A safety monitoring method and system for an autonomous vehicle. Said method comprises: a lateral control safety monitoring step, establishing a correlation between a lateral acceleration of a vehicle, a longitudinal vehicle speed and a steering wheel steering angle, acquiring a maximum steering wheel steering angle corresponding to a given maximum lateral acceleration at different vehicle speeds, taking the maximum steering wheel steering angle as a steering angle threshold, determining whether the steering wheel steering angle is greater than the steering angle threshold, and if so, limiting the steering wheel steering angle within the steering angle threshold, otherwise, normally outputting; and a longitudinal control safety monitoring step, with regard to different longitudinal control states, acquiring an acceleration threshold corresponding to a given maximum target acceleration at different vehicle speeds, and determining whether the target acceleration is greater than the acceleration threshold, and if so, limiting the target acceleration within the acceleration threshold, otherwise, normally outputting. The safety monitoring method and system for an autonomous vehicle design a safety monitoring policy for an automated driving system from the perspective of lateral control or longitudinal control respectively, so that a more integrated design is achieved.
SAFETY MONITORING METHOD AND SYSTEM FOR AUTONOMOUS VEHICLE, AND MOTION CONTROL SYSTEM
VERFAHREN UND SYSTEM ZUR SICHERHEITSÜBERWACHUNG FÜR EIN AUTONOMES FAHRZEUG UND BEWEGUNGSSTEUERUNGSSYSTEM
PROCÉDÉ ET SYSTÈME DE SURVEILLANCE DE SÉCURITÉ POUR VÉHICULE AUTONOME ET SYSTÈME DE COMMANDE DE MOUVEMENT
2023-11-01
Patent
Electronic Resource
English
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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