Autopilot safety control method

The invention discloses an automatic driving safety control method, which comprises the following steps: a main calculation unit and a vehicle control unit are respectively self-checked and mutually checked; If there is no fault, the main computing unit detects the ECUs of each actuator in the vehicle. If none is faulty, enter autopilot control mode; The main computing unit calculates the safety area around the running vehicle in real time and synchronizes the calculation result to the vehicle control unit. The main computing unit and the vehicle control unit are mutually checked; If one of the main computing unit and the vehicle control unit is faulty, the other controls the vehicle to perform vehicle deceleration and parking operations as a normal control unit. By adopting the invention,the hardware cost of the automatic driving system can be reduced under the condition of ensuring the safety of the system. 本发明公开了种自动驾驶安全控制方法，包括：主计算单元与车辆控制单元分别进行自检和互检；如果均无故障，则主计算单元对车辆中各执行机构的ECU进行检测；如果均无故障，则进入自动驾驶控制模式；主计算单元对行驶