US 11,872,999 B2
Self-driving safety evaluation method, apparatus, and system
Xiaoli She, Shanghai (CN); Jianyong Cai, Shanghai (CN); Junqiang Shen, Shenzhen (CN); and Qi Chen, Shanghai (CN)
Assigned to HUAWEI TECHNOLOGIES CO., LTD., Shenzhen (CN)
Filed by Huawei Technologies Co., Ltd., Shenzhen (CN)
Filed on Sep. 11, 2020, as Appl. No. 17/018,505.
Application 17/018,505 is a continuation of application No. PCT/CN2019/072074, filed on Jan. 17, 2019.
Claims priority of application No. 201810220891.X (CN), filed on Mar. 16, 2018.
Prior Publication US 2020/0406911 A1, Dec. 31, 2020
Int. Cl. B60W 50/04 (2006.01); B60W 30/095 (2012.01); B60W 50/08 (2020.01); B60W 50/10 (2012.01); B60W 30/18 (2012.01); B60W 30/182 (2020.01); B60W 30/08 (2012.01)
CPC B60W 50/045 (2013.01) [B60W 30/08 (2013.01); B60W 30/095 (2013.01); B60W 30/182 (2013.01); B60W 30/18009 (2013.01); B60W 30/18159 (2020.02); B60W 30/18163 (2013.01); B60W 50/082 (2013.01); B60W 50/10 (2013.01); B60W 50/08 (2013.01); B60W 2520/10 (2013.01); B60W 2520/105 (2013.01); B60W 2520/12 (2013.01); B60W 2520/125 (2013.01); B60W 2552/05 (2020.02); B60W 2554/40 (2020.02); B60W 2554/402 (2020.02); B60W 2554/80 (2020.02); B60W 2554/802 (2020.02); B60W 2554/803 (2020.02); B60W 2554/804 (2020.02); B60W 2556/00 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A self-driving safety evaluation method comprising:
collecting, using a sensor mounted to a vehicle, environment data, wherein the vehicle further comprises a processor and a communications interface;
obtaining, using the processor and based on the environment data, rb and rc, wherein rb is a first risk value of a vehicle in a shadow driving mode in a first measurement unit, wherein rc is a second risk value of the vehicle in a self-driving mode based on a preset route in the first measurement unit, wherein the shadow driving mode is a self-driving mode of the vehicle based on a real-time route, wherein the real-time route is predicted and continuously modified based on a location and a movement parameter of the vehicle in a manual driving mode, and wherein the first measurement unit is a time period or a distance;
determining, using the processor, RB based on rb, wherein RB is a third risk value of the vehicle in the shadow driving mode in a plurality of measurement units, and wherein the measurement units comprise the first measurement unit;
determining, using the processor, RC based on rc, wherein RC is a fourth risk value of the vehicle in the self-driving mode based on the preset route in the measurement units, and wherein RB and RC are used to determine whether a safety of the vehicle on a self-driving route meets a requirement, wherein the requirement comprises the sum of RB and RC is less than or equal to a self-driving risk threshold, wherein the self-driving risk threshold is a(RA+R′A), wherein a is a risk tolerance coefficient, wherein RA is a fifth risk value of the vehicle in the manual driving mode in the measurement units, wherein a road section through which the vehicle passes in the measurement units is a first road section, and wherein R′A is a sixth risk value of the vehicle passing through the first road section outside the measurement units based on the manual driving mode;
calculating, using the processor, a sum of RB and RC;
sending, to a cloud device coupled to the communication interface, the sum of RB and RC to determine whether the safety of the vehicle on the self-driving route meet the requirement; and
controlling, by the processor, the vehicle to travel in the self-driving route when determining the safety of the vehicle on the self-driving route meet the requirement.