The invention relates to the technical field of expected function safety, in particular to a vehicle function degradation method for fusion positioning failure in an urban scene. The method comprises the following steps: firstly, establishing a degradation mode of normal operation-positioning degradation-control degradation-manual takeover, and designing a track plotting positioning degradation measure and a lane keeping control degradation measure; dividing the urban scene into a straight road scene, a crossroad scene and an on-ramp typical scene; designing a degradation strategy for a specific scene of an urban area according to a degradation mode and a degradation measure on the basis of the effective duration of track plotting and the quality of a lane line; and finally, when positioning failure occurs, the automatic driving vehicle selects a corresponding strategy to perform function degradation according to the scene where the automatic driving vehicle is located. According to the method, a vehicle function degradation strategy under positioning failure is provided for an automatic driving vehicle in an urban scene on the basis of trajectory tracking based on the positioning system, so that the reliability of the automatic driving system for dealing with the failure of the positioning system is improved, and the running safety of the vehicle is ensured.
本发明涉及预期功能安全技术领域,尤其是指一种面向城区场景下融合定位失效的车辆功能降级方法。本发明首先建立“正常运行‑定位降级‑控制降级‑人工接管”的降级模式,设计航迹推算定位降级措施与车道保持控制降级措施;将城区场景划分为直行道路场景、十字路口场景和上匝道典型场景;以航迹推算有效时长和车道线质量为依据,按照降级模式与降级措施,设计针对城区特定场景的降级策略;最后在定位失效发生下,自动驾驶车辆根据所处场景,选取对应策略进行功能降级。本发明针对城区场景下的自动驾驶车辆,以基于定位系统的轨迹跟踪为基础,提出定位失效下的车辆功能降级策略,提高了自动驾驶系统应对定位系统失效的可靠性,确保了车辆运行安全。
Vehicle function degradation method for fusing positioning failure in urban scene
一种面向城区场景下融合定位失效的车辆功能降级方法
2024-10-15
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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