CN114407922A - Intelligent vehicle automatic driving method, device, equipment and readable storage medium - Google Patents
Intelligent vehicle automatic driving method, device, equipment and readable storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
- B60W60/0016—Planning or execution of driving tasks specially adapted for safety of the vehicle or its occupants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/403—Image sensing, e.g. optical camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
- B60W2420/408—Radar; Laser, e.g. lidar
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
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Abstract
The invention discloses an intelligent vehicle automatic driving method, an intelligent vehicle automatic driving device, intelligent vehicle automatic driving equipment and a readable storage medium, and relates to the field of intelligent driving, wherein the intelligent vehicle automatic driving method comprises the following steps: acquiring the current driving environment of a vehicle and the current driving state of the vehicle through a vehicle-mounted sensor; identifying a current driving scene of the vehicle according to the current driving environment; acquiring a current driving standard corresponding to the current driving scene according to the current driving scene; and generating the current driving action of the vehicle based on the current driving specification and the current driving state, and controlling the vehicle to execute the current driving action. The intelligent driving system has the capability of following the road traffic safety law, the safety of the intelligent driving system is effectively improved, and the safety and the traffic efficiency of road traffic are improved.
Description
Technical Field
The invention relates to the field of intelligent driving, in particular to an automatic driving method, device and equipment for an intelligent vehicle and a readable storage medium.
Background
In recent years, with the rapid development of intelligent driving technology, an intelligent driving system is used as a main implementation body of automobile driving actions instead of people, and therefore the intelligent driving system should have the capability of following the road traffic safety law.
The current intelligent driving system adopts a sensor-controller-actuator scheme. When various scenes are processed, the processing is mainly carried out according to the logic built in the processor, and the capability of complying with the road traffic safety law is not available, so that the difficulty of safety supervision is increased, and the traffic safety problem is easily caused.
The above is only for the purpose of assisting understanding of the technical aspects of the present invention, and does not represent an admission that the above is prior art.
Disclosure of Invention
The invention mainly aims to provide an automatic driving method of an intelligent vehicle, and aims to solve the technical problem that the existing drivable system does not have the capability of complying with the road traffic safety law and is easy to cause the driving safety problem.
In order to achieve the above object, the present invention provides an intelligent vehicle automatic driving method, including the steps of:
acquiring the current driving environment of a vehicle and the current driving state of the vehicle through a vehicle-mounted sensor;
identifying a current driving scene of the vehicle according to the current driving environment;
acquiring a current driving standard corresponding to the current driving scene according to the current driving scene;
and generating the current driving action of the vehicle based on the current driving specification and the current driving state, and controlling the vehicle to execute the current driving action.
Further, the step of identifying the current driving scene of the vehicle according to the current driving environment of the vehicle includes:
and sending the current driving environment to an intelligent driving system of the vehicle, identifying the current driving scene of the vehicle through the intelligent driving system, and generating a current driving scene number.
Further, the step of identifying the current driving scene of the vehicle by the intelligent driving system comprises:
identifying a feature in the current driving scene through an image identification model in the intelligent driving system, and taking the driving scene matched with the feature as the current driving scene of the vehicle based on the matching of the feature and a preset driving scene.
Further, the current driving environment further includes a VIN code of the vehicle and a vehicle type of the vehicle, and the step of obtaining the current driving specification corresponding to the current driving scene according to the current driving scene further includes:
inputting the VIN code, the vehicle type and the current driving scene number into a traffic safety regulation chip of the vehicle, taking the preset driving specification which is stored in the traffic safety regulation chip and matched with the current driving scene number and the vehicle type as the current driving specification, and taking the VIN code as a label of the current driving specification.
Further, the intelligent vehicle automatic driving method comprises the following steps:
and when an OTA upgrading request is received, updating the preset driving standard stored in the traffic safety regulation chip based on the OTA upgrading request.
Further, after the step of controlling the vehicle to perform the current driving action, the method includes:
generating a safety log according to the current driving environment, the current driving scene corresponding to the driving environment and the current driving action executed by the vehicle;
and storing the encrypted safety log to the traffic safety regulation chip.
Further, the step of generating the current driving action of the vehicle based on the current driving specification and the current driving state includes:
judging whether the current driving state meets the current driving standard or not;
and if the current driving state does not meet the current driving standard, generating an adjustment step for the current driving state of the vehicle based on the current driving standard, and integrating the adjustment step into the current driving action.
Further, to achieve the above object, the present invention provides an intelligent vehicle automatic driving apparatus including:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring the current driving environment of a vehicle and the current driving state of the vehicle through a vehicle-mounted sensor;
the identification module is used for identifying the current driving scene of the vehicle according to the current driving environment;
the acquisition module is used for acquiring a current driving standard corresponding to the current driving scene according to the current driving scene;
and the control module is used for generating the current driving action of the vehicle based on the current driving specification and the current driving state and controlling the vehicle to execute the current driving action.
Further, to achieve the above object, the present invention provides an intelligent vehicle automatic driving apparatus including: the intelligent vehicle automatic driving program is stored on the memory and can run on the processor, and when being executed by the processor, the intelligent vehicle automatic driving program realizes the steps of the intelligent vehicle automatic driving method.
Further, to achieve the above object, the present invention provides a readable storage medium having stored thereon an intelligent vehicle autopilot program, which when executed by a processor implements the steps of the intelligent vehicle autopilot method as described above.
Compared with the scheme based on a sensor, a controller and an actuator in the prior art, the automatic driving method for the intelligent vehicle provided by the embodiment of the invention is characterized in that a traffic safety regulation chip is added to control and record the action of the whole vehicle, so that the method has the capability of following the road traffic safety law. On one hand, the safety supervision requirements of supervision departments can be matched, and on the other hand, the responsibility which does not belong to the vehicle can be avoided. When an accident occurs, the data of the system can be used as part of evidence for distinguishing the following reasons, namely, the data is tamper-resistant, has high safety level and is easy to read: the system does not request the event standard action requirement, the system receives the standard action requirement and is not executed, the system executes the action according to the standard action requirement and the like, and the legal rights and interests of the owner of the intelligent networked vehicle are favorably guaranteed. In addition, because the intelligent driving system strictly complies with the traffic rules, the safety of the intelligent driving system can be effectively improved, and the safety and the traffic efficiency of road traffic are improved.
Drawings
FIG. 1 is a schematic diagram of an apparatus architecture of a hardware operating environment according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart of a first embodiment of the automatic driving method of the intelligent vehicle according to the invention;
fig. 3 is a framework diagram of an automatic driving system in the automatic driving method of the intelligent vehicle according to the present invention.
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: compared with the scheme based on the sensor, the controller and the actuator in the prior art, the traffic safety regulation chip is added to control and record the action of the whole vehicle, so that the vehicle has the capability of following the road traffic safety regulation.
The current intelligent driving system adopts a sensor-controller-actuator scheme. When various scenes are processed, the processing is mainly carried out according to the logic built in the processor, and the capability of complying with the road traffic safety law is not available, so that the difficulty of safety supervision is increased, and the traffic safety problem is easily caused.
The invention provides a solution to enable an intelligent driving system to have the ability to comply with road traffic safety laws. On one hand, the safety supervision requirements of supervision departments can be matched, and on the other hand, the responsibility which does not belong to the vehicle can be avoided. When an accident occurs, the data of the system can be used as part of evidence for distinguishing the following reasons, namely, the data is tamper-resistant, has high safety level and is easy to read: the system does not request the event standard action requirement, the system receives the standard action requirement and is not executed, the system executes according to the standard action requirement and the like, and the legal rights and interests of the intelligent networked vehicle owner are favorably ensured. In addition, because the intelligent driving system strictly complies with the traffic rules, the safety of the intelligent driving system can be effectively improved, and the safety and the traffic efficiency of road traffic are improved.
As shown in fig. 1, fig. 1 is a schematic device structure diagram of a hardware operating environment according to an embodiment of the present invention.
The device of the embodiment of the invention can be a vehicle machine, and also can be terminal electronic equipment with data receiving, data processing and data sending functions, such as a smart phone, a PC, a tablet personal computer, a portable computer and the like.
As shown in fig. 1, the apparatus may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. Wherein a communication bus 1002 is used to enable connective communication between these components. The user interface 1003 may include a Display screen (Display), an input unit such as a Keyboard (Keyboard), and the optional user interface 1003 may also include a standard wired interface, a wireless interface. The network interface 1004 may optionally include a standard wired interface, a wireless interface (e.g., WI-FI interface). The memory 1005 may be a high-speed RAM memory or a non-volatile memory (e.g., a magnetic disk memory). The memory 1005 may alternatively be a storage device separate from the processor 1001.
Optionally, the device may also include a camera, RF (Radio Frequency) circuitry, sensors, audio circuitry, WiFi modules, and so forth. Such as light sensors, motion sensors, and other sensors. Specifically, the light sensor may include an ambient light sensor that may adjust the brightness of the display screen according to the brightness of ambient light, and a proximity sensor that may turn off the display screen and/or the backlight when the mobile terminal is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the magnitude of acceleration in each direction (generally, three axes), detect the magnitude and direction of gravity when the mobile terminal is stationary, and can be used for applications (such as horizontal and vertical screen switching, related games, magnetometer attitude calibration), vibration recognition related functions (such as pedometer and tapping) and the like for recognizing the attitude of the mobile terminal; of course, the mobile terminal may also be configured with other sensors such as a gyroscope, a barometer, a hygrometer, a thermometer, and an infrared sensor, which are not described herein again.
Those skilled in the art will appreciate that the terminal structure shown in fig. 1 is not intended to be limiting and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, a memory 1005, which is one type of computer storage medium, may include therein an operating system, a network communication module, a user interface module, and an intelligent vehicle autopilot program.
In the device shown in fig. 1, the network interface 1004 is mainly used for connecting to a backend server and performing data communication with the backend server; the user interface 1003 is mainly used for connecting a client (user side) and performing data communication with the client; and processor 1001 may be configured to invoke the intelligent vehicle autopilot program stored in memory 1005 and perform the following operations:
acquiring the current driving environment of a vehicle and the current driving state of the vehicle through a vehicle-mounted sensor;
identifying a current driving scene of the vehicle according to the current driving environment;
acquiring a current driving standard corresponding to the current driving scene according to the current driving scene;
and generating the current driving action of the vehicle based on the current driving specification and the current driving state, and controlling the vehicle to execute the current driving action.
Further, processor 1001 may invoke the smart vehicle autopilot program stored in memory 1005 and also perform the following operations:
the step of identifying the current driving scene of the vehicle according to the current driving environment of the vehicle comprises the following steps:
and sending the current driving environment to an intelligent driving system of the vehicle, identifying the current driving scene of the vehicle through the intelligent driving system, and generating a current driving scene number.
Further, processor 1001 may invoke the smart vehicle autopilot program stored in memory 1005 and also perform the following operations:
the step of identifying the current driving scene of the vehicle through the intelligent driving system comprises the following steps:
identifying a feature in the current driving scene through an image identification model in the intelligent driving system, and taking the driving scene matched with the feature as the current driving scene of the vehicle based on the matching of the feature and a preset driving scene.
Further, processor 1001 may invoke the smart vehicle autopilot program stored in memory 1005 and also perform the following operations:
the current driving environment further includes a VIN code of the vehicle and a vehicle type of the vehicle, and the step of obtaining the current driving specification corresponding to the current driving scene according to the current driving scene further includes:
inputting the VIN code, the vehicle type and the current driving scene number into a traffic safety regulation chip of the vehicle, taking the preset driving specification which is stored in the traffic safety regulation chip and matched with the current driving scene number and the vehicle type as the current driving specification, and taking the VIN code as a label of the current driving specification.
Further, processor 1001 may invoke the smart vehicle autopilot program stored in memory 1005 and also perform the following operations:
the intelligent vehicle automatic driving method comprises the following steps:
and when an OTA upgrading request is received, updating the preset driving standard stored in the traffic safety regulation chip based on the OTA upgrading request.
Further, processor 1001 may invoke the smart vehicle autopilot program stored in memory 1005 and also perform the following operations:
after the step of controlling the vehicle to perform the current driving action, the method comprises the following steps:
generating a safety log according to the current driving environment, the current driving scene corresponding to the driving environment and the current driving action executed by the vehicle;
and storing the encrypted safety log to the traffic safety regulation chip.
Further, processor 1001 may invoke the smart vehicle autopilot program stored in memory 1005 and also perform the following operations:
the step of generating the current driving action of the vehicle based on the current driving specification and the current driving state comprises:
judging whether the current driving state meets the current driving standard or not;
and if the current driving state does not meet the current driving standard, generating an adjustment step for the current driving state of the vehicle based on the current driving standard, and integrating the adjustment step into the current driving action.
Referring to fig. 2, a first embodiment of the intelligent vehicle automatic driving method of the present invention includes:
step S10, acquiring the current driving environment and the driving state of the vehicle through a vehicle-mounted sensor;
specifically, the vehicle-mounted sensor may be a vehicle-mounted camera or a vehicle-mounted radar, the vehicle-mounted camera and the vehicle-mounted radar may be configured in quantity, type and position according to different requirements, for example, in this embodiment, the vehicle-mounted camera is placed at a position in the middle of a front edge of the top of the vehicle, wherein the vehicle-mounted camera is a 360-degree panoramic camera, the current driving environment related information of the vehicle may be collected in real time through the camera, and the information of the driving environment may be represented in a form of a picture and sent to the intelligent driving system through the camera, and the vehicle-mounted sensor is the same as the vehicle-mounted sensor, the driving state of the vehicle is generally driving speed, and the driving speed may be obtained based on a vehicle speed measuring device and sent to the intelligent driving system.
Step S20, identifying the current driving scene of the vehicle according to the current driving environment;
and further, the current driving environment is sent to an intelligent driving system of the vehicle, the current driving scene of the vehicle is identified through the intelligent driving system, and a current driving scene number is generated.
Further, through an image recognition model in the intelligent driving system, a feature object in the current driving scene is recognized, and based on the feature object being matched with a preset driving scene, the driving scene matched with the feature object is used as the current driving scene of the vehicle.
Through the built-in image recognition model of intelligent driving system, discern the image that on-vehicle camera sent, if use the image recognition model to carry out the recognition training to the characteristic thing of different driving scenes, the general characteristic thing of driving scene can include: traffic light indicating equipment, zebra crossings, lane marking types, traffic direction arrows marked in lanes, traffic signs or pedestrians beside roads and the like. Inputting pictures acquired by a camera into the trained image recognition model for feature recognition, generating different driving scenes according to different features, and judging the current scene as a traffic light intersection and corresponding to a driving scene 1 when the features of traffic light indicating equipment and zebra crossing are recognized simultaneously; meanwhile, when the zebra crossing, pedestrians near the zebra crossing and traffic light indicating equipment are identified, the current scene is judged to be a courtesy pedestrian crossing and corresponds to a driving scene 2; when the speed limit sign is identified, the current scene is determined as the speed limit road and corresponds to the driving scene 3, it can be understood that different driving scenes can be generated by different feature combinations, and the description of each driving scene is omitted here.
Step S30, acquiring a current driving standard corresponding to the current driving scene according to the current driving scene;
further, the current driving scene number is input to a traffic safety regulation chip of the vehicle, and the preset driving specification which is stored in the traffic safety regulation chip and matched with the current driving scene number is used as the current driving specification of the vehicle.
After the intelligent driving system identifies the current driving scene of the vehicle, the corresponding scene number is input to the traffic safety regulation chip of the vehicle, such as the driving scene 1, the driving scene 2 and the driving scene 3. The traffic safety regulation chip is internally stored with relevant regulations of laws and regulations issued by countries and local governments including the national common people's republic of China road traffic safety law, analyzes and arranges the corresponding standard action requirements of the travel vehicle scene, and is connected with the intelligent driving system through various hardware interfaces such as SPI, UART, GPIO and the like. The safety regulation chip matches a corresponding driving specification according to the scene number, such as the driving specification 1 corresponding to the driving scene 1, wherein for the driving specification 1, if the traffic light indicating equipment of the current driving scene 1 is a red light, the current vehicle is prohibited from driving to exceed a white solid line of the current traffic light intersection, and if the traffic light indicating equipment is a green light, the current vehicle is prohibited from passing through the traffic light intersection at a driving speed exceeding a preset speed (such as 50 kilometers per hour). Similarly, the driving scene 2 corresponds to the driving specification 2, that is, when it is recognized that there is a pedestrian at the zebra crossing and there is no traffic light indicating device, the vehicle is prohibited from driving through the zebra crossing, and after waiting for a preset time (10 seconds) to elapse, it is recognized that the pedestrian does not move to the zebra crossing, and the zebra crossing is allowed to pass through, and similarly, if it is recognized that there is no pedestrian at the zebra crossing, no traffic restriction is performed.
Further, the current driving environment further comprises a VIN code of the vehicle and a vehicle type of the vehicle; inputting the VIN code, the vehicle type and the current driving scene number into a traffic safety regulation chip of the vehicle, taking the preset driving specification which is stored in the traffic safety regulation chip and matched with the current driving scene number and the vehicle type as the current driving specification, and taking the VIN code as a label of the current driving specification.
It can be understood that the VIN code (Vehicle Identification Number, or frame Number) of the Vehicle and the Vehicle type are additional information of the environment of the Vehicle ahead, the VIN code is used for uniquely determining the Vehicle, and the Vehicle type is used for further matching of the driving standard. The VIN code, the vehicle type and the current driving scene number of the vehicle are input into a traffic safety regulation chip, and the driving standard is generated according to the vehicle type and the current driving scene number, if the driving standard 3 corresponds to the previous driving scene 3, when the speed-limiting traffic sign is identified, different limitations exist in the non-vehicle type, for example, the speed of a large vehicle is limited to 80 kilometers per hour, and the speed of a small vehicle is limited to 100 kilometers per hour. And after matching factors of the vehicle types are added, the generated driving specifications are more accurate. And meanwhile, the generated driving specification is marked with the VIN code and is sent to an intelligent driving system by a traffic safety regulation chip.
And step S40, generating the current driving action of the vehicle based on the current driving specification and the current driving state, and controlling the vehicle to execute the current driving action.
And when the intelligent driving system receives the driving specification, the current driving action of the vehicle is generated by combining the currently acquired driving state.
Further, whether the current driving state meets the current driving standard is judged; and if the current driving state does not meet the current driving standard, generating an adjustment step for the current driving state of the vehicle based on the current driving standard, and integrating the adjustment step into the current driving action.
Specifically, for the driving scene 2, when it is recognized that pedestrians exist at the zebra crossing and no traffic light indicating device exists, the vehicle is prohibited from driving through the zebra crossing, the vehicle speed in the current driving state is collected to be 60 kilometers per hour, if the vehicle passes through the zebra crossing based on the current driving state, it is determined that the current driving state does not meet the current driving standard, and the generation and adjustment steps are as follows: and (3) stopping oil supply, decelerating and stopping the vehicle to the front of the zebra crossing, waiting for a pedestrian to pass through the zebra crossing, and accelerating the vehicle to pass through the zebra crossing after recognizing that no pedestrian exists at the zebra crossing, wherein similarly, if the waiting time exceeds 10 seconds and recognizing that the pedestrian does not move to the zebra crossing, the vehicle accelerates the vehicle to pass through the zebra crossing. And integrating the adjusting steps into the current driving action, and controlling the vehicle to execute the driving action.
Further, generating a safety log according to the current driving environment, the current driving scene corresponding to the driving environment and the current driving action executed by the vehicle; and storing the encrypted safety log to the traffic safety regulation chip.
Specifically, the logic of the whole driving action generation process is recorded, the logic comprises a current driving environment picture acquired by a vehicle-mounted camera, an acquired current driving state, a driving scene identified by an intelligent driving system, a driving specification matched by a traffic safety regulation chip, a driving action generated by the intelligent driving system according to the current driving state and the driving specification in a fusion mode, and the like, each data transmission of the whole flow carries the VIN code, each corresponding data is stored to form a safety log, the safety log is stored after being encrypted through an encryption algorithm, the safety chip is encrypted to ensure the safety and tamper resistance of the information in real time, and all the information can be stored into a non-tamper log. The log stored after the subsequent accident can be used as a part of evidence, and the encrypted log has tamper resistance, high safety level and readability, so that the accident handling cost can be effectively reduced, and the rights and interests of related personnel can be maintained. And the encryption algorithm can also provide services such as identity authentication, key management, random number generation, limited security storage and the like.
Further, when an OTA upgrade request is received, the preset driving standard stored in the traffic safety regulation chip is updated based on the OTA upgrade request.
Specifically, the traffic safety regulation chip is added with an Over-the-Air Technology (Over-the-Air Technology), the receiving server sends an OTA upgrading request, and the updating package is downloaded to update the driving standard stored in the traffic safety regulation chip according to a downloading channel provided in the OTA upgrading request, so that the driving standard of the traffic safety regulation chip can be adjusted in real time according to the road safety regulation or the policies of all places.
Referring to fig. 3, an automatic driving system framework in the automatic driving method of the intelligent vehicle in this embodiment includes sensors 1 to n, the sensors send collected driving environments to the intelligent driving system, the intelligent driving system sends event numbers (driving scene numbers) and vehicle information (vehicle types) generated by information sent by the sensors to a real-time communication module of a road safety regulation chip through an SPI interface, the event numbers and the vehicle information are transmitted to a main module of the communication module, the main module generates a standard action requirement (driving standard) according to the event numbers and the vehicle information, the intelligent driving system fuses a decision according to a signal (current driving state) collected by sensing and the standard action requirement, and sends a result (driving action) of the fusion decision to an actuator for execution, meanwhile, the data related to the whole process is encrypted by an encryption algorithm and then stored in a log storage area.
It can be understood that, in the present embodiment, compared with the prior art solution based on sensor-controller-actuator, the traffic safety regulation chip is added to manage and record the movement of the whole vehicle, so that the present embodiment has the capability of following the road traffic safety law. On one hand, the safety supervision requirements of supervision departments can be matched, and on the other hand, the responsibility which does not belong to the vehicle can be avoided. When an accident occurs, the data of the system can be used as part of evidence for distinguishing the following reasons, namely, the data is tamper-resistant, has high safety level and is easy to read: the system does not request the event standard action requirement, the system receives the standard action requirement and is not executed, the system executes according to the standard action requirement and the like, and the legal rights and interests of the intelligent networked vehicle owner are favorably ensured. In addition, because the intelligent driving system strictly complies with the traffic rules, the safety of the intelligent driving system can be effectively improved, and the safety and the traffic efficiency of road traffic are improved.
In addition, this embodiment still provides an intelligent vehicle autopilot device, intelligent vehicle autopilot device includes:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring the current driving environment of a vehicle and the current driving state of the vehicle through a vehicle-mounted sensor;
the identification module is used for identifying the current driving scene of the vehicle according to the current driving environment;
the acquisition module is used for acquiring a current driving standard corresponding to the current driving scene according to the current driving scene;
and the control module is used for generating the current driving action of the vehicle based on the current driving specification and the current driving state and controlling the vehicle to execute the current driving action.
In addition, this embodiment still provides an intelligent vehicle autopilot device, intelligent vehicle autopilot device includes: the intelligent vehicle automatic driving program is stored on the memory and can run on the processor, and when being executed by the processor, the intelligent vehicle automatic driving program realizes the steps of the intelligent vehicle automatic driving method.
In addition, the present embodiment also provides a readable storage medium, which stores thereon an intelligent vehicle automatic driving program, and when the intelligent vehicle automatic driving program is executed by a processor, the intelligent vehicle automatic driving program realizes the steps of the intelligent vehicle automatic driving method as described above.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, a vehicle, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes, which are made by using the contents of the present specification and the accompanying drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (10)
1. An intelligent vehicle automatic driving method is characterized by comprising the following steps:
acquiring the current driving environment of a vehicle and the current driving state of the vehicle through a vehicle-mounted sensor;
identifying a current driving scene of the vehicle according to the current driving environment;
acquiring a current driving standard corresponding to the current driving scene according to the current driving scene;
and generating the current driving action of the vehicle based on the current driving specification and the current driving state, and controlling the vehicle to execute the current driving action.
2. The intelligent vehicle automatic driving method according to claim 1, wherein the step of identifying the current driving scene of the vehicle according to the current driving environment of the vehicle comprises:
and sending the current driving environment to an intelligent driving system of the vehicle, identifying the current driving scene of the vehicle through the intelligent driving system, and generating a current driving scene number.
3. The intelligent vehicle autopilot method of claim 2 wherein the step of identifying the current driving scenario of the vehicle by the intelligent driving system comprises:
identifying a feature in the current driving scene through an image identification model in the intelligent driving system, and taking the driving scene matched with the feature as the current driving scene of the vehicle based on the matching of the feature and a preset driving scene.
4. The intelligent vehicle automatic driving method according to claim 3, wherein the current driving environment further includes a VIN code of the vehicle and a vehicle type of the vehicle, and the step of obtaining the current driving specification corresponding to the current driving scene according to the current driving scene further includes:
inputting the VIN code, the vehicle type and the current driving scene number into a traffic safety regulation chip of the vehicle, taking the preset driving specification which is stored in the traffic safety regulation chip and matched with the current driving scene number and the vehicle type as the current driving specification, and taking the VIN code as a label of the current driving specification.
5. The intelligent vehicle autopilot method of claim 4 wherein the intelligent vehicle autopilot method comprises:
and when an OTA upgrading request is received, updating the preset driving standard stored in the traffic safety regulation chip based on the OTA upgrading request.
6. The intelligent vehicle autopilot method of claim 1 wherein after the step of controlling the vehicle to perform the current driving maneuver comprises:
generating a safety log according to the current driving environment, the current driving scene corresponding to the driving environment and the current driving action executed by the vehicle;
and storing the encrypted safety log to the traffic safety regulation chip.
7. The intelligent vehicle autopilot method of claim 1 wherein the step of generating a current driving action of the vehicle based on the current driving profile and the current driving state comprises:
judging whether the current driving state meets the current driving standard or not;
and if the current driving state does not meet the current driving standard, generating an adjustment step for the current driving state of the vehicle based on the current driving standard, and integrating the adjustment step into the current driving action.
8. An intelligent vehicle autopilot device, the intelligent vehicle autopilot device comprising:
the system comprises an acquisition module, a control module and a display module, wherein the acquisition module is used for acquiring the current driving environment of a vehicle and the current driving state of the vehicle through a vehicle-mounted sensor;
the identification module is used for identifying the current driving scene of the vehicle according to the current driving environment;
the acquisition module is used for acquiring a current driving standard corresponding to the current driving scene according to the current driving scene;
and the control module is used for generating the current driving action of the vehicle based on the current driving specification and the current driving state and controlling the vehicle to execute the current driving action.
9. An intelligent vehicle autopilot device, the intelligent vehicle autopilot device comprising: memory, a processor and a smart vehicle autopilot program stored on the memory and executable on the processor, which when executed by the processor implements the steps of the smart vehicle autopilot method according to one of claims 1 to 7.
10. A readable storage medium, characterized in that the readable storage medium has stored thereon a smart vehicle autopilot program which, when executed by a processor, implements the steps of the smart vehicle autopilot method according to one of claims 1 to 7.
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