CN116424369A - Safety planning system and safety planning method for autonomous vehicles - Google Patents

Abstract

The invention provides a safety planning system and a safety planning method for an automatic driving vehicle, wherein the method comprises the following steps: calculating vehicle related information obtained based on a plurality of sensor signals to obtain dynamic safety boundary signals; generating a track signal and a wheel speed signal according to the dynamic safety boundary signal and a planning decision signal obtained based on the dynamic safety boundary signal; the method comprises the steps of calculating a plurality of sensor signals and a whole vehicle dynamics control signal to obtain vehicle estimation and prediction signals; and carrying out cooperative control on the basis of the track signal, the wheel speed signal and the vehicle estimation and prediction signal to generate a motion control signal, and carrying out distribution calculation on the vehicle estimation and prediction signal and the motion control signal to obtain a control signal corresponding to a vehicle related system. The invention fully utilizes the sensing and decision making capability of the automatic driving part to improve the safety performance of the automatic driving domain controller.

Description

Safety planning system and safety planning method for autonomous vehicles

technical field

The invention relates to the technical field of automobiles, in particular to a safety planning system for automatic driving vehicles and a safety planning method thereof.

Background technique

The development of intelligence and electrification of self-driving vehicles requires a higher control priority for the chassis of self-driving vehicles, so as to give full play to the advantages of vehicle domain control and intelligent decision-making of automatic driving, and improve the safety of self-driving vehicles.

At present, when a self-driving car enters extreme dynamic conditions such as low-attachment roads and high-speed sideslips, the vehicle is completely taken over by extreme dynamic controllers such as ABS, ESC, and TCS controllers, and the automatic driving controller loses control of the vehicle. ability, until the active safety controller exits, the sudden intervention mode of the active safety controller causes the automatic driving domain controller to be temporarily unable to fully control the dynamics of the vehicle, prone to unexpected safety accidents, and the active safety control is also insufficient Use more perceptual information and high-intensity computing power for autonomous driving to enhance its potential.

Contents of the invention

The present invention aims to solve one of the technical problems in the related art at least to a certain extent.

Therefore, the first purpose of the present invention is to propose a safety planning system for autonomous driving vehicles, which integrates the active safety control function into the vehicle path planning control, and calculates the power of the vehicle according to the fusion sensory information during the path planning process. Learn the boundary and place safety restrictions on the path, and generate wheel speed control commands along with the path to ensure that the generated trajectory is in the process of chassis path tracking control and dynamics control without triggering safety functions such as ABS, making full use of the perception and decision-making capabilities of automatic driving Improve the security performance of autonomous driving domain controllers.

In order to achieve the above purpose, an embodiment of the present invention proposes a safety planning system for automatic driving vehicles, including various types of sensors, automatic driving domain controllers and chassis domain controllers; wherein,

The multiple types of sensors are used to collect multiple sensor signals of the self-driving vehicle;

The automatic driving domain controller includes a fusion perception module, a safety boundary analysis module, a planning decision module and a safety planning module; wherein, the fusion perception module fuses and calculates multiple sensor signals to output vehicle-related information, and the safety boundary analysis module outputs vehicle-related information performing calculations to output a dynamic safety boundary signal, the planning decision module outputs a planning decision signal based on the dynamic safety boundary signal, and the safety planning module generates and outputs a trajectory signal and a wheel speed signal based on the planning decision signal and the dynamic safety boundary signal;

The chassis domain controller includes a state estimation and prediction module, a trajectory/wheel speed tracking controller, and a chassis dynamics controller; wherein, the state estimation and prediction module solves multiple sensor signals and vehicle dynamics control signals Output vehicle estimation and prediction signals; trajectory/wheel speed tracking controller performs cooperative control based on trajectory signals, wheel speed signals and vehicle estimation and prediction signals to generate motion control signals; chassis dynamics controller performs vehicle estimation and prediction signals and motion control The signal is distributed and calculated to generate the first control signal of the vehicle-related system and send it to the corresponding actuator.

The safety planning system for automatic driving vehicles in the embodiment of the present invention makes full use of more perception information and high-intensity computing power of automatic driving to improve its safety potential, reduces the triggering of safety functions such as ABS/ESC/TCS, and improves the safety performance of vehicles .

In addition, the safety planning system for autonomous vehicles according to the above-mentioned embodiments of the present invention may also have the following additional technical features:

Further, in one embodiment of the present invention, the chassis domain controller also includes a safety state identification module and an ABS/ESC/TCS function module; wherein,

The safety state identification module is used to verify the vehicle-related physical quantity according to the dynamic safety boundary signal, so as to verify whether the vehicle-related physical quantity satisfies the dynamic safety boundary constraint condition, and if not, activate the ABS/ESC /TCS function module, and send a verification failure signal to the automatic driving domain controller;

The ABS/ESC/TCS functional module is used to control vehicle dynamics after activation, generate a second control signal of a vehicle-related system and send it to a corresponding actuator.

Further, in an embodiment of the present invention, the safety boundary analysis module is also used to calculate the vehicle-related information by using the vehicle dynamic model and the tire model to obtain a dynamic safety boundary signal, and convert the obtained The above dynamic safety boundary signal is sent to the safety planning module and the safety state identification module.

Further, in an embodiment of the present invention, the safety planning module is also used to calculate the planning decision signal and the dynamic safety boundary signal when the current vehicle dynamic state meets the dynamic safety boundary constraint condition to obtain Track signal and wheel speed signal.

Further, in an embodiment of the present invention, the safety state identification module is also used to identify the vehicle estimation and prediction signal to estimate the current vehicle dynamic state, and based on the received power of the safety boundary analysis module Judging whether the current dynamic state of the whole vehicle satisfies the constraint condition of the dynamic safety boundary by using the safety boundary signal.

Further, in an embodiment of the present invention, the vehicle-related systems include the vehicle drive system, braking system, steering system and suspension system; the planning decision signals include lane change, straight ahead and obstacle avoidance decision signals ; The dynamic safety boundary signal includes a yaw rate limit value and a slip rate limit value; the track signal meets the road boundary limit, yaw rate limit, acceleration limit and lateral acceleration limit; the wheel speed signal satisfies Slip rate limitation; the vehicle dynamics control signals include feedback signals from the drive system, brake system, steering system and suspension system.

Further, in one embodiment of the present invention, the vehicle-related information includes multiple types of obstacle information, road information, attitude signals, vehicle position and speed signals; the multiple sensor signals include Various types of lidar signals, camera signals, integrated inertial navigation signals and wheel speed signals.

The second purpose of the present invention is to propose a safety planning method for a safety planning system for autonomous vehicles.

In order to achieve the above purpose, an embodiment of the present invention proposes a safety planning method for a safety planning system for autonomous vehicles, including:

Calculate the vehicle-related information based on multiple sensor signals to obtain dynamic safety boundary signals;

generating a trajectory signal and a wheel speed signal according to the dynamic safety boundary signal and a planning decision signal obtained based on the dynamic safety boundary signal;

Solving the plurality of sensor signals and vehicle dynamics control signals to obtain vehicle estimation and prediction signals;

Perform cooperative control based on the trajectory signal, wheel speed signal and the vehicle estimation and prediction signal to generate a motion control signal, and perform allocation calculation on the vehicle estimation and prediction signal and the motion control signal to obtain a vehicle-related system correspondence control signal.

The safety planning method of the safety planning system for automatic driving vehicles in the embodiment of the present invention makes full use of more perception information and high-intensity computing power of automatic driving to improve its safety potential, reduces the triggering of safety functions such as ABS/ESC/TCS, and improves vehicle safety performance.

A third object of the present invention is to propose a computer device comprising a processor and a memory;

Wherein, the processor executes a program corresponding to the executable program code by reading the executable program code stored in the memory, so as to implement a safety planning method for a safety planning system for an autonomous vehicle.

The fourth object of the present invention is to propose a non-transitory computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, a safety planning method for a safety planning system for an autonomous vehicle is implemented.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and easy to understand from the following description of the embodiments in conjunction with the accompanying drawings, wherein:

1 is a schematic structural diagram of a safety planning system for autonomous vehicles according to an embodiment of the present invention;

2 is a flow chart of a safety planning method for a safety planning system for autonomous vehicles according to an embodiment of the present invention;

3 is a flow chart of another safety planning method for a safety planning system for autonomous vehicles according to an embodiment of the present invention;

Figure 4 is a computer device according to one embodiment of the present invention.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals designate the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention and should not be construed as limiting the present invention.

The following describes the safety planning system, method, device and storage medium for autonomous vehicles according to the embodiments of the present invention with reference to the accompanying drawings.

Fig. 1 is a schematic structural diagram of a safety planning system for autonomous vehicles according to an embodiment of the present invention.

As shown in Figure 1, the system includes: multiple types of sensors 10, an automatic driving domain controller 20 and a chassis domain controller 30; wherein,

Multiple types of sensors 10 (sensing combination supporting high-level automatic driving), used to collect multiple sensor signals of automatic driving vehicles;

The autonomous driving domain controller 20 includes a fusion perception module, a safety boundary analysis module, a planning decision module, and a safety planning module; wherein, the fusion perception module fuses and calculates multiple sensor signals to output vehicle-related information, and the safety boundary analysis module performs vehicle-related information Calculate to output a dynamic safety boundary signal, the planning decision module outputs a planning decision signal based on the dynamic safety boundary signal, and the safety planning module generates and outputs a trajectory signal and a wheel speed signal based on the planning decision signal and the dynamic safety boundary signal;

The chassis domain controller 30 includes a state estimation and prediction module, a trajectory/wheel speed tracking controller, and a chassis dynamics controller; wherein, the state estimation and prediction module performs calculation and output of multiple sensor signals and vehicle dynamics control signals Vehicle estimation and prediction signals; trajectory/wheel speed tracking controller performs cooperative control based on trajectory signals, wheel speed signals and vehicle estimation and prediction signals to generate motion control signals; chassis dynamics controller performs vehicle estimation and prediction signals and motion control signals The distribution calculation is performed to generate the first control signal of the vehicle-related system and send it to the corresponding actuator.

It can be understood that various types of sensors 10 (sensing combination supporting high-level automatic driving), wherein various types of sensors include lidar for automatic driving sensing, cameras, integrated inertial navigation, and wheel speed sensors in the chassis domain.

In one embodiment of the present invention, the autonomous driving domain controller 20 includes a fusion perception module 21 , a safety boundary analysis module 22 , a planning decision module 23 and a safety planning module 24 .

The fusion perception module 21 receives multiple sensor signals of the self-driving vehicle, obtains obstacle information, road information, vehicle position, and speed signals through fusion calculation, and simultaneously sends road safety boundary signals, including obstacle information and road information, to safety boundary analysis Module 22 and planning decision-making module 23, wherein the various types of sensor signals include lidar signals, camera signals, combined inertial navigation signals, and wheel speed signals in the chassis domain for automatic driving sensing.

The safety boundary analysis module 23 calculates the road attachment signal, attitude signal and speed signal calculated by the fusion perception module 21 in conjunction with the vehicle dynamics model and the tire model to obtain a dynamic safety boundary signal, wherein the dynamic safety boundary signal includes the The yaw rate limit value and the slip rate limit value in the state, and send the safety boundary signal to the safety planning module 24 and the safety state identification module 34 of the chassis domain controller 30 .

The planning and decision-making module 23 performs intelligent decision-making for automatic driving based on the received safety boundary information, including changing lanes, going straight, and avoiding obstacles, and sends the decision signal to the safety planning module 24 .

Safety planning module 24, when the dynamic state of the whole vehicle does not exceed the dynamic safety boundary limit, based on the received planning decision signal and dynamic safety boundary information, calculate the optimized trajectory signal subject to the dynamic safety boundary constraints, and follow the path Generate wheel speed commands to ensure that the generated trajectory is within the safe dynamic boundary of the vehicle during execution, and simultaneously send the trajectory signal and the wheel speed signal to the chassis domain controller 30, wherein the commands for the trajectory signal and the wheel speed signal can be optimized. Such as model predictive control, intelligent learning methods, such as reinforcement learning, can also be used. The generated trajectory signal must meet the road boundary limit, yaw rate limit, acceleration limit, and lateral acceleration limit. The movement rate limit ensures that the planned path and wheel speed of the vehicle meet the dynamic safety requirements.

In one embodiment of the present invention, the chassis domain controller 30 includes a state estimation and prediction module 31, a trajectory/wheel speed tracking controller 32, a chassis dynamics controller 33, a safe state identification module 34 and ABS/ESC/TCS Function module 35.

The state estimation and prediction module 31 mainly calculates the current dynamic state of the vehicle body, solves multiple automatic driving sensor signals and vehicle dynamics control signals based on the vehicle dynamics model, and obtains the position, speed, attitude, The tire force signal is sent to the safety state identification module 34, the chassis dynamics control module 33, and the track/wheel speed tracking control module 32, wherein the sensing signal includes the combined inertial navigation signal and the wheel speed signal, and the vehicle dynamics control signal includes the drive system , Brake system, steering system, suspension system feedback signal.

The trajectory/wheel speed tracking controller 32 receives the trajectory signal of the safety planning module 24, the wheel speed signal and the estimation and prediction signal of the state estimation and prediction module 31, and performs vertical, horizontal and vertical coordinated control on the dynamic state of the chassis to generate the tracking trajectory and The longitudinal and lateral motion control commands of wheel speeds include lateral force, longitudinal force and yaw moment commands, and are sent to the chassis dynamics controller 33 .

The motion control commands generated by the chassis dynamics controller 33, the trajectory/wheel speed tracking controller 32, and the estimation and prediction signals of the state estimation and prediction module 31 are executed according to the vehicle dynamics control algorithm for the execution distribution of the wire-controlled actuators, and generate The control signals of the vehicle drive system 41 , braking system 42 , steering system 43 and suspension system 44 are sent to the corresponding actuators.

The safety state identification module 34 receives the dynamic safety boundary signal calculated by the safety boundary analysis module 22 and the current vehicle body dynamic state observed and estimated by the state estimation prediction module 31, and selects wheel speed, yaw rate, lateral acceleration, etc. The specified physical quantities related to the stability of the vehicle body are verified. When the relevant physical quantity is within the dynamic safety boundary threshold, continue to carry out safety planning and dynamic control according to the safety planning method of automatic driving domain control; when the relevant physical quantity exceeds the dynamic safety boundary threshold, it means that the vehicle motion state is in a critical state And the current planned path and wheel speed can no longer be guaranteed, and it is necessary to take the stability of the vehicle body as the main control target, then activate the ABS/ESC/TCS function module 35, and send a verification failure signal to the automatic driving domain controller 20, and the automatic driving domain control The controller 20 temporarily gives up the control of the vehicle body and takes over until the state of the vehicle body returns to the safe boundary.

The ABS/ESC/TCS function module 35 is activated when the vehicle dynamic state exceeds the dynamic safety boundary limit, temporarily takes over the vehicle dynamics control, and generates the vehicle drive system 41, braking system 42, steering system 43 and suspension system 44 and send the control signal to the corresponding actuator, and exit after the vehicle state is controlled within the safe boundary.

Through the safety planning system for autonomous driving vehicles in the embodiment of the present invention, the active safety control function is integrated into the vehicle path planning control, and the dynamic boundary of the vehicle is calculated according to the fusion perception information during the path planning process and the path is safely restricted. , and generate wheel speed control commands along with the path to ensure that the generated trajectory does not trigger safety functions such as ABS during the process of chassis path tracking control and dynamics control, and make full use of the perception and decision-making capabilities of the automatic driving part to improve the safety performance of the automatic driving domain controller .

Next, the safety planning method of the safety planning system for automatic driving vehicles proposed according to the embodiments of the present invention will be described with reference to the accompanying drawings.

FIG. 2 is a flow chart of a safety planning method for a safety planning system for autonomous vehicles according to an embodiment of the present invention.

As shown in Figure 2, the method includes the following steps:

S1, calculating the vehicle-related information obtained based on multiple sensor signals to obtain a dynamic safety boundary signal;

S2, generating trajectory signals and wheel speed signals according to the dynamic safety boundary signal and the planning decision signal obtained based on the dynamic safety boundary signal;

S3, solving multiple sensor signals and vehicle dynamics control signals to obtain vehicle estimation and prediction signals;

S4. Perform cooperative control based on the trajectory signal, wheel speed signal, and vehicle estimation and prediction signal to generate a motion control signal, and perform allocation calculation on the vehicle estimation and prediction signal and motion control signal to obtain a control signal corresponding to the vehicle-related system.

It is understandable that the current safety control scheme for self-driving cars is mainly based on the chassis dynamics controller tracking the path calculated by the automatic driving controller. Safety risks will directly trigger ABS/ESC in emergency conditions such as low vehicle speed and sudden braking. /TCS and other safety features. However, this solution makes it easier to trigger emergency conditions, and the autonomous driving domain controller cannot fully control the dynamics of the vehicle for the time being, which is prone to unexpected safety accidents. In this regard, the present invention makes full use of more perception information and high computing power of automatic driving to improve its safety potential, reduce the triggering of safety functions such as ABS/ESC/TCS, and improve the safety performance of the vehicle.

In one embodiment of the present invention, FIG. 3 is a logic diagram of a safety planning method for a safety planning system for an automatic driving vehicle according to an embodiment of the present invention, as shown in FIG. 3 :

Fusion perception S10 is used to receive multiple sensor signals for automatic driving, and obtain obstacle information, road attachment information, vehicle position, attitude, and speed signals through fusion calculation;

The safety boundary analysis S20 is used to calculate the road attachment signal, attitude signal and speed signal obtained by the fusion perception calculation combined with the vehicle dynamic model and the tire model to obtain the dynamic safety boundary signal, including the yaw rate limit in this state value, slip rate limit;

Safety state identification S30, identifying and estimating vehicle state estimation and prediction signals, receiving safety boundary information from the safety boundary analysis module, and judging whether the vehicle dynamic state is within the safety boundary state limit.

When the dynamic state of the whole vehicle does not exceed the limit of the dynamic safety boundary, safety planning S41 is performed, based on the received planning decision signal and dynamic safety boundary information, the optimized trajectory signal subject to the dynamic safety boundary is calculated, and the accompanying path Generate wheel speed commands to ensure that the generated trajectory is within the safe dynamic boundary of the vehicle during execution. At the same time, perform chassis dynamics fusion control S42, calculate and distribute the control commands of the wire-by-wire actuators, and finally perform step S50. The chassis-by-wire actuators execute related The control command includes the braking force command of each wheel drive, the steering angle command of the steering system, and the active force command of the active suspension.

When the dynamic state of the vehicle exceeds the dynamic safety boundary limit, the S43 ABS/ESC/TCS function is directly triggered to temporarily take over the vehicle dynamics control, and the traditional ABS/ESC/TCS safety algorithm quickly restores the vehicle stability and improves the vehicle stability. Vehicle attachment utilization, and finally proceed to step S50, the chassis-by-wire actuator executes related control commands, including each wheel drive braking force command, steering system steering angle command, active suspension active force command, etc.

To sum up, with the rise of automobile intelligence, smart cars gradually improve their computing power and perception capabilities, increase their safety requirements, and deepen the collaborative interaction between the chassis domain and the automatic driving domain. Driving perception information and planning capabilities reduce risk scenario triggers, improve the safety of autonomous vehicles, and have broad application prospects.

According to the embodiment of the present invention, a safety planning method for a safety planning system for autonomous vehicles is proposed. The chassis domain controller for safety planning for autonomous vehicles of the present invention can make full use of the perception and computing capabilities of autonomous vehicles, reducing unexpected ABS/TCS/ESC and other functions can be triggered to improve the body stability of the self-driving vehicle during driving, and retain the active safety capability under emergency conditions.

In order to implement the methods of the above embodiments, the present invention also provides a computer device, as shown in FIG. 4 , the computer device 600 includes a memory 601 and a processor 602; The executable program code stored in the computer is used to run the program corresponding to the executable program code, so as to implement the various steps of the safety planning method for the safety planning system oriented to the self-driving vehicle described above.

In order to realize the above-mentioned embodiments, the present invention also proposes a non-transitory computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the safety-oriented self-driving vehicle as described in the above-mentioned embodiments can be realized. A security planning approach for planning systems.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structure, material or characteristic is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, those skilled in the art can make the above-mentioned The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. An autopilot-oriented safety planning system, comprising: a plurality of types of sensors, an autopilot domain controller, and a chassis domain controller; wherein,,

the multiple sensors are used for collecting multiple sensor signals of the automatic driving vehicle;

the automatic driving domain controller comprises a fusion sensing module, a safety boundary analysis module, a planning decision module and a safety planning module; the safety boundary analysis module calculates the vehicle related information to output dynamic safety boundary signals, the planning decision module outputs planning decision signals based on the dynamic safety boundary signals, and the safety planning module generates and outputs track signals and wheel speed signals based on the planning decision signals and the dynamic safety boundary signals;

the chassis domain controller comprises a state estimation and prediction module, a track/wheel speed tracking controller and a chassis dynamics controller; the state estimation and prediction module is used for calculating a plurality of sensor signals and a whole vehicle dynamics control signal to output a vehicle estimation and prediction signal; the track/wheel speed tracking controller performs cooperative control based on the track signal and the wheel speed signal and the vehicle estimation and prediction signal to generate a motion control signal; the chassis dynamics controller performs an allocation calculation on the vehicle estimation and prediction signals and the motion control signals to generate a first control signal of the vehicle related system and send the first control signal to the corresponding actuator.

2. The autopilot-oriented safety planning system of claim 1 wherein the chassis domain controller further comprises a safety status identification module and an ABS/ESC/TCS function; wherein,,

the safety state identification module is used for verifying the vehicle related physical quantity according to the dynamic safety boundary signal so as to verify whether the vehicle related physical quantity meets the dynamic safety boundary constraint condition, if not, the ABS/ESC/TCS functional module is activated, and a verification failure signal is sent to the autopilot domain controller;

the ABS/ESC/TCS functional module is used for controlling the dynamics of the whole vehicle after being activated, generating a second control signal of a vehicle related system and sending the second control signal to a corresponding executing mechanism.

3. The autopilot-oriented safety planning system of claim 1 wherein the safety margin analysis module is further configured to calculate the vehicle-related information using a whole vehicle dynamics model and a tire model to obtain a dynamic safety margin signal, and send the dynamic safety margin signal to a safety planning module and a safety state recognition module.

4. The autopilot-oriented safety programming system of claim 1 wherein the safety programming module is further configured to calculate a trajectory signal and a wheel speed signal from the programming decision signal and the dynamic safety boundary signal when the current vehicle dynamics satisfies the dynamic safety boundary constraint.

5. The autopilot-oriented safety planning system of claim 4 wherein the safety state identification module is further configured to identify the vehicle estimation and prediction signals to estimate a current vehicle dynamics state and determine whether the current vehicle dynamics state meets a dynamic safety boundary constraint based on a received dynamic safety boundary signal of a safety boundary analysis module.

6. The autopilot-oriented safety programming system of claim 1 wherein the vehicle related systems include a vehicle drive system, a brake system, a steering system, and a suspension system; the planning decision signals comprise lane changing, straight running and obstacle avoidance decision signals; the dynamic safety boundary signal comprises a yaw rate limit value and a slip rate limit value; the track signal meets road boundary limitations, yaw rate limitations, acceleration limitations, and lateral acceleration limitations; the wheel speed signal meets the slip ratio limit; the vehicle dynamics control signals comprise feedback signals of a driving system, a braking system, a steering system and a suspension system.

7. The autopilot-oriented safety programming system of claim 1 wherein the vehicle related information includes a plurality of obstacle information, road information, attitude signals, vehicle position and speed signals; the plurality of sensor signals includes a plurality of laser radar signals, camera signals, combined inertial navigation signals, and wheel speed signals of the autonomous vehicle.

8. A safety planning method applied to a safety planning system for an autonomous vehicle as claimed in any of claims 1 to 7, characterized by comprising the steps of:

calculating vehicle related information obtained based on a plurality of sensor signals to obtain dynamic safety boundary signals;

generating a track signal and a wheel speed signal according to the dynamic safety boundary signal and a planning decision signal obtained based on the dynamic safety boundary signal;

the plurality of sensor signals and the whole vehicle dynamics control signal are calculated to obtain vehicle estimation and prediction signals;

and carrying out cooperative control on the basis of the track signal, the wheel speed signal and the vehicle estimation and prediction signal to generate a motion control signal, and carrying out distribution calculation on the vehicle estimation and prediction signal and the motion control signal to obtain a control signal corresponding to a vehicle related system.

9. A computer device comprising a processor and a memory;

wherein the processor runs a program corresponding to the executable program code by reading the executable program code stored in the memory for implementing the security planning method as claimed in claim 8.

10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the program, when being executed by a processor, implements a security planning method as claimed in claim 8.

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