CN-119305585-B - Emergency processing method and device for abnormal state of automatic driving vehicle

CN119305585BCN 119305585 BCN119305585 BCN 119305585BCN-119305585-B

Abstract

The application discloses an emergency processing method and device for an abnormal state of an automatic driving vehicle, wherein the method comprises the steps of triggering an image acquisition unit on the vehicle to acquire at least image information of a driving lane, an adjacent lane of the driving lane and a non-motor lane and image information in a set area around the vehicle in response to the arrival of an acquisition period, acquiring working condition information of the vehicle in response to the arrival of a detection period, determining whether the vehicle is in an abnormal state or not based on the working condition information, outputting alarm information of the abnormality of the vehicle in response to the detection of the abnormal state of the vehicle, identifying a characteristic object of the acquired image information, making a driving strategy for the abnormal vehicle, calling a controllable related system in the abnormal vehicle based on the driving strategy, and intervening the driving direction and the driving track of the abnormal vehicle until the abnormal vehicle is parked or forced intervening. The application improves the running safety of the automatic driving vehicle.

Inventors

ZHOU WEI
LIU ZHICHAO
LI WENLIANG
ZHU LIWEI
CAO CHEN
GAO JIN
LI HUAJIAN
ZHAN QI

Assignees

交通运输部公路科学研究所

Dates

Publication Date: 20260512
Application Date: 20241010

Claims (8)

1. An emergency handling method for abnormal states of an autonomous vehicle, the method comprising: The method comprises the steps of responding to the arrival of a collection period, triggering an image collection unit on a vehicle to at least collect image information of a driving lane, an adjacent lane of the driving lane and a non-motor lane and image information in a set area around the vehicle, and responding to the arrival of a detection period, acquiring working condition information of the vehicle and determining whether the vehicle is in an abnormal state or not based on the working condition information, wherein the working condition information comprises at least one of a braking system working condition, a parking system working condition, a steering control system working condition and a driving system working condition; Outputting alarm information of abnormality of the vehicle in response to detecting that the vehicle is in an abnormal state; Identifying characteristic objects of the acquired image information, at least identifying front and rear vehicles of an abnormal vehicle on a driving lane, vehicles on adjacent lanes, pedestrians and non-motor vehicles on a non-motor lane, determining the speeds of the front and rear vehicles on the driving lane of the abnormal vehicle, the distance between the abnormal vehicle and the front and rear vehicles, the distance and azimuth relation between the vehicles on the adjacent lanes and the abnormal vehicle, and the speeds of the vehicles on the adjacent lanes; Based on the abnormal state, the conditions of the vehicles and pedestrians on the current lane, the adjacent lane and the non-motor lane, the speed of the abnormal vehicle and the speed of the vehicle on the adjacent lane, and a running strategy is formulated for the abnormal vehicle; based on the driving strategy, invoking a controllable related system in the abnormal vehicle, and intervening the driving direction and the driving track of the abnormal vehicle until the abnormal vehicle is parked or forced to intervene; acquiring image information of a driving lane, an adjacent lane and a non-motor vehicle lane in the driving intervention process of an abnormal vehicle, identifying characteristic objects again on the acquired image information, acquiring front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on the adjacent lane, pedestrians and non-motor vehicles on the non-motor vehicle lane, and detecting the azimuth relation, distance and driving speed of the abnormal vehicle and the front and rear vehicles in real time, and the azimuth relation, distance and driving speed of the abnormal vehicle and the vehicles on the adjacent lane; and adjusting the driving strategy according to the acquired related information, and recalling a controllable related system in the abnormal vehicle according to the adjusted driving strategy to intervene in the driving direction and the driving track of the abnormal vehicle.
2. The method of claim 1, wherein said formulating a driving strategy for an anomalous vehicle comprises: In response to a failure of a braking system, acquiring the distance between the front and rear vehicles of the current lane and the running speed thereof, the distance between the vehicles of adjacent lanes and the direction thereof, and the running speed of the vehicles of the adjacent lanes, and the information of pedestrians and non-motor vehicles on non-motor lanes; If the distance between the vehicle of the adjacent lane and the abnormal vehicle is smaller than a first threshold value and/or the speed of the vehicle of the adjacent lane is higher than a second threshold value, sending a drive disconnection instruction to the driving system, disconnecting the driving force of the abnormal vehicle and enabling the abnormal vehicle to run at an inertial speed; Determining that the distance between the vehicle of the adjacent lane and the abnormal vehicle is larger than a first threshold value, the vehicle speed of the adjacent lane is lower than the second threshold value and is larger than or equal to a third threshold value, sending a steering instruction to the steering control system to drive the abnormal vehicle into the adjacent lane, sending a drive disconnection instruction to the driving system to disconnect the driving force of the abnormal vehicle to drive the abnormal vehicle at an inertial speed, or sending a drive disconnection instruction to the driving system to disconnect the driving force of the abnormal vehicle and sending a reverse driving instruction to the driving system to reversely drive the abnormal vehicle to stop the abnormal vehicle; determining that the adjacent lane is a non-motor lane or an emergency lane, determining that the non-motor lane or the emergency lane has no obstacle within the set length of the running direction of the abnormal vehicle, sending a steering instruction to the steering control system, enabling the abnormal vehicle to drive into the non-motor lane or the emergency lane, sending a driving disconnection instruction to the driving system, disconnecting the driving force of the abnormal vehicle, sending a reverse driving instruction to the driving system, and reversely driving the abnormal vehicle to stop the abnormal vehicle.
3. The method of claim 1, wherein said formulating a driving strategy for an anomalous vehicle comprises: Responding to the failure of a steering control system, and acquiring the distance between the front and rear vehicles of the current lane and the running speed of the front and rear vehicles; The method comprises the steps of transmitting a command for disconnecting the driving force of an abnormal vehicle to the driving system to disconnect the driving force of the abnormal vehicle so as to enable the abnormal vehicle to run at an inertial speed, or transmitting a command for disconnecting the driving force of the abnormal vehicle to the driving system and transmitting a command for reversely driving to the driving system to reversely drive the abnormal vehicle so as to stop the abnormal vehicle, or transmitting a command for disconnecting the driving force of the abnormal vehicle to the driving system and transmitting a command for braking the vehicle to the braking system so as to stop the abnormal vehicle from running.
4. The method of claim 1, wherein said formulating a driving strategy for an anomalous vehicle comprises: The method comprises the steps that a steering control system is normal in response to failure of a braking system, electronic map information is obtained, and a abandoned temporary parking lot, a abandoned building site or a abandoned park which can be passed through on an abnormal vehicle driving line is determined according to road section information of the abnormal vehicle driving currently; acquiring a real-time scene image of a abandoned temporary parking lot, a abandoned building site or a abandoned park, carrying out object recognition on the real-time scene image, and determining whether a movable object exists on a road or not and whether the road is in a slope distribution condition of the road or not; Transmitting a steering instruction to the steering control system, and controlling the abnormal vehicle to travel to a abandoned temporary parking lot, a abandoned building site or a abandoned park of a destination; After determining that the abnormal vehicle enters the abandoned temporary parking lot, the abandoned building site or the abandoned park of the destination, planning a running path for the abnormal vehicle; The method comprises the steps of transmitting a command for disconnecting the driving force of an abnormal vehicle to the driving system to disconnect the driving force of the abnormal vehicle so as to enable the abnormal vehicle to run at an inertial speed, or transmitting a command for disconnecting the driving force of the abnormal vehicle to the driving system and transmitting a command for reversely driving to the driving system to reversely drive the abnormal vehicle so as to stop the abnormal vehicle, or transmitting a command for disconnecting the driving force of the abnormal vehicle to the driving system and transmitting a command for braking the vehicle to the braking system so as to stop the abnormal vehicle from running.
5. The method of claim 1, wherein outputting the warning of the vehicle anomaly comprises: controlling a fault indicator lamp of the abnormal vehicle to be lighted; Playing the abnormal prompt voice of the vehicle at the maximum volume through a voice playing unit; and outputting prompt information of vehicle abnormality through an external display unit.
6. An autonomous vehicle abnormal state emergency treatment device, the device comprising: The triggering unit is used for responding to the arrival of the acquisition period, triggering the image acquisition unit on the vehicle to at least acquire the image information of the driving lane, the adjacent lane of the driving lane and the non-motor lane, and setting the image information in the area around the vehicle; The system comprises a determining unit, a control unit and a control unit, wherein the determining unit is used for responding to the detection period to obtain the working condition information of the vehicle and determining whether the vehicle is in an abnormal state or not based on the working condition information, and the working condition information comprises at least one of a braking system working condition, a parking system working condition, a steering control system working condition and a driving system working condition; an output unit for outputting alarm information of abnormality of the vehicle in response to detection that the vehicle is in an abnormal state; The identifying unit is used for identifying characteristic objects of the collected image information, at least identifying front and rear vehicles of abnormal vehicles on a driving lane, vehicles on adjacent lanes, pedestrians and non-motor vehicles on a non-motor lane, determining the speeds of the front and rear vehicles on the driving lane of the abnormal vehicles, the distance between the abnormal vehicles and the front and rear vehicles, the distance and azimuth relation between the vehicles on the adjacent lanes and the abnormal vehicles and the speeds of the vehicles on the adjacent lanes; The strategy making unit is used for making a driving strategy for the abnormal vehicle based on the abnormal state, the current lane, the adjacent lane and the vehicle and pedestrian conditions on the non-motor lane, the speed of the abnormal vehicle and the speed of the vehicle on the adjacent lane; the control unit is used for calling a controllable related system in the abnormal vehicle based on the driving strategy, and intervening the driving direction and the driving track of the abnormal vehicle until the abnormal vehicle is parked or forced to interfere; The determining unit is further used for acquiring image information of a driving lane, an adjacent lane and a non-motor vehicle lane in the driving intervention process of the abnormal vehicle, identifying a characteristic object again on the acquired image information, acquiring front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on the adjacent lane, pedestrians and non-motor vehicles on the non-motor vehicle lane, detecting the azimuth relation, distance and driving speed of the abnormal vehicle and the front and rear vehicles in real time, and detecting the azimuth relation, distance and driving speed of the abnormal vehicle and the vehicles on the adjacent lane; Correspondingly, the strategy making unit is further used for adjusting the driving strategy according to the acquired related information, and recalling a controllable related system in the abnormal vehicle according to the adjusted driving strategy to intervene in the driving direction and the driving track of the abnormal vehicle.
7. The apparatus of claim 6, wherein the policy-making unit is further configured to: In response to a failure of a braking system, acquiring the distance between the front and rear vehicles of the current lane and the running speed thereof, the distance between the vehicles of adjacent lanes and the direction thereof, and the running speed of the vehicles of the adjacent lanes, and the information of pedestrians and non-motor vehicles on non-motor lanes; Triggering the control unit to send a drive disconnection instruction to the driving system under the condition that the distance between the vehicle on the adjacent lane and the abnormal vehicle is smaller than a first threshold value and/or the speed of the vehicle on the adjacent lane is higher than a second threshold value, disconnecting the driving force of the abnormal vehicle and enabling the abnormal vehicle to run at an inertial speed; The method comprises the steps of determining that the distance between a vehicle in an adjacent lane and an abnormal vehicle is larger than a first threshold value, the vehicle speed of the adjacent lane is lower than a second threshold value and larger than a third threshold value, triggering a control unit to send a steering command to a steering control system to enable the abnormal vehicle to drive into the adjacent lane; Determining that the adjacent lane is a non-motor lane or an emergency lane, determining that the non-motor lane or the emergency lane has no obstacle within the set length of the running direction of the abnormal vehicle, triggering the control unit to send a steering instruction to the steering control system, enabling the abnormal vehicle to drive into the non-motor lane or the emergency lane, sending a drive disconnection instruction to the driving system, disconnecting the driving force of the abnormal vehicle, sending a reverse driving instruction to the driving system, and reversely driving the abnormal vehicle to stop the abnormal vehicle.
8. The apparatus of claim 6, wherein the policy-making unit is further configured to: The method comprises the steps that a steering control system is normal in response to failure of a braking system, electronic map information is obtained, and a abandoned temporary parking lot, a abandoned building site or a abandoned park which can be passed through on an abnormal vehicle driving line is determined according to road section information of the abnormal vehicle driving currently; acquiring a real-time scene image of a abandoned temporary parking lot, a abandoned building site or a abandoned park, carrying out object recognition on the real-time scene image, and determining whether a movable object exists on a road or not and whether the road is in a slope distribution condition of the road or not; Triggering the control unit to send a steering instruction to the steering control system, and controlling the abnormal vehicle to travel to the abandoned temporary parking lot, the abandoned construction site or the abandoned park of the destination; After determining that the abnormal vehicle enters a abandoned temporary parking lot, a abandoned building site or a abandoned park of a destination, planning a running path for the abnormal vehicle; the control unit is triggered to send a command of driving disconnection to the driving system to disconnect the driving force of the abnormal vehicle so as to enable the abnormal vehicle to run at an inertial speed, or is triggered to send a command of driving disconnection to the driving system to disconnect the driving force of the abnormal vehicle and send a command of reverse driving to the driving system to reversely drive the abnormal vehicle so as to stop the abnormal vehicle, or is triggered to send a command of driving disconnection to the driving system to disconnect the driving force of the abnormal vehicle and send a command of vehicle braking to the braking system so as to stop the abnormal vehicle from running.

Description

Emergency processing method and device for abnormal state of automatic driving vehicle Technical Field The application relates to a control technology of an automatic driving vehicle, in particular to an emergency processing method and device for abnormal states of the automatic driving vehicle. Background Currently, with the development of electronic maps and communication technologies, automatic driving technologies are practically applied. For example, taxis with autopilot functions, unmanned buses, autonomous passenger parking, trunk logistics vehicles, unmanned delivery vehicles, and the like all use autopilot technology. Due to the situations of traffic participants, weather, infrastructure, road surface spills and the like, the traffic environment exceeds the design operation conditions of the automatic driving system, so that the automatic driving system can be out of control or stall and out of control caused by faults of the automatic driving system or the situations of out of control caused by malicious invasion of the automatic driving system and the like can be caused. And when the speed of the automatic driving vehicle is high, serious traffic accidents can be caused by out-of-control. Therefore, how to cope with the safety of the automatic driving of the vehicle is a technical problem which needs to be solved at present. Disclosure of Invention In view of the foregoing, an embodiment of the present application is expected to provide a method and a device for handling an abnormal state of an automatic driving vehicle for at least solving the above-mentioned technical problems. In order to achieve the above purpose, the technical scheme of the application is realized as follows: according to an aspect of the embodiment of the application, there is provided an emergency processing method for an abnormal state of an automatic driving vehicle, including: The method comprises the steps of responding to the arrival of a collection period, triggering an image collection unit on a vehicle to at least collect image information of a driving lane, an adjacent lane of the driving lane and a non-motor lane and image information in a set area around the vehicle, and responding to the arrival of a detection period, acquiring working condition information of the vehicle and determining whether the vehicle is in an abnormal state or not based on the working condition information, wherein the working condition information comprises at least one of a braking system working condition, a parking system working condition, a steering control system working condition and a driving system working condition; Outputting alarm information of abnormality of the vehicle in response to detecting that the vehicle is in an abnormal state; Identifying characteristic objects of the acquired image information, at least identifying front and rear vehicles of an abnormal vehicle on a driving lane, vehicles on adjacent lanes, pedestrians and non-motor vehicles on a non-motor lane, determining the speeds of the front and rear vehicles on the driving lane of the abnormal vehicle, the distance between the abnormal vehicle and the front and rear vehicles, the distance and azimuth relation between the vehicles on the adjacent lanes and the abnormal vehicle, and the speeds of the vehicles on the adjacent lanes; Based on the abnormal state, the conditions of the vehicles and pedestrians on the current lane, the adjacent lane and the non-motor lane, the speed of the abnormal vehicle and the speed of the vehicle on the adjacent lane, and a running strategy is formulated for the abnormal vehicle; And calling a controllable related system in the abnormal vehicle based on the driving strategy, and intervening the driving direction and the driving track of the abnormal vehicle until the abnormal vehicle is parked or forced to intervene. As an implementation, the method further includes: acquiring image information of a driving lane, an adjacent lane and a non-motor vehicle lane in the driving intervention process of an abnormal vehicle, identifying characteristic objects again on the acquired image information, acquiring front and rear vehicles of the abnormal vehicle on the driving lane, vehicles on the adjacent lane, pedestrians and non-motor vehicles on the non-motor vehicle lane, and detecting the azimuth relation, distance and driving speed of the abnormal vehicle and the front and rear vehicles in real time, and the azimuth relation, distance and driving speed of the abnormal vehicle and the vehicles on the adjacent lane; and adjusting the driving strategy according to the acquired related information, and recalling a controllable related system in the abnormal vehicle according to the adjusted driving strategy to intervene in the driving direction and the driving track of the abnormal vehicle. As an implementation manner, the making of the driving strategy for the abnormal vehicle includes: In response to a failure of a braking system, a