Control processing method, device, equipment and the storage medium of vehicleTechnical field
This application involves unmanned technical field more particularly to a kind of control processing method of vehicle, device, equipment andStorage medium.
Background technique
Automatic driving vehicle is a kind of novel intelligent automobile, mainly by ECU (Electronic Control Unit,Electronic control unit) various pieces in vehicle accurately control with the fully automatic operation that vehicle is realized with calculating analysis, it reachesTo the unpiloted purpose of vehicle.
It, can not if generating system software and hardware fails automatic driving vehicle in the process of moving in Unmanned SystemsTransmitting data in time, and vehicle continues to travel, and leads to not expected security risk.
Summary of the invention
The application provides control processing method, device, equipment and the storage medium of a kind of vehicle, with solve the prior art withoutPeople drives the defects such as vehicle safety is low.
The application first aspect provides a kind of control processing method of vehicle, comprising:
The control processing equipment of vehicle is received the control instruction that Unmanned Systems send by preset rules circulation；
If judging, control instruction is interrupted, the driving status of the control processing equipment control vehicle of the vehicle.
The application the second aspect provides a kind of control processing unit of vehicle, comprising:
Receiving module, the control processing equipment for vehicle receive the control that Unmanned Systems send by preset rules circulationSystem instruction；
Processing module, if for judging that control instruction is interrupted, the row of the control processing equipment control vehicle of the vehicleSail state.
A kind of control processing equipment of vehicle is provided in terms of the application third, comprising: at least one processor and storageDevice；
The memory stores computer program；At least one described processor executes the computer of the memory storageProgram, the method to realize first aspect offer.
The 4th aspect of the application provides a kind of computer readable storage medium, stores in the computer readable storage mediumThere is computer program, the computer program is performed the method for realizing that first aspect provides.
Control processing method, device, equipment and the storage medium of vehicle provided by the present application are handled by the control of vehicleEquipment recycles the control instruction for receiving Unmanned Systems and sending according to preset rules, if judging control instruction terminal, vehicleControl processing equipment control vehicle driving status, if to solve the problems, such as Unmanned Systems due to software and hardware failure, and bottomThe problem of disk can continue to travel according to the instruction received for the last time, and vehicle is caused to be in runaway condition.Effectively increase vehicleSafety.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, to embodiment or will show belowThere is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is this ShenSome embodiments please for those of ordinary skill in the art without any creative labor, can be withIt obtains other drawings based on these drawings.
Fig. 1 is the schematic diagram of the control processing system for the vehicle that the embodiment of the present application is applicable in；
Fig. 2 is the flow diagram of the control processing method for the vehicle that one embodiment of the application provides；
Fig. 3 is the structural schematic diagram of the control processing unit for the vehicle that one embodiment of the application provides；
Fig. 4 is the structural schematic diagram of the control processing equipment for the vehicle that one embodiment of the application provides.
Through the above attached drawings, it has been shown that the specific embodiment of the application will be hereinafter described in more detail.These attached drawingsIt is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodimentsThose skilled in the art illustrate the concept of the application.
Specific embodiment
To keep the purposes, technical schemes and advantages of the embodiment of the present application clearer, below in conjunction with the embodiment of the present applicationIn attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment isSome embodiments of the present application, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the artEvery other embodiment obtained without creative efforts, shall fall in the protection scope of this application.
Noun involved in the application is explained first:
Entire car controller: Vehicle Control Unit, abbreviation VCU, are the weights of automatic driving vehicle or electric carComponent is wanted, is arranged on the chassis of vehicle.Driving ride comfort, Energy Consumption Economy and the operational reliability of vehicle all with VCUEffectively control it is closely bound up.The major function of VCU can be divided into following several respects: 1, obtain driving intention: VCU needs pass throughGas pedal, brake pedal, gear state etc. drive input-signal judging driving intention.2, obtain vehicle virtual condition: VCU is neededThe operation informations such as speed, posture are obtained by sensor or controller judge the currently practical state of vehicle.3,PowertrainControl: VCU needs to match drive demand and power assembly responding ability, formulates reasonable power output and energy regenerating strategy.4, HMI information is fed back: VCU needs to feed back to key message HMI (man-machine interface), to inform driver's vehicle-state.
Unmanned Systems: refer to that unpiloted calculating equipment, such as industry control are realized in setting on automatic driving vehicleMachine.
The control processing method of vehicle provided by the embodiments of the present application, can be adapted for automatic driving vehicle, unmannedVehicle is provided with Unmanned Systems, and Unmanned Systems are passed through by collecting perception data, progress decision, generating control instructionCANBUS is sent to steering system, driving system, braking system on vehicle chassis etc., realizes and automatically controls vehicle, on chassisOn be additionally provided with entire car controller for guaranteeing driving ride comfort, Energy Consumption Economy and the operational reliability of vehicle.Such as Fig. 1It is shown, for the structural schematic diagram of the control processing system of the applicable vehicle of the embodiment of the present application.Here the control processing of vehicle is setIt is standby to can be entire car controller, it is also possible to be independently arranged the control processing equipment of vehicle.By taking entire car controller as an example, by nobodyControl loop, which is configured to be recycled according to preset rules to entire car controller, sends control instruction, and entire car controller passes through unmannedThe control instruction that system is sent judges whether Unmanned Systems break down, if judging, Unmanned Systems break down,By vehicle control unit controls vehicle, and if chassis can be according to last to solve the problems, such as Unmanned Systems since software and hardware failsThe problem of instruction once received continues to travel, and vehicle is caused to be in runaway condition.It should be noted that the embodiment of the present applicationThe control processing method of the vehicle of offer, is not limited to be used in automatic driving vehicle, can also fit in other similar sceneWith.
In addition, term " first ", " second " etc. are used for description purposes only, it is not understood to indicate or imply relatively importantProperty or implicitly indicate the quantity of indicated technical characteristic.In the description of following embodiment, the meaning of " plurality " is twoMore than a, unless otherwise specifically defined.
These specific embodiments can be combined with each other below, may be at certain for the same or similar concept or processIt is repeated no more in a little embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Embodiment one
The present embodiment provides a kind of control processing methods of vehicle to improve the safety of vehicle for controlling vehicleProperty.The executing subject of the present embodiment is the control processing unit of vehicle, which can be set the control processing unit in vehicleIn, specifically it can be set in entire car controller.
As shown in Fig. 2, the flow diagram of the control processing method for vehicle provided in this embodiment, this method comprises:
Step 101, the control processing equipment of vehicle recycles the control that reception Unmanned Systems send by preset rules and refers toIt enables.
Step 102, if judging, control instruction is interrupted, the driving status of the control processing equipment control vehicle of vehicle.
Specifically, automatic driving vehicle is provided with Unmanned Systems, Unmanned Systems by collect perception data, intoRow decision, generation control instruction are sent to steering system, driving system, braking system on vehicle chassis etc. by CANBUS,It realizes and automatically controls vehicle, entire car controller is additionally provided on chassis for guaranteeing driving ride comfort, the energy consumption economy of vehicleProperty and operational reliability.Here the control processing equipment of vehicle can be entire car controller, be also possible to be independently arranged vehicleControl processing equipment.By taking entire car controller as an example, Unmanned Systems are configured to be recycled according to preset rules to vehicle controlDevice processed sends control instruction, and whether entire car controller judges Unmanned Systems by the control instruction that Unmanned Systems sendIt breaks down, however, it is determined that control instruction is interrupted, it was demonstrated that Unmanned Systems break down.If judging Unmanned SystemsFailure, by vehicle control unit controls vehicle, and if chassis can be according to solve the problems, such as Unmanned Systems since software and hardware failsThe problem of instruction that last time receives continues to travel, vehicle is caused to be in runaway condition.
Optionally, control instruction here can be the control instructions such as steering order, assisted instruction, deceleration instruction, can alsoTo be the instruction of heartbeat detection instruction or other communications, as long as it is unmanned that the control processing equipment of vehicle can be made to knowWhether system works normally.It can specifically be configured according to actual needs, the present embodiment does not limit.
Optionally, preset rules here can be prefixed time interval, i.e., Unmanned Systems are periodically to vehicleControl processing equipment send control instruction.
Optionally, vehicle control processing equipment control vehicle driving status may include control Vehicular turn, deceleration,Parking etc..
Control instruction interruption can refer to that the control processing equipment of vehicle does not receive control instruction in preset rules.ThanIf Unmanned Systems sent control instruction to the control processing equipment of vehicle according to 2 seconds periods, if after a cycle arrival,Control instruction is not received, and confirmation Unmanned Systems break down.
The control processing method of vehicle provided in this embodiment is followed by the control processing equipment of vehicle according to preset rulesRing receives the control instruction that Unmanned Systems send, if judging control instruction terminal, the control processing equipment of vehicle is controlledThe driving status of vehicle, and if chassis can be according to connecing for the last time to solve the problems, such as Unmanned Systems since software and hardware failsThe problem of instruction received continues to travel, and vehicle is caused to be in runaway condition.Effectively increase the safety of vehicle.
Embodiment two
The method that the present embodiment provides embodiment one does further supplementary explanation.
As a kind of enforceable mode, on the basis of the above embodiment 1, optionally, set in the control processing of vehicleAfter the standby control instruction for receiving Unmanned Systems' transmission every time, this method further include:
Step 201, the control processing equipment of vehicle judges whether control instruction interrupts.
Specifically, the control processing equipment of vehicle constantly receives the control instruction of Unmanned Systems' transmission, it was demonstrated thatUnmanned Systems are working normally.Vehicle control processing equipment receives the control instruction of Unmanned Systems' transmission every timeAfterwards, it requires to restart to judge whether control instruction interrupts, if arrival is answered after once receiving control instruction next timeWhen this receives control instruction, control instruction is not received, can indicate that Unmanned Systems may have occurred failure, Wu FazhengControl instruction is often sent, needs to take corresponding safety measure.
Optionally, preset rules are prefixed time interval, and the control processing equipment of vehicle judges whether control instruction interrupts,Include:
If the control processing equipment of vehicle does not receive the control of Unmanned Systems' transmission after prefixed time interval arrivalSystem instruction, then the control processing equipment of vehicle determines that control instruction is interrupted.
Specifically, preset rules can be prefixed time interval, i.e., every prefixed time interval, Unmanned Systems are to vehicleControl processing equipment send a control instruction, make the control processing equipment of vehicle know Unmanned Systems in normal workMake.If the control processing equipment of vehicle does not receive the control of Unmanned Systems' transmission also after prefixed time interval arrivalInstruction, the control processing equipment of vehicle determine that control instruction is interrupted, it is believed that failure has occurred in Unmanned Systems, can not normally send outControl instruction is sent, vehicle will be in runaway condition, and the control processing equipment of vehicle then controls the driving status of vehicle, avoids vehicleIt is out of control to cause the accident.
Optionally, prefixed time interval can be 200 milliseconds, 400 milliseconds, 1 second etc., specifically can be according to the actual situationIt is configured, or travel speed road conditions etc. that can be current according to vehicle, configures different prefixed time intervals.Such as it is currentThe low prefixed time interval of travel speed can be long, and travel speed is high, and prefixed time interval needs shorter etc..Specifically may be usedTo be configured according to actual needs.
As another enforceable mode, on the basis of the above embodiment 1, optionally, if judging control instructionIt interrupts, the driving status of the control processing equipment control vehicle of vehicle, comprising:
If it is determined that control instruction is interrupted, the control processing equipment of vehicle controls emergency brake of vehicle.
Specifically, the control processing equipment of vehicle shows that Unmanned Systems may send out when determining that control instruction is interruptedFailure has been given birth to, control instruction can not be normally issued, to avoid causing the accident to lose control of one's vehicle, the control processing equipment of vehicle controls vehicleEmergency braking, enables the vehicle to stop in time.
Optionally, the control processing equipment of vehicle controls emergency brake of vehicle, comprising:
The control processing equipment of vehicle sends emergency brake instruction to brake system, is stopped in emergency with controlling vehicle.
Specifically, corresponding control authority can be configured with for the control processing equipment of vehicle, handle the control of vehicleEquipment can send emergency brake instruction to brake system, make brake system can when determining that Unmanned Systems break downEmergency brake is carried out to instruct according to emergency brake, enables the vehicle to stop in time, avoids that accident occurs.
Optionally, the control processing equipment of vehicle controls emergency brake of vehicle, comprising:
The control processing equipment of vehicle sends urgent parking instruction to parking system, is stopped in emergency with controlling vehicle.
Specifically, the control processing equipment of vehicle is when determining that Unmanned Systems break down, it can also be to parking systemSystem sends urgent parking instruction, is stopped in emergency with controlling vehicle, avoids that accident occurs.
As another enforceable mode, on the basis of the above embodiment 1, optionally, this method can also be wrappedIt includes:
If it is determined that control instruction is interrupted, the control processing equipment of vehicle carries out critical alarm processing.
Specifically, the control processing equipment of vehicle is after determining that Unmanned Systems break down, in emergent control vehicleOn the basis of driving status, critical alarm processing can also be carried out, to prompt related personnel to perform corresponding processing, for example is promptedMaintenance personal repairs Unmanned Systems, and the passenger on vehicle is prompted to take corresponding safety measure etc., specifically can basisActual demand is configured.
Optionally, the control processing equipment of vehicle carries out critical alarm processing, can specifically include:
The control processing equipment of vehicle generates critical alarm audio, and the playback equipment being sent on vehicle plays out, withPrompt related personnel repairs or other processing.
Optionally, the control processing equipment of vehicle carries out critical alarm processing, can specifically include:
The control processing equipment of vehicle generates emergency alert information, and the display screen for being sent to vehicle is shown, to mentionShow that passenger or other related personnel are handled.
Optionally, the control processing equipment of vehicle can generate critical alarm audio simultaneously and prompt information carries out screen and showsShow and is played with sound.
It is to be appreciated that specific alarm mode can be configured according to actual needs, the embodiment of the present application is not limitedIt is fixed.
Optionally, the control processing equipment of vehicle can also generate prompt information and be sent to remote service end, prompt relatedAdministrative staff perform corresponding processing.
As another enforceable mode, on the basis of the above embodiments, optionally, control instruction can be steeringAt least one of instructions such as instruction, assisted instruction, deceleration instruction, heartbeat detection instruction.The particular content of control instruction can be withIt is configured according to actual needs, it is not limited here.
Illustratively, Unmanned Systems are when sending deceleration instruction to braking system, if prefixed time interval reaches, nothingPeople's control loop sends deceleration instruction to the control processing equipment of vehicle, if nobody drives when next prefixed time interval reachesIt sails system and has sent assisted instruction to driving system, then Unmanned Systems send to the control processing equipment of vehicle accelerates to refer toIt enables.That is the control instruction of Unmanned Systems to the control processing equipment periodicity sending of vehicle can be current with it control shapeState is consistent.Unmanned Systems are also possible to periodically send heartbeat report to the control processing equipment of vehicle based on heartbeat mechanismText, etc..
As another enforceable mode, on the basis of the above embodiments, optionally, the control processing equipment of vehicleFor entire car controller.It is also possible to the processing equipment independently of entire car controller.
It should be noted that each enforceable mode can individually be implemented in the present embodiment, it can also be in the feelings not conflictedIt is combined in any combination under condition and implements the application without limitation.
The control processing method of vehicle provided in this embodiment is followed by the control processing equipment of vehicle according to preset rulesRing receives the control instruction that Unmanned Systems send, if judging control instruction terminal, the control processing equipment of vehicle is controlledThe driving status of vehicle, and if chassis can be according to connecing for the last time to solve the problems, such as Unmanned Systems since software and hardware failsThe problem of instruction received continues to travel, and vehicle is caused to be in runaway condition.Effectively increase the safety of vehicle.And it can alsoCritical alarm processing is carried out, related personnel can be prompted in time to repair or take safety measures, further improve vehicleSafety and usage experience.
Embodiment three
The present embodiment provides a kind of control processing unit of vehicle, at the control of the vehicle for executing above-described embodiment oneReason method.
As shown in figure 3, the structural schematic diagram of the control processing unit for vehicle provided in this embodiment.The control of the vehicleProcessing unit 30 includes receiving module 31 and processing module 32.
Wherein, receiving module 31 receives Unmanned Systems' hair by preset rules circulation for the control processing equipment of vehicleThe control instruction sent.
If processing module 32 is for judging that control instruction is interrupted, the traveling shape of the control processing equipment control vehicle of vehicleState.
Device in this present embodiment is closed, wherein modules execute the concrete mode of operation in related this methodIt is described in detail in embodiment, no detailed explanation will be given here.
According to the control processing unit of vehicle provided in this embodiment, by the control processing equipment of vehicle according to default ruleIt then recycles and receives the control instruction that Unmanned Systems send, if judging control instruction terminal, the control processing equipment of vehicleThe driving status of vehicle is controlled, and if chassis can be according to last to solve the problems, such as Unmanned Systems due to software and hardware failureThe problem of secondary instruction received continues to travel, and vehicle is caused to be in runaway condition.Effectively increase the safety of vehicle.
Example IV
The present embodiment does further supplementary explanation to the control processing unit for the vehicle that above-described embodiment three provides.
As a kind of enforceable mode, on the basis of above-described embodiment three, optionally, processing module is also used to:
After the control processing equipment of vehicle receives the control instruction of Unmanned Systems' transmission every time, the control of vehicleProcessing equipment judges whether control instruction interrupts.
Optionally, preset rules are prefixed time interval, and processing module is specifically used for:
If the control processing equipment of vehicle does not receive the control of Unmanned Systems' transmission after prefixed time interval arrivalSystem instruction, then the control processing equipment of vehicle determines that control instruction is interrupted.
As another enforceable mode, on the basis of above-described embodiment three, optionally, processing module is specific to useIn:
If it is determined that control instruction is interrupted, the control processing equipment of vehicle controls emergency brake of vehicle.
Optionally, processing module is specifically used for:
The control processing equipment of vehicle sends emergency brake instruction to brake system, is stopped in emergency with controlling vehicle.
Optionally, processing module is specifically used for:
The control processing equipment of vehicle sends urgent parking instruction to parking system, is stopped in emergency with controlling vehicle.
As another enforceable mode, on the basis of above-described embodiment three, optionally, processing module is also used to:
If it is determined that control instruction is interrupted, the control processing equipment of vehicle carries out critical alarm processing.
As another enforceable mode, on the basis of above-described embodiment three, optionally, control instruction includes turning toAt least one of instruction, assisted instruction, deceleration instruction, heartbeat detection instruction.
As another enforceable mode, on the basis of above-described embodiment three, optionally, the control processing of vehicle is setStandby is entire car controller.
Device in this present embodiment is closed, wherein modules execute the concrete mode of operation in related this methodIt is described in detail in embodiment, no detailed explanation will be given here.
It should be noted that each enforceable mode can individually be implemented in the present embodiment, it can also be in the feelings not conflictedIt is combined in any combination under condition and implements the application without limitation.
According to the control processing unit of the vehicle of the present embodiment, followed by the control processing equipment of vehicle according to preset rulesRing receives the control instruction that Unmanned Systems send, if judging control instruction terminal, the control processing equipment of vehicle is controlledThe driving status of vehicle, and if chassis can be according to connecing for the last time to solve the problems, such as Unmanned Systems since software and hardware failsThe problem of instruction received continues to travel, and vehicle is caused to be in runaway condition.Effectively increase the safety of vehicle.And it can alsoCritical alarm processing is carried out, related personnel can be prompted in time to repair or take safety measures, further improve vehicleSafety and usage experience.
Embodiment five
The present embodiment provides a kind of control processing equipments of vehicle, for executing the control of vehicle provided by the above embodimentProcessing method.
As shown in figure 4, the structural schematic diagram of the control processing equipment for vehicle provided in this embodiment.The control of the vehicleProcessing equipment 50 includes: at least one processor 51 and memory 52；
Memory stores computer program；At least one processor executes the computer program of memory storage, to realizeThe control processing method of vehicle provided by the above embodiment.
According to the control processing equipment of the vehicle of the present embodiment, followed by the control processing equipment of vehicle according to preset rulesRing receives the control instruction that Unmanned Systems send, if judging control instruction terminal, the control processing equipment of vehicle is controlledThe driving status of vehicle, and if chassis can be according to connecing for the last time to solve the problems, such as Unmanned Systems since software and hardware failsThe problem of instruction received continues to travel, and vehicle is caused to be in runaway condition.Effectively increase the safety of vehicle.And it can alsoCritical alarm processing is carried out, related personnel can be prompted in time to repair or take safety measures, further improve vehicleSafety and usage experience.
Embodiment six
The present embodiment provides a kind of computer readable storage medium, computer is stored in the computer readable storage mediumProgram, computer program are performed the method for realizing that any of the above-described embodiment provides.
According to the computer readable storage medium of the present embodiment, followed by the control processing equipment of vehicle according to preset rulesRing receives the control instruction that Unmanned Systems send, if judging control instruction terminal, the control processing equipment of vehicle is controlledThe driving status of vehicle, and if chassis can be according to connecing for the last time to solve the problems, such as Unmanned Systems since software and hardware failsThe problem of instruction received continues to travel, and vehicle is caused to be in runaway condition.Effectively increase the safety of vehicle.And it can alsoCritical alarm processing is carried out, related personnel can be prompted in time to repair or take safety measures, further improve vehicleSafety and usage experience.
In several embodiments provided herein, it should be understood that disclosed device and method can pass through itIts mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, onlyOnly a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tiedAnother system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussedMutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unitLetter connection can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unitThe component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multipleIn network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unitIt is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated listMember both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at oneIn storage media.Above-mentioned SFU software functional unit is stored in a storage medium, including some instructions are used so that a computerIt is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the applicationThe part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is variousIt can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional moduleDivision progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modulesAt the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.OnThe specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above various embodiments is only to illustrate the technical solution of the application, rather than its limitations；To the greatest extentPipe is described in detail the application referring to foregoing embodiments, those skilled in the art should understand that: its according toSo be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features intoRow equivalent replacement；And these are modified or replaceed, each embodiment technology of the application that it does not separate the essence of the corresponding technical solutionThe range of scheme.