Vehicle autonomous perception device interface circuit and vehicle autonomous control method

Abstract

The embodiment of the application relates to the technical field of vehicle-mounted autonomous perception control, and provides a vehicle-mounted autonomous perception device interface circuit and a vehicle autonomous control method, the circuit comprising: an autonomous perception system emergency braking output module and a speed measurement positioning communication module, the autonomous perception system emergency braking output module being connected in series in a vehicle emergency braking loop, comprising an autonomous perception emergency braking output contact point connected in series in the vehicle emergency braking loop, an autonomous perception cut-off switch normally open contact point and a cut-off switch normally closed contact point of a train automatic control system, the three contact points being connected in parallel; the speed measurement positioning communication module connects an autonomous perception system communication interface in parallel on a communication bus of the train automatic control system and a speed sensor and transponder transmission module, and can read speed measurement data and positioning data of the speed sensor and the transponder transmission module. Therefore, the availability and safety of the vehicle-mounted autonomous perception system are improved.

Description

Technical Field

[0001] This invention relates to the field of vehicle-mounted autonomous sensing and control technology, and in particular to an interface circuit for a vehicle-mounted autonomous sensing device and a vehicle autonomous control method. Background Technology

[0002] Currently, onboard autonomous sensing systems in China's urban rail transit are still in their early stages of development. These systems integrate multiple sensors, including lidar, cameras, millimeter-wave radar, and inertial measurement units, enabling autonomous train speed and positioning, active obstacle detection, and other functions to improve driving safety. The onboard autonomous sensing system interfaces only with the vehicle itself; when an obstacle is detected, it can output an emergency braking command to the vehicle for execution.

[0003] Currently, onboard autonomous perception systems are mainly used for active obstacle detection. Upon detecting an obstacle, the system actively applies emergency braking or notifies the vehicle's TCMS (Train Control Management System) to apply emergency braking. If the autonomous perception system misjudges an obstacle, it will apply emergency braking to stop the vehicle, reducing operational efficiency. Therefore, improving the availability and safety of onboard autonomous perception systems has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides an interface circuit for an in-vehicle autonomous sensing device and a vehicle autonomous control method to solve the defects in the prior art where autonomous sensing systems misjudge obstacles, causing emergency braking and reducing operating efficiency, thereby improving the availability and safety of the in-vehicle autonomous sensing system.

[0005] This invention provides an interface circuit for an in-vehicle autonomous sensing device, comprising: an emergency braking output module for an autonomous sensing system and a speed measurement and positioning communication module, wherein: The autonomous sensing system emergency braking output module is connected in series in the vehicle emergency braking circuit. The autonomous sensing system emergency braking output module includes an autonomous sensing emergency braking output contact, an autonomous sensing cut-off switch normally open contact, and a train automatic control system cut-off switch normally closed contact connected in series in the vehicle emergency braking circuit. The autonomous sensing emergency braking output contact is connected in parallel with the autonomous sensing cut-off switch normally open contact and the train automatic control system cut-off switch normally closed contact. The speed measurement and positioning communication module connects the communication interface of the autonomous sensing system in parallel to the communication bus of the train automatic control system and the speed sensor and transponder transmission module, so that the autonomous sensing system can read the speed measurement data and positioning data of the speed sensor and the transponder transmission module. When the automatic train control system malfunctions, the autonomous sensing system communicates autonomously with the speed sensor and the transponder transmission module.

[0006] In one possible implementation, the autonomous sensing emergency braking output contact remains closed under normal conditions, and when the autonomous sensing system detects an obstacle, it disconnects the autonomous sensing emergency braking output contact to output an emergency braking command.

[0007] In one possible implementation, the normally closed contact of the cut-off switch of the automatic train control system remains closed when the automatic train control system is working normally, and the vehicle emergency braking circuit is controlled by the automatic train control system. When the normally closed contact of the cut-off switch of the automatic train control system is opened in the state of the automatic train control system being cut off, the emergency braking output module of the autonomous sensing system is activated.

[0008] In one possible implementation, the normally open contact of the autonomous sensing cut-off switch remains open when the autonomous sensing system is operating normally, and closes when the autonomous sensing system is cut off, in order to bypass the emergency braking output function.

[0009] In one possible implementation, the speed measurement and positioning communication module and the speed measurement and positioning method of the autonomous sensing system itself constitute a redundant positioning system.

[0010] The present invention also provides a vehicle autonomous control method, executed through an interface circuit of an onboard autonomous sensing device, comprising: Obstacles are detected in real time through an autonomous sensing system; When an obstacle is detected, the autonomous sensing emergency braking output contact is disconnected to output an emergency braking command; When the automatic train control system is working normally, the normally closed contact of the cut-off switch of the automatic train control system remains closed, and the automatic train control system responds to the emergency braking command to control the vehicle to brake in an emergency. When the train automatic control system is disconnected, the emergency braking output of the autonomous sensing system takes effect, and the autonomous sensing system responds to the emergency braking command to control the vehicle to brake urgently.

[0011] The present invention also provides a vehicle autonomous control device, comprising the following modules: The detection module is used to detect obstacles in real time through an autonomous sensing system; The control module is used to disconnect the autonomous sensing emergency braking output contact when an obstacle is detected, so as to output an emergency braking command; The control module is also used to keep the normally closed contact of the cut-off switch of the automatic train control system closed when the automatic train control system is working normally, and to control the emergency braking of the vehicle in response to the emergency braking command through the automatic train control system. The control module is also used to activate the emergency braking output of the autonomous sensing system when the train automatic control system is disconnected, and to control the vehicle to brake urgently in response to the emergency braking command through the autonomous sensing system.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the vehicle autonomous control method as described above.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the vehicle autonomous control method as described above.

[0014] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the vehicle autonomous control method as described above.

[0015] The present invention provides an interface circuit for an onboard autonomous sensing device and a vehicle autonomous control method, including an autonomous sensing system emergency braking output module and a speed measurement and positioning communication module. The autonomous sensing system emergency braking output module is connected in series in the vehicle's emergency braking circuit. The module includes an autonomous sensing emergency braking output contact, an autonomous sensing cut-off switch normally open contact, and a train automatic control system cut-off switch normally closed contact, all connected in series in the emergency braking circuit. The autonomous sensing emergency braking output contact, the autonomous sensing cut-off switch normally open contact, and the train automatic control system cut-off switch normally closed contact are connected in parallel. The speed measurement and positioning communication module connects the autonomous sensing system communication interface in parallel to the communication bus of the train automatic control system and the speed sensor and transponder transmission module, enabling the autonomous sensing system to read the speed measurement data and positioning data from the speed sensor and the transponder transmission module. In the event of a fault in the train automatic control system, the autonomous sensing system autonomously communicates with the speed sensor and the transponder transmission module. Compared to the shortcomings of existing technologies where autonomous sensing systems misjudge obstacles, causing emergency braking and reducing operational efficiency, this solution improves the availability and safety of the onboard autonomous sensing system. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the interface circuit for the vehicle-mounted autonomous sensing device provided by the present invention.

[0018] Figure 2 This is a schematic diagram of the speed measurement and positioning interface provided by the present invention.

[0019] Figure 3 This is a flowchart illustrating the vehicle autonomous control method provided by the present invention.

[0020] Figure 4 This is a schematic diagram of the vehicle autonomous control device provided by the present invention.

[0021] Figure 5 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0023] To facilitate understanding of the embodiments of the present invention, the hardware structure, connection relationship and control method of the interface circuit of the vehicle-mounted autonomous sensing device will be described below with reference to the accompanying drawings and specific embodiments. The embodiments do not constitute a limitation on the embodiments of the present invention.

[0024] Figure 1 This is a schematic diagram of the interface circuit for the vehicle-mounted autonomous sensing device provided by the present invention, as shown below. Figure 1 As shown, the emergency braking output module of the autonomous sensing system is connected in series in the vehicle's emergency braking circuit. Its core function is to realize the switching of braking control and the protection against malfunction between the autonomous sensing system and the Automatic Train Control (ATC) system through the logical combination of switch contacts.

[0025] The autonomous sensing system's emergency braking output module includes three key contacts: autonomous sensing emergency braking output contact 1, autonomous sensing cut-off switch normally open contact 2, and ATC cut-off switch normally closed contact 3 (the normally closed cut-off switch of the train automatic control system). Their electrical connections are as follows: autonomous sensing emergency braking output contact 1 is connected in series in the main path of the vehicle's emergency braking circuit; autonomous sensing cut-off switch normally open contact 2 and ATC cut-off switch normally closed contact 3 are connected in parallel with this main path contact, respectively.

[0026] Operating State 1, when the ATC system is working normally: At this time, the ATC cut-off switch (normally closed type) 3 is in the closed state, bypassing the autonomous sensing emergency braking output contact 1. Even if the autonomous sensing system disconnects contact 1 due to misjudging an obstacle, the emergency braking circuit remains conductive through contact 3, and the braking command is controlled by the ATC system, effectively preventing the autonomous sensing system from erroneously outputting emergency braking.

[0027] Operating State Two, ATC System Disconnected: When the ATC system is disconnected due to a fault or maintenance, the normally closed contact 3 of the ATC disconnect switch opens, and the bypass function is released. At this time, the autonomous sensing emergency braking output contact 1 returns to being a valid control node in the circuit. The autonomous sensing system intervenes to control the vehicle. Once the autonomous sensing system detects a real obstacle, it immediately disconnects contact 1, directly cutting off the emergency braking circuit and outputting an emergency braking command to the vehicle.

[0028] Operating State 3, when the autonomous sensing system is disconnected: If the autonomous sensing system itself requires maintenance or fault isolation, the operator can trigger the autonomous sensing disconnect switch, closing its normally open contact 2. At this time, regardless of the state of contact 1, the circuit remains conductive through contact 2, achieving complete bypass of the autonomous sensing braking function and ensuring that the system does not affect the normal operation of the vehicle.

[0029] Preferably, the above-mentioned contacts can be implemented using safety relays or contactors with forced guidance mechanisms, and their normally open / normally closed characteristics meet the safety level requirements of SIL2 or higher in the EN50128 standard. The disconnection response time of emergency braking output contact 1 is no more than 100ms to ensure the real-time nature of the braking command.

[0030] Figure 2 This is a schematic diagram of the speed measurement and positioning interface provided by the present invention. This embodiment describes the redundant architecture design of the speed measurement and positioning communication module. This module connects the autonomous sensing system in parallel to the existing speed measurement and positioning network, which consists of the Automatic Train Protection (ATP) system, speed sensor, and BaliseTransfer Module (BTM), via a communication bus, achieving dual-system redundancy and seamless switching. In this embodiment, the ATP system is included within the ATC system.

[0031] like Figure 2 As shown, the autonomous sensing system is equipped with an independent communication interface unit, which is connected to the speed sensor data bus and the BTM data bus through bus branch nodes. The interface unit has built-in bus monitoring and arbitration logic, supports train control network protocols such as CANopen or MVB, and the baud rate is adjustable from 250kbps to 1Mbps.

[0032] In operating mode one, when the ATP system is working normally, the system acts as the bus master, periodically polling the speed sensor and BTM. The autonomous sensing system, acting as a slave, only listens to the bus communication, reading the train speed, odometer, and transponder position information in real time (but does not send control commands), and performs redundancy verification with its own fused positioning results (LiDAR + IMU). When the deviation between the two exceeds ±5%, the system outputs a positioning health status alarm, prompting maintenance personnel to check.

[0033] Operating Mode Two, ATP Failure Master Mode: When an ATP system communication interruption or fault signal is detected and persists for a certain period (e.g., 1000ms), the autonomous sensing system automatically switches to master mode and takes over bus control. At this time, the interface unit actively sends data request commands to the speed sensor and BTM to directly acquire speed and positioning data, replacing the ATP in performing train position calculation and speed monitoring functions. The switching process is seamless and requires no human intervention, ensuring the train retains complete positioning capabilities even when the ATP fails.

[0034] Preferably, the communication bus adopts a dual-channel redundant design, with each channel independently powered and isolated, so that a single channel failure does not affect data communication. The interface unit has a built-in data timestamp mechanism to ensure the timeliness and synchronization accuracy of the positioning data.

[0035] The present invention provides an interface circuit for an onboard autonomous sensing device, comprising an autonomous sensing system emergency braking output module and a speed measurement and positioning communication module. The autonomous sensing system emergency braking output module is connected in series in the vehicle's emergency braking circuit. This module includes an autonomous sensing emergency braking output contact, an autonomous sensing cut-off switch normally open contact, and a train automatic control system cut-off switch normally closed contact, all connected in series in the emergency braking circuit. The autonomous sensing emergency braking output contact, the autonomous sensing cut-off switch normally open contact, and the train automatic control system cut-off switch normally closed contact are connected in parallel. The speed measurement and positioning communication module connects the autonomous sensing system communication interface in parallel to the communication bus of the train automatic control system and the speed sensor and transponder transmission module, enabling the autonomous sensing system to read speed measurement data and positioning data from the speed sensor and the transponder transmission module. In the event of a fault in the train automatic control system, the autonomous sensing system autonomously communicates with the speed sensor and the transponder transmission module. Compared to the shortcomings of existing technologies where autonomous sensing systems misjudge obstacles, causing emergency braking and reducing operational efficiency, this invention improves the availability and safety of the onboard autonomous sensing system.

[0036] Figure 3 This is a flowchart illustrating the vehicle autonomous control method provided by the present invention, as shown below. Figure 3 As shown, the method includes the following: S31. Real-time detection of obstacles through an autonomous sensing system.

[0037] In this embodiment of the invention, the system can fuse LiDAR point clouds, camera images, and millimeter-wave radar data at a frequency of 20Hz, and use a deep learning algorithm to identify intrusions in the track area. When the same obstacle is detected in three consecutive frames with a confidence level exceeding 85%, it is determined to be a valid obstacle event.

[0038] S32. When an obstacle is detected, disconnect the autonomous sensing emergency braking output contact to output an emergency braking command.

[0039] Upon confirmation of an obstacle, the safety computer unit immediately disconnects the emergency braking output contact and simultaneously logs the event (including timestamp, obstacle type, and distance). The command output delay does not exceed 150ms.

[0040] Combination Figure 1 As shown, the system periodically reads the ATC disconnect switch status bit and the ATC heartbeat signal: if contact 3 is closed and the ATC heartbeat is normal, it is determined that the ATC is working normally and proceeds to step S33; if contact 3 is open or the ATC heartbeat is lost for more than 500ms, it is determined that the ATC system is disconnected / faulted and proceeds to step S34.

[0041] S33. When the train automatic control system is working normally, the normally closed contact of the cut-off switch of the train automatic control system remains closed, and the train automatic control system responds to the emergency braking command to control the emergency braking of the vehicle.

[0042] When the ATC is operating normally, it responds to emergency braking. In this case, the emergency braking command is processed by the ATC system first. The ATC makes a comprehensive decision on whether to apply braking based on its internal logic (such as train speed, position, and movement authorization). The autonomous sensing system only serves as an information source to avoid malfunctions of a single system.

[0043] S34. When the train automatic control system is disconnected, the emergency braking output of the autonomous sensing system takes effect, and the vehicle is controlled to brake urgently in response to the emergency braking command through the autonomous sensing system.

[0044] When the ATC system is disconnected, the autonomous sensing system directly controls emergency braking. When ATC is unavailable and contact 1 is open, the vehicle's emergency braking circuit is cut off, and the braking command is directly applied to the vehicle's brake control unit (BCU) to implement emergency braking to a stop. This mode ensures that the autonomous sensing system can still effectively guarantee driving safety when the main system fails.

[0045] Preferably, after S34 is executed, the system synchronously sends a braking cause code (0x0E: autonomous perception trigger) to the vehicle's TCMS and prompts the driver via HMI that "autonomous perception emergency braking is activated, ATC has been deactivated." Further, in any mode, if autonomous perception deactivation switch contact 2 is closed, the braking command generated in step S32 is bypassed, the vehicle continues to operate normally, and the system records the bypass event for auditing purposes.

[0046] Existing autonomous sensing systems independently output emergency braking, lacking an effective mechanism to prevent malfunctions. When the system misjudges an obstacle (such as mistaking a foreign object on the track or light interference for a real obstacle), it immediately triggers emergency braking, causing unplanned train stops and severely impacting on-time performance and operational efficiency. Furthermore, existing technologies lack a linkage interface between the autonomous sensing system and the Automatic Train Control (ATC) system; their braking controls are independent and cannot interlock, hindering the orderly switching and collaborative decision-making between the primary and backup systems.

[0047] This method employs interlocking logic. When the ATC is operating normally, even if the autonomous sensing system falsely detects an obstacle and outputs a braking command, the ATC still maintains control of braking because the normally closed contact of the ATC cut-off switch is closed. The ATC can comprehensively assess the overall operating status (such as movement authorization and train position), filtering out false alarms and avoiding unnecessary emergency braking, significantly improving system availability. When the ATC is disconnected or malfunctions, the autonomous sensing system immediately switches to primary control, and its braking command directly applies to the vehicle, ensuring reliable obstacle protection capabilities even after the primary system fails, thus achieving safety redundancy.

[0048] This method overcomes the shortcomings of existing technologies, such as single-system decision-making and lack of interlock protection, by using a condition judgment and control arbitration mechanism. It realizes hierarchical braking control and primary / backup redundancy between the autonomous perception system and the ATC system, which not only avoids efficiency loss caused by erroneous braking, but also ensures driving safety in extreme situations.

[0049] The vehicle autonomous control device provided by the present invention is described below. The vehicle autonomous control device described below can be referred to in correspondence with the vehicle autonomous control method described above.

[0050] Figure 4 This is a schematic diagram of the vehicle autonomous control device provided by the present invention, specifically including: The detection module 401 is used to detect obstacles in real time through an autonomous sensing system. For detailed explanations, please refer to the relevant descriptions in the above method embodiments; they will not be repeated here.

[0051] The control module 402 is used to disconnect the autonomous sensing emergency braking output contact when an obstacle is detected, so as to output an emergency braking command. For detailed explanation, please refer to the relevant descriptions in the above method embodiments, which will not be repeated here.

[0052] The control module 402 is further configured to maintain the normally closed contact of the cut-off switch of the automatic train control system closed when the automatic train control system is operating normally, and to control the vehicle to brake urgently in response to the emergency braking command through the automatic train control system. For detailed explanations, please refer to the relevant descriptions in the above method embodiments, which will not be repeated here.

[0053] The control module 402 is further configured to activate the emergency braking output of the autonomous sensing system when the train automatic control system is disconnected, and control the vehicle to brake urgently in response to the emergency braking command through the autonomous sensing system. For detailed explanations, please refer to the relevant descriptions in the above method embodiments, which will not be repeated here.

[0054] Figure 5 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 5As shown, the electronic device may include a processor 510, a communications interface 520, a memory 530, and a communication bus 540, wherein the processor 510, communications interface 520, and memory 530 communicate with each other via the communication bus 540. The processor 510 can call logical instructions in the memory 530 to execute a vehicle autonomous control method, which includes: detecting obstacles in real time through an autonomous sensing system; when an obstacle is detected, disconnecting the autonomous sensing emergency braking output contact to output an emergency braking command; when the train automatic control system is operating normally, the normally closed contact of the train automatic control system's cut-off switch remains closed, and the train automatic control system controls the vehicle's emergency braking in response to the emergency braking command; when the train automatic control system is cut off, the emergency braking output of the autonomous sensing system becomes active, and the autonomous sensing system controls the vehicle's emergency braking in response to the emergency braking command.

[0055] Furthermore, the logical instructions in the aforementioned memory 530 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0056] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the vehicle autonomous control method provided by the above methods. The method includes: detecting obstacles in real time through an autonomous sensing system; when an obstacle is detected, disconnecting the autonomous sensing emergency braking output contact to output an emergency braking command; when the train automatic control system is working normally, keeping the normally closed contact of the train automatic control system's cut-off switch closed, and controlling the vehicle to brake urgently in response to the emergency braking command through the train automatic control system; when the train automatic control system is cut off, the emergency braking output of the autonomous sensing system takes effect, and controlling the vehicle to brake urgently in response to the emergency braking command through the autonomous sensing system.

[0057] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the vehicle autonomous control method provided by the above methods. The method includes: detecting obstacles in real time through an autonomous sensing system; when an obstacle is detected, disconnecting the autonomous sensing emergency braking output contact to output an emergency braking command; when the train automatic control system is operating normally, keeping the normally closed contact of the train automatic control system's cut-off switch closed, and controlling the vehicle to perform emergency braking in response to the emergency braking command through the train automatic control system; when the train automatic control system is cut off, the emergency braking output of the autonomous sensing system takes effect, and controlling the vehicle to perform emergency braking in response to the emergency braking command through the autonomous sensing system.

[0058] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0059] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0060] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An interface circuit for an in-vehicle autonomous sensing device, characterized in that, include: The autonomous sensing system includes an emergency braking output module and a speed measurement and positioning communication module, wherein: The autonomous sensing system emergency braking output module is connected in series in the vehicle emergency braking circuit. The autonomous sensing system emergency braking output module includes an autonomous sensing emergency braking output contact, an autonomous sensing cut-off switch normally open contact, and a train automatic control system cut-off switch normally closed contact connected in series in the vehicle emergency braking circuit. The autonomous sensing emergency braking output contact is connected in parallel with the autonomous sensing cut-off switch normally open contact and the train automatic control system cut-off switch normally closed contact. The speed measurement and positioning communication module connects the communication interface of the autonomous sensing system in parallel to the communication bus of the train automatic control system and the speed sensor and transponder transmission module, so that the autonomous sensing system can read the speed measurement data and positioning data of the speed sensor and the transponder transmission module. When the automatic train control system malfunctions, the autonomous sensing system autonomously communicates with the speed sensor and the transponder transmission module. The autonomous sensing emergency braking output contact remains closed under normal conditions. When the autonomous sensing system detects an obstacle, it disconnects the autonomous sensing emergency braking output contact to output an emergency braking command. The normally closed contact of the train automatic control system's cut-off switch remains closed when the train automatic control system is operating normally, and the vehicle emergency braking circuit is controlled by the train automatic control system. The normally closed contact of the train automatic control system's cut-off switch opens when the train automatic control system is cut off, and the autonomous sensing system's emergency braking output module becomes active. The normally open contact of the autonomous sensing cut-off switch remains open when the autonomous sensing system is operating normally, and closes when the autonomous sensing system is cut off to bypass the emergency braking output function.

2. The interface circuit for the vehicle-mounted autonomous sensing device according to claim 1, characterized in that, The speed measurement and positioning communication module and the speed measurement and positioning method of the autonomous sensing system constitute a redundant positioning system.

3. A vehicle autonomous control method, executed through the on-board autonomous sensing device interface circuit as described in claim 1 or 2, characterized in that, include: Obstacles are detected in real time through an autonomous sensing system; When an obstacle is detected, the autonomous sensing emergency braking output contact is disconnected to output an emergency braking command; When the automatic train control system is working normally, the normally closed contact of the cut-off switch of the automatic train control system remains closed, and the automatic train control system responds to the emergency braking command to control the vehicle to brake in an emergency. When the train automatic control system is disconnected, the emergency braking output of the autonomous sensing system takes effect, and the autonomous sensing system responds to the emergency braking command to control the vehicle to brake urgently.

4. A vehicle autonomous control device, characterized in that, Based on the interface circuit of the vehicle-mounted autonomous sensing device as described in claim 1 or 2, it includes: The detection module is used to detect obstacles in real time through an autonomous sensing system; The control module is used to disconnect the autonomous sensing emergency braking output contact when an obstacle is detected, so as to output an emergency braking command. The autonomous sensing emergency braking output contact remains closed under normal conditions. The control module is also used to keep the normally closed contact of the cut-off switch of the automatic train control system closed when the automatic train control system is working normally, and to control the emergency braking of the vehicle in response to the emergency braking command through the automatic train control system. The control module is further configured to, when the automatic train control system is disconnected, open the normally closed contact of the disconnection switch of the automatic train control system, activate the emergency braking output of the autonomous sensing system, and control the vehicle to brake urgently in response to the emergency braking command through the autonomous sensing system. The normally open contact of the autonomous sensing disconnection switch remains open when the autonomous sensing system is working normally, and closes when the autonomous sensing system is disconnected.

5. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the vehicle autonomous control method as described in claim 3.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the vehicle autonomous control method as described in claim 3.

7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the vehicle autonomous control method as described in claim 3.

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