Real-time safety control method for intelligent networked automobile

Abstract

The invention discloses a real-time safety control method for an intelligent networked automobile, and the method comprises the steps: carrying out the self-inspection processing of the intelligent networked automobile before starting based on a preset self-inspection sequence when a vehicle starting control logic module receives a starting control signal, and starting the intelligent networked automobile according to a self-inspection result; when the intelligent networked automobile is started, the intelligent networked automobile is in a normal driving state and a previous frame of automobile control instruction is completed, detection processing is sequentially carried out based on the vehicle operation control logic module, and a detection result is obtained; when any one of the states in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to execute safety control processing; and when any state in the detection result is normal, the intelligent networked automobile is kept running normally, and a control instruction of the intelligent driving and vehicle-mounted controller is executed. According to the embodiment of the invention, the intelligent networked automobile can be self-checked all the time in the starting and normal operation process, and the driving safety is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent connected vehicles, and in particular to a real-time safety control method for an intelligent connected vehicle. Background Art

[0002] As intelligent connected vehicle technology becomes more mature, its practical application is just around the corner. Notices on product access, recalls, and online software upgrade management for intelligent connected vehicles will be further strengthened to implement the primary responsibility of automobile manufacturers for production consistency and quality safety, promote the standardized application of intelligent connected vehicles, and promote high-quality development of the automobile industry.

[0003] In the prior art, a vehicle control method and device based on model predictive control (application number: CN202410364796.2) establishes a control model that includes the actual state, target state, and system constraints of the vehicle; improves the computational efficiency and control accuracy of the model predictive control method, thereby improving the safety and efficiency of autonomous driving of smart cars; a predictive smart car decision control method, device, vehicle, and storage medium (application number: CN202111349214.6) establishes a prediction model for surrounding traffic participants based on map information and the historical trajectories of traffic participants, and uses a labeled data set to initialize the parameters of the prediction model, generate an initial vehicle motion prediction model, and control the smart car to execute decision control instructions, thereby realizing a predictive optimal strategy solution for smart vehicles through an iterative model-driven self-evolutionary strategy evaluation and strategy improvement process; however, the prior art does not involve the self-inspection problem of smart connected vehicles during startup and operation, resulting in the inability to actively intervene in the first time when a fault occurs, thereby failing to effectively ensure safe operation. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology. The present invention provides a real-time safety control method for an intelligent connected vehicle, which enables the intelligent connected vehicle to perform self-inspection at all times during startup and normal operation to ensure driving safety.

[0005] To solve the above technical problems, an embodiment of the present invention provides a real-time safety control method for an intelligent connected vehicle, which is applied to an intelligent connected vehicle. The intelligent connected vehicle includes a vehicle startup control logic module, a vehicle operation control logic module, and a fault handling logic module. The method includes:

[0006] When the vehicle startup control logic module receives the startup control signal, it performs a pre-startup self-test on the intelligent connected vehicle based on a preset self-test sequence, and starts the intelligent connected vehicle according to the self-test result;

[0007] When the intelligent connected vehicle is started and in a normal driving state and a previous frame of vehicle control instructions is completed, the parking brake state, the emergency brake state, the wire control brake state, the wire control steering state, the wire control drive state, the power management system state, the intelligent driving kit state, the electric power assist electric accessory state, the door lock locking state, and the vehicle surrounding environment state are sequentially detected and processed based on the vehicle operation control logic module to obtain detection results, wherein when the detection and processing are performed sequentially, if any state is abnormal, the detection of the next state will not be entered;

[0008] When any state in the detection result is abnormal, the control strategy corresponding to the abnormal state is called to perform safety control processing;

[0009] When any one of the states in the detection results is normal, the intelligent connected vehicle is kept running normally, and the control instructions of the intelligent driving and the vehicle controller are executed.

[0010] Optionally, performing a self-test process on the intelligent connected vehicle before startup based on a preset self-test sequence, and starting the intelligent connected vehicle according to the self-test result, includes:

[0011] The intelligent connected vehicle performs a self-test on the equipment on the low-voltage power side to obtain a self-test result of the equipment on the low-voltage power side;

[0012] When the self-test result of the device on the low-voltage power side fails, providing a user of the intelligent connected vehicle with a maintenance reminder for the device on the low-voltage power side of the intelligent connected vehicle;

[0013] When the self-test result of the equipment on the low-voltage power side is passed, the lights of the intelligent connected vehicle flash and the doors are unlocked, and the entire vehicle self-test process of the intelligent connected vehicle is performed to obtain the entire vehicle self-test result. The entire vehicle self-test process includes the intelligent connected vehicle on-board self-test and the intelligent driving hardware self-test of the intelligent network vehicle;

[0014] When the vehicle self-inspection result is passed, the intelligent connected vehicle is started, and the intelligent driving hardware of the intelligent connected vehicle is started to collect and process vehicle surrounding environment information, and a safety judgment is performed based on the collected surrounding environment information. When the safety judgment result is that the surrounding environment of the intelligent connected vehicle is safe, the intelligent connected vehicle determines whether the wire-controlled throttle is in an activated state. If the wire-controlled throttle is not activated or is in a standby state, the intelligent connected vehicle is in a parking state or a driving state under manual control; if the wire-controlled throttle is activated, the intelligent connected vehicle is started and operated based on the wire-controlled throttle;

[0015] When the safety judgment result is that there are moving obstacles or fixed obstacles in the surrounding environment of the intelligent networked vehicle that affect driving safety, the intelligent networked vehicle is controlled to be in a parking state or a low-speed driving state under manual control.

[0016] Optionally, when any state in the detection result is abnormal, calling a control strategy corresponding to the abnormal state to perform security control processing includes:

[0017] When the parking brake state in the detection result is abnormal, the vehicle surrounding environment information is collected and processed based on the intelligent driving hardware to obtain the surrounding environment information;

[0018] Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the intelligent connected vehicle to perform emergency braking and brake-by-wire intervention, and activating the vehicle's hazard lights when the intelligent connected vehicle brakes;

[0019] When the forward environment is determined to be unsafe, the system performs safety assessments on the left and right sides of the vehicle based on the surrounding environment information, and when the left and right sides of the vehicle are determined to be safe, the system controls the intelligent connected vehicle to perform emergency braking, brake-by-wire braking, and steering intervention, and activates the vehicle's hazard lights when the intelligent connected vehicle brakes and turns.

[0020] When it is determined that the left and right environments are unsafe, the intelligent connected vehicle is controlled to perform emergency braking and wire control braking with maximum braking force, and the vehicle's double flash is activated.

[0021] Optionally, when any state in the detection result is abnormal, calling a control strategy corresponding to the abnormal state to perform security control processing includes:

[0022] When the emergency braking state in the detection result is abnormal, the vehicle surrounding environment information is collected and processed based on the intelligent driving hardware to obtain the surrounding environment information;

[0023] Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the brake-by-wire system to brake the intelligent connected vehicle, activating the vehicle's hazard lights, and applying the parking brake when the vehicle speed reaches zero;

[0024] When the forward environment is judged to be unsafe, the system performs safety assessments on the left and right sides based on the surrounding environment information, and when the left and right sides are judged to be safe, controls the brake-by-wire control and steering intervention, activates the vehicle's hazard lights when the intelligent connected vehicle brakes and turns, and engages the parking brake when the vehicle speed reaches 0;

[0025] When it is determined that the environment on the left and right sides is unsafe, the intelligent connected vehicle is controlled to perform wire control braking with maximum braking force, the vehicle's double flash is activated, and the parking brake is intervened when the vehicle speed is 0.

[0026] Optionally, when any state in the detection result is abnormal, calling a control strategy corresponding to the abnormal state to perform security control processing includes:

[0027] When there is an abnormality in the brake-by-wire state in the detection result, collecting and processing the vehicle surrounding environment information based on the intelligent driving hardware to obtain the surrounding environment information;

[0028] Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the intelligent connected vehicle to perform emergency braking intervention, activating the vehicle's hazard lights when the intelligent connected vehicle brakes, and applying the parking brake when the vehicle speed reaches zero;

[0029] When the forward environment is judged to be unsafe, the system performs safety assessments on the left and right sides based on the surrounding environment information, and when the left and right sides are judged to be safe, controls emergency braking and steering intervention, activates the vehicle's hazard lights when the intelligent connected vehicle brakes and turns, and engages the parking brake when the vehicle speed reaches 0;

[0030] When it is determined that the left and right environments are unsafe, the intelligent connected vehicle is controlled to perform emergency braking with maximum braking force, and the vehicle's double flash is activated, and the parking brake is intervened when the vehicle speed is 0.

[0031] Optionally, when any state in the detection result is abnormal, calling a control strategy corresponding to the abnormal state to perform security control processing includes:

[0032] When there is an abnormality in the steer-by-wire state in the detection result, collecting and processing the vehicle's surrounding environment information based on the intelligent driving hardware to obtain the surrounding environment information;

[0033] Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the intelligent connected vehicle to engage in brake-by-wire braking, activating the vehicle's hazard lights when the intelligent connected vehicle brakes, and engaging the parking brake when the vehicle speed reaches zero;

[0034] When the forward environment is judged to be unsafe, the intelligent connected vehicle is controlled to perform emergency braking and brake-by-wire braking with maximum braking force, the vehicle's hazard lights are activated, and the parking brake is engaged when the vehicle speed is 0.

[0035] Optionally, when any state in the detection result is abnormal, calling a control strategy corresponding to the abnormal state to perform security control processing includes:

[0036] When there is an abnormality in the drive-by-wire state in the detection result, collecting and processing the vehicle surrounding environment information based on the intelligent driving hardware to obtain the surrounding environment information;

[0037] Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the brake-by-wire system to intervene, activating the vehicle's hazard lights when the intelligent connected vehicle brakes, and intervening the parking brake when the vehicle speed reaches zero;

[0038] When the forward environment is judged to be unsafe, the system performs safety assessments on the left and right sides based on the surrounding environment information, and when the left and right sides are judged to be safe, controls emergency braking and steer-by-wire intervention, activates the vehicle's hazard lights when the intelligent connected vehicle brakes and steers, and applies the parking brake when the vehicle speed reaches 0;

[0039] When it is determined that the left and right environments are unsafe, the intelligent connected vehicle is controlled to perform emergency braking with maximum braking force, and the vehicle's double flash is activated, and the parking brake is intervened when the vehicle speed is 0.

[0040] Optionally, when any state in the detection result is abnormal, calling a control strategy corresponding to the abnormal state to perform security control processing includes:

[0041] When the power management system state in the detection result is abnormal, obtaining the abnormal fault level of the power management system and displaying the abnormal fault level on the instrument;

[0042] When there is an abnormality in the status of the intelligent driving suite in the detection result, the wire control brake in the intelligent connected vehicle intervenes and reduces the driving speed to a safety threshold, gradually exits the automatic driving, and displays a fault on the instrument.

[0043] Optionally, when any state in the detection result is abnormal, calling a control strategy corresponding to the abnormal state to perform security control processing includes:

[0044] When the state of the electric power-assisted electric accessory in the detection result is abnormal, the vehicle surrounding environment information is collected and processed based on the intelligent driving hardware to obtain the surrounding environment information;

[0045] Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the brake-by-wire system to brake the intelligent connected vehicle, activating the vehicle's hazard lights, and applying the parking brake when the vehicle speed reaches zero;

[0046] When the forward environment is judged to be unsafe, the system performs safety assessments on the left and right sides based on the surrounding environment information, and when the left and right sides are judged to be safe, controls the brake-by-wire control and steering intervention, activates the vehicle's hazard lights when the intelligent connected vehicle brakes and turns, and engages the parking brake when the vehicle speed reaches 0;

[0047] When it is determined that the environment on the left and right sides is unsafe, the intelligent connected vehicle is controlled to perform wire control braking with maximum braking force, the vehicle's double flash is activated, and the parking brake is intervened when the vehicle speed is 0.

[0048] Optionally, when any state in the detection result is abnormal, calling a control strategy corresponding to the abnormal state to perform security control processing includes:

[0049] When the door locking state is abnormal in the detection result, the current speed of the intelligent connected vehicle is obtained, and whether the current speed is greater than a safety threshold is determined; if the current speed is less than or equal to the safety threshold, the intelligent connected vehicle is controlled to maintain the current speed and a prompt is displayed on the instrument panel;

[0050] If the current vehicle speed is greater than the safety threshold, the brake-by-wire system intervenes to brake the intelligent connected vehicle and control the current vehicle speed to be reduced to a speed below the safety threshold, and the speed is displayed on the instrument panel;

[0051] When the state of the vehicle's surrounding environment in the detection result is abnormal, the wire control brake intervenes to ensure the safe driving of the intelligent connected vehicle. When the state of the vehicle's surrounding environment in the detection result is normal, the vehicle maintains normal driving.

[0052] In an embodiment of the present invention, the intelligent connected vehicle includes three major parts: a vehicle startup control logic module, a vehicle operation control logic module, and a fault handling logic module, all of which ensure that the intelligent connected vehicle operates under safe conditions; and through the three major parts, the vehicle's on-board components are self-checked, and intelligent driving safety inspections and judgments are carried out at all times during the startup and normal operation of the intelligent connected vehicle, allowing the intelligent connected vehicle to perform self-checks of various components at all times to ensure the safety of various components and the entire vehicle during operation of the intelligent connected vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0053] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0054] Figure 1 1 is a flow chart of a real-time safety control method for an intelligent connected vehicle in an embodiment of the present invention;

[0055] Figure 2 Schematic diagram of the structure of the vehicle startup control logic module of the intelligent connected vehicle in an embodiment of the present invention;

[0056] Figure 3 Schematic diagram of the fault self-check logic of the start-up control machine of an intelligent connected vehicle in an embodiment of the present invention;

[0057] Figure 4 It is a schematic diagram of the fault self-check logic of the intelligent connected vehicle driving control machine in an embodiment of the present invention. DETAILED DESCRIPTION

[0058] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0059] For examples, see Figure 1 , Figure 1 It is a flow chart of a real-time safety control method for an intelligent connected vehicle in an embodiment of the present invention.

[0060] like Figure 1 As shown, a real-time safety control method for an intelligent connected vehicle is applied to an intelligent connected vehicle, wherein the intelligent connected vehicle includes a vehicle startup control logic module, a vehicle operation control logic module, and a fault handling logic module. The method includes:

[0061] S101: When the vehicle startup control logic module receives a startup control signal, it performs a pre-startup self-test on the intelligent connected vehicle based on a preset self-test sequence, and starts the intelligent connected vehicle according to the self-test result.

[0062] In the specific implementation process of the present invention, the self-inspection processing of the intelligent connected vehicle before starting is performed based on a preset self-inspection sequence, and the intelligent connected vehicle is started according to the self-inspection result, including: the intelligent connected vehicle performs self-inspection processing on the equipment on the low-voltage power side to obtain the self-inspection result of the equipment on the low-voltage power side; when the self-inspection result of the equipment on the low-voltage power side is failed, feedback is given to the user of the intelligent connected vehicle regarding the equipment maintenance prompt on the low-voltage power side of the intelligent connected vehicle; when the self-inspection result of the equipment on the low-voltage power side is passed, the lights of the intelligent connected vehicle flash and the doors are unlocked, and the whole vehicle self-inspection processing of the intelligent connected vehicle is performed to obtain the whole vehicle self-inspection result, and the whole vehicle self-inspection processing includes the on-board self-inspection of the intelligent connected vehicle and the smart driving hardware self-inspection of the intelligent network vehicle; in the whole vehicle self-inspection result When the vehicle passes through the obstacle course, the intelligent connected vehicle is started, and the intelligent driving hardware of the intelligent connected vehicle is started to collect and process the vehicle's surrounding environment information, and a safety judgment is made based on the collected surrounding environment information. When the safety judgment result is that the surrounding environment of the intelligent connected vehicle is safe, the intelligent connected vehicle determines whether the wire-controlled throttle is in the started state. If the wire-controlled throttle is not started or is in the standby state, the intelligent connected vehicle is in the parking state or the driving state under manual control; if the wire-controlled throttle is started, the intelligent connected vehicle is controlled to start and run based on the wire-controlled throttle; when the safety judgment result is that the surrounding environment of the intelligent connected vehicle is that there are moving obstacles or fixed obstacles that affect driving safety, the intelligent connected vehicle is controlled to be in the parking state or the low-speed driving state under manual control.

[0063] Specifically, there are vehicle startup control logic modules, vehicle operation control logic modules and fault handling logic modules in the intelligent connected car. Figure 2 The vehicle startup control logic module mainly includes three safety self-inspection processes: low-voltage self-inspection, whole vehicle self-inspection and smart home self-inspection, to ensure the safe startup of the vehicle under intelligent connected vehicle conditions and increase vehicle startup safety.

[0064] During the low-voltage self-test process, the remote control module / key check module receives signal sources from keys, Bluetooth devices and mobile phones. Once the owner enters a certain range of the smart connected car, the control module will receive the key, Bluetooth and mobile phone signals, and the low-voltage controller and low-voltage electrical accessories will automatically start. Each low-voltage electrical component will perform self-test and will automatically start if there is no abnormality, to ensure the normal startup of the low-voltage electrical equipment of the smart connected car.

[0065] During the vehicle self-inspection process, the intelligent connected vehicle is already connected to high voltage and the vehicle's high-voltage system is activated. At this time, the entire vehicle needs to be self-inspected to ensure that all components of the vehicle can communicate normally and are safe. The vehicle self-inspection mainly includes two major parts: the intelligent connected vehicle on-board self-inspection and the intelligent connected vehicle intelligent driving hardware self-inspection. The intelligent connected vehicle on-board self-inspection includes a four-door closure inspection, a trunk closure inspection, a wire-controlled chassis self-inspection, a wire-controlled electric drive system inspection, and a wire-controlled steering self-inspection. The intelligent connected vehicle intelligent driving hardware self-inspection includes a lidar self-inspection, a millimeter-wave radar self-inspection, an ultrasonic radar self-inspection, a camera self-inspection, and an on-board computing unit self-inspection. These two major vehicle inspections ensure that the intelligent driving and all on-board components are functioning properly before the vehicle enters the pre-driving state.

[0066] The final step is the intelligent driving self-check, which assesses the vehicle's surroundings and ensures there are no obstacles while the vehicle is in motion. This self-check evaluates information collected by LiDAR, cameras, millimeter-wave radar, and ultrasonic radar to determine the safety of the vehicle's surroundings, further improving its driving safety.

[0067] The self-test process before startup can be found in Figure 3 Specifically, when the key or mobile phone is close, the smart connected car receives the owner's information using Bluetooth or 5G communication technology (which can be regarded as a start-up control signal). First, the smart connected car performs a low-voltage self-test. If the vehicle's low-voltage self-test is found to be abnormal, the vehicle's lights will not turn on and the doors will not unlock. The vehicle's low-voltage maintenance is required, such as checking the smart connected car's low-voltage wire harness connection, battery voltage, etc., to ensure that the smart connected car's low-voltage power is normal, the smart connected car will be powered on at low voltage; if the vehicle's low-voltage self-test is found to be normal, the smart connected car's lights will flash and the doors will unlock; when the smart connected car's low-voltage power is completed, the vehicle's high-voltage self-test is performed. If the vehicle's high-voltage self-test is found to be abnormal, the smart connected car will not be powered on at high voltage, and the instrument or APP will display a high-voltage fault. The vehicle's high-voltage maintenance is required, such as checking whether the high-voltage wire harness connection is normal, whether the high-voltage voltage is normal, etc. Through the smart connected car's high-voltage self-test, to ensure that the smart connected car's high-voltage power is normal, the smart connected car will be powered on at high voltage.

[0068] If the vehicle's high-voltage self-test is normal, the vehicle will be connected to high voltage and the entire high-voltage system will be activated. After the high voltage is applied, the vehicle will self-check the parking system. If the parking system is abnormal, the vehicle's instrument panel or app will indicate a parking system failure. This requires repair of the vehicle's parking system, such as checking for faults in the parking control communication, power supply, and wiring harness. If the parking system is normal, continue with the following steps.

[0069] The connected vehicle then performs a self-test of the emergency brake system. If any abnormality is detected, the vehicle's instrument panel or app will indicate a fault. This indicates that the vehicle's emergency brake system requires repair. For example, check for faults in the emergency brake control communication, power supply, and wiring harness. If the emergency brake system is operating normally, proceed to the next step.

[0070] Next, the connected vehicle will perform a self-test of the brake-by-wire system. If the brake-by-wire system is abnormal, and the vehicle's instrument panel or app indicates a brake-by-wire system failure, the vehicle's brake-by-wire system needs to be repaired. For example, check for faults in the brake-by-wire control communication, power supply, and wiring harness. If the brake-by-wire system is normal, continue with the next step.

[0071] Next, the connected vehicle performs a self-test of the drive-by-wire system. If the drive-by-wire system experiences an abnormality, the connected vehicle's instrument panel or app will indicate a drive-by-wire system failure. This requires repair of the vehicle's drive-by-wire system, including checking for faults in the drive-by-wire control communication, power supply, and wiring harness. If the drive-by-wire system is normal, proceed to the next step.

[0072] Next, the connected vehicle will perform a self-test of the steer-by-wire system. If any malfunction is detected, the vehicle's instrument panel or app will indicate a malfunction. This will require repair of the vehicle's steer-by-wire system, including checking for faults in the steer-by-wire control communication, power supply, and wiring harness. If the steer-by-wire system is normal, proceed to the next step.

[0073] Next, the connected vehicle performs a self-test of the power system / electronically controlled engine. If any abnormality is detected, the vehicle's instrument panel or app will indicate a power system / electronically controlled engine failure. This requires repair of the vehicle's power system / electronically controlled engine. For example, check for faults in the power system / electronically controlled engine communication, power supply, and wiring harness. If the power system / electronically controlled engine is normal, proceed to the next step.

[0074] Next, the smart connected car self-checks its electrical accessories (wiper motor, voltage converter, etc.). If an electrical accessory is abnormal, the smart connected car instrument or app will display an electrical accessory failure, and the vehicle's electrical accessories need to be repaired, such as checking for faults in the electrical accessory communication, power supply, and connection wiring harness. If the electrical accessories are normal, the process continues. Next, the smart connected car self-checks the pressure value of the main driver's seat. If it is determined that the driver's seat is unoccupied, the car cannot be started, and the smart connected car is parked. If it is determined that the driver's seat is occupied, the process continues. Next, the smart connected car uses a camera to monitor whether the driver is in the seat and confirm whether the driver is in the vehicle again. If it is determined that the driver's seat is unoccupied, the car cannot be started, and the smart connected car is parked. If it is determined that the driver's seat is occupied, the process continues.

[0075] Next, the connected vehicle determines whether the seatbelts, four doors, and front and rear trunks are locked. If the seatbelts are fastened, the doors are locked, and the trunk is closed, the next step is executed. If the seatbelts are fastened, the doors are unlocked, and the trunk is open, the vehicle determines whether the maintenance switches for the doors and trunks are on. If the maintenance switches are not on, the vehicle cannot be started and is parked. If the maintenance switches are on, the vehicle is allowed to travel at a low speed.

[0076] Next, the intelligent connected vehicle uses the perception system to determine that the environment around the vehicle is safe, and judges the safety of the vehicle's surrounding environment; if there are people or obstacles around that affect safety, the intelligent connected vehicle is parked or drives at a low speed under manual control; if it is determined that the environment around the intelligent connected vehicle is safe, it continues to execute.

[0077] Next, the connected vehicle determines whether the throttle-by-wire system is active. If the throttle-by-wire system is inactive or in standby mode, the vehicle is parked or operating under manual control. If the throttle-by-wire system is active, the vehicle starts and operates normally.

[0078] S102: When the intelligent connected vehicle is started and in a normal driving state and the previous frame of vehicle control instructions is completed, based on the vehicle operation control logic module, sequentially detecting and processing the parking brake state, emergency brake state, brake-by-wire state, steer-by-wire state, drive-by-wire state, power management system state, intelligent driving kit state, power-assisted electric accessories state, door lock locked state, and vehicle surrounding environment state to obtain detection results, wherein if any state is abnormal during the sequential detection and processing, the next state detection will not be entered;

[0079] During the specific implementation of the present invention, when the intelligent connected vehicle is started and the intelligent connected vehicle is in a normal driving state and the previous frame of vehicle control instructions is completed, it is necessary to monitor and detect the intelligent connected vehicle at this time. Therefore, the detection is performed in a preset order, that is, the vehicle operation control logic module detects and processes the parking brake state, emergency brake state, wire control brake state, wire control steering state, wire control drive state, power management system state, intelligent driving kit state, electric power assist electric accessory state, door lock locking state and vehicle surrounding environment state in turn to obtain detection results. When the detection and processing are performed in sequence, if there is an abnormality in any state, the detection of the next state will not be entered; instead, safety control is performed using the corresponding control strategy for the abnormality in the state.

[0080] S103: When any state in the detection result is abnormal, a control strategy corresponding to the abnormal state is called to perform safety control processing;

[0081] During the specific implementation of the present invention, when there is an abnormality in any one of the states in the detection results, the control strategy corresponding to the abnormal state is called to perform safety control processing, including: when there is an abnormality in the parking brake state in the detection results, the vehicle's surrounding environment information is collected and processed based on the intelligent driving hardware to obtain surrounding environment information; the surrounding environment information is used to judge the safety of the front environment, and when the front environment is judged to be safe, the intelligent connected vehicle is controlled to perform emergency braking and wire control braking intervention, and the vehicle's double flash is started when the intelligent connected vehicle brakes; when the front environment is judged to be unsafe, the left and right side environment safety judgment processing is performed based on the surrounding environment information, and when the left and right side environments are judged to be safe, the intelligent connected vehicle is controlled to perform emergency braking, wire control braking and steering intervention, and the vehicle's double flash is started when the intelligent connected vehicle brakes and turns; when the left and right side environments are judged to be unsafe, the intelligent connected vehicle is controlled to perform emergency braking and wire control braking with maximum braking force, and the vehicle's double flash is started.

[0082] Furthermore, when there is an abnormality in any state in the detection result, the control strategy corresponding to the abnormal state is called to perform safety control processing, including: when there is an abnormality in the emergency braking state in the detection result, the vehicle surrounding environment information is collected and processed based on the intelligent driving hardware to obtain surrounding environment information; the surrounding environment information is used to make a safety judgment of the front environment, and when the front environment is judged to be safe, the wire control brake is controlled to intervene to perform vehicle braking on the intelligent connected vehicle, and the vehicle double flash is started, and when the vehicle speed is 0, the parking brake is intervened; when the front environment is judged to be unsafe, the left and right side environment safety judgment is made based on the surrounding environment information, and when the left and right side environments are judged to be safe, the wire control brake and steering are controlled to intervene, and when the intelligent connected vehicle brakes and turns, the vehicle double flash is started, and when the vehicle speed is 0, the parking brake is intervened; when the left and right side environments are judged to be unsafe, the intelligent connected vehicle is controlled to perform wire control braking with maximum braking force, the vehicle double flash is started, and when the vehicle speed is 0, the parking brake is intervened.

[0083] Furthermore, when there is an abnormality in any state in the detection result, the control strategy corresponding to the abnormal state is called to perform safety control processing, including: when there is an abnormality in the wire control braking state in the detection result, the vehicle surrounding environment information is collected and processed based on the intelligent driving hardware to obtain surrounding environment information; the surrounding environment information is used to judge the safety of the front environment, and when the front environment is judged to be safe, the intelligent connected vehicle is controlled to perform emergency braking intervention, and when the intelligent connected vehicle brakes, the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened; when the front environment is judged to be unsafe, the left and right side environment safety judgment processing is performed based on the surrounding environment information, and when the left and right side environments are judged to be safe, the emergency braking and steering intervention is controlled, and when the intelligent connected vehicle brakes and turns, the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened; when the left and right side environments are judged to be unsafe, the intelligent connected vehicle is controlled to perform emergency braking with maximum braking force, and the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened.

[0084] Furthermore, when there is an abnormality in any state in the detection result, the control strategy corresponding to the abnormal state is called to perform safety control processing, including: when there is an abnormality in the wire-controlled steering state in the detection result, the vehicle's surrounding environment information is collected and processed based on the intelligent driving hardware to obtain surrounding environment information; the surrounding environment information is used to judge the safety of the front environment, and when the front environment is judged to be safe, the intelligent connected vehicle is controlled to perform wire-controlled braking intervention, and when the intelligent connected vehicle brakes, the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened; when the front environment is judged to be unsafe, the intelligent connected vehicle is controlled to perform emergency braking and wire-controlled braking with maximum braking force, the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened.

[0085] Furthermore, when there is an abnormality in any state in the detection result, the control strategy corresponding to the abnormal state is called to perform safety control processing, including: when there is an abnormality in the wire-controlled drive state in the detection result, the vehicle's surrounding environment information is collected and processed based on the intelligent driving hardware to obtain surrounding environment information; the surrounding environment information is used to judge the safety of the front environment, and when the front environment is judged to be safe, the wire-controlled brake is controlled to intervene, and when the intelligent connected vehicle brakes, the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened; when the front environment is judged to be unsafe, the left and right side environment safety judgment is performed based on the surrounding environment information, and when the left and right side environments are judged to be safe, the emergency brake and wire-controlled steering are controlled to intervene, and when the intelligent connected vehicle brakes and turns, the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened; when the left and right side environments are judged to be unsafe, the intelligent connected vehicle is controlled to perform emergency braking with maximum braking force, and the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened.

[0086] Furthermore, when there is an abnormality in any state in the detection result, the control strategy corresponding to the abnormal state is called to perform safety control processing, including: when there is an abnormality in the power management system state in the detection result, the abnormal fault level of the power management system is obtained, and the abnormal fault level is displayed on the instrument; when there is an abnormality in the intelligent driving kit state in the detection result, the wire control brake in the intelligent connected vehicle intervenes, and the driving speed is reduced to a safety threshold, gradually exiting the automatic driving, and the fault is displayed on the instrument.

[0087] Furthermore, when there is an abnormality in any state in the detection result, the control strategy corresponding to the abnormal state is called to perform safety control processing, including: when there is an abnormality in the state of the electric power-assisted electric accessories in the detection result, the vehicle's surrounding environment information is collected and processed based on the intelligent driving hardware to obtain surrounding environment information; the surrounding environment information is used to make a safety judgment of the front environment, and when the front environment is judged to be safe, the wire control brake is controlled to intervene to perform vehicle braking on the intelligent connected vehicle, and the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened; when the front environment is judged to be unsafe, the left and right side environment safety judgment is made based on the surrounding environment information, and when the left and right side environments are judged to be safe, the wire control brake and steering are controlled to intervene, and when the intelligent connected vehicle brakes and turns, the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened; when the left and right side environments are judged to be unsafe, the intelligent connected vehicle is controlled to perform wire control braking with maximum braking force, the vehicle's double flash is activated, and when the vehicle speed is 0, the parking brake is intervened.

[0088] Furthermore, when there is an abnormality in any state in the detection result, the control strategy corresponding to the abnormal state is called to perform safety control processing, including: when there is an abnormality in the door locking state in the detection result, the current speed of the intelligent connected vehicle is obtained, and it is determined whether the current speed is greater than the safety threshold; if the current speed is less than or equal to the safety threshold, the intelligent connected vehicle is controlled to maintain the current speed and a prompt is given on the instrument; if the current speed is greater than the safety threshold, the wire control braking intervenes to brake the intelligent connected vehicle, and controls the current speed to drop to a speed below the safety threshold, and displays it on the instrument; when there is an abnormality in the vehicle surrounding environment state in the detection result, the wire control braking intervenes to ensure the safe driving of the intelligent connected vehicle, and when the vehicle surrounding environment state in the detection result is normal, the vehicle is kept driving normally.

[0089] For details, please refer to Figure 4 After the previous frame of control instructions is completed, the parking brake status is first determined. If a parking system malfunction is detected, the safety of the vehicle's forward environment must be determined. If the forward environment is safe, emergency braking and brake-by-wire control are activated, the vehicle brakes, and the hazard lights illuminate. The vehicle then needs to be driven to a safe maintenance area for repair. If the forward environment is unsafe, the safety of the left and right sides is determined. If both sides are safe, emergency braking, brake-by-wire control, and steering are activated, the vehicle brakes and steers, and the hazard lights illuminate. The vehicle then needs to be driven to a safe maintenance area for repair. If both sides are unsafe, emergency braking and brake-by-wire control are applied to maximum braking force, and the hazard lights illuminate. The vehicle then needs to be driven to a safe maintenance area for repair. If the parking system is normal, the following steps are executed.

[0090] Next, judge the emergency braking status; if the emergency braking system is found to have a fault, it is necessary to judge the safety of the environment in front of the vehicle; if the environment in front is safe, the wire control braking intervenes, the vehicle brakes, and the hazard lights come on. When the vehicle speed is 0, the parking brake intervenes, the hazard lights come on, and a person is required to drive the vehicle to a safe maintenance area for repair; if the environment in front is unsafe, judge the safety of the left and right environments. If the left and right environments are safe, the vehicle wire control braking and steering intervene, the vehicle brakes and steers, and the hazard lights come on; when the vehicle speed is 0, the parking brake intervenes, and the hazard lights come on; at this time, a person is required to drive the vehicle to a safe maintenance area for repair; if the left and right environments are unsafe, the wire control braking is performed with maximum braking force, and the hazard lights come on. When the vehicle speed is 0, the parking brake intervenes, and the hazard lights come on. At this time, a person is required to drive the vehicle to a safe maintenance area for repair; if the emergency braking system is normal, continue to execute below.

[0091] Next, determine the brake-by-wire status. If a malfunction is detected in the steer-by-wire system, determine the safety of the vehicle's forward environment. If the forward environment is safe, the brake-by-wire system will intervene, the vehicle will brake, and the hazard lights will illuminate. When the vehicle speed reaches zero, the parking brake will engage, and the hazard lights will illuminate. At this point, the vehicle will need to be driven to a safe maintenance area for repairs. If the forward environment is unsafe, emergency braking and maximum brake-by-wire braking will be applied, and the hazard lights will illuminate. When the vehicle speed reaches zero, the parking brake will engage, and the hazard lights will illuminate. At this point, the vehicle will need to be driven to a safe maintenance area for repairs. If the steer-by-wire system is normal, proceed with the following steps.

[0092] Next, determine the drive-by-wire status. If a fault is detected in the drive-by-wire system, determine the safety of the vehicle's forward environment. If the forward environment is safe, brake-by-wire braking will occur, the vehicle will brake, and the hazard lights will illuminate. When the vehicle speed reaches zero, the parking brake will engage, and the hazard lights will illuminate. The vehicle will then need to be driven to a safe maintenance area for repairs. If the forward environment is unsafe, determine the safety of the left and right sides. If both sides are safe, brake-by-wire braking and steering will occur, braking and steering, and the hazard lights will illuminate. When the vehicle speed reaches zero, the parking brake will engage, and the hazard lights will illuminate. The vehicle will then need to be driven to a safe maintenance area for repairs. If the left and right sides are unsafe, emergency braking and brake-by-wire braking with maximum braking force will occur, and the hazard lights will illuminate. When the vehicle speed reaches zero, the parking brake will engage, and the hazard lights will illuminate. The vehicle will then need to be driven to a safe maintenance area for repairs. If the drive-by-wire system is normal, proceed with the next step.

[0093] Next, the power management system (electronic engine) status is determined. If a power management system (electronic engine) fault is detected, the fault level is determined. The vehicle handles the fault accordingly and displays it on the instrument panel. This operation primarily determines whether the intelligent connected vehicle's energy system is operating safely. If a level 1 fault (serious fault) occurs in the power system, both the emergency braking system and the brake-by-wire system will operate to bring the vehicle to a maximum stop for repair. If a level 2 fault (moderate fault) occurs in the power system, the brake-by-wire system will operate to bring the vehicle to a maximum stop and then, using the vehicle's maintenance switch, drive the vehicle to a repair area at a low speed for repair. If a level 3 fault (minor fault) occurs in the power system, the brake-by-wire system will operate to reduce the vehicle's speed to a threshold (e.g., 20 km / h) and drive the vehicle to a repair area at a low speed for repair. If the power management system is normal, the following steps are executed.

[0094] Next, the status of the intelligent driving suite is determined. The intelligent driving suite primarily includes lidar, millimeter-wave radar, ultrasonic radar, cameras, and their control units. If a malfunction is detected in the intelligent driving suite, the vehicle's brake-by-wire control intervenes, reducing the speed to a safe threshold and gradually exiting autonomous driving. The instrument panel displays a fault, prompting the driver to take control and have the intelligent driving suite repaired as soon as possible.

[0095] Next, determine the status of the electric power-assisted accessories (wiper motor, electric steering accessories, electric brake accessories, voltage converter, etc.); if a fault is found in the electric power-assisted accessories, it is necessary to determine the safety of the environment in front of the vehicle; if the environment in front is safe, the wire control braking intervenes, the vehicle brakes, and the hazard lights come on. When the vehicle speed is 0, the parking brake intervenes, the hazard lights come on, and manual operation is required to drive the vehicle to a safe maintenance area for repair; if the environment in front is unsafe, determine the safety of the left and right environments. If the left and right environments are safe, the vehicle wire control braking and steering intervenes, the vehicle brakes and steers, and the hazard lights come on; when the vehicle speed is 0, the parking brake intervenes, the hazard lights come on, and manual operation is required to drive the vehicle to a safe maintenance area for repair; if the left and right environments are unsafe, the wire control braking is performed with maximum braking force, and the hazard lights come on. When the vehicle speed is 0, the parking brake intervenes, the hazard lights come on, and manual operation is required to drive the vehicle to a safe maintenance area for repair; if the electric power-assisted accessories are normal, continue to execute below.

[0096] Next, determine the door locking status; if a problem is found with the door locking or the door is not locked, determine whether the vehicle speed is greater than a safety threshold (such as 20km / h). If the vehicle speed is higher than the safety threshold, the vehicle's brake-by-wire control intervenes, the vehicle brakes, and the instrument prompts. When the vehicle speed drops below the safety threshold, the instrument prompts a door locking failure; if the vehicle speed is equal to or lower than the safety threshold, the vehicle maintains a low speed and the instrument prompts a door locking failure; if the door is locked normally, continue to execute.

[0097] Finally, the vehicle's surroundings are judged to be safe. If the vehicle's surroundings are not safe, the brake-by-wire system intervenes to reduce the vehicle speed to a safe threshold to ensure safe driving. If the vehicle's surroundings are safe and the vehicle is driving normally, the intelligent driving and vehicle controller (VCU) control instructions are executed.

[0098] S104: When any one of the states in the detection results is normal, keep the intelligent connected vehicle running normally and execute control instructions of the intelligent driving and the vehicle controller.

[0099] During the specific implementation of the present invention, when any one of the states in the detection results is normal, it is only necessary to keep the intelligent connected vehicle running normally, and then execute the control instructions of the intelligent driving and the vehicle controller.

[0100] In an embodiment of the present invention, the intelligent connected vehicle includes three major parts: a vehicle startup control logic module, a vehicle operation control logic module, and a fault handling logic module, all of which ensure that the intelligent connected vehicle operates under safe conditions; and through the three major parts, the vehicle's on-board components are self-checked, and intelligent driving safety inspections and judgments are carried out at all times during the startup and normal operation of the intelligent connected vehicle, allowing the intelligent connected vehicle to perform self-checks of various components at all times to ensure the safety of various components and the entire vehicle during operation of the intelligent connected vehicle.

[0101] Those skilled in the art will understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, which may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0102] In addition, the above is a detailed introduction to a real-time safety control method for an intelligent connected vehicle provided by an embodiment of the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there may be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A real-time safety control method for an intelligent connected vehicle, characterized in that: Applied to an intelligent connected vehicle, the intelligent connected vehicle includes a vehicle startup control logic module, a vehicle operation control logic module, and a fault handling logic module. The method includes: When the vehicle startup control logic module receives the startup control signal, it performs a pre-startup self-test on the intelligent connected vehicle based on a preset self-test sequence, and starts the intelligent connected vehicle according to the self-test result; When the intelligent connected vehicle is started and in a normal driving state and a previous frame of vehicle control instructions is completed, the parking brake state, the emergency brake state, the wire control brake state, the wire control steering state, the wire control drive state, the power management system state, the intelligent driving kit state, the electric power assist electric accessory state, the door lock locking state, and the vehicle surrounding environment state are sequentially detected and processed based on the vehicle operation control logic module to obtain detection results, wherein when the detection and processing are performed sequentially, if any state is abnormal, the detection of the next state will not be entered; When any state in the detection result is abnormal, the control strategy corresponding to the abnormal state is called to perform safety control processing; When any one of the states in the detection results is normal, the intelligent connected vehicle is kept running normally, and the control instructions of the intelligent driving and the vehicle controller are executed.

2. The real-time security control method according to claim 1, characterized in that: The performing a self-check process on the intelligent connected vehicle before starting based on a preset self-check sequence, and starting the intelligent connected vehicle according to the self-check result, includes: The intelligent connected vehicle performs a self-test on the equipment on the low-voltage power side to obtain a self-test result of the equipment on the low-voltage power side; When the self-test result of the device on the low-voltage power side fails, providing a user of the intelligent connected vehicle with a maintenance reminder for the device on the low-voltage power side of the intelligent connected vehicle; When the self-test result of the equipment on the low-voltage power side is passed, the lights of the intelligent connected vehicle flash and the doors are unlocked, and the entire vehicle self-test process of the intelligent connected vehicle is performed to obtain the entire vehicle self-test result. The entire vehicle self-test process includes the intelligent connected vehicle on-board self-test and the intelligent driving hardware self-test of the intelligent network vehicle; When the vehicle self-inspection result is passed, the intelligent connected vehicle is started, and the intelligent driving hardware of the intelligent connected vehicle is started to collect and process vehicle surrounding environment information, and a safety judgment is performed based on the collected surrounding environment information. When the safety judgment result is that the surrounding environment of the intelligent connected vehicle is safe, the intelligent connected vehicle determines whether the wire-controlled throttle is in an activated state. If the wire-controlled throttle is not activated or is in a standby state, the intelligent connected vehicle is in a parking state or a driving state under manual control; if the wire-controlled throttle is activated, the intelligent connected vehicle is started and operated based on the wire-controlled throttle; When the safety judgment result is that there are moving obstacles or fixed obstacles in the surrounding environment of the intelligent networked vehicle that affect driving safety, the intelligent networked vehicle is controlled to be in a parking state or a low-speed driving state under manual control.

3. The real-time security control method according to claim 1, characterized in that: When any state in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to perform security control processing includes: When the parking brake state in the detection result is abnormal, the vehicle surrounding environment information is collected and processed based on the intelligent driving hardware to obtain the surrounding environment information; Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the intelligent connected vehicle to perform emergency braking and brake-by-wire intervention, and activating the vehicle's hazard lights when the intelligent connected vehicle brakes; When the forward environment is determined to be unsafe, the system performs safety assessments on the left and right sides of the vehicle based on the surrounding environment information, and when the left and right sides of the vehicle are determined to be safe, the system controls the intelligent connected vehicle to perform emergency braking, brake-by-wire braking, and steering intervention, and activates the vehicle's hazard lights when the intelligent connected vehicle brakes and turns. When it is determined that the left and right environments are unsafe, the intelligent connected vehicle is controlled to perform emergency braking and wire control braking with maximum braking force, and the vehicle's double flash is activated.

4. The real-time security control method according to claim 1, characterized in that: When any state in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to perform security control processing includes: When the emergency braking state in the detection result is abnormal, the vehicle surrounding environment information is collected and processed based on the intelligent driving hardware to obtain the surrounding environment information; Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the brake-by-wire system to brake the intelligent connected vehicle, activating the vehicle's hazard lights, and applying the parking brake when the vehicle speed reaches zero; When the forward environment is judged to be unsafe, the system performs safety assessments on the left and right sides based on the surrounding environment information, and when the left and right sides are judged to be safe, controls the brake-by-wire control and steering intervention, activates the vehicle's hazard lights when the intelligent connected vehicle brakes and turns, and engages the parking brake when the vehicle speed reaches 0; When it is determined that the left and right environments are unsafe, the intelligent connected vehicle is controlled to perform wire control braking with maximum braking force, the vehicle's double flash is activated, and the parking brake is intervened when the vehicle speed is 0.

5. The real-time security control method according to claim 1, characterized in that: When any state in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to perform security control processing includes: When there is an abnormality in the brake-by-wire state in the detection result, collecting and processing the vehicle surrounding environment information based on the intelligent driving hardware to obtain the surrounding environment information; Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the intelligent connected vehicle to perform emergency braking intervention, activating the vehicle's hazard lights when the intelligent connected vehicle brakes, and applying the parking brake when the vehicle speed reaches zero; When the forward environment is judged to be unsafe, the system performs safety assessments on the left and right sides based on the surrounding environment information, and when the left and right sides are judged to be safe, controls emergency braking and steering intervention, activates the vehicle's hazard lights when the intelligent connected vehicle brakes and turns, and engages the parking brake when the vehicle speed reaches 0; When it is determined that the environment on both sides is unsafe, the intelligent connected vehicle is controlled to perform emergency braking with maximum braking force, and the vehicle's double flash is activated, and the parking brake is intervened when the vehicle speed is 0.

6. The real-time security control method according to claim 1, characterized in that: When any state in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to perform security control processing includes: When there is an abnormality in the steer-by-wire state in the detection result, collecting and processing the vehicle's surrounding environment information based on the intelligent driving hardware to obtain the surrounding environment information; Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the intelligent connected vehicle to engage in brake-by-wire braking, activating the vehicle's hazard lights when the intelligent connected vehicle brakes, and engaging the parking brake when the vehicle speed reaches zero; When the forward environment is judged to be unsafe, the intelligent connected vehicle is controlled to perform emergency braking and brake-by-wire braking with maximum braking force, the vehicle's hazard lights are activated, and the parking brake is engaged when the vehicle speed is 0.

7. The real-time security control method according to claim 1, characterized in that: When any state in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to perform security control processing includes: When there is an abnormality in the drive-by-wire state in the detection result, collecting and processing the vehicle surrounding environment information based on the intelligent driving hardware to obtain the surrounding environment information; Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the brake-by-wire system to intervene, activating the vehicle's hazard lights when the intelligent connected vehicle brakes, and intervening the parking brake when the vehicle speed reaches zero; When the forward environment is judged to be unsafe, the system performs safety assessments on the left and right sides based on the surrounding environment information, and when the left and right sides are judged to be safe, controls emergency braking and steer-by-wire intervention, activates the vehicle's hazard lights when the intelligent connected vehicle brakes and steers, and applies the parking brake when the vehicle speed reaches 0; When it is determined that the environment on both sides is unsafe, the intelligent connected vehicle is controlled to perform emergency braking with maximum braking force, and the vehicle's double flash is activated, and the parking brake is intervened when the vehicle speed is 0.

8. The real-time security control method according to claim 1, characterized in that: When any state in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to perform security control processing includes: When the power management system state in the detection result is abnormal, obtaining the abnormal fault level of the power management system and displaying the abnormal fault level on the instrument; When there is an abnormality in the status of the intelligent driving suite in the detection result, the wire control brake in the intelligent connected vehicle intervenes and reduces the driving speed to a safety threshold, gradually exits the automatic driving, and displays a fault on the instrument.

9. The real-time security control method according to claim 1, characterized in that: When any state in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to perform security control processing includes: When the state of the electric power-assisted electric accessory in the detection result is abnormal, the vehicle surrounding environment information is collected and processed based on the intelligent driving hardware to obtain the surrounding environment information; Using the surrounding environment information to determine the safety of the forward environment, and when the forward environment is determined to be safe, controlling the brake-by-wire system to brake the intelligent connected vehicle, activating the vehicle's hazard lights, and applying the parking brake when the vehicle speed reaches zero; When the forward environment is judged to be unsafe, the system performs safety assessments on the left and right sides based on the surrounding environment information, and when the left and right sides are judged to be safe, controls the brake-by-wire control and steering intervention, activates the vehicle's hazard lights when the intelligent connected vehicle brakes and turns, and engages the parking brake when the vehicle speed reaches 0; When it is determined that the left and right environments are unsafe, the intelligent connected vehicle is controlled to perform wire control braking with maximum braking force, the vehicle's double flash is activated, and the parking brake is intervened when the vehicle speed is 0.

10. The real-time security control method according to claim 1, characterized in that: When any state in the detection result is abnormal, calling the control strategy corresponding to the abnormal state to perform security control processing includes: When the door locking state is abnormal in the detection result, the current speed of the intelligent connected vehicle is obtained, and whether the current speed is greater than a safety threshold is determined; if the current speed is less than or equal to the safety threshold, the intelligent connected vehicle is controlled to maintain the current speed and a prompt is displayed on the instrument panel; If the current vehicle speed is greater than the safety threshold, the brake-by-wire system intervenes to brake the intelligent connected vehicle and control the current vehicle speed to be reduced to a speed below the safety threshold, and the speed is displayed on the instrument panel; When the state of the vehicle's surrounding environment in the detection result is abnormal, the wire control brake intervenes to ensure the safe driving of the intelligent connected vehicle. When the state of the vehicle's surrounding environment in the detection result is normal, the vehicle maintains normal driving.

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