摘要：【中文】本发明公开一种自主无人系统中的场景描述方法，步骤为：离线构建自主无人系统外部场景库以及内部场景库。外部场景库包括静态场景要素与动态场景要素库、运行情景库，以及异常事件库。内部场景库包括行为决策信息、运动控制器等设备的执行信息、以及控制系统与执行系统的内部状态信息。在自主无人系统运行时，获取其环境感知数据，提取出外部场景中的关键静态场景要素与动态场景要素，通过预定义的类来进行定义，以结构化语言的方式进行描述，并记录下相应的内部场景状态信息。同时，监测异常事件的发生，在异常事件发生时，对事件发生前后固定时间段内的感知数据进行全信息保存。本发明能够有效提高自主无人系统的鲁棒性与安全性保障。 【EN】The invention discloses a scene description method in an autonomous unmanned system, which comprises the following steps: and constructing an external scene library and an internal scene library of the autonomous unmanned system offline. The external scene library comprises a static scene element and dynamic scene element library, an operation scene library and an abnormal event library. The internal scene library comprises behavior decision information, execution information of devices such as a motion controller and the like, and internal state information of a control system and an execution system. When the autonomous unmanned system runs, environment perception data of the autonomous unmanned system is obtained, key static scene elements and dynamic scene elements in an external scene are extracted, the key static scene elements and the key dynamic scene elements are defined through predefined classes, the key static scene elements and the key dynamic scene elements are described in a structured language mode, and corresponding internal scene state information is recorded. Meanwhile, the occurrence of an abnormal event is monitored, and when the abnormal event occurs, sensing data in a fixed time period before and after the event is stored in full information. The invention can effectively improve the robustness and safety guarantee of the autonomous unmanned system.

摘要：【中文】本发明公开一种自主无人系统安全辅助系统，包括安全boot模块，可重构接口模块，感知决策控制和预警数据解析与融合模块，结构化数据统一描述模块，关键快照数据解析与融合模块，快照数据处理与统一记录模块，存储器控制1模块，存储器控制2模块，异构冗余的存储器模块。安全boot模块负责安全辅助系统的安全启动；可重构接口模块满足多样化接口协议需求；感知、决策和预警数据和关键快照数据分别由相应模块进行流水线处理；异构冗余存储器模块对数据进行安全存储。本系统不仅能够保证自主无人系统的安全启动，还能够实现车辆感知信息、决策信息和控制信息的安全可靠记录和读取，为事故分析还原、事故原因定位、日常驾驶习惯分析等提供决策依据。 【EN】The invention discloses an autonomous unmanned system safety auxiliary system which comprises a safety boot module, a reconfigurable interface module, a perception decision control and early warning data analyzing and fusing module, a structured data unified description module, a key snapshot data analyzing and fusing module, a snapshot data processing and unified recording module, a memory control 1 module, a memory control 2 module and a heterogeneous redundant memory module. The safety boot module is responsible for the safety starting of the safety auxiliary system; the reconfigurable interface module meets the requirements of diversified interface protocols; the perception, decision and early warning data and the key snapshot data are respectively processed by corresponding modules in a pipeline way; the heterogeneous redundant memory module performs secure storage on data. The system can ensure the safe starting of the autonomous unmanned system, can realize the safe and reliable recording and reading of vehicle perception information, decision information and control information, and provides decision basis for accident analysis and restoration, accident reason positioning, daily driving habit analysis and the like.