driving function; collecting driving state parameters and environmental information of the target vehicle; inputting the driving state parameters and the environmental information into the main controller to generate a first control signal and sending it to the action execution mechanism of the target vehicle, and inputting the driving state parameters and the environmental information into the backup controller to generate a second control signal and sending it to the action execution mechanism; monitoring the reception status of the first control signal in real time through the action execution mechanism; if the reception status corresponding to the first control signal is normal, controlling the action execution mechanism to perform an action according to the first control signal; if the reception status corresponding to the first control signal is normal, controlling the action execution mechanism to perform an action according to the first control signal; if the reception status corresponding to the first control signal is abnormal and the duration of the abnormal reception status reaches a preset time threshold, controlling the action execution mechanism to perform an action according to the second control signal. This application implements dual-system redundant control by adding a backup controller in addition to the main controller. If the main controller fails and the abnormal state persists beyond a preset threshold, the system seamlessly switches to the backup controller to take over vehicle control, preventing vehicle loss of control due to failure of the main controller. This effectively improves the reliability of the ADAS system, reduces safety hazards caused by driver takeover delays, and enhances vehicle safety during driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following introduction is made to the drawings of the embodiments of the present application or the related technical solutions in the prior art. It should be understood that the drawings introduced below are only for the convenience of clearly describing some embodiments of the technical solutions of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 A schematic diagram of an implementation environment of a vehicle control method based on assisted driving provided in an embodiment of the present application;

[0050] Figure 2 A schematic flow chart of a vehicle control method based on assisted driving provided in an embodiment of the present application;

[0051] Figure 3 This is a schematic structural diagram of a vehicle control device based on assisted driving provided in an embodiment of the present application;

[0052] Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0053] The present application is further described below in conjunction with the accompanying drawings and specific embodiments. The described embodiments should not be considered as limiting the present application. All other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0054] In the following description, reference is made to “some embodiments”, which describes a subset of all possible embodiments, but it will be understood that “some embodiments” may be the same subset or different subsets of all possible embodiments and may be combined with each other without conflict.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein are for the purpose of describing the embodiments of this application only and are not intended to limit this application.

[0056] Vehicles are the primary means of transportation in modern society, widely used for daily commuting, long-distance travel, and freight transportation. Currently, assisted driving technologies are being used in vehicles, significantly improving driving convenience and safety through the collaborative work of sensors, cameras, and algorithms. Advanced Driver Assistance Systems (ADAS) are a core component, encompassing functions such as adaptive cruise control (ACC), lane keeping assist (LKA), and automatic emergency braking (AEB). These systems monitor the road environment in real time and assist the driver with acceleration, steering, and braking, effectively reducing accidents caused by fatigue or distraction.

[0057] In related technologies, although ADAS systems can significantly improve driving convenience, their reliability still has certain limitations. For example, when driving at high speeds, the driver may reduce their alertness due to reliance on assisted driving. If the system suddenly fails (such as failure of the main controller), the vehicle may instantly lose its automatic control capability. At this time, the driver needs a certain reaction time to take over again. During this period, the high-speed vehicle will be in an unmanned state, which can easily cause rear-end collisions, lane deviation, or even more serious accidents, posing a high safety hazard.

[0058] In view of this, an embodiment of the present application provides a vehicle control method based on assisted driving, which is applied to a target vehicle, wherein the target vehicle includes a main controller and a backup controller, and the performance of the main controller is better than that of the backup controller; the method includes: in response to the activation operation of the assisted driving function, activating the main controller and the backup controller; collecting the driving state parameters and environmental information of the target vehicle; inputting the driving state parameters and the environmental information into the main controller to generate a first control signal and sending it to the action execution mechanism of the target vehicle, and inputting the driving state parameters and the environmental information into the backup controller to generate a second control signal and sending it to the action execution mechanism; monitoring the receiving status of the first control signal in real time through the action execution mechanism; if the receiving status corresponding to the first control signal is normal, controlling the action execution mechanism to perform an action according to the first control signal; if the receiving status corresponding to the first control signal is abnormal and the duration of the abnormal receiving status reaches a preset time threshold, controlling the action execution mechanism to perform an action according to the second control signal. This application implements dual-system redundant control by adding a backup controller in addition to the main controller. If the main controller fails and the abnormal state persists beyond a preset threshold, the system seamlessly switches to the backup controller to take over vehicle control, preventing vehicle loss of control due to failure of the main controller. This effectively improves the reliability of the ADAS system, reduces safety hazards caused by driver takeover delays, and enhances vehicle safety during driving.

[0059] Please refer to Figure 1 , Figure 1 The following is a schematic diagram illustrating an implementation environment for a vehicle control method based on assisted driving provided in an embodiment of the present application. In this implementation environment, the main hardware and software components involved include a terminal device 110 and a backend server 120. The terminal device 110 and the backend server 120 are in communication with each other.

[0060] Specifically, the assisted driving-based vehicle control method provided in the embodiments of the present application can be executed independently on the terminal device 110 side, or based on data interaction between the terminal device 110 and the backend server 120. The terminal device 110 can be an in-vehicle terminal; the backend server 120 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, CDN (Content Delivery Network), and big data and artificial intelligence platforms.

[0061] The terminal device 110 and the backend server 120 may establish a communication connection via a wireless network or a wired network. The wireless network or wired network uses standard communication technologies and / or protocols, and the network may be the Internet or any other network, including but not limited to a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), a mobile, wired or wireless network, a private network or any combination of a virtual private network.

[0062] Of course, it is understandable that Figure 1 The implementation environment in the present application is only some optional application scenarios of the vehicle control method based on assisted driving provided in the embodiment of the present application. The actual application is not fixed to Figure 1 The hardware and software environment shown.

[0063] Below, in combination with the introduction of the aforementioned implementation environment, a vehicle control method based on assisted driving provided in an embodiment of the present application is introduced and explained.

[0064] Please refer to Figure 2 , Figure 2 : is a schematic diagram of a vehicle control method based on assisted driving provided in an embodiment of the present application, which includes but is not limited to:

[0065] Step 210: In response to the activation operation of the assisted driving function, activate the main controller and the backup controller;

[0066] Step 220: collecting driving state parameters and environmental information of the target vehicle;

[0067] Step 230: Input the driving state parameters and the environmental information into the main controller to generate a first control signal and send it to the action execution mechanism of the target vehicle, and input the driving state parameters and the environmental information into the backup controller to generate a second control signal and send it to the action execution mechanism;

[0068] Step 240: monitoring the reception status of the first control signal in real time by the action execution mechanism;

[0069] Step 250: If the receiving state corresponding to the first control signal is normal, control the action execution mechanism to execute an action according to the first control signal;

[0070] Step 260: If the receiving state corresponding to the first control signal is abnormal and the duration of the abnormal receiving state reaches a preset time threshold, control the action execution mechanism to execute an action according to the second control signal.

[0071] In an embodiment of the present application, a vehicle control method based on assisted driving is provided. This method implements dual-system redundant control by adding a backup controller in addition to the main controller. If the main controller fails and the abnormal state persists beyond a preset threshold, the system can seamlessly switch to the backup controller to take over vehicle control, preventing vehicle loss of control due to failure of the main controller. This can effectively improve the reliability of the ADAS system, reduce the safety risks caused by driver takeover delays, and enhance vehicle safety during driving.

[0072] In the embodiment of the present application, the vehicle to which the vehicle control method based on assisted driving is applied can be recorded as the target vehicle. In the ADAS system of the target vehicle, two controllers can be set, namely the main controller and the backup controller. The main controller and the backup controller are the core components of the assisted driving system, which can be used to jointly ensure 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 camera, radar, lidar and other inputs), performing key functions such as path planning, obstacle recognition, lane keeping, determining trajectory control data, and sending control signals to the actuator through the vehicle bus (such as CAN or Ethernet), which is recorded as the first control signal.

[0073] The backup controller is a redundant design for the main controller. Its performance is relatively poor compared to the main controller, and it can run a lightweight assisted driving algorithm. For example, the assisted driving algorithm in the backup controller can only be used to ensure basic lane driving functions, unlike the main controller that can provide complex driving planning. Similarly, in the embodiment of the present application, the backup controller can also send a control signal to the actuator via the vehicle bus (such as CAN or Ethernet), which is recorded as the second control signal.

[0074] In embodiments of the present application, the primary and backup controllers can employ heterogeneous architectures to reduce the risk of common-cause failures and ensure state consistency through synchronous communication. The primary controller has better performance, while the backup controller has relatively poorer performance. The specific models of the primary and backup controllers can be determined based on actual needs and are not limited by this application. For example, a high-performance SoC for the primary controller and an MCU for the backup controller can reduce the cost of the assisted driving system.

[0075] The vehicle control method based on assisted driving provided in the embodiment of the present application effectively improves the safety and reliability of the vehicle in assisted driving mode through the redundant design of the main and backup dual controllers. The specific implementation process of this method can be divided into the following steps:

[0076] When the driver uses the target vehicle, they can enable the assisted driving function according to their needs. At this time, the system will activate both the main controller and the backup controller. In this embodiment of the application, the main controller uses a high-performance processor with stronger computing power and faster response speed; although the backup controller has relatively lower performance, it is sufficient to maintain basic vehicle control functions in an emergency. Both controllers will perform self-tests at startup to ensure that the system is in normal initial state.

[0077] In an embodiment of the present application, the target vehicle may include sensors, cameras, radars, etc. After the assisted driving function is activated, the system will collect the target vehicle's driving state parameters in real time through various sensors installed on the vehicle, and collect the target vehicle's environmental information through cameras and radars. This application does not limit the specific content of the driving state parameters and environmental information. For example, in some embodiments, the driving state parameters include but are not limited to vehicle dynamic data such as vehicle speed, steering angle, lateral and longitudinal acceleration, and gear status; the environmental information includes lane line recognition captured by the camera, obstacle distance detected by the radar, traffic signs obtained by V2X communication, and other surrounding environmental data. These data can be transmitted to the main controller and the backup controller simultaneously through the vehicle network.

[0078] In the embodiment of the present application, after the driving state parameters and environmental information are transmitted to the main controller and the backup controller, the main controller can use its high-performance computing capabilities to process and analyze the received data in real time to generate an accurate first control signal, including specific instructions such as steering control amount, brake pressure, throttle opening, etc. At the same time, the backup controller will also independently generate a second control signal based on the same input data. Although the accuracy of the second control signal may be slightly lower, it is sufficient to ensure the basic driving safety of the vehicle. The control signals generated by the two controllers will be sent to the vehicle's action execution mechanism through independent communication channels. Unlike the application in the related art, the backup controller in the embodiment of the present application does not start running to generate relevant control signals after detecting a fault in the main controller. In this mode in the related art, the backup controller takes a long time to achieve effective signal output after startup, which can easily lead to control signal interruption and safety accidents. In the application of the present application, the backup controller also sends the second control signal to the action execution mechanism in real time.

[0079] For the action execution mechanism, while receiving the control signal, it will monitor the receiving status of the first control signal sent by the main controller in real time through a special monitoring module. For example, the monitoring content may include multiple dimensions such as signal continuity, numerical rationality, and timing consistency. The system can set multiple detection thresholds, such as signal loss duration, numerical jump amplitude, etc., to ensure that various possible abnormal situations can be discovered in time. Under normal operating conditions, that is, when the receiving status corresponding to the first control signal is normal, the action execution mechanism will give priority to the first control signal generated by the main controller to control the vehicle. Although the backup controller is also running continuously at this time, its output signal will not be adopted. This design not only ensures control accuracy, but also ensures that the backup system is on standby at any time.

[0080] When the monitoring module detects that the first control signal is abnormal, the system will not switch immediately, but will start a timer. Only when the abnormal state lasts for more than a preset time threshold (such as 50 milliseconds) will it be determined that the main controller has indeed failed, and only then will it switch to the second control signal output by the backup controller. This delayed switching mechanism can effectively avoid incorrect switching due to transient interference. At the same time, it can complete the switching in time when the main controller actually fails, thereby achieving smooth takeover of the backup controller. In addition, in some embodiments, if the main controller has an abnormality, a reminder message can also be sent to the driver of the target vehicle to facilitate timely takeover.

[0081] It is understandable that an embodiment of the present application provides a vehicle control method based on assisted driving, which is implemented on a target vehicle, which is equipped with a main controller with higher performance and a backup controller with relatively lower performance, forming a main-backup dual-system architecture. When the driver enables the assisted driving function, the system will synchronously activate the main controller and the backup controller to ensure that both are in a ready state. Subsequently, the vehicle collects driving state parameters (such as vehicle speed, steering angle, acceleration, etc.) and environmental information (such as lane line recognition, obstacle distance, traffic signs, etc.) in real time through various sensors, and these data are input into the main controller and the backup controller at the same time. The main controller generates a first control signal based on high-performance computing capability, while the backup controller generates a second control signal, both of which are sent to the vehicle's action execution mechanism (such as steering motor, braking system, throttle controller, etc.). While receiving the control signal, the action execution mechanism will continuously monitor the reception status of the first control signal sent by the main controller, including whether the signal is continuous and whether it is within a reasonable range. If the first control signal is received normally, the system will give priority to controlling the vehicle's driving according to the instructions of the main controller; if the first control signal is detected to be abnormal (such as signal interruption, exceeding the threshold or logical error) and the abnormality lasts for a preset time threshold, the system will immediately switch to the second control signal of the backup controller, and the backup controller will take over the control of the vehicle, thereby ensuring that the vehicle will not lose control due to failure of the main controller in critical scenarios such as high-speed driving.

[0082] In some embodiments, activating the main controller and the backup controller in response to an activation operation of the assisted driving function includes:

[0083] activating the main controller and the backup controller in response to a key operation by a driver;

[0084] Alternatively, the driver's voice information is received, the voice information is recognized, and the main controller and the backup controller are activated according to the recognition result.

[0085] In an embodiment of the present application, a variety of operating methods for activating the main controller and the backup controller can be provided to the driver. For example, the operation can be performed by physical buttons or voice commands: in the button operation mode, a special assisted driving function button is provided on the vehicle center console or steering wheel, and the driver can trigger the system activation process by pressing the button. In some embodiments, the button design can adopt an anti-false touch mechanism, which usually requires continuous pressing for a certain period of time (such as 1 second) to take effect, so as to avoid misoperation during driving. After the system detects a valid button operation, it will immediately send an activation instruction to the main controller and the backup controller, and the two controllers will start synchronously and complete the initialization self-test process. The self-test content includes key items such as processor status, memory verification, and communication link test to ensure that the controller is in normal working condition. At the same time, the system will feedback the activation status through the instrument panel display or voice prompt, so that the driver knows clearly that the assisted driving function is ready.

[0086] In voice control mode, the vehicle is equipped with a high-performance speech recognition system. This system uses a microphone array to capture the driver's voice commands, employs a noise reduction algorithm to eliminate ambient noise interference, and applies natural language processing technology for semantic interpretation. When the driver says something like "Start autonomous driving" or "Start assisted driving," the system automatically recognizes the relevant command and activates both the primary and backup controllers.

[0087] In some embodiments, the motion execution mechanism includes an electric power steering system, an electronic stability control system, an electronic throttle, a gear shift actuator, and an active suspension system.

[0088] In the embodiment of the present application, the action actuator on the vehicle is a key component that converts the control signal of the ADAS system into actual mechanical action. It may include the electric power steering system (EPS), the brake actuator in the electronic stability control system (ESC), the electronic throttle (ETC), the shift actuator of the automatic transmission, and the electromagnetic or hydraulic regulator of the active suspension system. EPS can achieve lane keeping or automatic steering through the motor-assisted steering force; the brake actuator of the ESC can independently control the wheel braking force to correct the vehicle posture; the ETC can adjust the engine throttle opening to meet the needs of adaptive cruise control; the shift actuator completes the gear change during automatic parking or driving mode switching; the active suspension improves driving stability by adjusting the damping or height in real time. These mechanisms work together to ensure that the vehicle accurately responds to control commands and realizes safe and comfortable assisted driving functions.

[0089] In some embodiments, the first control signal is generated by:

[0090] inputting the driving state parameter and the environmental information into the main controller;

[0091] Performing path planning through the main controller to obtain trajectory control data;

[0092] Analyzing the trajectory control data to obtain control indicators in several dimensions;

[0093] The first control signal is generated according to the control index through a predetermined control algorithm.

[0094] In the embodiment of the present application, after the driving state parameters and environmental information are input into the main controller, the system first performs data fusion and preprocessing, time-aligning, coordinate conversion, and validity verification of the raw data from different sensors, eliminating data conflicts and noise interference, and building an accurate and reliable vehicle environment perception model. Based on this perception model, the main controller starts the path planning module, comprehensively considering factors such as current lane information, surrounding vehicle dynamics, traffic regulations and restrictions, and preset destinations, and uses optimal control theory to perform multi-objective optimization calculations. The path planning process adopts a layered processing architecture. The upper layer makes global path decisions to determine the optimal driving lane and approximate trajectory; the lower layer performs local trajectory optimization to generate a smooth and continuous driving path, and outputs trajectory control data containing key parameters such as position, speed, and acceleration.

[0095] After receiving the trajectory control data, the main controller's signal analysis module performs a multi-dimensional decomposition to extract core control indicators such as steering angle, target speed, and longitudinal acceleration. These indicators not only encompass the instantaneous control quantity but also take into account dynamic trends and comfort constraints. During the control indicator calculation phase, the system uses an adaptive filtering algorithm to smooth the raw data to avoid drastic changes in control commands. It also sets reasonable upper and lower thresholds to ensure that the control quantity remains within a safe range. Finally, a predetermined control algorithm converts each dimensional indicator into specific actuator commands to produce the first control signal.

[0096] In some embodiments, the real-time monitoring of the reception status of the first control signal by the action execution mechanism includes:

[0097] Monitoring, by the standby controller, a historical time point at which a pulse signal sent by the main controller was last received;

[0098] Calculating the time interval between the historical time point and the current time point by the standby controller;

[0099] If the time interval exceeds a preset time threshold, it is determined that the working state of the main controller is abnormal.

[0100] In an embodiment of the present application, the standby controller can be responsible for monitoring the working status of the main controller to ensure the independence and reliability of the monitoring. A special status monitoring module is provided inside the standby controller, which continuously records and updates the timestamp information of the last valid pulse signal received from the main controller, that is, the historical time point when the pulse signal sent by the main controller was last received. Then, the time interval between the historical time point and the current time point can be calculated. If the time interval is less than the preset time threshold, it can be confirmed that the working status of the main controller is normal. During this process, each time a valid pulse signal is received, the standby controller will update the historical time point record in the internal register and reset the timer corresponding to the time interval. If the time interval exceeds the preset time threshold, it can be determined that the working status of the main controller is abnormal.

[0101] Reference Figure 3 In an embodiment of the present application, a vehicle control device based on assisted driving is further provided, which is applied to a target vehicle. The target vehicle includes a main controller and a backup controller, and the performance of the main controller is better than that of the backup controller. The device includes:

[0102] an activation unit 310, configured to activate the main controller and the backup controller in response to an activation operation of the assisted driving function;

[0103] The acquisition unit 320 is used to acquire the driving state parameters and environmental information of the target vehicle;

[0104] a generating unit 330 configured to input the driving state parameter and the environmental information into the main controller to generate a first control signal and send the first control signal to the action execution mechanism of the target vehicle, and to input the driving state parameter and the environmental information into the backup controller to generate a second control signal and send the second control signal to the action execution mechanism;

[0105] A monitoring unit 340, configured to monitor the reception status of the first control signal in real time through the action execution mechanism;

[0106] A first action unit 350 is configured to control the action execution mechanism to execute an action according to the first control signal when the receiving state corresponding to the first control signal is normal;

[0107] The second action unit 360 is configured to control the action execution mechanism to execute an action according to the second control signal when the receiving state corresponding to the first control signal is abnormal and the duration of the abnormal receiving state reaches a preset time threshold.

[0108] It can be understood that the contents of the above method embodiments are all applicable to the present device embodiments, the functions specifically implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0109] Reference Figure 4 , an embodiment of the present application provides an electronic device, including:

[0110] at least one processor 410;

[0111] at least one memory 420, for storing at least one program;

[0112] When the at least one program is executed by the at least one processor 410 , the at least one processor 410 implements the above-mentioned vehicle control method based on assisted driving.

[0113] Similarly, the contents of the above method embodiments are applicable to the present electronic device embodiment. The functions specifically implemented by the present electronic device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0114] An embodiment of the present application also provides a computer-readable storage medium, which stores a program executable by the processor 410. The program executable by the processor 410 is used to execute the above-mentioned vehicle control method based on assisted driving when executed by the processor 410.

[0115] Similarly, the contents of the above method embodiments are applicable to the computer-readable storage medium embodiments. The functions specifically implemented by the computer-readable storage medium embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0116] In some optional embodiments, the functions / operations mentioned in the block diagram may not occur in the order mentioned in the operation diagram. For example, depending on the functions / operations involved, the two boxes shown in succession may actually be executed substantially simultaneously or the boxes can sometimes be executed in reverse order. In addition, the embodiments presented and described in the flow chart of the present application are provided in an exemplary manner for the purpose of providing a more comprehensive understanding of the technology. The disclosed method is not limited to the operations and logic flows presented herein. Optional embodiments are contemplated in which the order of the various operations is changed and the sub-operations described as a part of a larger operation are performed independently.

[0117] In addition, although the present application is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the functions and / or features may be integrated into 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 is also understood that a detailed discussion of the actual implementation of each module is not necessary for understanding the present application. More specifically, given the properties, 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 routine skills of an engineer. Therefore, a person skilled in the art can implement the present application as set forth in the claims using ordinary techniques without undue experimentation. It is also understood that the specific concepts disclosed are merely illustrative 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.

[0118] If the 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 the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0119] The logic and / or steps represented in the flowcharts or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing the logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (e.g., a computer-based system, a system including a processor, or other system that can fetch and execute instructions from an instruction execution system, apparatus, or device). For 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 conjunction with, an instruction execution system, apparatus, or device.

[0120] More specific examples (a non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk cartridge (magnetic devices), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable compact disc read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, deciphering, or processing in another suitable manner as necessary, and then stored in a computer memory.

[0121] It should be understood that various parts of the present application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented using hardware, as in another embodiment, any one of the following technologies known in the art or a combination thereof can be used to implement: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application-specific integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0122] In the above description of this specification, reference to the terms "one embodiment / example," "another embodiment / example," or "certain embodiments / examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples.

[0123] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions, and variations may be made to the embodiments without departing from the principles and intent of the present application, and that the scope of the present application is defined by the claims and their equivalents.

[0124] The above is a specific description of the preferred implementation of the present application, but the present application is not limited to the embodiments. Those skilled in the art may make various equivalent modifications or substitutions without violating the spirit of the present application, and these equivalent modifications or substitutions are all included in the scope defined by the claims of the present application.

Claims

1. A vehicle control method based on assisted driving, characterized in that: Applied to a target vehicle, the target vehicle includes a main controller and a backup controller, the performance of the main controller is better than that of the backup controller; the method includes: activating the main controller and the backup controller in response to an activation operation of a driving assistance function; Collecting driving state parameters and environmental information of the target vehicle; Inputting the driving state parameter and the environmental information into the main controller to generate a first control signal and sending it to the action execution mechanism of the target vehicle, and inputting the driving state parameter and the environmental information into the backup controller to generate a second control signal and sending it to the action execution mechanism; monitoring the reception status of the first control signal in real time by the action execution mechanism; If the receiving state corresponding to the first control signal is normal, controlling the action execution mechanism to execute the action according to the first control signal; If the receiving state corresponding to the first control signal is abnormal and the duration of the abnormal receiving state reaches a preset time threshold, the action execution mechanism is controlled to execute an action according to the second control signal.

2. The vehicle control method based on assisted driving according to claim 1, characterized in that: The activating of the main controller and the backup controller in response to the enabling operation of the assisted driving function comprises: activating the main controller and the backup controller in response to a key operation by a driver; Alternatively, the driver's voice information is received, the voice information is recognized, and the main controller and the backup controller are activated according to the recognition result.

3. The vehicle control method based on assisted driving according to claim 1, characterized in that: The target vehicle also includes sensors, cameras, and radars; The collecting of the driving state parameters and environmental information of the target vehicle includes: collecting driving state parameters of the target vehicle through the sensor; The environmental information of the target vehicle is collected by the camera and the radar.

4. The vehicle control method based on assisted driving according to claim 1, characterized in that: The action execution mechanism includes an electric power steering system, an electronic stability control system, an electronic throttle, a shift actuator and an active suspension system.

5. The vehicle control method based on assisted driving according to claim 1, characterized in that: The first control signal is generated by the following steps: inputting the driving state parameter and the environmental information into the main controller; Performing path planning through the main controller to obtain trajectory control data; Analyzing the trajectory control data to obtain control indicators in several dimensions; The first control signal is generated according to the control index through a predetermined control algorithm.

6. A vehicle control method based on assisted driving according to any one of claims 1 to 5, characterized in that: The real-time monitoring of the reception status of the first control signal by the action execution mechanism includes: Monitoring, by the standby controller, a historical time point at which a pulse signal sent by the main controller was last received; Calculating the time interval between the historical time point and the current time point by the standby controller; If the time interval exceeds a preset time threshold, it is determined that the working state of the main controller is abnormal.

7. The vehicle control method based on assisted driving according to claim 1, characterized in that: After controlling the action execution mechanism to execute the action according to the second control signal, the method further includes: Sending a reminder message to the driver of the target vehicle; wherein the reminder message is used to indicate that there is an abnormality in the main controller.

8. A vehicle control device based on assisted driving, characterized in that: Applied to a target vehicle, the target vehicle includes a main controller and a backup controller, the performance of the main controller is better than that of the backup controller; the device includes: an activation unit, configured to activate the main controller and the backup controller in response to an activation operation of the driving assistance function; A collection unit, used to collect driving state parameters and environmental information of the target vehicle; a generating unit, configured to input the driving state parameter and the environmental information into the main controller to generate a first control signal and send the first control signal to the action execution mechanism of the target vehicle, and input the driving state parameter and the environmental information into the backup controller to generate a second control signal and send the second control signal to the action execution mechanism; a monitoring unit, configured to monitor the reception status of the first control signal in real time through the action execution mechanism; a first action unit, configured to control the action execution mechanism to execute an action according to the first control signal when the receiving state corresponding to the first control signal is normal; The second action unit is configured to control the action execution mechanism to execute an action according to the second control signal when the receiving state corresponding to the first control signal is abnormal and the duration of the abnormal receiving state reaches a preset time threshold.

9. An electronic device, characterized in that: include: at least one processor; at least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the vehicle control method based on assisted driving as described in any one of claims 1 to 7.

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

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