CN112486152B - Control method and device for autonomous driving vehicle, storage medium and electronic device - Google Patents

Abstract

The invention provides a control method and device for an automatic driving vehicle, a storage medium and an electronic device, wherein the method comprises the following steps: determining fault information of an automatic driving vehicle with faults; under the condition that the fault belongs to a first fault type set according to the fault information, determining a first parking position of the automatic driving vehicle to be parked according to first vehicle information of the automatic driving vehicle and the fault information, wherein the first fault type set comprises fault types allowing on-site maintenance; the autonomous vehicle is controlled to move from the current position to the first parked position. The invention solves the problem of road traffic obstruction caused by the failure of the automatic driving automobile in the related technology.

Description

Control method and device for autonomous driving vehicle, storage medium and electronic device

Technical Field

The present invention relates to the automotive field, and in particular to a control method and device for an autonomous driving vehicle, a storage medium and an electronic device.

Background Art

For vehicles traveling on the road, if a vehicle with a driver breaks down during driving, the driver can decide where and how to stop the vehicle based on his/her experience, educational vehicle knowledge, and current status.

However, autonomous vehicles operate without the involvement of a driver, and when a vehicle breaks down it can hinder road traffic and affect the normal operation of other vehicles.

Therefore, there is a problem in the related art that road traffic is obstructed due to the failure of the autonomous driving car.

Summary of the invention

The embodiments of the present application provide a control method and device for an autonomous driving vehicle, a storage medium, and an electronic device to at least solve the problem of obstruction of road traffic caused by malfunction of the autonomous driving vehicle in the related art.

According to one embodiment of the present invention, there is provided a method for controlling an autonomous driving vehicle, comprising: determining fault information of an autonomous driving vehicle in which a fault occurs; in a case where it is determined according to the fault information that the fault belongs to a first fault type set, determining a first docking position for the autonomous driving vehicle to be parked according to the first vehicle information of the autonomous driving vehicle and the fault information, wherein the first fault type set includes fault types that allow on-site repair; and controlling the autonomous driving vehicle to move from a current position to the first docking position.

According to another embodiment of the present invention, there is provided a control device for an autonomous driving vehicle, comprising: a first determination unit, for determining fault information of an autonomous driving vehicle in which a fault occurs; a second determination unit, for determining a first docking position of the autonomous driving vehicle to be docked based on first vehicle information of the autonomous driving vehicle and the fault information, when it is determined that the fault belongs to a first fault type set based on the fault information, wherein the first fault type set includes fault types that allow on-site repair; and a first control unit, for controlling the autonomous driving vehicle to move from a current position to the first docking position.

According to another aspect of the embodiments of the present invention, a storage medium is provided. The storage medium stores a computer program. The computer program is configured to execute the method when running.

According to another aspect of an embodiment of the present invention, there is further provided an electronic device, including a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the method through the computer program.

Through the present invention, when the fault of the autonomous driving vehicle is of a type that allows on-site repair, the first docking position where the autonomous driving vehicle is to be parked is determined and the vehicle is docked according to the first vehicle information and the fault information of the autonomous driving vehicle. This can solve the problem of obstruction of road traffic caused by the fault of the autonomous driving vehicle in the related technology, thereby achieving the technical effect of reducing the impact of vehicle faults on road traffic and improving the safety and processing efficiency of fault handling of autonomous driving vehicles.

BRIEF DESCRIPTION OF THE DRAWINGS

The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

FIG1 is a block diagram of the hardware structure of an optional autonomous driving vehicle according to an embodiment of the present application;

FIG2 is a flow chart of an optional control of an autonomous driving vehicle according to an embodiment of the present application;

FIG3 is a block diagram of an optional control device for an autonomous driving vehicle according to an embodiment of the present application.

DETAILED DESCRIPTION

The present invention will be described in detail below with reference to the accompanying drawings and in combination with embodiments. It should be noted that the embodiments and features in the embodiments of the present application can be combined with each other without conflict.

It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

The method embodiment provided in the embodiment of the present application can be executed in an autonomous driving vehicle, a background server of an autonomous driving vehicle, or a control device on an autonomous driving vehicle. Taking the operation on an autonomous driving vehicle as an example, FIG1 is a hardware structure block diagram of an optional autonomous driving vehicle in the embodiment of the present application. As shown in FIG1, in addition to the hardware components required to ensure the operation of the vehicle (for example, the body, wheels, frame, power system, etc. of the vehicle), the autonomous driving vehicle 10 may also include one or more (only one is shown in FIG1) processors 102 (the processor 102 may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA) and a memory 104 for storing data. Optionally, the above-mentioned autonomous driving vehicle may also include a transmission device 106 and an input and output device 108 for communication functions. It can be understood by those skilled in the art that the structure shown in FIG1 is only for illustration and does not limit the structure of the above-mentioned autonomous driving vehicle. For example, the autonomous driving vehicle 10 may also include more or fewer components than those shown in FIG1, or have a different configuration with the same function as shown in FIG1 or more functions than FIG1.

The memory 104 can be used to store computer programs, for example, software programs and modules of application software, such as the computer program corresponding to the security authentication method in the embodiment of the present application. The processor 102 executes various functional applications and data processing by running the computer program stored in the memory 104, that is, to implement the above method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely arranged relative to the processor 102, and these remote memories may be connected to the mobile terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

The transmission device 106 is used to receive or send data via a network. The specific example of the above network may include a wireless network provided by a communication provider of the autonomous driving vehicle 10 (a communication provider for communication between the autonomous driving vehicle and the background server). In one example, the transmission device 106 includes a network adapter (Network Interface Controller, referred to as NIC), which can be connected to other network devices through a base station so as to communicate with the Internet. In one example, the transmission device 106 can be an RF (Radio Frequency) module, which is used to communicate with the Internet wirelessly.

In this embodiment, a control method of an autonomous driving vehicle running on an autonomous driving vehicle, a backend server of the autonomous driving vehicle, or a control device on the autonomous driving vehicle is provided. FIG. 2 is a flow chart of an optional control of an autonomous driving vehicle according to an embodiment of the present application. As shown in FIG. 2 , the flow includes the following steps:

Step S202, determining fault information of the faulty automatic driving vehicle;

Step S204, when it is determined according to the fault information that the fault belongs to a first fault type set, determining a first parking position for the autonomous driving vehicle to be parked according to the first vehicle information and the fault information of the autonomous driving vehicle, wherein the first fault type set includes fault types that allow on-site repair;

Step S206, controlling the automatic driving vehicle to move from the current position to the first parking position.

Through the above steps, when the fault of the autonomous driving vehicle is of the type that allows on-site repair, the first docking position of the autonomous driving vehicle to be parked is determined and the vehicle is docked according to the first vehicle information and the fault information of the autonomous driving vehicle, thereby solving the technical problem of obstruction of road traffic caused by the fault of the autonomous driving vehicle in the related technology, reducing the impact of vehicle faults on road traffic, and improving the safety and efficiency of fault handling of autonomous driving vehicles.

Optionally, the execution entity of the above steps may be an autonomous driving vehicle, a background server of an autonomous driving vehicle, or an autonomous driving vehicle, but is not limited thereto.

The control method of the automatic driving vehicle in the embodiment of the present invention is described below with reference to FIG. 2 .

In step S202, the fault information of the faulty automatic driving vehicle is determined.

During the automatic operation of the autonomous driving vehicle, if the autonomous driving vehicle fails, fault information of the failure can be determined.

Optionally, in this embodiment, determining fault information of a faulty autonomous driving vehicle includes: receiving detection information sent by sensors on the autonomous driving vehicle, wherein the detection information is information obtained by the sensor detecting vehicle components of the autonomous driving vehicle; comparing the detection information with reference information pre-stored in the autonomous driving vehicle to determine fault information, wherein the fault information is used to indicate the cause and degree of the fault of a target component in the vehicle component corresponding to the fault.

Fault information of a malfunction of an autonomous driving vehicle may be determined based on sensor data (detection information) detected by one or more sensors provided on the autonomous driving vehicle.

An autonomous driving vehicle may be equipped with multiple sensors and diagnostic systems, and different sensors and diagnostic systems may correspond to different vehicle components to detect information of different vehicle components of the vehicle.

The above sensors can be used to detect the speed of the autonomous vehicle, the temperature of various media, and the operation of the engine, and may include but are not limited to at least one of the following: air flow sensor, intake pressure sensor, node door position sensor, water temperature sensor, camshaft position sensor, crankshaft position sensor, knock sensor, oxygen sensor, and may also include: acceleration sensor, gravity sensor, pressure sensor, etc. Different sensors can be set at different positions to detect the status of various components of the autonomous vehicle in operation.

Based on the detection information detected by each sensor, the fault information of the autonomous driving vehicle can be determined.

The diagnostic system may include one or more subsystems. Different subsystems may perform comprehensive analysis on the data transmitted by one or more sensors, thereby diagnosing whether a fault occurs in each component.

The diagnostic system can determine fault information based on the detection information detected by the sensor and the reference information pre-stored in the autonomous driving vehicle, wherein the fault information is used to indicate the cause and degree of the fault of the target component in the vehicle corresponding to the fault.

The fault information may include: fault location and fault parameters, and the cause and severity of the fault may be determined based on the fault information. For example, if the fault location is the tire, and the fault parameter is that the tire will be deflated within 5 minutes, then the fault cause determined is that the tire is deflated, and the severity is particularly severe; for another example, if the fault location is the cooling system, and the fault parameter is that the coolant level is lower than 30%, then the fault cause determined is that the coolant is too low, and the severity is generally severe; for another example, if the fault location is the left mirror, and the fault parameter is 40% intact, then the fault cause determined is that the left mirror is damaged, and the severity is generally severe.

This is explained below with optional examples. The vehicle should be equipped with multiple sensors to detect faults, and also to detect the severity of the fault. For example, a brake pad may become thinner but still be usable for hundreds of kilometers, or the brake pad may be too thin or broken and the vehicle should be stopped immediately. For another example, the coolant level may become low but still cool the vehicle, or the coolant level may be too low and the cooling system can no longer be used, which may have a serious impact on the use of electronic units used for autonomous driving, as they require cooling to work properly.

Alternatively, other means may be used to determine the cause and extent of the failure based on the failure information: FMEA (Failure Mode and Effect Analysis) and HARA (Hazard and Risk Analysis/Assessment) and any other systematic potential failure analysis of the vehicle and subsystems conducted during this period may be used to determine the cause and extent of the failure. Failure history of the same or other vehicles or other manufacturers from this manufacturer may be used as a source of information on potential failures and their severity.

Due to the latency requirements, the decision on the fault can be made very quickly by the vehicle. Therefore, the database of faults as well as the database with predefined decisions can be stored in a storage component in the vehicle. In this case, the database can be updated with the latest information and analysis results by wireless means or, in case of completion of certain vehicle maintenance, the database can be updated.

Alternatively, all or part of the database can also be stored on a server outside the vehicle and then transmitted to the vehicle only when necessary. In this case, however, it is ensured that the vehicle can remain connected to the server in the event of a failure.

Through this embodiment, the operating status of the autonomous driving vehicle is detected by the sensor installed on the autonomous driving vehicle, so as to determine the fault information of the autonomous driving vehicle, which can ensure the accuracy and timeliness of the fault information determination. In addition, since the existing sensors of the autonomous driving vehicle can be used for detection, the cost is saved.

Optionally, in this embodiment, when it is determined that the autonomous driving vehicle has malfunctioned, a hazard warning indicator on the autonomous driving vehicle is activated to send out a warning signal, wherein the warning signal is used to indicate that the autonomous driving vehicle has malfunctioned.

When a malfunction of an autonomous vehicle is detected, the control system of the autonomous vehicle can activate hazard warning indicators to warn other traffic participants. For example, the autonomous vehicle's double flashes can be turned on, or an alarm sound can be sounded, etc. in accordance with relevant regulations.

Through this embodiment, by activating the hazard warning indicator on the autonomous driving vehicle to send out a warning signal, a warning can be sent to other vehicles to avoid traffic accidents between vehicles.

After the fault information is determined, the fault type of the fault can be determined according to the fault information. In the case where the fault type can be determined according to the fault information, it can be determined whether the fault type belongs to a first fault type set or a second fault type set, wherein the first fault type set includes fault types that allow on-site repair, and the second fault type set includes fault types that do not allow on-site repair.

Optionally, in this embodiment, after determining the fault information of the faulty autonomous driving vehicle, if the fault type corresponding to the fault is not determined based on the fault information, the fault is determined as a predetermined fault type, wherein the predetermined fault type is a fault type with a severity higher than a target severity threshold; selection information is sent to passengers in the autonomous driving vehicle, wherein the selection information is used to indicate a method for handling the fault, and a third docking position corresponding to the target handling method is determined based on the target handling method selected by the passenger in response to the selection information; and the autonomous driving vehicle is controlled to move from the current position to the third docking position.

If the fault cannot be detected well or is not described in the fault database, the autonomous driving vehicle can send a fault report to the service center and treat the fault as a predetermined fault type, which can have one of the following characteristics: very serious, need to be stopped as soon as possible, and not repaired, so as to maximize the safety of passengers and vehicles.

The autonomous vehicle should share the fault report with the service center and await "human" feedback on how to proceed, but this may take some time.

In this case, selection information can also be sent to the passengers in the autonomous driving vehicle, wherein the selection information is used to indicate a way to handle the fault, which may include but is not limited to: changing the vehicle or exiting the vehicle, shutting down/loading the vehicle (restarting the vehicle), and checking whether the fault still exists.

According to the processing method selected by the user, the target operation corresponding to the target processing method can be performed on the autonomous driving vehicle, for example, if the user chooses to change the vehicle or exit the vehicle, the vehicle stops at the nearest parking location and contacts the service center for vehicle replacement, or unlocks the vehicle lock or door to allow passengers to get off the vehicle. If the user chooses to shut down/load the vehicle, the vehicle stops at the nearest parking location and restarts the vehicle. If the user chooses to check whether the fault still exists, the vehicle stops at the nearest parking location and re-detects the status of the vehicle through sensors.

Through this embodiment, when the fault type of the faulty vehicle cannot be determined based on the fault information, the fault type can be set to a predetermined fault type with a high severity, and selection information can be sent to the passengers to determine how to handle the fault, which can improve the safety of the autonomous driving vehicle.

After determining the fault type, it can be determined whether the fault can be repaired on site, and based on whether the fault can be repaired on site, the space information required for the docking position is determined, and then the first docking position is determined.

In step S204, when it is determined based on the fault information that the fault belongs to a first fault type set, a first docking position for the autonomous driving vehicle to be parked is determined based on the first vehicle information and the fault information of the autonomous driving vehicle, wherein the first fault type set includes fault types that allow on-site repairs.

If the fault is of the type that can be repaired on site, the first docking position at which the autonomous driving vehicle is to be parked can be determined based on the first vehicle information of the autonomous driving vehicle and the fault information.

Optionally, in this embodiment, the first vehicle information includes at least: type information of the autonomous driving vehicle, size information of the autonomous driving vehicle, occupied space information of the autonomous driving vehicle when working, oil level information of the autonomous driving vehicle, status information of the brake pads of the autonomous driving vehicle, and status information of the cooling system of the autonomous driving vehicle.

The vehicle information of the autonomous driving vehicle can be pre-stored in the storage component of the autonomous driving vehicle, or stored in the storage server of the service center. The vehicle information can be used to determine the movement information of the autonomous driving vehicle, such as the space required for movement, the range of movement allowed, etc.

Depending on different configurations, the vehicle information of the autonomous driving vehicle may include but is not limited to at least one of the following: type information of the autonomous driving vehicle, size information of the autonomous driving vehicle, occupied space information of the autonomous driving vehicle when working, oil level information of the autonomous driving vehicle, status information of the brake pads of the autonomous driving vehicle, and status information of the cooling system of the autonomous driving vehicle.

Through this embodiment, by setting the vehicle information of the autonomous driving vehicle in order to determine the parking position, the accuracy of the parking position determination can be improved.

In this embodiment, there may be multiple ways to determine the first docking position. For example, the first docking position may be determined by an autonomous driving vehicle or with the assistance of a service center.

As an optional implementation method, the first stop position may be determined by the autonomous driving vehicle.

Optionally, in this embodiment, determining a first docking position for the autonomous driving vehicle to be parked based on the first vehicle information and fault information of the autonomous driving vehicle includes: determining one or more candidate docking positions for safely parking the autonomous driving vehicle based on the first vehicle information and the fault information; and selecting a first docking position for parking the autonomous driving vehicle from one or more candidate docking positions.

Based on the vehicle information and fault information of the vehicle, one or more candidate docking positions for safely parking the autonomous driving vehicle can be determined, and a first docking position can be selected from them.

If the vehicle can be repaired on site, one or more candidate parking locations can be determined based on the space information required to park the vehicle and the space information required to repair the fault. A fault database can be used to store the vehicle information of the vehicle and the type of fault and the space information required to repair the fault. The above fault database can be stored in the autonomous driving vehicle or in a storage server at a service center. For example, any potential fault database should contain information on how much space is required for repair and what tools should be used for repair. As a guideline, the 4S maintenance manual and vehicle maintenance manual corresponding to the autonomous vehicle can be used. Because the most common faults are described in detail in the manual.

The relevant spatial information should include the space around the vehicle required to repair the vehicle failure. The relevant spatial information can be used to determine the location and exact position where the autonomous vehicle should stop and wait for maintenance.

Optionally, in order to determine one or more candidate stopping positions, determining one or more candidate stopping positions for safely stopping the autonomous driving vehicle based on the first vehicle information and the fault information may include: determining a moving range that the autonomous driving vehicle is allowed to move to from a current position based on the first vehicle information and the fault information; determining one or more candidate stopping positions within the moving range based on road conditions, traffic conditions and vehicle movement patterns within the moving range.

Based on the first vehicle information and the fault information, the moving range that the faulty vehicle is allowed to move to can be determined; based on the road conditions, traffic conditions and vehicle movement methods within the moving range, one or more candidate parking positions can be determined, and the area corresponding to each candidate parking position meets the spatial information required for parking the faulty vehicle and handling the fault.

The road surface information may include but is not limited to at least one of the following: road surface temperature, road surface humidity. The traffic conditions may include but are not limited to at least one of the following: vehicle density, vehicle congestion. The vehicle movement mode may include but is not limited to: vehicle running direction (one-way street, two-way street).

Through this embodiment, one or more candidate parking positions are determined from the movement range to which the faulty vehicle is allowed to move, which can ensure that the faulty vehicle can move to the candidate parking positions and ensure the accuracy of the parking position determination.

Optionally, in this embodiment, selecting a first docking position for docking the autonomous driving vehicle from one or more candidate docking positions includes: one or more driving routes from the current position of the autonomous driving vehicle to the one or more candidate docking positions; selecting a candidate docking position corresponding to a driving route whose route length is less than or equal to a target length threshold among the one or more driving routes as the first docking position.

After determining one or more candidate docking positions, a first docking position may be selected from the one or more candidate docking positions in a variety of ways. For example, the first docking position may be determined by random selection, or one of the candidate docking positions that meet predetermined conditions may be selected as the first docking position.

The predetermined condition may be that the first stop position is one of a predetermined number of candidate stop positions with the closest travel length. One or more travel routes from the location of the autonomous driving vehicle to one or more candidate stop positions may be first determined, and a candidate stop position corresponding to a travel route with a route length less than or equal to a target length threshold may be selected from the one or more travel routes as the first stop position. The target length threshold may be a pre-set fixed value, or may be determined based on the route length of each moving route.

For example, if the first stop position needs to be selected from the three stop positions corresponding to the three moving routes with the shortest route lengths, the target length threshold is greater than or equal to the length of the third shortest route and less than the length of the fourth shortest route.

Through this embodiment, the first stop position is selected according to the route length of the moving route, which can improve the rationality of the selection of the first stop position.

Optionally, in this embodiment, selecting a candidate stop position corresponding to a driving route whose route length is less than a target length threshold among one or more driving routes as the first stop position includes: selecting a target driving route with the shortest route length among the one or more driving routes as the first stop position, wherein the target length threshold is the length of the target driving route.

After one or more candidate docking locations are determined, the candidate docking location that is closest to the autonomous driving vehicle may be selected as the first docking location.

Optionally, when selecting the first stop position, the following information may be combined for selection: the exact location of the stop location may be identified on an electronic map. The electronic map may contain not only information about street dimensions, but also information about road surface structure and traffic rules. For example, the following positions should be avoided: positions where parking is not allowed (it is illegal to park at this position); positions that are likely to interfere with other traffic (other traffic will be interfered with if parked at this position); positions where the safety of a faulty vehicle is vulnerable to security threats (the faulty vehicle will be threatened if parked at this position, for example, other traffic cannot see/detect it); positions where the safety of passengers or cargo on a faulty vehicle is vulnerable to security threats (the passengers or cargo on a faulty vehicle will be threatened if parked at this position).

Through this embodiment, by using the dockable position closest to the current position of the autonomous driving vehicle as the first docking position, the possibility of the autonomous driving vehicle moving to the first docking position can be increased, thereby ensuring the safety of the autonomous driving vehicle and reducing resource consumption.

As another optional implementation, the service center may assist in determining the first docking position.

Optionally, in this embodiment, determining the first docking position where the autonomous driving vehicle is to be parked based on the first vehicle information and fault information of the autonomous driving vehicle includes: sending a first request for querying the docking position of the autonomous driving vehicle to a service center, wherein the first request carries the first vehicle information and fault information; and receiving a first response message carrying the first docking position returned by the service center.

After detecting the fault information, the autonomous driving vehicle can interact with the service center and send the first vehicle information and the fault information to the service center through a first request. The first vehicle information may include at least one of the following: type information of the autonomous driving vehicle, size information of the autonomous driving vehicle, space occupied by the autonomous driving vehicle when working, oil volume information of the autonomous driving vehicle, brake pad status information of the autonomous driving vehicle, and cooling system status information of the autonomous driving vehicle. The first vehicle information may also be identification information and location information of the autonomous driving vehicle. Through the identification information, the service center can determine the type information of the autonomous driving vehicle, the size information of the autonomous driving vehicle, and the space occupied by the autonomous driving vehicle when working.

The above fault information may include location information of the fault (eg, tire, etc.), description information of the fault (tire deflation, deflation speed, time required for the air in the tire to be completely deflated, etc.).

The first vehicle information and the fault information can be used by the service center to determine the first stop position. The range of movement that the autonomous driving vehicle can move to can be determined through the first vehicle information and the fault information, and then the first stop position can be determined according to the road conditions and traffic conditions within the range of movement. The method of determining the first stop position can be similar to the above, and will not be described in detail here.

Through this embodiment, the service center determines the first docking position, which can reduce the software and hardware requirements for the autonomous driving vehicle and reduce the production cost of the autonomous driving vehicle.

Optionally, in this embodiment, when the fault type of the fault belongs to a second fault type set, a second request is sent to the service center, wherein the second request carries first vehicle information and fault information of the autonomous driving vehicle, and the second fault type set includes fault types that do not allow on-site repair; a second response message carrying second vehicle information of the service vehicle is returned by the service center; a second docking position for the autonomous driving vehicle to be parked is determined based on the first vehicle information and the second vehicle information of the autonomous driving vehicle, wherein the free area including the second docking position is larger than the area required to park the autonomous driving vehicle and the service vehicle; and the autonomous driving vehicle is controlled to move from the current position to the second docking position.

If it cannot be repaired on site, the broken-down vehicle may send a request to a vehicle control center (service center) to send a towing vehicle (a type of service vehicle) to pick up the broken-down vehicle.

According to the vehicle information of the service vehicle assigned by the service center and the vehicle information of the autonomous vehicle, the spatial information of the parking position to be parked is determined, and the above spatial information may include: the size of the spatial area, which should meet the size requirements for parking the autonomous vehicle and the service vehicle. And according to the spatial information, the second parking position is determined, and the free area including the second parking position (the area without obstacles that affect the operation of the vehicle) is larger than the area required for parking the autonomous vehicle and the service vehicle.

Through this embodiment, the service center allocates a service vehicle to the faulty vehicle, and selects a parking location based on the vehicle information of the service vehicle and the vehicle information of the faulty vehicle, thereby ensuring the accuracy of the parking location selection.

Optionally, in step S206, the autonomous driving vehicle is controlled to move from the current position to the first docking position.

After the first docking position is determined, the autonomous driving vehicle may be controlled to move from the current position to the first docking position.

Optionally, in this embodiment, before controlling the autonomous driving vehicle to move from the current position to the first stop position, movement parameters of the autonomous driving vehicle to move from the current position to the first stop position can be determined based on the first vehicle information of the autonomous driving vehicle, wherein the movement parameters include at least one of the following: moving direction, moving speed; controlling the autonomous driving vehicle to move from the current position to the first stop position includes: controlling the autonomous driving vehicle to move from the current position to the first stop position according to the movement parameters.

In order to ensure that the vehicle can be parked safely at the parking location, information related to the parking of the disabled vehicle can be determined, such as how fast the vehicle stopped, where the vehicle should be parked, which side of the road, whether it is an independent parking lot, and the distance from the roadside, so that the disabled vehicle can be stopped safely.

If the vehicle needs to be driven to this safe harbor location (first stop, second stop, etc.), the AV (autonomous Vehicle) software's "planner" (the component used to do route planning) should plan the optimal location (safe harbor location) as the new destination. In this case, the trajectory module of the software will evaluate how to best reach this location and will issue a command to the interface/controller of the autonomous vehicle, indicating in what direction and speed the vehicle should move. The AV-Interface/Control will then send an electrical command. For example, by using electrical signals, CAN (Controller Area Network) information can also be sent to vehicle systems (such as braking systems, steering systems, powertrain systems, etc.) to control speed and direction.

Through this embodiment, by controlling the direction and speed of the autonomous driving vehicle moving to the first docking position, it can be ensured that the autonomous driving vehicle can safely move to the first docking area (second docking area), thereby improving the safety of the vehicle and passengers.

The control method of the above-mentioned autonomous driving vehicle is described below with optional examples. In order for the autonomous driving vehicle to decide how and where to park, the autonomous driving vehicle can be equipped with multiple sensors and diagnostic systems to detect vehicle failures and follow specific algorithms to decide how and where to park. The above-mentioned function can be called a "safe harbor" function.

For different faults, the "Safe Harbor" function can determine the best vehicle parking or static position for a specific fault. The following is an explanation based on different fault scenarios.

Scenario 1

The right front tire of the autonomous vehicle is deflated due to a wheel being cut by debris, but the deflation is not very fast, and the vehicle needs to stop immediately. The autonomous vehicle should determine a parking location so that maintenance personnel can safely change the tire on site. Therefore, actual and predicted traffic volume should be considered to assess whether it is safe for the vehicle and service personnel to operate in the parking location.

If such a location is found within reach (based on the severity of the fault) on the system map (e.g., the location is on the right side of the road), the vehicle can be driven to that location and then parked so that the vehicle is close enough to the roadside (e.g., the curb) for the maintenance personnel to change the front wheel. Scenarios and ergonomic and technical information can be predefined and stored in the AV system. For the above fault, 1 meter from the side can be set, as this is enough to place a car jack and manually change the tire. In other possible situations, the required space depends on the fault, tire size, vehicle condition, etc.

A set of all possible faults and required spaces can be predefined and stored in the AV system, or it can be downloaded in real time from a central database/AI (Artificial Intelligence) assistance system using a wireless service.

Scenario 2

If an autonomous vehicle's engine malfunctions (e.g., too low on fuel), it can be parked on a road that gives maintenance personnel more room in front of the vehicle.

Scene 3

The failure of the autonomous vehicle is serious and requires the disabled autonomous vehicle to be towed. In this case, the size and operation of the towing vehicle, as well as the safe parking of the towing vehicle should be considered to determine the location of the "safe harbor".

Scene 4

If a disabled vehicle (a disabled autonomous vehicle) requires the involvement of some authority vehicle (e.g., a firefighter or police vehicle), then the size of the vehicle, the operating space, and the space required for safe parking of the vehicle (space requirements) should be considered to determine the location of the "safe harbor."

In addition to ensuring space for the disabled vehicle and the towing procedure, some space can also be "reserved" for the police. A database of the towing vehicle dimensions and other authorized vehicle dimensions as well as space and maneuverability and requirements can be stored in the autonomous vehicle, so that the autonomous vehicle can quickly determine the required space size and parking location. The above information can also be stored on an external server and transmitted to the disabled vehicle.

The decision and calculation of space requirements and parking locations can also be made at a centralized location (e.g., a service center) outside the vehicle. In this case, the vehicle will wirelessly send its "problem report" to the centralized location, and a new parking destination is then determined based on the availability of helping vehicles, the type of problem, cost, time required, availability of service personnel, and other factors used to make a decision at this central location (central control center), and the decision and suggested new parking destination is then sent to the disabled vehicle as a new parking location.

In addition, there can be more features related to the “safe harbor” functionality, which will be recorded in a separate ROI.

The parking location of the disabled vehicle may be determined based on at least one of the following information: diagnostic information of the vehicle; traffic information about the location of the disabled vehicle; information about road conditions and traffic in the area where the vehicle is planned to be parked; road consistency information (asphalt, sand, etc.); weather conditions; information about the size and space requirements of potential service vehicles; information about the space requirements required for on-site repairs; information about the space requirements of potential police vehicles. Different faults will result in different optimal vehicle parking/stationary locations for the disabled vehicle.

Through the description of the above implementation methods, those skilled in the art can clearly understand that the method according to the above embodiment can be implemented by means of software plus a necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods of various embodiments of the present invention.

In this embodiment, a control device for an autonomous driving vehicle is also provided, and the control device for an autonomous driving vehicle is used to implement the above-mentioned embodiments and preferred implementation modes, and those that have been described will not be repeated. As used below, the term "module" can be a combination of software and/or hardware that implements a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, the implementation of hardware, or a combination of software and hardware, is also possible and conceivable.

FIG3 is a structural block diagram of an optional control device for an autonomous driving vehicle according to an embodiment of the present application. As shown in FIG3 , the device includes:

(1) a first determining unit 32, configured to determine fault information of the faulty autonomous driving vehicle;

(2) a second determination unit 34, connected to the first determination unit 32, configured to determine a first parking position for the autonomous driving vehicle to be parked according to the first vehicle information of the autonomous driving vehicle and the fault information, when it is determined according to the fault information that the fault belongs to a first fault type set, wherein the first fault type set includes fault types that allow on-site repair;

(3) A first control unit 36, connected to the second determination unit 34, controls the automatic driving vehicle to move from the current position to the first parking position.

Optionally, in this embodiment, the second determining unit 34 includes:

(1) a first determination module, configured to determine one or more candidate parking locations for safely parking the autonomous driving vehicle based on the first vehicle information and the fault information;

(2) A selection module, used to select a first docking position for docking the autonomous driving vehicle from one or more candidate docking positions.

Optionally, in this embodiment, the first determining module includes:

(1) a first determination submodule, configured to determine a movement range to which the autonomous driving vehicle is allowed to move from a current position based on the first vehicle information and the fault information;

(2) A second determination submodule is used to determine one or more candidate stop locations within the moving range according to the road conditions, traffic conditions and vehicle movement mode within the moving range.

Optionally, in this embodiment, the selection module includes:

(1) a third determination submodule, configured to determine one or more driving routes from the current position of the autonomous driving vehicle to one or more of the candidate stopping positions;

(2) A selection submodule, configured to select a candidate stop position corresponding to one or more driving routes whose route length is less than or equal to a target length threshold as a first stop position.

Optionally, in this embodiment, selecting a submodule includes:

(1) A selection subunit is used to select a target driving route with the shortest route length among one or more driving routes as a first stop position, wherein the target length threshold is the length of the target driving route.

Optionally, in this embodiment, the second determining unit 34 includes:

(1) a sending module, configured to send a first request for querying a parking location of the autonomous driving vehicle to a service center, wherein the first request carries first vehicle information and fault information;

(2) A receiving module, used to receive a first response message carrying the first docking location returned by the service center.

Optionally, in this embodiment, the above device further includes: a third determining unit, and the control unit includes: a control module, wherein:

(1) a third determining unit, configured to determine, before controlling the autonomous driving vehicle to move from the current position to the first stop position, a movement parameter of the autonomous driving vehicle for moving from the current position to the first stop position according to the first vehicle information of the autonomous driving vehicle, wherein the movement parameter includes at least one of the following: a moving direction and a moving speed;

(2) A control module, used to control the autonomous driving vehicle to move from a current position to a first stop position according to the movement parameters.

Optionally, in this embodiment, the first vehicle information includes at least one of the following: type information of the autonomous driving vehicle, size information of the autonomous driving vehicle, occupied space information of the autonomous driving vehicle when working, oil level information of the autonomous driving vehicle, status information of the brake pads of the autonomous driving vehicle, and status information of the cooling system of the autonomous driving vehicle.

Optionally, in this embodiment, the above device further includes:

(1) a sending unit, configured to, after determining fault information of the faulty autonomous driving vehicle, send a second request to the service center if it is determined according to the fault information that the fault belongs to a second fault type set, wherein the second request carries first vehicle information and fault information of the autonomous driving vehicle, and the second fault type set includes fault types for which on-site repair is not allowed;

(2) a receiving unit, configured to receive a second response message carrying second vehicle information of the service vehicle returned by the service center;

(3) a fourth determining unit, configured to determine a second docking position at which the autonomous driving vehicle is to be docked based on the first vehicle information and the second vehicle information of the autonomous driving vehicle, wherein an empty area including the second docking position is larger than an area required for docking the autonomous driving vehicle and the service vehicle;

(4) A second control unit, used to control the autonomous driving vehicle to move from a current position to a second parking position.

Optionally, in this embodiment, the above device further includes:

(1) a fifth determination unit, configured to, after determining fault information of the faulty autonomous driving vehicle, determine the fault as a predetermined fault type if a fault type corresponding to the fault is not determined according to the fault information, wherein the predetermined fault type is a fault type with a severity higher than a target severity threshold;

(2) an issuing unit, configured to issue selection information to a passenger in the autonomous driving vehicle, wherein the selection information is used to indicate a method for handling the fault,

(3) a sixth determining unit, configured to determine a third stop position corresponding to the target processing method according to the target processing method selected by the passenger in response to the selection information;

(4) A third control unit, used to control the automatic driving vehicle to move from the current position to a third parking position.

Optionally, in this embodiment, the above device further includes:

(1) an activation unit, configured to activate a hazard warning indicator on the autonomous driving vehicle to send a warning signal when it is determined that the autonomous driving vehicle has failed, wherein the warning signal is used to indicate that the autonomous driving vehicle has failed.

Optionally, in this embodiment, the first determining unit 32 includes:

(1) a second receiving unit, configured to receive detection information sent by a sensor on the autonomous driving vehicle, wherein the detection information is information obtained by the sensor through detection of a vehicle component of the autonomous driving vehicle;

(2) a comparison unit, configured to compare the detection information with reference information pre-stored in the autonomous driving vehicle to determine fault information, wherein the fault information is used to indicate a fault cause and a fault degree of a target component in the vehicle corresponding to the fault.

It should be noted that the above modules can be implemented by software or hardware. For the latter, it can be implemented in the following ways, but not limited to: the above modules are all located in the same processor; or the above modules are located in different processors in any combination.

An embodiment of the present invention further provides a storage medium, in which a computer program is stored, wherein the computer program is configured to execute the steps of any of the above method embodiments when running.

Optionally, in this embodiment, the above-mentioned storage medium may include but is not limited to: a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk, and other media that can store computer programs.

An embodiment of the present invention further provides an electronic device, including a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to run the computer program to execute the steps in any one of the above method embodiments.

Optionally, the electronic device may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.

Obviously, those skilled in the art should understand that the above modules or steps of the present invention can be implemented by a general computing device, they can be concentrated on a single computing device, or distributed on a network composed of multiple computing devices, and optionally, they can be implemented by a program code executable by a computing device, so that they can be stored in a storage device and executed by the computing device, and in some cases, the steps shown or described can be executed in a different order than here, or they can be made into individual integrated circuit modules, or multiple modules or steps therein can be made into a single integrated circuit module for implementation. Thus, the present invention is not limited to any specific combination of hardware and software.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the principle of the present invention shall be included in the protection scope of the present invention.

Claims (14)

1. A control method for an autonomous driving vehicle, comprising: Determine the fault information of the malfunctioning autonomous vehicle; In a case where it is determined according to the fault information that the fault belongs to a first fault type set, determining a first parking position for the autonomous driving vehicle to be parked according to the first vehicle information of the autonomous driving vehicle and the fault information, wherein the first fault type set includes fault types that allow on-site repair; Controlling the autonomous driving vehicle to move from a current position to the first parking position; Among them, after determining the fault information of the autonomous driving vehicle where the fault occurs, the method also includes: when it is determined according to the fault information that the fault belongs to a second fault type set, sending a second request to the service center, wherein the second request carries the first vehicle information and the fault information of the autonomous driving vehicle, and the second fault type set includes fault types that do not allow on-site repair; receiving a second response message returned by the service center carrying the second vehicle information of the service vehicle; determining a second docking position for the autonomous driving vehicle to be parked based on the first vehicle information and the second vehicle information of the autonomous driving vehicle, wherein the free area including the second docking position is larger than the area required to park the autonomous driving vehicle and the service vehicle; and controlling the autonomous driving vehicle to move from the current position to the second docking position. 2. The method according to claim 1, characterized in that, according to the first vehicle information and the fault information of the autonomous driving vehicle, determining the first parking position at which the autonomous driving vehicle is to be parked comprises: Determining one or more candidate parking locations for safely parking the autonomous driving vehicle based on the first vehicle information and the fault information; The first docking position for docking the autonomous driving vehicle is selected from the one or more candidate docking positions. 3. The method according to claim 2, characterized in that, according to the first vehicle information and the fault information, determining one or more candidate parking positions for safely parking the autonomous driving vehicle comprises: Determine, based on the first vehicle information and the fault information, a movement range to which the autonomous driving vehicle is allowed to move from the current position; According to the road conditions, traffic conditions and vehicle movement mode within the moving range, one or more candidate parking positions are determined within the moving range. 4. The method according to claim 2, wherein selecting the first docking position for docking the autonomous driving vehicle from the one or more candidate docking positions comprises: Determining one or more driving routes from the current position of the autonomous vehicle to one or more of the candidate stopping locations; A candidate stop position corresponding to one or more driving routes whose route length is less than or equal to a target length threshold is selected as the first stop position. 5. The method according to claim 4, characterized in that selecting one or more candidate stop locations corresponding to the driving routes whose route lengths are less than the target length threshold as the first stop location comprises: A target driving route with the shortest route length among one or more of the driving routes is selected as the first stop position, wherein the target length threshold is the length of the target driving route. 6. The method according to claim 1, characterized in that, according to the first vehicle information and the fault information of the autonomous driving vehicle, determining the first parking position at which the autonomous driving vehicle is to be parked comprises: Sending a first request for querying the parking location of the autonomous driving vehicle to a service center, wherein the first request carries the first vehicle information and the fault information; Receive a first response message carrying the first docking location returned by the service center. 7. The method according to claim 1, characterized in that Before controlling the autonomous driving vehicle to move from the current position to the first docking position, the method further includes: determining, based on the first vehicle information of the autonomous driving vehicle, movement parameters of the autonomous driving vehicle moving from the current position to the first docking position, wherein the movement parameters include at least one of the following: movement direction, movement speed; Controlling the autonomous driving vehicle to move from the current position to the first docking position includes: controlling the autonomous driving vehicle to move from the current position to the first docking position according to the movement parameters. 8. The method according to claim 1 is characterized in that the first vehicle information includes at least one of the following: type information of the autonomous driving vehicle, size information of the autonomous driving vehicle, occupied space information of the autonomous driving vehicle when working, oil level information of the autonomous driving vehicle, status information of the brake pads of the autonomous driving vehicle, and status information of the cooling system of the autonomous driving vehicle. 9. The method according to claim 1, characterized in that after determining the fault information of the autonomous driving vehicle where the fault occurs, the method further comprises: If the fault type corresponding to the fault is not determined according to the fault information, the fault is determined as a predetermined fault type, wherein the predetermined fault type is a fault type with a severity higher than a target severity threshold; Sending selection information to a passenger in the autonomous driving vehicle, wherein the selection information is used to indicate a method for handling the fault, According to the target processing method selected by the passenger in response to the selection information, the target operation corresponding to the target processing method is performed on the automatic driving vehicle. 10. The method according to any one of claims 1 to 9, characterized in that the method further comprises: When it is determined that the autonomous driving vehicle has the fault, a hazard warning indicator on the autonomous driving vehicle is activated to send a warning signal, wherein the warning signal is used to indicate that the autonomous driving vehicle has the fault. 11. The method according to any one of claims 1 to 9, characterized in that determining the fault information of the automatic driving vehicle where the fault occurs comprises: Receiving detection information sent by a sensor on the autonomous driving vehicle, wherein the detection information is information obtained by the sensor through detection of a vehicle component of the autonomous driving vehicle; The detection information is compared with reference information pre-stored in the autonomous driving vehicle to determine the fault information, wherein the fault information is used to indicate the cause and degree of the fault of a target component in the vehicle component corresponding to the fault. 12. A control device for an automatic driving vehicle, comprising: A first determination unit, configured to determine fault information of a faulty autonomous driving vehicle; a second determining unit, configured to determine, when it is determined according to the fault information that the fault belongs to a first fault type set, a first parking position for the autonomous driving vehicle to be parked according to first vehicle information of the autonomous driving vehicle and the fault information, wherein the first fault type set includes fault types for which on-site repair is allowed; A first control unit, configured to control the autonomous driving vehicle to move from a current position to the first parking position; The device further includes: a sending unit, for sending a second request to a service center when it is determined according to the fault information that the fault belongs to a second fault type set, wherein the second request carries the first vehicle information of the autonomous driving vehicle and the fault information, and the second fault type set includes fault types that do not allow on-site repair; a receiving unit, for receiving a second response message returned by the service center carrying the second vehicle information of the service vehicle; a fourth determination unit, for determining a second docking position for the autonomous driving vehicle to be parked according to the first vehicle information and the second vehicle information of the autonomous driving vehicle, wherein the free area including the second docking position is larger than the area required to park the autonomous driving vehicle and the service vehicle; a second control unit, for controlling the autonomous driving vehicle to move from a current position to the second docking position. 13. A storage medium, characterized in that a computer program is stored in the storage medium, wherein the computer program is configured to execute the method according to any one of claims 1 to 11 when running. 14. An electronic device comprising a memory and a processor, wherein a computer program is stored in the memory, and the processor is configured to execute the method described in any one of claims 1 to 11 through the computer program.