Autonomous driving torque verification method, autonomous driving monitoring system, vehicle and medium

Abstract

An autonomous driving torque verification method, which is applied to an autonomous driving monitoring system (400), wherein the autonomous driving monitoring system comprises a signal input module (410), a flag bit monitoring module (420) and a torque verification module (430). The method comprises: S201, controlling a signal input module to adjust, after acquiring an autonomous driving signal, a torque flag bit and a monitoring torque in the autonomous driving signal on the basis of a verification signal in the autonomous driving signal, and sending the adjusted torque flag bit and monitoring torque to a flag bit monitoring module; S202, controlling the flag bit monitoring module to send, after determining that the torque flag bit is an activation flag bit, the monitoring torque to a torque verification module; and S203, controlling the torque verification module to verify a current autonomous driving torque on the basis of the monitoring torque, so as to obtain a torque verification result. By using the method, it can be ensured that safety monitoring of autonomous driving torque monitoring is flexible and reliable, so that risks during autonomous driving torque verification are reduced. Further provided are an autonomous driving monitoring system (400), a vehicle (500), and a computer-readable storage medium.

Description

Automatic driving torque calibration method, automatic driving monitoring system, vehicle and medium

[0001] This disclosure claims priority to the Chinese patent application filed with the Patent Office of China on March 29, 2024, with application number 202410377592.2 and invention name “Automatic Driving Torque Calibration Method, Autonomous Driving Monitoring System, Vehicle and Medium”, the entire contents of which are incorporated by reference in this disclosure. Technical Field

[0002] The present application belongs to the field of vehicle technology, and in particular relates to an automatic driving torque calibration method, an automatic driving monitoring system, a vehicle and a medium. Background Art

[0003] With the development of vehicle intelligence and automation, for vehicles with autonomous driving functions, preventing unexpected acceleration / deceleration of the power system is crucial to the driving safety of the entire vehicle.

[0004] When a vehicle is operating autonomously, the vehicle controller typically verifies the generated autonomous driving torque, and the motor controller responds to the vehicle controller's signals containing the verified autonomous driving torque. Consequently, coordination between these controllers enables autonomous driving at the vehicle level. Therefore, ensuring that the vehicle controller correctly verifies the autonomous driving torque is particularly important.

[0005] However, with the increasing complexity of technology and the increasing application of software and mechatronics, the risk of systemic failure is gradually increasing, which makes the vehicle controller based on functional integration have certain risks when performing torque calibration. Summary of the Invention

[0006] (1) Technical issues to be resolved

[0007] The technical problem to be solved by the present disclosure is to solve the problem that there are certain risks when performing torque calibration on the autonomous driving torque during the autonomous driving process in the prior art.

[0008] (2) Technical solution

[0009] In order to solve the above technical problems, the embodiments of the present disclosure provide an autonomous driving torque verification method, an autonomous driving monitoring system, a vehicle and a medium.

[0010] In a first aspect, an embodiment of the present application provides an autonomous driving torque verification method, which is applied to an autonomous driving monitoring system. The autonomous driving monitoring system includes a signal input module, a flag monitoring module, and a torque verification module. The method includes:

[0011] When the control signal input module obtains the automatic driving signal, it adjusts the torque flag and the monitoring torque in the automatic driving signal according to the verification signal in the automatic driving signal, and sends the adjusted torque flag and the monitoring torque to the flag monitoring module;

[0012] When the control flag monitoring module determines that the torque flag is the activation flag, the control flag monitoring module sends the monitored torque to the torque verification module;

[0013] The control torque verification module verifies the current automatic driving torque according to the monitoring torque to obtain the torque verification result.

[0014] In a second aspect, an embodiment of the present application provides an autonomous driving monitoring system, which includes a signal input module, a flag monitoring module, and a torque verification module:

[0015] a signal input module for adjusting a torque flag and a monitoring torque in the autonomous driving signal according to a verification signal in the autonomous driving signal when the autonomous driving signal is acquired, and sending the adjusted torque flag and monitoring torque to the flag monitoring module;

[0016] The flag monitoring module is used to send the monitored torque to the torque verification module when determining that the torque flag is the activation flag;

[0017] The torque verification module is used to verify the current automatic driving torque according to the monitoring torque to obtain the torque verification result.

[0018] In a third aspect, an embodiment of the present application provides a vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of the first aspect described above when executing the computer program.

[0019] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, it implements the method of the first aspect described above.

[0020] In a fifth aspect, an embodiment of the present application provides a computer program product, which, when running on a vehicle, enables the vehicle to execute the method of the first aspect described above.

[0021] In a sixth aspect, an embodiment of the present application provides another autonomous driving monitoring system, comprising an independently packaged signal input module, a flag monitoring module, and a torque verification module: the flag monitoring module is data-connected to the signal input module and the torque verification module respectively;

[0022] The signal input module obtains the automatic driving signal and sends the torque flag and the monitoring torque to the flag monitoring module; the flag monitoring module sends the monitoring torque to the torque verification module; the torque verification module generates a torque verification result.

[0023] (3) Beneficial effects

[0024] The above technical solution provided by the embodiments of the present disclosure has the following advantages compared with the prior art:

[0025] An autonomous driving monitoring system is implemented within the vehicle controller to perform safety verification on the autonomous driving torque generated during autonomous driving. Furthermore, to ensure the reliability of the autonomous driving monitoring system, the system is divided into multiple independent modules to process autonomous driving signals. Specifically, upon receiving the autonomous driving signal, the signal input module can adjust the torque flag and monitoring torque in the autonomous driving signal based on the verification signal within the signal, and then transmit the adjusted torque flag and monitoring torque to the flag monitoring module. In other words, the signal input module only needs to acquire and adjust the autonomous driving signal. Upon determining that the torque flag is active, the flag monitoring module transmits the monitoring torque to the torque verification module. In other words, the flag monitoring module only needs to transmit the monitoring torque based on the torque flag. The torque verification module verifies the current autonomous driving torque based on the monitoring torque and obtains a torque verification result. In other words, the torque verification module performs autonomous driving torque verification. Therefore, by processing the autonomous driving signal during autonomous driving torque verification, the autonomous driving monitoring system is functionally layered, divided into multiple independent functional modules to perform the aforementioned functions. This facilitates flexible and reliable safety monitoring of autonomous driving torque. This means that even if a module in the automated driving monitoring system experiences a systemic failure, it will not affect the normal operation of other independent modules, reducing the risk associated with automated driving torque verification. Furthermore, by dividing the automated driving monitoring system into these multiple independent modules, changes to the functional code of a single module during system design will not affect the functional code of other modules. Furthermore, by reducing the scope of code impact during design, the error rate during automated driving monitoring system design can be reduced, ensuring the correctness of the automated driving monitoring system.

[0026] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0028] FIG1 is a schematic structural diagram of an automatic driving monitoring system provided by an embodiment of the present application;

[0029] FIG2 is a flowchart of an implementation method for automatic driving torque calibration provided by an embodiment of the present application;

[0030] FIG3 is a schematic structural diagram of an automatic driving monitoring system provided by another embodiment of the present application;

[0031] FIG4 is a schematic structural diagram of an automatic driving monitoring system provided by yet another embodiment of the present application;

[0032] FIG5 is a schematic structural diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] In the following description, specific details such as specific system structures and techniques are provided for purposes of illustration rather than limitation to facilitate a thorough understanding of the embodiments of the present application. However, it will be apparent to those skilled in the art that the present application may be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid obscuring the description of the present application with unnecessary detail.

[0034] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, integers, steps, operations, elements and / or components, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or collections thereof.

[0035] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0036] With the development of vehicle intelligence and automation, preventing unexpected acceleration / deceleration of the powertrain is crucial for vehicle safety. Currently, according to the globally adopted autonomous driving level classification standard, autonomous driving is divided into six ascending levels, from low to high.

[0037] Level L0, manual driving, according to the definition of the Society of Automotive Engineers (SAE), this level of driving is completely performed by the driver. Level L1, assisted driving, can help the driver complete certain driving tasks. The driver needs to monitor the vehicle's driving environment and be ready to take over manual driving at any time. Level L2, partial automation, can perform acceleration, deceleration and steering operations at the same time, but the driver still needs to monitor the driving environment and be ready to take over manual driving at any time. Level L3, conditional automation, in a specific driving environment, the vehicle can automatically accelerate, decelerate and steer. The driver does not need to monitor the driving environment, but the driver still needs to be ready to take over manual driving at any time. Level L4, highly automated, can achieve full driving. Usually, driver control is not required. However, when the vehicle's driving conditions reach the preset limit conditions, the autonomous driving will still be exited. For example, when the vehicle speed exceeds the preset speed, the autonomous driving will be exited. Level L5, full automation, the vehicle can fully adaptively drive and adapt to any driving environment.

[0038] When a vehicle is operating autonomously, the vehicle controller typically verifies the generated autonomous driving torque, and the motor controller responds to the vehicle controller's signals containing the verified autonomous driving torque. Consequently, coordination between these controllers enables autonomous driving at the vehicle level. Therefore, ensuring that the vehicle controller correctly verifies the autonomous driving torque is particularly important.

[0039] However, with the increasing complexity of technology and the increasing application of software and mechatronics, the risk of systemic failure is gradually increasing, which makes the vehicle controller based on functional integration have certain risks when performing torque calibration.

[0040] Based on this, to reduce the risk of torque verification during vehicle control, an embodiment of the present application provides an autonomous driving monitoring system. Please refer to Figure 1, which is a schematic diagram of the structure of an autonomous driving monitoring system provided by one embodiment of the present application. The autonomous driving monitoring system includes independently packaged signal input modules, flag monitoring modules, and torque verification modules. The flag monitoring module is data-connected to the signal input module and the torque verification module, respectively.

[0041] Specifically, the signal input module obtains the automatic driving signal and sends the torque flag and monitoring torque to the flag monitoring module; the flag monitoring module sends the monitoring torque to the torque verification module; the torque verification module generates a torque verification result.

[0042] It should be noted that each module is independently packaged, requiring only data reception and transmission between them. Furthermore, the flag monitoring module is data-connected to the signal input module and the torque verification module. Based on the above, it can be determined that during data transmission, data is sequentially processed by the signal input module, the flag monitoring module, and the torque verification module to generate a torque verification result.

[0043] Therefore, even if a systemic failure occurs in a module within the autonomous driving monitoring system, it will not affect the normal operation of other independent modules, reducing the risk of autonomous driving torque verification. Furthermore, by dividing the autonomous driving monitoring system into these multiple independent modules, changes to the functional code of a single module during the design of the autonomous driving monitoring system will not affect the functional codes of other modules. Furthermore, by reducing the scope of code impact during design, the error rate during autonomous driving monitoring system design can be reduced, ensuring the correctness of the autonomous driving monitoring system.

[0044] The process of each module processing the input data (the above-mentioned signals) may refer to the embodiments shown in FIG. 2 below.

[0045] Please refer to FIG2 , which shows a flowchart of an implementation method of an automatic driving torque calibration method provided by an embodiment of the present application. The method includes the following steps:

[0046] S201. When the control signal input module obtains the automatic driving signal, it adjusts the torque flag and monitoring torque in the automatic driving signal according to the verification signal in the automatic driving signal, and sends the adjusted torque flag and monitoring torque to the flag monitoring module.

[0047] The above-mentioned autonomous driving torque verification method can be applied to a vehicle. For example, it can be applied to a vehicle controller or an autonomous driving controller. The embodiments of this application do not impose any restrictions on the specific type of vehicle. For ease of explanation, the above-mentioned method can be applied to a vehicle controller as an example. The vehicle controller includes an autonomous driving monitoring system.

[0048] In one embodiment, the autonomous driving signal is a signal required for the vehicle to perform autonomous driving. In the vehicle, the signal may be transmitted via a CAN (Controller Area Network) bus, a LIN (Local Interconnect Network) bus, or the like, without limitation.

[0049] The autonomous driving signal may include not only verification signals, torque flags, and monitored torque information, but may also include trust flags, sensor flags, and driving environment data, without limitation. This embodiment uses the example of an autonomous driving signal including a verification signal, torque flags, and monitored torque.

[0050] The verification signal is used to verify the signal integrity of the autonomous driving signal to determine its authenticity. Specifically, the autonomous driving signal can be encrypted to generate encrypted information. In this case, the signal encapsulating the encrypted information serves as the verification signal.

[0051] As an example, the above-mentioned verification signal can be a Check Sum, Rolling Counte or other signals, which can be periodically changed according to the communication cycle to verify whether the autonomous driving signal is credible.

[0052] The torque flag is used to identify whether the monitored torque is activated. When the torque flag is activated, the monitored torque in the autonomous driving signal is considered available. When the torque flag is inactivated, the monitored torque in the autonomous driving signal is considered unavailable.

[0053] The above-mentioned monitoring torque is used to monitor the automatic driving torque currently output by the automatic driving function in the vehicle controller to determine whether the automatic driving torque is abnormal.

[0054] The above-mentioned trust flag is used to indicate that the monitored torque is unreliable when the verification signal verifies that the automatic driving signal is unreliable; and to indicate that the monitored torque is reliable when the verification signal verifies that the automatic driving signal is reliable.

[0055] The sensor flag is used to identify whether the sensor collecting vehicle driving environment data is functioning properly during the vehicle's autonomous driving process. For example, if the sensor is abnormal, it indicates a sensor failure; and if the sensor is normal, it indicates that the sensor is not faulty.

[0056] The above-mentioned driving environment data is data collected by sensors to represent the current driving environment of the vehicle, including but not limited to lidar data and camera data, which are not limited to this.

[0057] Among them, when the signal input module obtains the autonomous driving signal, it can adjust the torque flag and monitor the torque in the autonomous driving signal according to the verification signal in the autonomous driving signal, and then send it to the flag monitoring module.

[0058] For example, based on the above description, the verification signal can be used to verify the integrity of the autonomous driving signal to determine whether the autonomous driving signal is credible. Therefore, the signal input module can verify the autonomous driving signal based on the verification signal to generate a signal verification result, and adjust the torque flag and monitor the torque based on the signal verification result.

[0059] If the signal verification result is reliable, the signal input module can assume that the monitored torque is capable of accurately verifying the autonomous driving torque. Therefore, the signal input module can adjust the torque flag to the active flag while maintaining the monitored torque unchanged. Adjusting the torque flag to the active flag also allows subsequent modules to confirm that the monitored torque is available.

[0060] Correspondingly, if the signal verification result is unreliable, the signal input module may determine that the monitored torque cannot subsequently accurately verify the autonomous driving torque. Therefore, the signal input module may adjust the torque flag to the inactive flag and adjust the monitored torque to the preset torque value. The purpose of adjusting the torque flag to the inactive flag is also to enable subsequent modules to determine that the monitored torque is unavailable.

[0061] In one embodiment, the preset torque value can be set according to actual conditions and is not limited thereto. For example, the preset torque value can be 0 Nm.

[0062] It should be noted that if the signal verification result is determined to be unavailable, it can be assumed that there may be a fault in the vehicle's autonomous driving process. Therefore, setting the monitored torque to 0 Nm ensures that even if the subsequent flag monitoring module mistakenly determines that the torque flag input by the signal input module is the active flag (i.e., mistakenly determines that the monitored torque is available), the torque verification module will use a monitored torque of 0 Nm to verify the autonomous driving torque and will still determine that the autonomous driving torque is abnormal. This allows for accurate anomaly warnings, improving safety during the autonomous driving process.

[0063] S202 : When the control flag monitoring module determines that the torque flag is the activation flag, the control flag monitoring module sends the monitored torque to the torque verification module.

[0064] In one embodiment, the flag monitoring module may directly send the available monitored torque to the torque verification module upon determining that the torque flag is the activation flag. In another embodiment, the flag monitoring module may also simultaneously send the activation flag to the torque verification module so that the torque verification module determines that the monitored torque is the available torque.

[0065] It should be noted that in actual scenarios, there are usually multiple paths for transmitting autonomous driving signals, and each transmission path usually corresponds to an autonomous driving mode. For example, the transmission paths can be divided into high-performance transmission paths, medium-performance transmission paths, and low-performance transmission paths. Correspondingly, the autonomous driving modes can be divided into high-precision autonomous driving modes, medium-precision autonomous driving modes, and low-precision autonomous driving modes. Among them, the priority of the high-performance transmission path is higher than that of the medium-performance transmission path, and the priority of the medium-performance transmission path is higher than that of the low-performance transmission path.

[0066] Typically, when operating in autonomous driving mode, a vehicle needs to collect data about its surrounding driving environment, using methods including but not limited to lidar sensors and camera sensors. In this case, when both the lidar sensor and camera sensor are functioning properly, the lidar sensor and camera sensor can be used to collect lidar data and camera data, respectively. In this case, the collected driving environment data is considered to have the highest accuracy. Consequently, the autonomous driving function can accurately control the vehicle's autonomous driving based on high-precision driving environment data. An autonomous driving mode based on high-precision driving environment data can be considered a high-precision autonomous driving mode. Furthermore, when the lidar sensor is functioning properly but the camera sensor is malfunctioning, the driving environment data can be considered solely lidar data. In other words, the driving environment data has moderate accuracy. In this case, an autonomous driving mode based on moderately accurate driving environment data can be considered a medium-precision autonomous driving mode. Furthermore, when the lidar sensor is malfunctioning but the camera sensor is functioning properly, the driving environment data can be considered solely camera data. In other words, the driving environment data has low accuracy. In this case, an autonomous driving mode based on moderately accurate driving environment data can be considered a low-precision autonomous driving mode.

[0067] Based on the above description, it can be seen that the signal input module typically receives multiple autonomous driving signals and performs the aforementioned step S201 on each autonomous driving signal. Specifically, the signal input module adjusts the torque flag and monitoring torque for each path based on the verification signal for that path and transmits the adjusted torque flag and monitoring torque for each path to the flag monitoring module.

[0068] It is understood that the flag monitoring module will also receive the torque flags and monitored torques of multiple paths at this time. Based on this, the flag monitoring module can be controlled to determine the torque flag corresponding to each path in turn according to the priority of the multiple paths. When the torque flag is determined to be the active flag, it will send the active flag and the monitored torque of the same path as the active flag to the torque verification module.

[0069] Based on the above explanation of the autonomous driving mode, it can be considered that the priority of the path that transmits the autonomous driving signal corresponding to the high-precision driving environment data is higher than the priority of the path that transmits the autonomous driving signal corresponding to the medium-precision driving environment data, and higher than the priority of the path that transmits the autonomous driving signal corresponding to the low-precision driving environment data.

[0070] Based on this, the flag monitoring module can first determine whether the torque flag in the high-priority path is active. If so, it sends the monitored torque in the high-priority path. Otherwise, if the torque flag in the high-priority path is inactive, it determines whether the torque flag in the medium-priority path is active. This determination step is repeated until the torque flag is determined to be active, or until the flags on all paths are determined to be inactive.

[0071] In summary, when faced with autonomous driving signals transmitted across multiple paths, the flag monitoring module can process the signals sequentially based on the priority of the paths, transmitting the monitored torque in the optimal autonomous driving signal to the torque verification module for torque verification, allowing the vehicle to operate in a highly precise autonomous driving mode. Furthermore, even if the monitored torque in the optimal autonomous driving signal is unavailable, a downgraded approach can be adopted, using the monitored torque on paths with higher priorities for autonomous driving. This ensures vehicle driving safety while also avoiding unnecessary power interruptions caused by the unavailability of the monitored torque on a particular path.

[0072] The activation flag and the inactivation flag can be pre-set, and there is no limitation on this. For example, the activation flag can be "1" and the inactivation flag can be "None".

[0073] In addition, it should be added that when the autonomous driving signal also includes a trust flag and a sensor flag, at this time, the flag monitoring module not only needs to determine whether the torque flag is an activation flag, but also needs to determine whether the trust flag is a credible flag and whether the sensor flag is a fault-free flag. Afterwards, when the torque flag is an activation flag, the trust flag is a credible flag, and the sensor flag is a fault-free flag, it is determined that the monitored torque on the path is available. Then, the monitored torque on the path is sent to the torque verification module. Otherwise, when the torque flag is an inactive flag, or the trust flag is an untrustworthy flag, or the sensor flag is a fault flag, it is determined that the monitored torque on the path is unavailable. At this time, the flag monitoring module needs to perform the above judgment process on the autonomous driving signals on the remaining paths in sequence based on priority.

[0074] Among them, for high-precision driving environment data, since it requires both laser radar sensors and camera sensors to collect data, when any sensor fails, its sensor flag is the fault flag.

[0075] S203. The control torque verification module verifies the current automatic driving torque according to the monitoring torque to obtain a torque verification result.

[0076] In one embodiment, the autonomous driving torque may be a torque generated by a functional module (autonomous driving functional module) within the vehicle controller based on driving environment data within the autonomous driving signal. It should be noted that when autonomous driving modes of varying precision are employed, the generated autonomous driving torques will typically differ even in the same driving environment.

[0077] For example, high-precision driving environment data can accurately represent the vehicle's driving environment. Therefore, when the autonomous driving function generates an autonomous driving torque based on this high-precision driving environment data to control the vehicle's autonomous driving, driving hazards are generally avoided. For example, collisions with other vehicles are avoided. However, for low-precision driving environment data, to avoid collisions with other vehicles when the vehicle is autonomously driving based on the autonomous driving torque, it is generally necessary to reduce the vehicle's driving speed to ensure driving safety while achieving autonomous driving. In other words, the generated autonomous driving torque will be reduced.

[0078] Based on this, as explained above, the autonomous driving signal can also reflect sensor failures and determine whether the monitoring torque is available. Therefore, to further improve driving safety, the torque verification module needs to further determine the current autonomous driving torque based on the available monitoring torque.

[0079] For example, the torque verification module can calculate the difference between the monitored torque and the autonomous driving torque. If the difference is less than or equal to a preset value, the autonomous driving torque generated by the autonomous driving function can be considered normal. That is, the torque verification result is normal. Otherwise, if the difference is greater than the preset value, the autonomous driving torque generated by the autonomous driving function can be considered abnormal. That is, the torque verification result is abnormal. The preset value can be set according to actual circumstances and is not limited thereto.

[0080] In another embodiment, the torque verification module may further output a torque verification result of abnormal torque when the autonomous driving torque is greater than the monitoring torque, and output a torque verification result of normal torque when the autonomous driving torque is less than or equal to the monitoring torque.

[0081] In this embodiment, the method for verifying the automatic driving torque is not limited.

[0082] It should be noted that if the torque verification result indicates normal torque, it can be assumed that the vehicle can safely operate based on the autonomous driving torque. Therefore, the autonomous driving monitoring system can control the vehicle for autonomous driving based on the autonomous driving torque. For example, the torque verification module can generate a torque request including the autonomous driving torque and input it to the motor controller. The motor controller can respond to the torque request and provide the autonomous driving torque for vehicle operation.

[0083] Furthermore, if the torque verification result indicates an abnormal torque, it can be assumed that the vehicle's autonomous driving torque may not ensure safe driving. Therefore, to ensure driving safety, the autonomous driving monitoring system can implement a preset parking strategy. For example, it can generate an abnormality message and control the vehicle to execute the automatic parking function to pull over.

[0084] It should be noted that, as described in step S202 above, the flag monitoring module sends the monitored torque to the torque verification module upon determining that the torque flag is active. Furthermore, when the signal input module receives autonomous driving signals from multiple paths, it also inputs the torque flags and monitored torque corresponding to the multiple paths to the flag monitoring module. At this point, the flag monitoring module determines whether the torque flag is inactive, based on the priority of the paths.

[0085] However, if the flag monitoring module determines that the torque flags for all paths are in the inactive position, the flag monitoring module can output the high-priority inactive flag and monitored torque to the torque verification module. The torque verification module can then control the vehicle to execute a preset safe driving strategy if the torque flag is determined to be in the inactive position.

[0086] For example, the aforementioned safe driving strategies may include automatic parking, cruise control, or exiting the autonomous driving mode and placing the vehicle under driver control, without limitation. For example, if the monitored torque is unavailable, the torque verification module will be unable to determine whether the current autonomous driving torque is normal. Therefore, to ensure driving safety, the vehicle may automatically park by pulling over, maintain a fixed low speed, or continue driving under driver control.

[0087] In this embodiment, an autonomous driving monitoring system is implemented within the vehicle controller to perform safety verification on the autonomous driving torque generated during autonomous driving. Furthermore, to ensure the reliability of the autonomous driving monitoring system, the system is divided into multiple independent modules to process autonomous driving signals. Specifically, upon receiving the autonomous driving signal, the signal input module can adjust the torque flag and monitoring torque in the autonomous driving signal based on the verification signal within the signal, and then transmit the adjusted torque flag and monitoring torque to the flag monitoring module. In other words, the signal input module only needs to acquire and adjust the autonomous driving signal. Upon determining that the torque flag is active, the flag monitoring module transmits the monitoring torque to the torque verification module. In other words, the flag monitoring module only needs to transmit the monitoring torque based on the torque flag. The torque verification module verifies the current autonomous driving torque based on the monitoring torque and obtains a torque verification result. In other words, the torque verification module performs autonomous driving torque verification. Therefore, by processing the autonomous driving signal during autonomous driving torque verification, the autonomous driving monitoring system is functionally layered, divided into multiple independent functional modules to perform the aforementioned functions. This facilitates flexible and reliable safety monitoring of autonomous driving torque. This means that even if a module in the automated driving monitoring system experiences a systemic failure, it will not affect the normal operation of other independent modules, reducing the risk associated with automated driving torque verification. Furthermore, by dividing the automated driving monitoring system into these multiple independent modules, changes to the functional code of a single module during system design will not affect the functional code of other modules. Furthermore, by reducing the scope of code impact during design, the error rate during automated driving monitoring system design can be reduced, ensuring the correctness of the automated driving monitoring system.

[0088] As an example, refer to FIG3 , which is a schematic diagram of the structure of an automatic driving monitoring system provided by another embodiment of the present application. Among them, the CAN bus can send multiple automatic driving signals to the automatic driving function module and the signal input module respectively. The automatic driving function module can generate an automatic driving torque that conforms to the current driving environment based on the multiple automatic driving signals. When the signal input module obtains the multiple automatic driving signals, it can verify the automatic driving signal based on the verification signal in the automatic driving signal of each path, and adjust the torque flag and monitoring torque based on the verification result. Then, the torque flag and monitoring torque corresponding to each path after adjustment can be uniformly sent to the flag monitoring module.

[0089] The flag monitoring module then sequentially determines the torque flag corresponding to each path based on the priority of each path. If the torque flag is determined to be active, it sends the active flag and the monitored torque for the same path as the active flag to the torque verification module. In other words, only the monitored torque and the active flag for one path are sent to the torque verification module. When the torque verification module determines that the monitored torque is available, it verifies the autonomous driving torque based on the available monitored torque to obtain a torque verification result. Finally, if the torque verification result indicates normal torque, a torque request containing the autonomous driving torque is generated and sent to the motor controller, causing the motor controller to provide the autonomous driving torque for autonomous vehicle operation. Otherwise, if the torque verification result indicates abnormal torque, the vehicle is controlled to execute a preset parking strategy.

[0090] Please refer to Figure 4, which is a structural block diagram of an automatic driving monitoring system provided by another embodiment of the present application. The modules included in the automatic driving monitoring system in this embodiment are used to execute the steps in the embodiments corresponding to Figures 2 and 3. Please refer to Figures 2 and 3 and the relevant descriptions in the embodiments corresponding to Figures 2 and 3 for details. For ease of explanation, only the parts related to this embodiment are shown. Referring to Figure 4, the automatic driving monitoring system 400 may include: a signal input module 410, a flag monitoring module 420 and a torque verification module 430, wherein:

[0091] The signal input module 410 is used to adjust the torque flag and monitoring torque in the autonomous driving signal according to the verification signal in the autonomous driving signal when the autonomous driving signal is obtained, and send the adjusted torque flag and monitoring torque to the flag monitoring module.

[0092] The flag monitoring module 420 is configured to send the monitored torque to the torque verification module when determining that the torque flag is an activation flag.

[0093] The torque verification module 430 is used to verify the current automatic driving torque according to the monitoring torque to obtain a torque verification result.

[0094] In one embodiment, the signal input module 410 is further configured to:

[0095] The automatic driving signal is verified according to the verification signal to generate a signal verification result, and the torque flag is adjusted and the torque is monitored according to the signal verification result.

[0096] In one embodiment, the signal input module 410 is further configured to:

[0097] When the signal verification result is determined to be credible, the torque flag is adjusted to the activation flag and the monitored torque is kept unchanged; when the signal verification result is determined to be uncredible, the torque flag is adjusted to the inactivation flag and the monitored torque is adjusted to the preset torque value.

[0098] In one embodiment, the torque verification module 430 is further configured to:

[0099] If the automatic driving torque is greater than the monitoring torque, the output torque verification result is torque abnormality; if the automatic driving torque is less than or equal to the monitoring torque, the output torque verification result is torque normal.

[0100] In one embodiment, the autonomous driving monitoring system 400 further includes:

[0101] The first control module is configured to control the vehicle to execute a preset parking strategy if the torque verification result is abnormal torque.

[0102] The second control module is used to control the vehicle to perform automatic driving based on the monitored torque if the torque verification result shows that the torque is normal.

[0103] In one embodiment, the autonomous driving monitoring system 400 further includes:

[0104] The output module is used to output the inactive flag and the monitored torque to the torque verification module when the torque flag is the inactive flag.

[0105] The third control module is used to control the torque verification module to control the vehicle to execute a preset safe driving strategy when it determines that the torque flag is an inactivated flag.

[0106] In one embodiment, there are multiple paths for transmitting the autonomous driving signal;

[0107] The signal input module is further configured to: upon acquiring the automatic driving signal on each path, adjust the torque flag and monitoring torque on the corresponding path based on the verification signal on each path, and transmit the adjusted torque flag and monitoring torque on each path to the flag monitoring module;

[0108] The flag monitoring module is also used to: determine the torque flag corresponding to each path in turn according to the priority of multiple paths, and when it is determined that the torque flag is an activation flag, send the activation flag and the monitoring torque on the same path as the activation flag to the torque verification module.

[0109] It should be understood that in the structural block diagram of the automatic driving monitoring system shown in Figure 4, each module is used to execute each step in the embodiments corresponding to Figures 2 and 3, and each step in the embodiments corresponding to Figures 2 and 3 has been explained in detail in the above embodiments. Please refer to Figures 2 and 3 and the relevant descriptions in the embodiments corresponding to Figures 2 and 3 for details, and no further details will be given here.

[0110] FIG5 is a block diagram of a vehicle according to an embodiment of the present application. As shown in FIG5 , the vehicle 500 of this embodiment includes: a processor 510, a memory 520, and a computer program 530 stored in the memory 520 and executable on the processor 510, such as a program for an autonomous driving torque verification method. When the processor 510 executes the computer program 530, the steps in each embodiment of the autonomous driving torque verification method described above are implemented, such as S201 to S203 shown in FIG2 . Alternatively, when the processor 510 executes the computer program 530, the functions of each module in the embodiment corresponding to FIG4 described above are implemented, such as the functions of each module shown in FIG4 . For details, please refer to the relevant description in the embodiment corresponding to FIG4 .

[0111] For example, computer program 530 can be divided into one or more modules, one or more of which are stored in memory 520 and executed by processor 510 to implement the autonomous driving torque verification method provided in the embodiments of the present application. One or more modules can be a series of computer program instruction segments capable of performing specific functions, and the instruction segments are used to describe the execution process of computer program 530 in vehicle 500. For example, computer program 530 can implement the autonomous driving torque verification method provided in the embodiments of the present application.

[0112] Vehicle 500 may include, but is not limited to, a processor 510 and a memory 520. Those skilled in the art will appreciate that FIG5 is merely an example of vehicle 500 and does not limit the scope of vehicle 500 . Vehicle 500 may include more or fewer components than shown, or a combination of certain components, or different components. For example, a vehicle may also include input and output devices, network access devices, buses, and the like.

[0113] The processor 510 may be a central processing unit, or other general-purpose processor, a digital signal processor, an application-specific integrated circuit, an off-the-shelf programmable gate array or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0114] The memory 520 may be an internal storage unit of the vehicle 500, such as a hard drive or memory of the vehicle 500. The memory 520 may also be an external storage device of the vehicle 500, such as a plug-in hard drive, smart memory card, flash memory card, etc. equipped on the vehicle 500. Furthermore, the memory 520 may include both an internal storage unit of the vehicle 500 and an external storage device.

[0115] An embodiment of the present application provides a computer-readable storage medium, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the automatic driving torque verification method as described in the above-mentioned embodiments is implemented.

[0116] An embodiment of the present application provides a computer program product. When the computer program product is run on a vehicle, the vehicle executes the automatic driving torque verification method in the above-mentioned embodiments.

[0117] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. These modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present application, and should all be included in the scope of protection of the present application. Industrial Applicability

[0118] The autonomous driving torque verification method, autonomous driving monitoring system, vehicle, and medium provided by this disclosure ensure that even if a systemic failure occurs in a module within the autonomous driving monitoring system, the normal operation of other independent modules will not be affected, thus reducing the risk associated with autonomous driving torque verification. Furthermore, by dividing the autonomous driving monitoring system into these multiple independent modules, changes to the functional code of a single module during the design of the autonomous driving monitoring system will not affect the functional codes of other modules. Furthermore, by reducing the scope of code impact during design, the error rate during autonomous driving monitoring system design can be reduced, ensuring the correctness of the autonomous driving monitoring system, thus possessing strong industrial applicability.

Claims

1. A method for calibrating torque in an automatic driving vehicle, characterized in that: Applied to an autonomous driving monitoring system, the autonomous driving monitoring system includes a signal input module, a flag monitoring module, and a torque verification module, and the method includes: controlling the signal input module to adjust the torque flag and the monitoring torque in the autonomous driving signal according to the verification signal in the autonomous driving signal when acquiring the autonomous driving signal, and sending the adjusted torque flag and the monitoring torque to the flag monitoring module; controlling the flag monitoring module to send the monitored torque to the torque verification module when determining that the torque flag is an activation flag; The torque verification module is controlled to verify the current automatic driving torque according to the monitoring torque to obtain a torque verification result.

2. The method according to claim 1, characterized in that The adjusting the torque flag in the autonomous driving signal and monitoring the torque according to the verification signal in the autonomous driving signal includes: The signal input module is controlled to verify the automatic driving signal according to the verification signal to generate a signal verification result, and the torque flag and the monitoring torque are adjusted according to the signal verification result.

3. The method according to claim 2, characterized in that The adjusting the torque flag and the monitoring torque according to the signal verification result includes: controlling the signal input module to adjust the torque flag to the activation flag and keep the monitored torque unchanged when determining that the signal verification result is credible; When the signal verification result is determined to be unreliable, the signal input module is controlled to adjust the torque flag to an inactivated flag and adjust the monitored torque to a preset torque value.

4. The method according to claim 1, wherein The controlling the torque verification module to verify the current automatic driving torque according to the monitoring torque to obtain a torque verification result includes: If the automatic driving torque is greater than the monitoring torque, controlling the torque verification module to output the torque verification result as torque abnormality; If the automatic driving torque is less than or equal to the monitoring torque, the torque verification module is controlled to output the torque verification result as normal torque.

5. The method according to claim 4, characterized in that After controlling the torque verification module to verify the current automatic driving torque according to the monitoring torque and obtaining a torque verification result, the method further includes: If the torque verification result is that the torque is abnormal, controlling the vehicle to execute a preset parking strategy; If the torque verification result shows that the torque is normal, the vehicle is controlled to perform automatic driving based on the monitored torque.

6. The method according to claim 1, characterized in that The method further comprises: When the torque flag is an inactive flag, outputting the inactive flag and the monitored torque to the torque verification module; The torque verification module is controlled to control the vehicle to execute a preset safe driving strategy when determining that the torque flag is the inactivated flag.

7. The method according to claim 1, characterized in that There are multiple paths for transmitting the autonomous driving signal; the method further includes: controlling the signal input module to adjust the torque flag and the monitoring torque on each path based on the verification signal when acquiring the automatic driving signal on each path, and sending the adjusted torque flag and the monitoring torque on each path to the flag monitoring module; The flag monitoring module is controlled to determine the torque flag corresponding to each path in turn according to the priority of the multiple paths, and when it is determined that the torque flag is the activation flag, the activation flag and the monitored torque on the same path as the activation flag are sent to the torque verification module.

8. An automatic driving monitoring system, characterized in that: The automatic driving monitoring system includes an independently packaged signal input module, a flag monitoring module, and a torque verification module: the flag monitoring module is data-connected to the signal input module and the torque verification module respectively; The signal input module obtains the automatic driving signal and sends the torque flag and the monitoring torque to the flag monitoring module; The flag monitoring module sends the monitored torque to the torque verification module; The torque verification module generates a torque verification result.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 7 is implemented.

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