The invention discloses a corner scene collection method for realizing safety of an expected function of an automatic driving automobile. The method comprises the following steps: step 1) a driver is in the loop; step 2) judging whether shadow mode service is normal or not; 3) calling shadow mode service; 4) calling a corner scene collection service; 5) setting a judgment condition for triggering the corner scene, comparing the planning and decision output of the automatic driving function in the shadow mode with the planning and decision output of the driver to the vehicle, if a difference value between the planning and decision output of the automatic driving function in the shadow mode and the planning and decision output of the driver to the vehicle is greater than a set value, executing the step 6), and if the difference value is less than or equal to the set value, returning to execute the step 4); 6) calling a corner scene recording service; 7) storing the information recorded in the step 6) in a local memory and uploading the information to a cloud; and 8) returning to execute the step 4). According to the method, corner scenes can be effectively collected, so that the problem of insufficient safety verification of expected functions in automatic driving is solved.
本发明公开了一种实现自动驾驶汽车预期功能安全的边角场景收集方法,包括:步骤1)驾驶员在环;步骤2)影子模式服务是否正常;步骤3)调用影子模式服务;步骤4)调用边角场景收集服务;步骤5)设定触发边角场景的判定条件,对影子模式下的自动驾驶功能的规划及决策输出与驾驶员对本车的规划和决策输出进行对比,若两者的差值大于设定值,则执行步骤6),若两者的差值小于等于设定值,则返回执行步骤4);步骤6)调用边角场景记录服务;步骤7)将步骤6)中记录的信息存储在本地存储器并上传到云端;步骤8)返回执行步骤4)。本发明能够有效对边角场景进行收集,以解决自动驾驶中预期功能安全验证不充分的难题。
Corner scene collection method for realizing safety of expected function of self-driving automobile
实现自动驾驶汽车预期功能安全的边角场景收集方法
2022-08-12
Patent
Electronic Resource
Chinese
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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