CN113104052A

CN113104052A - Method, device, equipment and computer readable storage medium for controlling vehicle

Info

Publication number: CN113104052A
Application number: CN202110529188.9A
Authority: CN
Inventors: 韩燕�; 张恒; 郭晋文; 李英龙
Original assignee: Suzhou Zhijia Technology Co Ltd
Current assignee: Suzhou Zhijia Technology Co Ltd
Priority date: 2021-05-14
Filing date: 2021-05-14
Publication date: 2021-07-13
Anticipated expiration: 2041-05-14
Also published as: CN113104052B

Abstract

The application discloses a method, a device, equipment and a computer readable storage medium for controlling a vehicle, wherein the method comprises the following steps: acquiring monitoring information of automatic driving of a vehicle; determining the state of the vehicle according to the monitoring information; determining an urgency level based on a status condition of the vehicle in response to the vehicle being in an abnormal state; and sending a first takeover reminder based on the sending mode of the emergency indication, and controlling the vehicle based on the feedback of the first takeover reminder. The method can send out takeover reminding with different urgency degrees based on different abnormal states of the vehicle, and has better reminding effect on a driver, so that the efficiency, the accuracy and the safety of controlling the vehicle are higher.

Description

Method, device, equipment and computer readable storage medium for controlling vehicle

Technical Field

The embodiment of the application relates to the field of intelligent driving, in particular to a method, a device and equipment for controlling a vehicle and a computer-readable storage medium.

Background

In the process of automatic driving of the vehicle, when the vehicle is abnormal, the vehicle-mounted equipment is important for controlling the vehicle. In the related technology, when the automatic driving of the vehicle is abnormal, the vehicle-mounted equipment sends out uniform take-over reminding to the driver, and then the vehicle is controlled based on a take-over instruction fed back by the driver.

However, the automatic driving process of the vehicle is complex, and the take-over reminding provided by the related technology is uniform, so that the reminding effect on the driver is limited, and the problem that the efficiency, the accuracy and the safety of controlling the vehicle by the vehicle-mounted equipment are not high is caused.

Disclosure of Invention

The embodiment of the application provides a method, a device, equipment and a computer readable storage medium for controlling a vehicle, which are used for sending takeover reminding with different urgency degrees based on different abnormal states of the vehicle, so that the reminding effect on a driver is better, and the efficiency, the accuracy and the safety of controlling the vehicle are further higher.

In a first aspect, there is provided a method of controlling a vehicle, the method comprising: acquiring monitoring information of automatic driving of a vehicle; determining the state of the vehicle according to the monitoring information; responding to the abnormal state of the vehicle, determining the emergency degree based on the state condition of the vehicle, wherein the emergency degree indicates the sending mode of taking over the reminding; and sending a first takeover reminder based on the sending mode of the emergency degree indication, and controlling the vehicle based on the feedback of the first takeover reminder.

In one possible implementation, the monitoring information includes operation information of the vehicle automatic driving; the determining the urgency based on the status condition of the vehicle includes: determining that the state condition of the vehicle is abnormal core control function of automatic driving of the vehicle based on the operation information, and determining that the emergency degree is a first-level emergency degree; the sending out a first takeover reminder based on the sending out mode of the urgency degree indication comprises: and sending a first prompt based on the sending mode of the primary urgency degree indication.

In one possible implementation, the monitoring information includes operation information of the vehicle automatic driving; the determining the urgency based on the status condition of the vehicle includes: determining that the state condition of the vehicle is that the core control function of the automatic driving of the vehicle is normal and any one of the non-core control function and the core induction function of the automatic driving of the vehicle is abnormal based on the operation information, and determining that the emergency degree is a secondary emergency degree; the sending out a first takeover reminder based on the sending out mode of the urgency degree indication comprises: and sending a second prompt based on the sending mode of the secondary urgency degree indication.

In one possible implementation, the monitoring information includes running information of the automatic driving of the vehicle and environment information outside the vehicle; the determining the urgency based on the status condition of the vehicle includes: determining that the state condition of the vehicle is that the core control function of the automatic driving of the vehicle is normal based on the operation information, indicating that the current external environment does not support the automatic driving of the vehicle based on the external environment information, and determining that the emergency degree is a secondary emergency degree; the sending out a first takeover reminder based on the sending out mode of the urgency degree indication comprises: and sending a second prompt based on the sending mode of the secondary urgency degree indication.

In one possible implementation, the monitoring information includes at least one of prediction information and driver information of the vehicle autonomous driving, and operation information of the vehicle autonomous driving; the determining the urgency based on the status condition of the vehicle includes: determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the vehicle can enter an external environment which does not support the automatic driving of the vehicle within reference time based on the prediction information, and determining that the emergency degree is a three-level emergency degree; or determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining that the emergency degree is a three-level emergency degree; the sending out a first takeover reminder based on the sending out mode of the urgency degree indication comprises: and sending a third prompt based on the sending mode of the three-level urgency degree indication.

In one possible implementation, the monitoring information includes at least one of prediction information and driver information of the vehicle autonomous driving, and operation information of the vehicle autonomous driving and environment information outside the vehicle autonomous driving; the determining the urgency based on the status condition of the vehicle includes: determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the current vehicle exterior environment supports the automatic driving of the vehicle based on the vehicle exterior environment information, indicating that the vehicle can enter the vehicle exterior environment which does not support the automatic driving of the vehicle within reference time based on the prediction information, and determining that the emergency degree is a three-level emergency degree; or determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the current environment outside the vehicle supports the automatic driving of the vehicle based on the environment information outside the vehicle, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining that the emergency degree is a three-level emergency degree; the sending out a first takeover reminder based on the sending out mode of the urgency degree indication comprises: and sending a third prompt based on the sending mode of the three-level urgency degree indication.

In one possible implementation, the controlling the vehicle based on the feedback of the first take-over reminder includes: in response to receiving a takeover instruction based on the first takeover reminder feedback, controlling the vehicle according to the takeover instruction; and sending a second takeover prompt in response to not receiving the takeover instruction based on the first takeover prompt feedback.

In one possible implementation manner, after responding to the abnormal state of the vehicle, the method further includes: decelerating the vehicle.

In one possible implementation, the monitoring information includes operation information of the vehicle autonomous driving, environment information outside the vehicle autonomous driving, prediction information of the vehicle autonomous driving, and driver information; after the state of the vehicle is determined according to the monitoring information, the method further comprises the following steps: responding to the situation that the state of the vehicle is determined to be that the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal and the non-core induction function of the automatic driving of the vehicle is abnormal according to the operation information, the environment information outside the vehicle indicates that the current environment outside the vehicle supports the automatic driving of the vehicle, the prediction information indicates that the vehicle does not enter the environment outside the vehicle which does not support the automatic driving of the vehicle within the reference time, and the driver information indicates that the driver can monitor the automatic driving of the vehicle and sends out the prompt information of the abnormal non-core induction function.

In a second aspect, there is provided an apparatus for controlling a vehicle, the apparatus comprising: the first acquisition module is used for acquiring monitoring information of automatic driving of the vehicle; the first determination module is used for determining the state of the vehicle according to the monitoring information; the second determination module is used for responding to the abnormal state of the vehicle and determining the emergency degree based on the state condition of the vehicle, wherein the emergency degree indicates the sending mode of taking over the reminding; and the reminding module is used for sending a first takeover reminding based on the sending mode of the emergency indication and controlling the vehicle based on the feedback of the first takeover reminding.

In one possible implementation, the monitoring information includes operation information of the vehicle automatic driving; the second determining module is used for determining that the state condition of the vehicle is the abnormal core control function of the automatic driving of the vehicle based on the operation information, and determining that the emergency degree is a first-level emergency degree; and the reminding module is used for sending out a first reminding based on the sending mode of the primary urgency degree indication.

In one possible implementation, the monitoring information includes operation information of the vehicle automatic driving; the second determining module is used for determining that the state condition of the vehicle is that the core control function of the automatic driving of the vehicle is normal and any one of the non-core control function and the core induction function of the automatic driving of the vehicle is abnormal based on the operation information, and determining that the emergency degree is a secondary emergency degree; and the reminding module is used for sending out a second reminding based on the sending mode of the secondary urgency degree indication.

In one possible implementation, the monitoring information includes running information of the automatic driving of the vehicle and environment information outside the vehicle; the second determining module is used for determining that the state condition of the vehicle is that the core control function of the automatic driving of the vehicle is normal based on the operation information, indicating that the current environment outside the vehicle does not support the automatic driving of the vehicle based on the environment information outside the vehicle, and determining that the emergency degree is a secondary emergency degree; and the reminding module is used for sending out a second reminding based on the sending mode of the secondary urgency degree indication.

In one possible implementation, the monitoring information includes at least one of prediction information and driver information of the vehicle autonomous driving, and operation information of the vehicle autonomous driving; the second determination module is used for determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the vehicle enters an external environment which does not support the automatic driving of the vehicle within reference time based on the prediction information, and determining that the emergency degree is a three-level emergency degree; or determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining that the emergency degree is a three-level emergency degree; and the reminding module is used for sending a third reminding based on the sending mode of the three-level urgency degree indication.

In one possible implementation, the monitoring information includes at least one of prediction information and driver information of the vehicle autonomous driving, and operation information of the vehicle autonomous driving and environment information outside the vehicle autonomous driving; the second determination module is used for determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of automatic driving of the vehicle are normal based on the operation information, the environment information outside the vehicle indicates that the current environment outside the vehicle supports automatic driving of the vehicle, and indicates that the vehicle can enter the environment outside the vehicle which does not support automatic driving of the vehicle within reference time based on the prediction information, and the urgency degree is determined to be three-level urgency degree; or determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the current environment outside the vehicle supports the automatic driving of the vehicle based on the environment information outside the vehicle, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining that the emergency degree is a three-level emergency degree; and the reminding module is used for sending a third reminding based on the sending mode of the three-level urgency degree indication.

In a possible implementation manner, the reminding module is configured to, in response to receiving a takeover instruction based on the first takeover reminding feedback, control the vehicle according to the takeover instruction; and sending a second takeover prompt in response to not receiving the takeover instruction based on the first takeover prompt feedback.

In a possible implementation manner, the reminding module is further configured to decelerate the vehicle after the second determining module is configured to respond to that the vehicle is in an abnormal state.

In one possible implementation, the monitoring information includes operation information of the vehicle autonomous driving, environment information outside the vehicle autonomous driving, prediction information of the vehicle autonomous driving, and driver information; the reminding module is used for responding to the situation that the state of the vehicle is determined according to the running information after the first determining module is used for determining the state of the vehicle according to the monitoring information, wherein the state situation of the vehicle is determined according to the running information, the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal, the non-core induction function of the automatic driving of the vehicle is abnormal, the environment information outside the vehicle indicates that the environment outside the vehicle supports the automatic driving of the vehicle, the prediction information indicates that the vehicle does not enter the environment outside the vehicle which does not support the automatic driving of the vehicle within the reference time, and the driver information indicates that the driver can monitor the automatic driving of the vehicle and send out the prompt information of the abnormal non-core induction function.

In a third aspect, embodiments of the present application provide a computer device, where the computer device includes a processor and a memory, where at least one program code is stored in the memory, and the at least one program code is loaded by the processor and executed to cause the computer to implement the method for controlling the vehicle according to any one of the first aspect above.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium having at least one instruction stored therein, where the at least one instruction, when executed by a processor, causes a computer to implement a method of controlling a vehicle as described in any of the first aspects above.

In a fifth aspect, an embodiment of the present application provides a computer program (product), where the computer program (product) includes: computer program code which, when run by a computer, causes the computer to carry out the method of controlling a vehicle according to the above aspects.

By the method for controlling the vehicle, the takeover reminding with different urgency degrees can be given according to different state conditions of the vehicle in the automatic driving process, the vehicle is controlled based on the feedback of the takeover reminding, the takeover reminding of the vehicle can be clearly and effectively transmitted to a driver, and the efficiency, the accuracy and the safety of controlling the vehicle are further higher.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic illustration of an implementation environment provided by an embodiment of the present application;

FIG. 2 is a flow chart of a method for controlling a vehicle according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram illustrating interaction of system modules for controlling a vehicle according to an embodiment of the present disclosure;

FIG. 4 is a schematic structural diagram of an apparatus for controlling a vehicle according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of an apparatus for controlling a vehicle according to an embodiment of the present application.

Detailed Description

To make the objects, technical solutions and advantages of the present application more clear, embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

When the automatic driving of the vehicle is abnormal, if the vehicle-mounted equipment sends out uniform take-over reminding to the driver, and the control of the vehicle is realized based on the take-over instruction fed back by the driver, the uniform take-over reminding cannot efficiently remind the driver due to the complex process condition of the automatic driving of the vehicle, so that the efficiency, the accuracy and the safety of the vehicle control of the vehicle-mounted equipment are not high.

In contrast, the embodiment of the application provides a method for controlling a vehicle, the urgency degree of taking over reminding is determined according to the vehicle state indicated by monitoring information, different taking over reminding is sent based on different urgency degrees, and the vehicle is controlled based on the feedback of the taking over reminding, so that the taking over reminding with different urgency degrees is carried out on different abnormal states of the vehicle, the reminding effect for a driver is better, and the efficiency, the accuracy and the safety of controlling the vehicle are further higher.

Referring to fig. 1, a schematic diagram of an implementation environment provided by an embodiment of the present application is shown. The implementation environment includes an in-vehicle apparatus 11. The in-vehicle device 11 includes at least a processor 111, a memory 112, a user interface 113, and a bus 114. Communication between the processor 111, memory 112, and user interface 113 is accomplished via bus 114.

The memory 112 stores therein programs or instructions necessary for implementing the method of controlling a vehicle provided by the embodiment of the present application. The processor 111 executes the method for controlling the vehicle provided by the embodiment of the present application by calling a program or instructions in the memory 112. For example, the processor 111 may determine the urgency level based on the status of the vehicle, issue the takeover reminder based on the urgency level indication, and control the vehicle based on the feedback of the takeover reminder.

The user interface 113 is configured to receive feedback of the takeover reminder and report the takeover reminder to the processor 111, for example, the user interface 113 may be configured to receive a takeover instruction fed back by a driver through a brake pedal, a steering wheel, a shift lever, and the like, and report the takeover instruction to the processor 111, so that the processor 111 can control the vehicle according to the takeover instruction.

Based on the implementation environment shown in fig. 1, an embodiment of the present application provides a method for controlling a vehicle. Referring to fig. 2, a flowchart of a method for controlling a vehicle according to an embodiment of the present application is shown. Taking the execution subject of the embodiment of the present application as the vehicle-mounted device 11 shown in fig. 1 as an example, as shown in fig. 2, the method provided by the embodiment of the present application may include the following steps.

And 201, acquiring monitoring information of automatic driving of the vehicle.

In one possible implementation, the monitoring information of the vehicle autonomous driving includes operation information of the vehicle autonomous driving. The operation information is used to indicate an operation state of a function related to automatic driving of the vehicle, for example, if the vehicle performs automatic driving by an automatic driving system, the operation information indicates an operation state of a function module in the automatic driving system.

In order to facilitate the judgment of the state of the vehicle, the embodiment of the application classifies the related functions of the automatic driving of the vehicle into the following four categories according to the influence degree on the automatic driving of the vehicle: a core control function, a non-core control function, a core sense function, and a non-core sense function.

The core control function is a function that has the highest influence on the automatic driving of the vehicle among the above four types of functions, and may be a control function for laterally controlling the vehicle or longitudinally controlling the vehicle, for example, the core control function includes at least one of a positioning function, a path planning function, a steering control function, a throttle control function, a pedal control function, and a shift control function.

The positioning function refers to a function of obtaining a vehicle space position by a vehicle; the path planning function is a function of automatically planning a vehicle driving route based on positioning by the vehicle; the steering control function is a function of automatically controlling a steering angle of the vehicle based on positioning and a planned path; the throttle control function is a function of automatically controlling the throttle opening of the vehicle based on positioning and a planned path; the pedal control function is a function of automatically controlling pedal travel of the vehicle based on positioning and a planned path; the gear control function is a function of automatically controlling gears of the vehicle based on positioning and a planned path.

In addition, the core control function may also be flexibly defined based on the actual application scenario, which is not limited in the embodiment of the present application.

The non-core control function is a function that affects the automatic driving of the vehicle to a lesser degree than the core control function among the above four types of functions, and the non-core control function is a control function for controlling the vehicle but is not related to both the lateral control vehicle and the longitudinal control vehicle, and for example, the non-core control function includes: at least one of a door control function, a window control function, and a vehicle light control function. Similarly, the non-core control function may also be flexibly defined based on the actual application scenario, which is not limited in the embodiment of the present application.

The core sensing function is a function that affects the automatic driving of the vehicle to a lesser extent than the core control function and is equal to the non-core control function in the above four types of functions, and is a sensing function of a sensor associated with a laterally controlled vehicle or a longitudinally controlled vehicle, for example, the core sensing function includes a vehicle speed sensor, an off-vehicle environment sensor, and a driver state sensor. Similarly, the core sensing function may also be flexibly defined based on the actual application scenario, which is not limited in the embodiment of the present application.

The non-core sensing function is a function that has the least influence on the automatic driving of the vehicle among the four types of functions described above, and the non-core sensing function is a sensing function of a sensor that is not related to both the lateral control vehicle and the longitudinal control vehicle, for example: and the sensing function of at least one sensor of an oxygen sensor and an odometer sensor.

In one possible implementation, the obtaining the operation information includes: acquiring the running state of each related function of automatic driving of the vehicle; and classifying and summarizing the running states of all related functions according to the states of the core control function, the non-core control function, the core induction function and the non-core induction function to obtain running information. The running state of each relevant function of the automatic driving of the vehicle can be obtained by uploading the functional element or the functional module executing each relevant function, or can be obtained by processing the running parameters through the collected running parameters of the functional element or the functional module executing each relevant function.

The function related to the automatic driving of the vehicle may be regarded as a basic condition for the automatic driving of the vehicle, and the vehicle may not have the capability of performing the automatic driving without the basic condition. However, in the actual process of vehicle automatic driving, it is not enough to only ensure the relevant functions of vehicle automatic driving, and external factors such as the environment outside the vehicle and the state of the driver also affect the vehicle automatic driving. Therefore, in consideration of influences of factors such as the environment outside the vehicle and the state of the driver, the monitoring information provided by the embodiment of the application can also comprise information indicating the environment outside the vehicle and the state of the driver besides the operation information.

In one possible approach, the monitored information of the vehicle autopilot further includes information of an environment outside the vehicle of the vehicle autopilot. The vehicle exterior environment information is obtained through a vehicle exterior environment sensor of the vehicle and is used for indicating whether the current vehicle exterior environment supports automatic driving of the vehicle. Illustratively, the environment information includes, but is not limited to, at least one of position information of a lane line, indication information of a traffic sign, weather information, type information of an obstacle, and speed information of the obstacle.

In one possible approach, the monitored information of the automatic driving of the vehicle further includes at least one of predicted information of the automatic driving of the vehicle and driver information.

Optionally, the prediction information of the automatic driving of the vehicle is a prediction of an environment outside the vehicle at the reference time based on the spatial position and the traveling route of the vehicle, and is used for indicating whether the vehicle will enter the environment outside the vehicle which does not support the automatic driving of the vehicle at the reference time. The reference time can be set based on experience or according to a scene, and is adjusted according to actual conditions, and the reference time is not limited in the embodiment of the application.

Driver information may be obtained via driver status sensors for monitoring the status of the driver and indicating whether the driver is able to monitor the vehicle autonomous driving. Optionally, the driver information includes, but is not limited to, one or more of driver fatigue, driver concentration, driver physical health, and whether the driver is in the driving position.

And 202, determining the state of the vehicle according to the monitoring information.

The vehicle state is divided into an abnormal state and a normal state, and the respective states will be described below.

First, abnormal condition.

With reference to step 201, optionally, determining the state of the vehicle according to the monitoring information includes: and determining the state of the vehicle to be an abnormal state according to any one abnormality of the operation information indicating the core control function, the non-core control function and the core sensing function.

Under the condition that the monitoring information also comprises environment information outside the vehicle, determining the state of the vehicle according to the monitoring information, wherein the method comprises the following steps: and indicating any one of the abnormality of the core control function, the non-core control function and the core induction function according to the operation information, or indicating that the current external environment does not support automatic driving of the vehicle according to the external environment information, and determining that the state of the vehicle is an abnormal state.

Under the condition that the monitoring information also comprises environment information outside the vehicle and prediction information, determining the state of the vehicle according to the monitoring information, wherein the method comprises the following steps: and indicating any one of the core control function, the non-core control function and the core induction function to be abnormal according to the operation information, or indicating that the current external environment does not support automatic driving of the vehicle by the external environment information, and determining that the state of the vehicle is an abnormal state, or indicating that the vehicle enters the external environment which does not support automatic driving of the vehicle within the reference time by the prediction information, and determining that the state of the vehicle is the abnormal state.

Under the condition that the monitoring information also comprises environment information outside the vehicle and driver information, determining the state of the vehicle according to the monitoring information, comprising the following steps: and indicating any one of the abnormality of the core control function, the non-core control function and the core induction function according to the operation information, or indicating that the current external environment does not support automatic driving of the vehicle by external environment information, and determining that the state of the vehicle is an abnormal state, or indicating that the driver cannot monitor the automatic driving of the vehicle by the driver information and determining that the state of the vehicle is an abnormal state.

Second, normal state.

In one aspect, determining a state of a vehicle based on monitored information includes: the operation information indicates that the core control function, the non-core control function, the core induction function and the non-core induction function are normal, the vehicle exterior environment information indicates that the current vehicle exterior environment supports automatic driving of the vehicle, the prediction information indicates that the vehicle does not enter the vehicle exterior environment which does not support automatic driving of the vehicle within the reference time, and the driver information indicates that the driver can monitor automatic driving of the vehicle, and the state of the vehicle is determined to be a normal state.

In case two, determining the state of the vehicle based on the monitored information includes: the operation information indicates that the core control function, the non-core control function and the core induction function are normal and the non-core induction function is abnormal, the vehicle exterior environment information indicates that the current vehicle exterior environment supports automatic driving of the vehicle, the prediction information indicates that the vehicle does not enter the vehicle exterior environment which does not support automatic driving of the vehicle within the reference time, and the driver information indicates that the driver can monitor automatic driving of the vehicle, and the state of the vehicle is determined to be a normal state.

It should be noted that, in order to avoid redundancy, the first and second cases describe the case where the monitoring information includes the operation information, the environment information outside the vehicle, the prediction information, and the driver information. In an actual implementation, when any one of the outside environment information, the prediction information, and the driver information does not exist in the monitored information, the information that does not exist in the monitored information may not be considered in determining the state of the vehicle.

And 203, responding to the abnormal state of the vehicle, and determining the emergency degree based on the state condition of the vehicle.

The urgency level is used for indicating a sending mode of taking over reminding, and in a possible implementation mode of the application, the urgency level comprises a first-level urgency level, a second-level urgency level and a third-level urgency level. The urgency degrees of different levels correspond to different sending modes of the takeover reminder.

In one possible implementation, the urgency level represents a degree of a single-dimensional alert, wherein the single-dimensional alert includes any one of an audible alert, a visual alert, and a tactile alert. Illustratively, taking the first level urgency level, the second level urgency level, and the third level urgency level as an example, which represent the sequence of urgency levels from high to low (i.e., the first level urgency level is higher than the second level urgency level, and the second level urgency level is higher than the third level urgency level), if the takeover reminder is issued by the auditory alarm, the loudness ordering of the auditory alarms corresponding to the urgency levels of different levels is as follows: first-level urgency > second-level urgency > third-level urgency; if the taking over reminding is sent out through the visual alarm, the color sensitivity sequence of the visual alarm corresponding to the urgency degrees of different levels is as follows: first-level urgency > second-level urgency > third-level urgency; if the taking over reminding is sent out through the tactile alarm, the vibration frequencies of the tactile alarms corresponding to the urgency degrees of different levels are sequenced as follows: first-level urgency > second-level urgency > third-level urgency.

In one possible implementation, the urgency may also represent the number of dimensions of the alert. Illustratively, taking the first level urgency, the second level urgency, and the third level urgency representing the order of high to low urgency (i.e., the first level urgency is higher than the second level urgency, and the second level urgency is higher than the third level urgency), the first level urgency may represent issuing a three-dimensional alert, such as an audible alert, a visual alert, and a tactile alert; secondary urgency may represent issuing a two-dimensional alert, e.g., any two of an audible alert, a visual alert, and a tactile alert; three levels of urgency may indicate issuing a one-dimensional alert, for example, any one of an audible alert, a visual alert, and a tactile alert.

The process of determining the degree of urgency based on the status condition of the vehicle will be described below.

In the embodiment of the present application, the defined urgency order is: first degree of urgency > second degree of urgency > third degree of urgency, that is, the first degree of urgency is the most urgent of the degrees of urgency and the third degree of urgency is the least urgent of the degrees of urgency. The state condition of the vehicle, i.e., the operation state of the function related to the automatic driving of the vehicle described above, is indicated by the operation information.

Optionally, the monitoring information includes running information of automatic driving of the vehicle, in case that the emergency degree is a first-level emergency degree; determining an urgency based on a status condition of the vehicle, including: and determining the state condition of the vehicle as the abnormal core control function of the automatic driving of the vehicle based on the running information, and determining the emergency degree as a first-level emergency degree.

For the case that the urgency level is the second-level urgency level, in the embodiment of the present application, there are two cases that the urgency level is the second-level urgency level as follows.

In case a, the monitoring information includes operation information of the automatic driving of the vehicle. Determining an urgency based on a status condition of the vehicle, including: and determining that the state condition of the vehicle is that the core control function of the automatic driving of the vehicle is normal and any one of the non-core control function and the core induction function of the automatic driving of the vehicle is abnormal based on the operation information, and determining that the emergency degree is a secondary emergency degree.

And b, monitoring information comprises running information of automatic driving of the vehicle and environment information outside the vehicle. Determining an urgency based on a status condition of the vehicle, including: and determining that the state condition of the vehicle is normal in the core control function of automatic driving of the vehicle based on the operation information, indicating that the current environment outside the vehicle does not support automatic driving of the vehicle based on the environment information outside the vehicle, and determining that the emergency degree is a secondary emergency degree.

For the case that the urgency level is three-level urgency level, in the embodiment of the present application, there are two cases that the urgency level is three-level urgency level as follows.

In case a, the monitoring information includes at least one of predicted information of the automatic driving of the vehicle and driver information, and operation information of the automatic driving of the vehicle. Determining the urgency based on the status of the vehicle, including: and determining the state condition of the vehicle based on the operation information that the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal, indicating that the vehicle can enter the environment outside the vehicle which does not support the automatic driving of the vehicle within the reference time based on the prediction information, and determining the emergency degree as the third-level emergency degree.

Or determining the state condition of the vehicle based on the operation information that the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining the emergency degree to be the third-level emergency degree.

And B, the monitoring information comprises at least one of prediction information of automatic driving of the vehicle and driver information, and running information of automatic driving of the vehicle and environment information outside the automatic driving of the vehicle. Determining the urgency based on the status of the vehicle, including: the state condition of the vehicle is determined to be that a core control function, a non-core control function and a core induction function of automatic driving of the vehicle are normal based on the operation information, the vehicle exterior environment information indicates that the current vehicle exterior environment supports automatic driving of the vehicle, and indicates that the vehicle can enter the vehicle exterior environment which does not support automatic driving of the vehicle within the reference time based on the prediction information, and the urgency degree is determined to be the third-level urgency degree.

Or determining that the state condition of the vehicle is that the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating the current external environment by the external environment information to support the automatic driving of the vehicle, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining that the emergency degree is the third-level emergency degree.

In addition, in order to further improve the safety of the automatic driving of the vehicle, when the vehicle is determined to be in an abnormal state, the vehicle may be decelerated, and the degree of urgency may be determined based on the state condition of the vehicle. Therefore, in one possible implementation manner, after the vehicle is in the abnormal state, the method further includes: the vehicle is decelerated.

And 204, sending a first takeover reminder based on the sending mode of the emergency degree indication, and controlling the vehicle based on the feedback of the first takeover reminder.

In one possible implementation, the first takeover reminder is issued based on the manner of issuing the urgency indication, including but not limited to the following.

When the emergency degree is determined to be the first-level emergency degree, a first takeover reminder is sent out based on a sending mode indicated by the emergency degree, and the method comprises the following steps: and sending a first prompt based on the sending mode of the first-level urgency degree indication.

When the emergency degree is determined to be the secondary emergency degree, a first takeover reminder is sent out based on a sending mode of the emergency degree indication, and the method comprises the following steps: and sending a second prompt based on the sending mode of the secondary urgency degree indication.

When the emergency degree is determined to be the third-level emergency degree, a first takeover reminder is sent out based on a sending mode indicated by the emergency degree, and the method comprises the following steps: and sending out a third prompt based on the sending mode of the three-level urgency degree indication.

For a description of a sending method of the urgency indication takeover reminder, please refer to the description of step 203, which is not described again in this embodiment.

Optionally, the first takeover reminder may include specific contents of the abnormal state of the vehicle in addition to the contents of reminding the driver of taking over the vehicle. For example, when the positioning function belonging to the core control function is abnormal, a first prompt of a first level of urgency is sent, and the first prompt includes information indicating that the positioning function is abnormal.

Further, in order to ensure reliability of the first takeover reminder, the embodiment of the application may further send the first takeover reminder through two sets of passive interaction devices that are backup to each other in the vehicle-mounted device. The passive interaction device is a device that transmits information to the driver but cannot receive the driver's instruction, such as a meter, an indicator light, a sound playing device, a seat belt, and a seat. The mutual backup means that in two sets of passive interaction devices, when any one set of passive interaction device fails, the other set of passive interaction device is started to transmit the first takeover reminder.

It should be noted that the passive interaction device may output vehicle-related information processed based on the monitoring information, such as road information, speed limit information, obstacle information, and operation states of various functions, in addition to sending the take-over reminder, so that the driver can comprehensively grasp the state of the vehicle.

After the first takeover reminding is sent out, the vehicle-mounted equipment needs to receive a takeover instruction based on the first takeover reminding feedback, and then controls the vehicle according to the takeover instruction. In one possible implementation, controlling the vehicle based on the feedback of the first take-over reminder includes: and in response to receiving a take-over instruction based on the first take-over reminding feedback, controlling the vehicle according to the take-over instruction.

Illustratively, after the vehicle-mounted device sends out the first takeover reminder, the driver makes an operation of rotating the steering wheel and stepping on the brake pedal according to the first takeover reminder, the vehicle-mounted device obtains a takeover instruction based on the operation of the driver, and the vehicle is controlled based on the takeover instruction.

In the actual automatic driving process of the vehicle, there are some situations that the driver does not take over the vehicle in time, for example, the driver does not notice the first take-over reminder because of distraction, and after sending the first take-over reminder, the driver can also be reminded of sending the second take-over reminder again.

In one possible implementation, controlling the vehicle based on the feedback of the first take-over reminder includes: and sending a second takeover prompt in response to not receiving the takeover instruction based on the first takeover prompt feedback. Optionally, the urgency of the second takeover reminder may be higher than the urgency of the first takeover reminder, for example, the urgency of the first takeover reminder is a third-level urgency, and then the urgency of the second takeover reminder may be a second-level urgency.

In addition, no matter whether the vehicle is in an abnormal state or not, no matter whether the taking-over reminding exists or not, in the automatic driving process of the vehicle, a driver can actively send a taking-over instruction to the vehicle-mounted equipment through active interaction equipment, such as a brake pedal, an accelerator pedal, a steering wheel, various control switches, a gear lever and the like.

It should be noted that, in all of the above-mentioned processes, when the vehicle is in an abnormal state, the takeover reminder is issued, and the vehicle is controlled based on the feedback of the takeover reminder. In some embodiments, a prompt may also be issued in the event that the vehicle is in a normal state.

In connection with the case that the vehicle is in a normal state as described above in step 202, in one possible implementation, the monitoring information includes operation information of vehicle autonomous driving, environment information outside the vehicle of the vehicle autonomous driving, prediction information of vehicle autonomous driving, and driver information.

Correspondingly, after the state of the vehicle is determined according to the monitoring information, the method further comprises the following steps: the method comprises the steps that the situation that the state of a vehicle is determined according to running information that the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal and the non-core induction function of the automatic driving of the vehicle is abnormal is responded, the external environment information indicates the current external environment to support the automatic driving of the vehicle, the prediction information indicates that the vehicle does not enter the external environment which does not support the automatic driving of the vehicle within reference time, and the driver information indicates that the driver can monitor the automatic driving of the vehicle and sends out prompt information of the abnormal non-core induction function.

In the case of the above-described issuance of the notice information of the non-core induction function abnormality, the vehicle can still perform the automatic driving without requiring the driver to take over the vehicle.

In order to establish a database of vehicle automatic driving, so that the subsequent process of vehicle automatic driving can be traced, in a possible implementation manner, after obtaining monitoring information of vehicle automatic driving, the method further includes: and recording monitoring information.

By the method for controlling the vehicle, the takeover reminding with different urgency degrees can be given according to different state conditions of the vehicle in the automatic driving process, the vehicle is controlled based on the feedback of the takeover reminding, the takeover reminding of the vehicle can be clearly and effectively transmitted to a driver, and the efficiency, the accuracy and the safety of the vehicle-mounted equipment for controlling the vehicle are further higher.

Referring to fig. 3, a schematic diagram of interaction of system modules for controlling a vehicle according to an embodiment of the present application is shown. In the embodiment, the vehicle-mounted equipment executes the method provided by the application through an automatic driving system.

As shown in fig. 3, the automatic driving system includes: the device comprises a sensing module, a positioning module, a planning module, a control module and a monitoring module.

And the sensing module is used for acquiring the sensing parameters by utilizing a sensor equipped for the vehicle. For example, the sensing module acquires sensing parameters through a self-sensing sensor, a vision sensor, a millimeter wave radar, a laser radar, a driver state sensor, an external environment sensor and the like, acquires sensing information through processing the sensing parameters, and then transmits the sensing information to the planning module, the control module and the monitoring module respectively. Perceptual information includes, but is not limited to: the running state of each sensor, the speed information of the vehicle, the environment information outside the vehicle, and the driver state information.

The Positioning module is used for obtaining the spatial position of the vehicle through at least one means of a Global Positioning System (GPS), Inertial navigation Unit (IMU) and a high-precision map, processing the spatial position of the vehicle into Positioning information, and respectively transmitting the Positioning information to the planning module, the control module and the monitoring module, and meanwhile, the Positioning module also transmits the running state of the Positioning module to the monitoring module.

And the planning module is used for planning the vehicle running route according to the perception information and the positioning information, generating route information and prediction information, transmitting the route information to the control module and the monitoring module, and transmitting the prediction information to the monitoring module. In addition, the planning module transmits the operating state of the planning module to the monitoring module.

And the control module is used for determining a steering angle, an accelerator opening, a brake pedal stroke and a gear according to the route information, the positioning information and the sensing information, and controlling the vehicle based on the determined steering angle, accelerator opening, brake pedal stroke and gear. The control module also transmits the operating state of the control module to the monitoring module. Furthermore, the control module can also send out a take-over reminding according to the instruction of the monitoring module and decelerate the vehicle.

And the monitoring module is configured to receive the sensing information, the positioning information, the operation state of the positioning module, the prediction information, the operation state of the planning module, and the operation state of the control module, where the information received by the monitoring module is the monitoring information in the embodiment shown in fig. 2.

The monitoring module plans the operation state of the module and the operation state of the control module according to the defined classification of the core control function, the non-core control function, the core induction function and the non-core induction function based on the operation state of each sensor in the sensing information, the operation state of the positioning module and the operation state of the control module to obtain the state of the core control function, the state of the non-core control function, the state of the core induction function and the state of the non-core induction function.

The monitoring module obtains environment information outside the vehicle and state information of a driver from the sensing information, and obtains prediction information from the information uploaded by the control module.

The monitoring module executes the above-mentioned determination of the vehicle state according to the monitoring information shown in fig. 2; in response to that the vehicle is in an abnormal state, a process of determining the urgency degree based on the state condition of the vehicle may be described with reference to fig. 2, and the embodiment of the present application is not described herein again.

Furthermore, after the monitoring module obtains the emergency degree, an instruction for sending a first takeover reminder is generated based on the emergency degree, and then the instruction is sent to the control module, and the control module controls the vehicle-mounted equipment to send the first takeover reminder according to the instruction. And after the first takeover reminding is sent out, the control module receives feedback made by the driver based on the first takeover reminding, and controls the vehicle based on the feedback.

It should be noted that, no matter whether the vehicle is in an abnormal state or not, in the automatic driving process of the vehicle, the driver can send a take-over command to the control module through equipment such as a brake pedal, an accelerator pedal, a steering wheel, various control switches, a gear lever and the like.

Referring to fig. 4, a schematic structural diagram of a device for controlling a vehicle according to an embodiment of the present application is shown. As shown in fig. 4, the apparatus includes: a first obtaining module 401, configured to obtain monitoring information of automatic driving of a vehicle; a first determining module 402 for determining a state of the vehicle according to the monitoring information; a second determining module 403, configured to determine an emergency degree based on a state condition of the vehicle in response to that the vehicle is in an abnormal state, where the emergency degree indicates a sending manner of taking over the reminder; and the reminding module 404 is configured to send a first takeover reminder based on the sending mode of the urgency indication, and control the vehicle based on the feedback of the first takeover reminder.

In one possible implementation, the monitoring information includes operational information of the vehicle's automatic driving; the second determining module 403 is configured to determine, based on the operation information, that the state condition of the vehicle is a core control function abnormality of automatic driving of the vehicle, and determine that the emergency degree is a first-level emergency degree; and the reminding module 404 is configured to send out a first reminder based on a sending mode of the primary urgency level indication.

In one possible implementation, the monitoring information includes operational information of the vehicle's automatic driving; a second determining module 403, configured to determine, based on the operation information, that the state condition of the vehicle is that a core control function of the vehicle automatic driving is normal, and any one of a non-core control function and a core sensing function of the vehicle automatic driving is abnormal, and determine that the emergency degree is a secondary emergency degree; and a reminding module 404, configured to send out a second reminder based on the sending mode of the secondary urgency level indication.

In one possible implementation, the monitoring information includes operation information of automatic driving of the vehicle and environment information outside the vehicle; a second determining module 403, configured to determine that a state condition of the vehicle is that a core control function of automatic driving of the vehicle is normal based on the operation information, indicate that the current vehicle-exterior environment does not support automatic driving of the vehicle based on the vehicle-exterior environment information, and determine that the urgency degree is a secondary urgency degree; and a reminding module 404, configured to send out a second reminder based on the sending mode of the secondary urgency level indication.

In one possible implementation, the monitoring information includes at least one of prediction information of vehicle automatic driving and driver information, and operation information of vehicle automatic driving; the second determining module 403 is configured to determine, based on the operation information, that the state condition of the vehicle is that a core control function, a non-core control function, and a core sensing function of the automatic driving of the vehicle are all normal, and indicate, based on the prediction information, that the vehicle will enter an environment outside the vehicle that does not support the automatic driving of the vehicle within a reference time, and determine that the urgency degree is a third-level urgency degree; or determining the state condition of the vehicle based on the operation information that the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining the emergency degree to be a third-level emergency degree; and the reminding module 404 is configured to send out a third reminder based on the sending mode of the third-level urgency level indication.

In one possible implementation, the monitoring information includes at least one of prediction information of vehicle autopilot and driver information, and operation information of vehicle autopilot and environment information outside the vehicle of vehicle autopilot; the second determining module 403 is configured to determine that the state condition of the vehicle is that a core control function, a non-core control function, and a core sensing function of the automatic driving of the vehicle are all normal based on the operation information, indicate that the current vehicle exterior environment supports the automatic driving of the vehicle based on the vehicle exterior environment information, indicate that the vehicle will enter the vehicle exterior environment that does not support the automatic driving of the vehicle within the reference time based on the prediction information, and determine that the urgency degree is a third-level urgency degree; or determining that the state condition of the vehicle is that the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating the current external environment by the external environment information to support the automatic driving of the vehicle, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining that the emergency degree is the third-level emergency degree; and the reminding module 404 is configured to send out a third reminder based on the sending mode of the third-level urgency level indication.

In one possible implementation manner, the reminding module 404 is configured to, in response to receiving a takeover instruction based on the first takeover reminding feedback, control the vehicle according to the takeover instruction; and sending a second takeover prompt in response to not receiving the takeover instruction based on the first takeover prompt feedback.

In one possible implementation, the reminding module 404 is further configured to decelerate the vehicle after the second determining module 403 is configured to respond to the vehicle being in the abnormal state.

In one possible implementation, the monitoring information includes operation information of vehicle automatic driving, environment information outside the vehicle of the vehicle automatic driving, prediction information of the vehicle automatic driving, and driver information; the reminding module 404 is configured to respond to the situation that the state of the vehicle is determined according to the running information, after the first determining module 402 is configured to determine the state of the vehicle according to the monitoring information, that the core control function, the non-core control function and the core sensing function of the vehicle automatic driving are all normal and the non-core sensing function of the vehicle automatic driving is abnormal, the vehicle exterior environment information indicates that the current vehicle exterior environment supports the vehicle automatic driving, the prediction information indicates that the vehicle does not enter the vehicle exterior environment that does not support the vehicle automatic driving within the reference time, and the driver information indicates that the driver can monitor the vehicle automatic driving and send out the prompt information that the non-core sensing function is abnormal.

It should be understood that, when the apparatus provided in fig. 4 implements its functions, it is only illustrated by the division of the functional modules, and in practical applications, the above functions may be distributed by different functional modules according to needs, that is, the internal structure of the apparatus is divided into different functional modules to implement all or part of the functions described above. In addition, the apparatus and method embodiments provided by the above embodiments belong to the same concept, and specific implementation processes thereof are described in the method embodiments for details, which are not described herein again.

Referring to fig. 5, a schematic structural diagram of an apparatus for controlling a vehicle according to an embodiment of the present application is shown, where the apparatus includes a processor 1201 and a memory 1202, and the memory 1202 has at least one instruction stored therein. The at least one instruction is configured to be executed by the one or more processors 1201 to cause an apparatus for controlling a vehicle to implement any of the above-described methods of controlling a vehicle.

In an exemplary embodiment, there is also provided a computer readable storage medium having at least one program code stored therein, the at least one program code being loaded and executed by a processor to cause a computer to implement any of the above-described methods of controlling a vehicle.

Alternatively, the computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a Compact Disc Read-Only Memory (CD-ROM), a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, a computer program or a computer program product is also provided, having at least one computer instruction stored therein, which is loaded and executed by a processor to cause a computer to implement any of the above-described methods of controlling a vehicle.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the system embodiments described above are merely illustrative, and for example, the division of the module is merely a logical division, and the actual implementation may have another division, for example, a plurality of modules or components may be combined or integrated into another system, or some features may be omitted, or not executed. Further, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or modules, and may also be an electrical, mechanical or other form of connection.

The modules described as separate parts may or may not be physically separate, and parts displayed as modules may or may not be physical modules, may be located in one place, or may be distributed on a plurality of network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the embodiments of the present application.

In addition, functional modules in the embodiments of the present application may be integrated into one processing module, or each of the modules may exist alone physically, or two or more modules are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode.

It should also be understood that, in the embodiments of the present application, the size of the serial number of each process does not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

The term "at least one" in this application means one or more, and the term "plurality" in this application means two or more, for example, a plurality of data means two or more data.

It is to be understood that the terminology used in the description of the various described examples herein is for the purpose of describing particular examples only and is not intended to be limiting. As used in the description of the various described examples and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

The above description is only exemplary of the present application and is not intended to limit the present application, and any modification, equivalent replacement, or improvement made within the spirit and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method of controlling a vehicle, the method comprising:

acquiring monitoring information of automatic driving of a vehicle;

determining the state of the vehicle according to the monitoring information;

responding to the abnormal state of the vehicle, determining the emergency degree based on the state condition of the vehicle, wherein the emergency degree indicates the sending mode of taking over the reminding;

and sending a first takeover reminder based on the sending mode of the emergency degree indication, and controlling the vehicle based on the feedback of the first takeover reminder.

2. The method of claim 1, wherein the monitoring information includes operational information of the vehicle autodrive;

the determining the urgency based on the status condition of the vehicle includes:

determining that the state condition of the vehicle is abnormal core control function of automatic driving of the vehicle based on the operation information, and determining that the emergency degree is a first-level emergency degree;

the sending out a first takeover reminder based on the sending out mode of the urgency degree indication comprises:

and sending a first prompt based on the sending mode of the primary urgency degree indication.

3. The method of claim 1, wherein the monitoring information includes operational information of the vehicle autodrive;

determining that the state condition of the vehicle is that the core control function of the automatic driving of the vehicle is normal and any one of the non-core control function and the core induction function of the automatic driving of the vehicle is abnormal based on the operation information, and determining that the emergency degree is a secondary emergency degree;

and sending a second prompt based on the sending mode of the secondary urgency degree indication.

4. The method of claim 1, wherein the monitoring information includes operational information of the vehicle autopilot and off-board environmental information;

determining that the state condition of the vehicle is that the core control function of the automatic driving of the vehicle is normal based on the operation information, indicating that the current external environment does not support the automatic driving of the vehicle based on the external environment information, and determining that the emergency degree is a secondary emergency degree;

5. The method of claim 1, wherein the monitoring information includes at least one of predictive information and driver information of the vehicle autonomous driving, and operational information of the vehicle autonomous driving;

determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the vehicle can enter an external environment which does not support the automatic driving of the vehicle within reference time based on the prediction information, and determining that the emergency degree is a three-level emergency degree;

or determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining that the emergency degree is a three-level emergency degree;

and sending a third prompt based on the sending mode of the three-level urgency degree indication.

6. The method of claim 1, wherein the monitoring information includes at least one of predictive information and driver information of the vehicle autopilot, and operational information of the vehicle autopilot and off-board environmental information of the vehicle autopilot;

determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the current vehicle exterior environment supports the automatic driving of the vehicle based on the vehicle exterior environment information, indicating that the vehicle can enter the vehicle exterior environment which does not support the automatic driving of the vehicle within reference time based on the prediction information, and determining that the emergency degree is a three-level emergency degree;

or determining that the state condition of the vehicle is that a core control function, a non-core control function and a core induction function of the automatic driving of the vehicle are normal based on the operation information, indicating that the current environment outside the vehicle supports the automatic driving of the vehicle based on the environment information outside the vehicle, indicating that the driver cannot monitor the automatic driving of the vehicle based on the driver information, and determining that the emergency degree is a three-level emergency degree;

7. The method of any of claims 1-6, wherein the controlling the vehicle based on the feedback of the first take-over reminder comprises:

in response to receiving a takeover instruction based on the first takeover reminder feedback, controlling the vehicle according to the takeover instruction;

and sending a second takeover prompt in response to not receiving the takeover instruction based on the first takeover prompt feedback.

8. The method of any of claims 1-6, further comprising, after said responding to said vehicle being in an abnormal state: decelerating the vehicle.

9. The method of claim 1, wherein the monitoring information includes operational information of the vehicle autopilot, off-board environmental information of the vehicle autopilot, predictive information of the vehicle autopilot, and driver information;

after the state of the vehicle is determined according to the monitoring information, the method further comprises the following steps:

responding to the situation that the state of the vehicle is determined to be that the core control function, the non-core control function and the core induction function of the automatic driving of the vehicle are normal and the non-core induction function of the automatic driving of the vehicle is abnormal according to the operation information, the environment information outside the vehicle indicates that the current environment outside the vehicle supports the automatic driving of the vehicle, the prediction information indicates that the vehicle does not enter the environment outside the vehicle which does not support the automatic driving of the vehicle within the reference time, and the driver information indicates that the driver can monitor the automatic driving of the vehicle and sends out the prompt information of the abnormal non-core induction function.

10. An apparatus for controlling a vehicle, characterized in that the apparatus comprises:

the first acquisition module is used for acquiring monitoring information of automatic driving of the vehicle;

the first determination module is used for determining the state of the vehicle according to the monitoring information;

the second determination module is used for responding to the abnormal state of the vehicle and determining the emergency degree based on the state condition of the vehicle, wherein the emergency degree indicates the sending mode of taking over the reminding;

and the reminding module is used for sending a first takeover reminding based on the sending mode of the emergency indication and controlling the vehicle based on the feedback of the first takeover reminding.

11. An apparatus for controlling a vehicle, comprising a processor coupled to a memory, the memory having stored therein at least one instruction, the at least one instruction being loaded and executed by the processor such that the apparatus for controlling a vehicle implements the method for controlling a vehicle of any of claims 1-9.

12. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises instructions or code which, when executed on a computer, causes the computer to carry out a method of controlling a vehicle according to any one of claims 1-9.