阅读说明：本技术 一种自动驾驶系统和方法 (Automatic driving system and method ) 是由 叶凌峡 于 2021-08-23 设计创作，主要内容包括：本发明实施例公开了一种自动驾驶系统和方法。其中,系统包括：主控驾驶模块和备用驾驶模块；主控驾驶模块和备用驾驶模块之间通信连接；备用驾驶模块,用于通过单感知设备对目标车辆的驾驶环境进行检测,得到第一环境感知结果,并根据第一环境感知结果生成备用驾驶策略；其中,备用驾驶策略用于在确定主控驾驶模块的工作状态异常的情况下输出至目标车辆的控制系统,以根据备用驾驶策略对目标车辆进行自动驾驶控制；单感知设备不存在于主控驾驶模块中。本发明实施例可以有效提高自动驾驶系统的可靠性,节约系统部署成本,加快落地进度。(The embodiment of the invention discloses an automatic driving system and method. Wherein, the system includes: the main control driving module and the standby driving module; the main control driving module is in communication connection with the standby driving module; the standby driving module is used for detecting the driving environment of the target vehicle through the single sensing equipment to obtain a first environment sensing result and generating a standby driving strategy according to the first environment sensing result; the standby driving strategy is used for outputting to a control system of the target vehicle under the condition that the working state of the main control driving module is determined to be abnormal, so that automatic driving control is carried out on the target vehicle according to the standby driving strategy; the single sensing device is not present in the master driving module. The embodiment of the invention can effectively improve the reliability of the automatic driving system, save the deployment cost of the system and accelerate the landing progress.)

1. An automatic driving system provided in a target vehicle, comprising: the main control driving module and the standby driving module; the main control driving module is in communication connection with the standby driving module; wherein:

the standby driving module is used for detecting the driving environment of the target vehicle through single sensing equipment to obtain a first environment sensing result and generating a standby driving strategy according to the first environment sensing result;

the standby driving strategy is used for outputting the standby driving strategy to a control system of the target vehicle under the condition that the working state of the main control driving module is determined to be abnormal, so that automatic driving control is carried out on the target vehicle according to the standby driving strategy; the single sensing device is not present in the master driving module.

2. The system of claim 1, wherein the backup driving module is further configured to send the first environmental awareness result to the master driving module;

the main control driving module is used for receiving the first environment perception result and detecting the driving environment through the multi-perception device to obtain a second environment perception result; generating a master control driving strategy according to the first environment perception result and the second environment perception result;

and the master control driving strategy is used for outputting the working state of the master control driving module to the control system under the condition that the working state of the master control driving module is determined to be normal, so that automatic driving control is carried out on the target vehicle according to the master control driving strategy.

3. The system of claim 2, wherein the single perception device is a visual perception device for acquiring the driving environment in a first spatial range;

the multi-perception device comprises at least one type of radar perception device and at least one type of visual perception device and is used for acquiring the driving environment in a second space range;

wherein the multi-sensing device does not include the single sensing device, and the second spatial range is greater than the first spatial range.

4. The system according to claim 2, wherein the single sensing device is configured to detect the driving environment, obtain the first environment sensing result, and send the first environment sensing result to the fusion algorithm sub-module of the main control driving module;

the master control driving module comprises: the multi-perception device, the fusion algorithm submodule and the master control decision submodule; wherein:

the multi-sensing equipment is used for detecting the driving environment to obtain a second environment sensing result and sending the second environment sensing result to the fusion algorithm submodule;

the fusion algorithm submodule is used for receiving the first environment sensing result and the second environment sensing result, performing fusion processing on the first environment sensing result and the second environment sensing result, obtaining a fusion result and sending the fusion result to the master control decision submodule;

and the master control decision submodule is used for generating a master control driving strategy according to the fusion result.

5. The system of claim 2, further comprising: a switching module;

the switching module is in communication connection with the standby driving module and the main control driving module and is used for acquiring the working state of the main control driving module; under the condition that the working state of the main control driving module is determined to be abnormal, the standby driving strategy is output to the control system; and under the condition that the working state of the main control driving module is determined to be normal, outputting the main control driving strategy to the control system.

6. The system of claim 5, wherein the switching module is further configured to:

under the condition that the working state of the main control driving module is determined to be abnormal, generating a manual takeover indicating signal and a speed reduction control signal;

the manual taking-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the speed reduction control signal is used for controlling the target vehicle to run at a reduced speed until the user takes over driving.

7. The system of claim 5, wherein the switching module is further configured to:

under the condition that the working state of the main control driving module is determined to be abnormal, the working state of the standby driving module is obtained;

under the condition that the working state of the standby driving module is determined to be abnormal, generating a manual take-over indicating signal and an automatic parking control signal;

the manual taking-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the automatic parking control signal is used for controlling the target vehicle to enter an automatic parking mode until the user takes over driving.

8. An automatic driving method is characterized by being applied to an automatic driving system and comprising the following steps:

detecting the driving environment of the target vehicle through single sensing equipment in the standby driving module to obtain a first environment sensing result;

generating a standby driving strategy according to the first environment perception result through the standby driving equipment;

under the condition that the working state of the main control driving module is determined to be abnormal, the standby driving strategy is output to a control system of the target vehicle, so that automatic driving control is carried out on the target vehicle according to the standby driving strategy;

wherein the single perception device is not present in the master driving module.

9. The method of claim 8, further comprising:

sending the first environment perception result to the main control driving module through the standby driving module;

receiving the first environment perception result through the main control driving module, and detecting the driving environment through a multi-perception device to obtain a second environment perception result;

generating a master control driving strategy according to the first environment perception result and the second environment perception result through the master control driving module;

and under the condition that the working state of the main control driving module is determined to be normal, the main control driving strategy is output to the control system, so that automatic driving control is carried out on the target vehicle according to the main control driving strategy.

10. The method of claim 9, wherein generating a master driving strategy from the first environmental awareness result and the second environmental awareness result comprises:

performing fusion processing on the first environment sensing result and the second environment sensing result to obtain a fusion result;

and generating a master control driving strategy according to the fusion result.

11. The method of claim 9, further comprising:

acquiring the working state of the main control driving module through a switching module;

the control system outputting the backup driving strategy to the target vehicle includes:

outputting, by the switching module, the backup driving strategy to the control system;

the outputting the master driving maneuver to the control system includes:

and outputting the main control driving strategy to the control system through the switching module.

12. The method according to claim 11, further comprising, after the obtaining of the operating status of the master driving module through the switching module:

under the condition that the working state of the main control driving module is determined to be abnormal, generating a manual takeover indicating signal and a deceleration control signal through the switching module;

the manual taking-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the speed reduction control signal is used for controlling the target vehicle to run at a reduced speed until the user takes over driving.

13. The method according to claim 11, further comprising, after the obtaining of the operating status of the master driving module through the switching module:

under the condition that the working state of the main control driving module is determined to be abnormal, the working state of the standby driving module is obtained through the switching module;

under the condition that the working state of the standby driving module is determined to be abnormal, generating a manual takeover indicating signal and an automatic parking control signal through the switching module;

the manual taking-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the automatic parking control signal is used for controlling the target vehicle to enter an automatic parking mode until the user takes over driving.

Technical Field

The embodiment of the invention relates to the technical field of intelligent automobiles, in particular to an automatic driving system and method.

Background

One of the key factors in determining the reliability of an autopilot system is how to deal with system failures. In the prior art, a redundant system design scheme is usually adopted in an automatic driving automobile, and two sets of completely identical automatic driving systems are deployed in the automobile, so that when any one system fails, the other system can be started to ensure the safety of an automatic driving function.

However, in the method provided by the prior art, the deployment cost of the redundant system is high, the system installation is complex, and the control of the product cost and the promotion of the landing progress are not facilitated; at the same time, the risk of common cause failure cannot be avoided by the completely same system functions.

Disclosure of Invention

The embodiment of the invention provides an automatic driving system and method, which aim to improve the reliability of the automatic driving system, save the deployment cost of the system and accelerate the landing progress.

In a first aspect, an embodiment of the present invention provides an automatic driving system, including: the main control driving module and the standby driving module; the main control driving module is in communication connection with the standby driving module; wherein:

the standby driving module is used for detecting the driving environment of the target vehicle through single sensing equipment to obtain a first environment sensing result and generating a standby driving strategy according to the first environment sensing result;

the standby driving strategy is used for outputting the standby driving strategy to a control system of the target vehicle under the condition that the working state of the main control driving module is determined to be abnormal, so that automatic driving control is carried out on the target vehicle according to the standby driving strategy; the single sensing device is not present in the master driving module.

In a second aspect, an embodiment of the present invention further provides an automatic driving method, which is applied to an automatic driving system, and includes:

detecting the driving environment of the target vehicle through single sensing equipment in the standby driving module to obtain a first environment sensing result;

generating a standby driving strategy according to the first environment perception result through the standby driving equipment;

under the condition that the working state of the main control driving module is determined to be abnormal, the standby driving strategy is output to a control system of the target vehicle, so that automatic driving control is carried out on the target vehicle according to the standby driving strategy;

wherein the single perception device is not present in the master driving module.

The embodiment of the invention arranges the main control driving module and the standby driving module which are in communication connection with each other in the automatic driving system, wherein the standby driving module is provided with the single sensing equipment which is not arranged in the main control driving module and can detect the driving environment of the target vehicle through the single sensing equipment to obtain a first environment sensing result and generate a standby driving strategy according to the first environment sensing result, so that the standby driving strategy can be output to the control system of the target vehicle under the condition of determining that the working state of the main control driving module is abnormal, the automatic driving control is carried out on the target vehicle according to the standby driving strategy, the safety of the automatic driving function under the fault condition is ensured through the non-redundant double driving modules, the cost improvement problem and the potential common cause failure risk caused by the redundant system design in the prior art are avoided, and the reliability of the automatic driving system is effectively improved, the system deployment cost is saved, and the landing progress is accelerated.

Drawings

Fig. 1 is a schematic diagram of an automatic driving system according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of an automatic driving system according to a second embodiment of the present invention.

Fig. 3 is a schematic diagram of another automatic driving system according to a second embodiment of the present invention.

Fig. 4 is a schematic diagram of a working flow of a switching module according to a second embodiment of the present invention.

Fig. 5 is a flowchart of an automatic driving method according to a third embodiment of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.

It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.

Example one

Fig. 1 is a schematic diagram of an automatic driving system according to an embodiment of the present invention, where the system provided in this embodiment is applicable to a case where an automatic driving control is performed on a target vehicle by the automatic driving system, and may be implemented by software and/or hardware, and may be generally integrated in a computer device and configured on the target vehicle. Accordingly, as shown in fig. 1, the system comprises: the main control driving module 110 and the standby driving module 120 are in communication connection with each other.

The standby driving module 120 is configured to detect a driving environment of the target vehicle through the single sensing device to obtain a first environment sensing result, and generate a standby driving strategy according to the first environment sensing result. The backup driving strategy is used for outputting to a control system of the target vehicle in case that it is determined that the operation state of the main driving module 110 is abnormal, so as to perform automatic driving control of the target vehicle according to the backup driving strategy.

Specifically, the target vehicle may be any vehicle that needs to be configured with an automatic driving function, and the target vehicle includes a control system, which may be in communication with the automatic driving system to receive a driving strategy output by the automatic driving system, and perform automatic driving control on the target vehicle according to the received driving strategy. The single perception device may be a device that detects the driving environment in a single form, for example, may be a visual sensor that detects the driving environment in the form of an image. The single awareness device is deployed in the backup driving module 120 and is not present in the master driving module 110. The driving environment of the target vehicle may include environmental factors affecting the traveling of the target vehicle in a space where the target vehicle is located, and may include, for example, road conditions on which the target vehicle travels, road traffic guidance signals, and obstacle conditions in a space around the target vehicle. The first environment sensing result may be detection data obtained by detecting the driving environment of the target vehicle by the single sensing device, and the data describing environmental factors affecting the traveling of the target vehicle may include, for example, a lane line recognition result, a vehicle recognition result, a pedestrian recognition result, a travelable region recognition result, and the like. The backup driving strategy may be a scheme for controlling the target vehicle generated according to the first environmental awareness result, and may include, for example, a planned driving path and a control scheme for devices in the target vehicle.

Accordingly, the backup driving module 120 is disposed in the automatic driving system and configured in the target vehicle, and the driving environment of the target vehicle can be detected in real time through the single sensing device disposed therein during the driving process of the target vehicle. The driving environment is detected through the single sensing equipment, a first environment sensing result can be obtained, and therefore a standby driving strategy suitable for the driving environment of the target vehicle can be generated according to the first environment sensing result. The specific method for generating the backup driving strategy according to the first environmental awareness result may be any method adopted in the automatic driving technology, and is not limited herein.

Further, the single sensing device in the standby driving module 120 is different from any sensing device deployed in the main control driving module 110, so that redundancy is not caused, and when the sensing device in the main control driving module 110 fails due to a failure caused by an environmental factor, the single sensing device can avoid the failure caused by the same environmental factor due to different working principles, and can be used for detecting the driving environment of the target vehicle. Meanwhile, the standby driving module 120 may obtain a first environment sensing result according to a detection result of the single sensing device and generate a standby driving strategy, independently from the main driving module 110. Therefore, the automatic driving system avoids the common cause failure of the backup driving module 120 and the main driving module 110 in the above-mentioned complete process, and when the working state of the main driving module 110 is abnormal, the backup driving strategy obtained by the backup driving module 120 according to the detection result of the single sensing module can be output to the control system of the target vehicle, so as to perform automatic driving control on the target vehicle according to the backup driving strategy.

The working state of the main control driving module 110 may be monitored by the standby driving module 120, or may be monitored by any other module disposed in the automatic driving system or the target vehicle, which is not limited herein. The backup driving strategy may be output to the control system through the backup driving module 120 when determining that the working state of the main driving module 110 is abnormal, or may be output to any other module disposed in the autonomous driving system or the target vehicle through the backup driving module 120, and the module outputs to the control system when determining that the working state of the main driving module 110 is abnormal, which is not limited herein. The specific method of performing the automatic driving control on the target vehicle according to the backup driving strategy may be any method adopted in the automatic driving technology, and is not limited herein.

In an optional implementation manner of the embodiment of the present invention, the standby driving module 120 may be further configured to send the first environmental awareness result to the main control driving module 110; the main control driving module 110 may be configured to receive the first environment sensing result, and detect the driving environment through the multi-sensing device to obtain a second environment sensing result; and generating a master control driving strategy according to the first environment perception result and the second environment perception result.

The master control driving strategy is used for outputting the information to the control system under the condition that the working state of the master control driving module is determined to be normal, so that automatic driving control is carried out on the target vehicle according to the master control driving strategy.

Specifically, the multi-sensing device may include a device that detects the driving environment in various forms, and may include, for example, a millimeter wave radar and a camera. The multi-sensing device is deployed in the master driving module 110 and does not include a single sensing device therein. The second environmental sensing result may be detection data obtained by detecting the driving environment of the target vehicle by the multi-sensing device, and is used to describe data of environmental factors affecting the driving of the target vehicle. The master control driving strategy may be a scheme for controlling the target vehicle, which is generated by integrating the first environmental perception result and the second environmental perception result.

Accordingly, the main control driving module 110 is deployed in the automatic driving system and configured in the target vehicle, and during the driving process of the target vehicle, the driving environment of the target vehicle can be detected in real time through the deployed multi-sensing devices. And detecting the driving environment through the multi-sensing equipment to obtain a second environment sensing result.

Further, after obtaining the first environment sensing result, the standby driving module 120 may send the first environment sensing result to the main control driving module 110, and then the main control driving module 110 may obtain the first environment sensing result and the second environment sensing result. Because the single sensing device deployed in the standby driving module 120 is different from the multi-sensing device 110 deployed in the main control driving module 110, the single sensing device and the multi-sensing device can be used as a supplement of a detection form, and the main control driving module 110 generates a main control driving strategy by integrating the first environment sensing result and the second environment sensing result, so that the single sensing device and the multi-sensing device can be fully utilized, more accurate driving environment detection data can be obtained, and the matching degree of the main control driving strategy and the driving environment can be improved. Therefore, in the case that it is determined that the operating state of the master control driving module is normal, the master control driving strategy may be output to the control system to perform automatic driving control on the target vehicle according to the master control driving strategy.

The specific method for generating the main control driving strategy according to the first environmental perception result and the second environmental perception result may be any method adopted in the automatic driving technology, and is not limited herein. The working state of the main control driving module 110 may be monitored by the main control driving module 110 itself, or may be monitored by any other module disposed in the automatic driving system or the target vehicle, which is not limited herein. The main control driving strategy may be output to the control system through the main control driving module 110 when the working state of the main control driving module 110 is determined to be normal, or may be output to any other module deployed in the autonomous driving system or the target vehicle through the main control driving module 110, and the module outputs to the control system when the working state of the main control driving module 110 is determined to be normal, which is not limited herein. The specific method for performing automatic driving control on the target vehicle according to the master control driving strategy may be any method adopted in the automatic driving technology, and is not limited herein.

In an optional implementation manner of the embodiment of the present invention, the single sensing device may be configured to detect the driving environment to obtain a first environment sensing result, and send the first environment sensing result to the fusion algorithm sub-module of the main control driving module 110; the master driving module 110 may include: the system comprises a multi-perception device, a fusion algorithm submodule and a main control decision submodule.

The multi-sensing equipment is used for detecting the driving environment to obtain a second environment sensing result, and sending the second environment sensing result to the fusion algorithm submodule. And the fusion algorithm submodule is used for receiving the first environment sensing result and the second environment sensing result, performing fusion processing on the first environment sensing result and the second environment sensing result, obtaining a fusion result and sending the fusion result to the main control decision submodule. And the master control decision submodule is used for generating a master control driving strategy according to the fusion result.

Correspondingly, after the single sensing device acquires the first environment sensing result, the first environment sensing result can be directly sent to the fusion algorithm submodule, and then the multi-sensing device acquires the second environment sensing result and then also can be sent to the fusion algorithm submodule, so that the acquisition and transmission processes of the first environment sensing result and the second environment sensing result before fusion processing are mutually independent, the acquisition and/or transmission of the first environment sensing result and the second environment sensing result by relying on the same module are avoided, and the risk of common cause failure is further avoided. The fusion algorithm submodule can synchronously receive a first environment sensing result sent by the single sensing device and a second environment sensing result sent by the multi-sensing device, and fusion processing is carried out to obtain a fusion result. The fusion processing may be an operation of mapping different types of detection data into specific types of data to synthesize all detection data to obtain data representing a final unified result, and a specific method of the fusion processing may be determined according to the detection data of the single sensing device and the multiple sensing devices, which is not limited herein. The fusion result can describe environmental factors influencing the running of the target vehicle in the driving environment obtained by integrating the first environment perception result and the second environment perception result. Therefore, after the fusion algorithm submodule obtains the fusion result, the fusion result can be sent to the main control decision submodule, so that the main control driving strategy is generated by the main control decision submodule according to the fusion result, and the main control driving strategy is generated by integrating the first environment sensing result and the second environment sensing result.

According to the embodiment, the single sensing device directly sends the first environment sensing result to the fusion algorithm submodule, so that the working states of the single sensing device and the multi-sensing device are independent, the risk of common cause failure is further avoided, and the automatic driving reliability is improved.

Optionally, the backup driving module 120 may specifically include a single sensing device and a backup decision sub-module.

The single sensing equipment is used for detecting the driving environment to obtain a first environment sensing result and sending the first environment sensing result to the standby decision submodule. And the standby decision sub-module is used for receiving the first environment perception result and generating a standby driving strategy according to the first environment perception result.

Correspondingly, the standby driving module 120 may obtain the first environment sensing result through the single sensing device, and send the first environment sensing result to the standby decision sub-module through the single sensing device, so as to generate the standby driving strategy according to the first environment sensing result through the standby decision sub-module.

In the above embodiment, the detection process of the driving environment and the driving decision generation process in the standby driving module 120 are deployed in two sub-modules, so that the working state of the single sensing module is prevented from being affected when the standby decision sub-module fails, the working state of the standby decision sub-module is prevented from being affected on the working state of the main control driving module 110, and the reliability of the main control driving module 110 is improved.

In an optional implementation manner of the embodiment of the present invention, the single sensing device is a visual sensing device, and is configured to acquire the driving environment within a first spatial range; the multi-perception device comprises at least one type of radar perception device and at least one type of visual perception device and is used for acquiring the driving environment in a second space range.

Wherein the multi-sensing device does not include the single sensing device, and the second spatial range is greater than the first spatial range.

Specifically, the visual perception device may be a device for real-time detection of an environment based on machine vision, and may be configured to a target vehicle. The radar-aware device may be a device that detects the environment in real time based on radar technology, and may be deployed in a target vehicle. The first spatial range may be a range formed by fanning out the target vehicle as a center of a circle to both sides by a certain degree with the traveling direction of the target vehicle as a center. The second spatial range may be a range formed by fanning out the target vehicle as a center to both sides by a certain degree with the traveling direction of the target vehicle as a center.

Accordingly, the visual perception device is adopted as the single perception device, and the detection range of the visual perception device can be set to be the first space range by being installed at a proper position of the target vehicle. By adopting at least one type of radar sensing equipment and at least one type of visual sensing equipment, the detection ranges of the radar sensing equipment and the visual sensing equipment can be overlapped into a second space range by respectively installing the sensing equipment at different positions of the target vehicle. Optionally, the single sensing device and the multiple sensing devices are installed at different positions and have independent power supplies, so as to further avoid the risk of common cause failure.

Optionally, the single sensing device may be a 100-degree wide viewing angle vision sensor, and the first spatial range may be within a viewing angle range in front of the target vehicle; the multi-sensing device may include 5 millimeter wave radars and 1 forward camera, wherein the 5 millimeter wave radars include 1 forward millimeter wave radar and 4 lateral millimeter wave radars, and the second spatial range may cover a space of 360 degrees around the body of the target vehicle.

The embodiment of the invention provides an automatic driving system, which is characterized in that a main control driving module and a standby driving module which are in communication connection with each other are deployed in the automatic driving system, wherein a single sensing device which is not in the main control driving module is deployed in the standby driving module, the driving environment of a target vehicle can be detected through the single sensing device to obtain a first environment sensing result, and a standby driving strategy is generated according to the first environment sensing result, so that the standby driving strategy can be output to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, the automatic driving control is carried out on the target vehicle according to the standby driving strategy, the safety of an automatic driving function under the fault condition is ensured through non-redundant double driving modules, the cost improvement problem and the potential common cause failure risk caused by the redundant system design in the prior art are avoided, the reliability of the automatic driving system is effectively improved, the system deployment cost is saved, and the landing progress is accelerated.

Example two

Fig. 2 is a schematic diagram of an automatic driving system according to a second embodiment of the present invention. As shown in fig. 2, on the basis of the above embodiment, the present embodiment further discloses an internal structure of an automatic driving system, and the automatic driving system may further include: a switching module 130.

The switching module 130 is in communication connection with the standby driving module 120 and the main control driving module 110, and is configured to obtain a working state of the main control driving module 110; under the condition that the working state of the main control driving module 110 is determined to be abnormal, outputting a standby driving strategy to the control system; and under the condition that the working state of the main control driving module 110 is determined to be normal, outputting the main control driving strategy to the control system.

Accordingly, the switching module 130 may obtain the working state of the main control driving module 110 based on the communication connection with the main control driving module 110, so that the working state of the main control driving module 110 at any time may be determined. The specific method for acquiring the working state of the master control driving module 110 may be any method that can be implemented, and is not limited herein, and for example, the method may be a method for transmitting a heartbeat signal between the switching module 130 and the master control driving module 110.

Further, the switching module 130 may further obtain a master driving policy generated by the master driving module 110 based on the communication connection with the master driving module 110; the backup driving strategy generated by the backup driving module 120 may be obtained based on the communication connection with the backup driving module 120. The master driving strategy may be actively acquired from the master driving module 110 by the switching module 130, or may be sent from the master driving module 110 to the switching module 130 and received by the switching module 130, which is not limited herein; the backup driving strategy may be actively acquired by the switching module 130 from the backup driving module 120, or may be sent by the backup driving module 120 to the switching module 130 and received by the switching module 130, which is not limited herein.

Therefore, the switching module 130 may send the backup driving strategy to the control system in case it is determined that the operating state of the main control driving module 110 is abnormal; under the condition that the working state of the master control driving module 110 is determined to be normal, the master control driving strategy can be sent to the control system, so that the driving strategy can be switched according to the working state of the master control driving module, and automatic driving control of the target vehicle can be ensured according to the driving strategy accurately matched with the driving environment.

In an optional implementation manner of the embodiment of the present invention, the switching module 130 may further be configured to: and under the condition that the working state of the main control driving module 110 is determined to be abnormal, generating a manual takeover indicating signal and a deceleration control signal.

The manual taking-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the speed reduction control signal is used for controlling the target vehicle to run at a reduced speed until the user takes over driving.

Accordingly, in the case where the operating state of the main control driving module 110 is abnormal, the target vehicle may be automatically driven only according to the backup driving strategy. The standby driving strategy is generated according to the first environment sensing result detected by the single sensing equipment, the single sensing equipment can only detect the driving environment in a single form, and the multi-sensing equipment can detect the driving environment in different forms, so that the reliability of the first environment sensing result is lower than that of the second environment sensing result and the combination result of the first environment sensing result and the second environment sensing result, and the reliability of the standby driving strategy is lower than that of the main control driving strategy generated by integrating the first environment sensing result and the second environment sensing result. Therefore, although the target vehicle may be automatically driven according to the backup driving strategy when the operating state of the main control driving module 110 is abnormal, the reliability of automatic driving is reduced, and a corresponding safety strategy is required to avoid safety risk caused by the reduced reliability. Through the switching module 130, the manual takeover indication signal and the deceleration control signal may be generated in case that it is determined that the operating state of the main control driving module 110 is abnormal.

Specifically, the target vehicle can be indicated to prompt the user to take over driving through the manual taking over indication signal, and then the user can timely know the abnormal state and take over driving, so that the time for automatically driving and controlling the target vehicle only by depending on the standby driving strategy generated by the standby driving module 120 is shortened, and the risk of reliability reduction is avoided. Optionally, the specific content of the manual takeover indication signal is not limited herein, and may include, for example, indicating the target vehicle to prompt the user about the current operating state of the main driving module 110 and/or the standby driving module 120, or prompting the user by a light, a screen display content, or a voice. The target vehicle can be controlled to run at a reduced speed through the speed reduction control signal, so that the safety is further improved in the process of automatically controlling the target vehicle by only depending on the standby driving strategy generated by the standby driving module 120, and the vehicle speed can be controlled by the user after the user takes over the driving until the user takes over the driving.

In an optional implementation manner of the embodiment of the present invention, the switching module 130 may further be configured to: acquiring the working state of the standby driving module 120 under the condition that the working state of the main driving module 110 is determined to be abnormal; in the case where it is determined that the operation state of the backup driving module 120 is abnormal, a manual takeover instruction signal and an automatic parking control signal are generated.

The manual taking-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the automatic parking control signal is used for controlling the target vehicle to enter an automatic parking mode until the user takes over driving.

Accordingly, the switching module 130 may also acquire the operating state of the standby driving module 120 in case that the operating state of the main driving module 110 is abnormal. Under the condition that the working state of the backup driving module 120 is determined to be abnormal, it indicates that the reliability of both the main driving strategy and the backup driving strategy is reduced at this time, and a corresponding safety strategy is required to avoid safety risks. Through the switching module 130, the manual takeover indication signal and the automatic parking control signal may be generated when it is determined that the operating states of the primary driving module 110 and the backup driving module 120 are both abnormal.

Specifically, the manual takeover indication signal generated at the moment can also indicate the target vehicle to prompt the user to take over driving so that the user can timely know the abnormal state and take over driving. Optionally, specific contents of the manual takeover indication signal generated by the switching module 130 when it is determined that the working states of the main driving module 110 and the standby driving module 120 are both abnormal may be different from specific contents of the manual takeover indication signal generated when it is determined that the working states of the main driving module 110 and the standby driving module 120 are both abnormal, for example, the two may indicate the target vehicle to prompt the working states of the main driving module 110 and the standby driving module 120 to the user, or the former may indicate the target vehicle to prompt the user more obviously. The automatic parking control signal may control the target vehicle to enter an automatic parking mode, so that the target vehicle may be parked in a safe area as soon as possible, for example, an emergency parking area, and the target vehicle is prevented from continuously driving in an automatic driving state in which the working states of the main driving module 110 and the standby driving module 120 are both abnormal until the user takes over driving, and the user may perform driving control on the vehicle.

Optionally, the switching module 130 may be further configured to: acquiring the working state of the standby driving module 120 under the condition that the working state of the main driving module 110 is determined to be normal; in the event that it is determined that the operational status of the backup driving module 120 is abnormal, a manual takeover indication signal is generated.

Accordingly, the switching module 130 may also obtain the operating state of the standby driving module 120 when the operating state of the main driving module 110 is normal. In case it is determined that the working state of the backup driving module 120 is abnormal, the complementary and mutual backup effect between the two driving modules is reduced, which also affects the reliability of the automatic driving system, and a corresponding safety strategy is required to avoid safety risks. Through the switching module 130, the manual takeover indication signal may be generated when the operating state of the primary driving module 110 is determined to be normal and the operating state of the backup driving module 120 is determined to be abnormal.

Specifically, the manual takeover indication signal generated at the moment can also indicate the target vehicle to prompt the user to take over driving so that the user can timely know the abnormal state and take over driving. Optionally, the manual takeover indication signal generated by the switching module 130 when it is determined that the operating state of the main driving module 110 is normal and the operating state of the standby driving module 120 is abnormal may be different from the manual takeover indication signal generated in other operating states of the main driving module 110 and the standby driving module 120.

For example, fig. 3 is a schematic diagram of an automatic driving system according to an embodiment of the present invention. As shown in fig. 3, the automatic driving system includes a main driving module, a standby driving module, and a switching module P006. The main control driving module comprises a multi-perception device P001, a fusion algorithm submodule P002 and a main control decision submodule P003; the standby driving module comprises a single sensing device P004 and a standby decision sub-module P005; the main control decision sub-module P003 and the standby decision sub-module P005 are communicatively connected to the switching module P006, and the switching module P006 is communicatively connected to the vehicle control system P007.

Specifically, the multi-sensing device P001 belongs to the sensing input of the main control driving module for realizing full-function automatic driving, and includes various sensors, including a vehicle-mounted millimeter wave radar, a vehicle-mounted camera, a vehicle-mounted laser radar, a vehicle-mounted ultrasonic radar, a GPS (Global Positioning System), and the like, and the full function of the automatic driving System is ensured by using the multi-sensors. Optionally, the standard configuration is 5 millimeter wave radars, including 1 forward millimeter wave radar and 4 lateral millimeter wave radars, and 1 forward vision camera, which can provide lane line identification, vehicle identification, pedestrian identification, travelable area identification, and the like. The fusion algorithm submodule P002 can fuse all perception signals from P001 and P004, a global fusion algorithm is adopted for P001 perception configuration, 360-degree spatial monitoring coverage of the periphery of the vehicle is achieved by 5 millimeter wave radars and 1 forward camera, an output result of the global fusion algorithm is fused with a camera sensor signal result from P004, final data output is achieved, monitoring of the surrounding environment of the vehicle is completed, fused information is output to the master control decision submodule P003, the perception signals of P001 are main perception equipment, full-function requirements can be achieved, and the perception signals of P004 serve as auxiliary signals. The main control decision sub-module P003 can complete automatic driving path planning and decision, and realize a complete automatic driving function.

Correspondingly, single perception device P004 belongs to perception input of a standby driving module for realizing redundant safe automatic driving, and the perception device different from P001 can realize basic automatic driving detection requirements. Optionally, the standard configuration is a visual sensor with a wide viewing angle of 100 degrees, which can provide lane line identification, vehicle identification, pedestrian identification and travelable area identification, and is consistent with the environment identification requirement of P001, so that the requirement of functional redundancy can be met. The difference from P001 is that the reliability of single perception is reduced, the environment adaptability is reduced, but the automatic driving requirement can be met for a short time when a fault occurs, and valuable buffering time is provided. Because the sensing equipment of P004 is different from P001 in spatial installation position and is provided with an independent power supply and processing module, common cause failure with the sensing equipment of P001 can not occur. The standby decision sub-module P005 can process the data acquired by the P004 to obtain a basic drivable area in front of the vehicle, and plans a driving path and a vehicle control decision of the vehicle on the premise of ensuring safety.

Further, the switching module P006 may switch the decision command from P003 or P005 based on the safety guarantee according to the operating state of the dual system, and the decision command of the main control driving module is mainly used in the normal state. The control system P007 can perform automatic longitudinal and lateral control of the vehicle in accordance with the output of P006.

Correspondingly, for example, fig. 4 is a schematic workflow diagram of a handover module according to an embodiment of the present invention. As shown in fig. 4, the basic control logic of the switching module includes a first policy and a second policy, where the first policy includes that the main control driving module has any fault, and after the main control driving module is switched to the standby driving module, the automatic driving vehicle performs speed reduction and lane keeping driving, and starts a dual flashing light to remind the driver to take over; and the second strategy comprises that the standby driving module breaks down, the main control driving module enters a driving guarantee mode, and can remind a driver to take over in an automatic driving state keeping the current state according to the setting of a client, or automatically drive the vehicle into an emergency parking area to park and wait for the processing of the driver, and start the double-flash lamp.

The embodiment of the invention provides an automatic driving system, which is characterized in that a main control driving module and a standby driving module which are in communication connection with each other are deployed in the automatic driving system, wherein a single sensing device which is not in the main control driving module is deployed in the standby driving module, the driving environment of a target vehicle can be detected through the single sensing device to obtain a first environment sensing result, and a standby driving strategy is generated according to the first environment sensing result, so that the standby driving strategy can be output to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, the automatic driving control is carried out on the target vehicle according to the standby driving strategy, the safety of an automatic driving function under the fault condition is ensured through non-redundant double driving modules, the cost improvement problem and the potential common cause failure risk caused by the redundant system design in the prior art are avoided, the reliability of the automatic driving system is effectively improved, the system deployment cost is saved, and the landing progress is accelerated; furthermore, the switching module is deployed in the automatic driving system, so that the working state of the double driving modules can be monitored, and a proper safety guarantee strategy is adopted in any abnormal state, thereby further improving the reliability and safety of automatic driving and improving the user experience.

EXAMPLE III

Fig. 5 is a flowchart of an automatic driving method according to a third embodiment of the present invention, where this embodiment is applicable to a case where an automatic driving system performs automatic driving control on a target vehicle, and the method may be executed by the automatic driving system according to the third embodiment of the present invention, and the automatic driving system may be implemented by software and/or hardware, and may be generally integrated in a computer device and configured on the target vehicle. Accordingly, as shown in fig. 5, the method includes the following operations:

s310, detecting the driving environment of the target vehicle through single sensing equipment in the standby driving module to obtain a first environment sensing result.

And S320, generating a standby driving strategy according to the first environment perception result through the standby driving equipment.

S330, under the condition that the working state of the main control driving module is determined to be abnormal, the standby driving strategy is output to a control system of the target vehicle, and automatic driving control is carried out on the target vehicle according to the standby driving strategy.

Wherein the single perception device is not present in the master driving module.

In an optional implementation manner of the embodiment of the present invention, the method may further include: sending the first environment perception result to the main control driving module through the standby driving module; receiving the first environment perception result through the main control driving module, and detecting the driving environment through a multi-perception device to obtain a second environment perception result; generating a master control driving strategy according to the first environment perception result and the second environment perception result through the master control driving module; and under the condition that the working state of the main control driving module is determined to be normal, the main control driving strategy is output to the control system, so that automatic driving control is carried out on the target vehicle according to the main control driving strategy.

In an optional implementation manner of the embodiment of the present invention, the generating a master driving policy according to the first environmental awareness result and the second environmental awareness result may include: performing fusion processing on the first environment sensing result and the second environment sensing result to obtain a fusion result; and generating a master control driving strategy according to the fusion result.

In an optional implementation manner of the embodiment of the present invention, the single sensing device is a visual sensing device, and is configured to acquire the driving environment within a first spatial range; the multi-perception device comprises at least one type of radar perception device and at least one type of visual perception device and is used for acquiring the driving environment in a second space range; wherein the multi-sensing device does not include the single sensing device, and the second spatial range is greater than the first spatial range.

In an optional implementation manner of the embodiment of the present invention, the method may further include: acquiring the working state of the main control driving module through a switching module; the control system outputting the backup driving strategy to the target vehicle may include: outputting, by the switching module, the backup driving strategy to the control system; the outputting the master driving maneuver to the control system may include: and outputting the main control driving strategy to the control system through the switching module.

In an optional implementation manner of the embodiment of the present invention, after the obtaining, by the switching module, the working state of the main control driving module, the method may further include: under the condition that the working state of the main control driving module is determined to be abnormal, generating a manual takeover indicating signal and a deceleration control signal through the switching module; the manual taking-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the speed reduction control signal is used for controlling the target vehicle to run at a reduced speed until the user takes over driving.

In an optional implementation manner of the embodiment of the present invention, after the obtaining, by the switching module, the working state of the main control driving module, the method may further include: under the condition that the working state of the main control driving module is determined to be abnormal, the working state of the standby driving module is obtained through the switching module; under the condition that the working state of the standby driving module is determined to be abnormal, generating a manual takeover indicating signal and an automatic parking control signal through the switching module; the manual taking-over indication signal is used for indicating the target vehicle to prompt a user to take over driving, and the automatic parking control signal is used for controlling the target vehicle to enter an automatic parking mode until the user takes over driving.

The embodiment of the invention provides an automatic driving method, which comprises the steps of arranging a main control driving module and a standby driving module which are in communication connection with each other in an automatic driving system, wherein a single sensing device which is not arranged in the main control driving module is arranged in the standby driving module, the driving environment of a target vehicle can be detected through the single sensing device to obtain a first environment sensing result, and a standby driving strategy is generated according to the first environment sensing result, so that the standby driving strategy can be output to a control system of the target vehicle under the condition that the working state of the main control driving module is abnormal, the automatic driving control is carried out on the target vehicle according to the standby driving strategy, the safety of an automatic driving function under the fault condition is ensured through non-redundant double driving modules, the cost improvement problem and the potential common cause failure risk caused by the redundant system design in the prior art are avoided, the reliability of the automatic driving system is effectively improved, the system deployment cost is saved, and the landing progress is accelerated.

It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.