CN107672597A - A kind of method and apparatus for being used to control vehicle driving model - Google Patents
A kind of method and apparatus for being used to control vehicle driving model Download PDFInfo
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0002—Automatic control, details of type of controller or control system architecture
- B60W2050/0014—Adaptive controllers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
Abstract
The purpose of the application is to provide a kind of method and apparatus for controlling vehicle driving model, obtain the car status information of vehicle, the current one or more optional driving models of the vehicle are determined according to the car status information, the current driving model of the vehicle is switched into one of one or more of optional driving models.The application can obtain security and the balance of operating efficiency when controlling vehicle driving model.
Description
Technical field
The application is related to automatic Pilot field, more particularly to a kind of technology for being used to control vehicle driving model.
Background technology
With the development of technology, auxiliary drives, application of the automatic Pilot technology on vehicle enormously simplify mankind's driving
The operation of member, and improve security.Generally, there is the vehicle of auxiliary driving model or automatic driving mode, its driving mould
Formula is optional, and driver needs to choose suitable driving model on the premise of security is ensured, obtains security and operation
The balance of efficiency.
The content of the invention
The purpose of the application is to provide a kind of method for controlling vehicle driving model.
According to the one side of the application, there is provided a kind of method for controlling vehicle driving model, this method include：
Obtain the car status information of vehicle；
The current one or more optional driving models of the vehicle are determined according to the car status information；
The current driving model of the vehicle is switched into one of one or more of optional driving models.
According to further aspect of the application, there is provided a kind of device for being used to control vehicle driving model, the device bag
Include：
Vehicle-state acquisition module, for obtaining the car status information of vehicle；
Driving model determining module, for determining the current one or more of the vehicle according to the car status information
Optional driving model；
Driving model handover module, it is one or more of optional for the current driving model of the vehicle to be switched to
One of driving model.
According to the one side of the application, there is provided a kind of computer-readable medium including instructing, the instruction is in quilt
System is caused to carry out following operate during execution：
Obtain the car status information of vehicle；
The current one or more optional driving models of the vehicle are determined according to the car status information；
The current driving model of the vehicle is switched into one of one or more of optional driving models.
According to further aspect of the application, there is provided a kind of equipment for being used to select the driving model of vehicle, wherein, should
Equipment includes：
Processor；And
It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed
Manage device and perform following operate：
Obtain the car status information of vehicle；
The current one or more optional driving models of the vehicle are determined according to the car status information；
The current driving model of the vehicle is switched into one of one or more of optional driving models.
Compared with prior art, the application determines the optional driving model of vehicle by the car status information of vehicle, right
The switching of the driving model of vehicle is only carried out in optional driving model, can be provided under Current vehicle actual state, be ensured safety
On the premise of the optional driving model that can be provided, help to control user (such as driver or teleworker) to vehicle
Operation obtain the balance of security and operating efficiency.
Brief description of the drawings
By reading the detailed description made to non-limiting example made with reference to the following drawings, the application's is other
Feature, objects and advantages will become more apparent upon：
Fig. 1 shows a kind of flow chart for being used to control the method for vehicle driving model according to the application one embodiment；
Fig. 2 shows a kind of structural representation for being used to control the device of vehicle driving model according to the application one embodiment
Figure；
Fig. 3 shows a kind of structural frames for being used to control the equipment of vehicle driving model according to the application one embodiment
Figure；
Same or analogous reference represents same or analogous part in accompanying drawing.
Embodiment
The application is described in further detail below in conjunction with the accompanying drawings.
In one typical configuration of the application, terminal, the equipment of service network and trusted party include one or more
Processor (CPU), input/output interface, network interface and internal memory.
Internal memory may include computer-readable medium in volatile memory, random access memory (RAM) and/or
The forms such as Nonvolatile memory, such as read-only storage (ROM) or flash memory (flash RAM).Internal memory is computer-readable medium
Example.
Computer-readable medium includes permanent and non-permanent, removable and non-removable media can be by any method
Or technology come realize information store.Information can be computer-readable instruction, data structure, the module of program or other data.
The example of the storage medium of computer includes, but are not limited to phase transition internal memory (PRAM), static RAM (SRAM), moved
State random access memory (DRAM), other kinds of random access memory (RAM), read-only storage (ROM), electric erasable
Programmable read only memory (EEPROM), fast flash memory bank or other memory techniques, read-only optical disc read-only storage (CD-ROM),
Digital versatile disc (DVD) or other optical storages, magnetic cassette tape, magnetic disk storage or other magnetic storage apparatus or
Any other non-transmission medium, the information that can be accessed by a computing device available for storage.
The application meaning equipment includes but is not limited to user equipment, the network equipment or user equipment and the network equipment passes through
Network is integrated formed equipment.The user equipment, which includes but is not limited to any one, to carry out man-machine interaction with user
The mobile electronic product of (such as man-machine interaction is carried out by touch pad), such as smart mobile phone, tablet personal computer etc., the mobile electricity
Sub- product can use any operating system, such as android operating systems, iOS operating systems.Wherein, the network equipment
Including it is a kind of can be according to the instruction for being previously set or storing, the automatic electronic equipment for carrying out numerical computations and information processing, its
Hardware includes but is not limited to microprocessor, application specific integrated circuit (ASIC), PLD (PLD), field programmable gate
Array (FPGA), digital signal processor (DSP), embedded device etc..The network equipment includes but is not limited to computer, net
The cloud that network main frame, single network server, multiple webserver collection or multiple servers are formed；Here, cloud is by based on cloud meter
The a large amount of computers or the webserver for calculating (Cloud Computing) are formed, wherein, cloud computing is the one of Distributed Calculation
Kind, a virtual supercomputer being made up of the computer collection of a group loose couplings.The network includes but is not limited to interconnect
Net, wide area network, Metropolitan Area Network (MAN), LAN, VPN, wireless self-organization network (Ad Hoc networks) etc..Preferably, the equipment
Can also be run on the user equipment, the network equipment or user equipment and the network equipment, the network equipment, touch terminal or
The network equipment is integrated the program in formed equipment with touch terminal by network.
Certainly, those skilled in the art will be understood that the said equipment is only for example, and other are existing or are likely to occur from now on
Equipment be such as applicable to the application, should also be included within the application protection domain, and be incorporated herein by reference herein.
According to the one side of the application, there is provided a kind of method for controlling vehicle driving model, this method include
Step S11, step S12 and step S13.Exemplified by controlling the driving model control device of vehicle driving model, reference chart
1, in step s 11, driving model control device obtains the car status information of vehicle；In step s 12, driving model controls
Device determines the current one or more optional driving models of the vehicle according to the car status information；In step s 13,
The current driving model of the vehicle is switched to it in one or more of optional driving models by driving model control device
One.
Specifically, in step s 11, driving model control device obtains the car status information of vehicle, wherein, vehicle
Status information is used to indicate the state that vehicle is presently in, and these states include but is not limited to vehicle oneself state and outside vehicle
State, for example, vehicle oneself state can be including geographical position, vehicle part running status residing for Vehicle Speed, vehicle
Or fault message etc., outside vehicle state can include the vehicles or pedestrians dense degree of vehicle periphery, vehicle is currently located position
Road condition put etc..In certain embodiments, the state that vehicle is presently in monitors in real time.
In step s 12, driving model control device determines current one of the vehicle according to the car status information
Individual or multiple optional driving models.The optional driving model of the one or more according to the car status information of Current vehicle determine,
In certain embodiments, with the change of car status information, the quantity or species of optional driving model also respective change.Its
In, described optional driving model includes but is not limited to：1) full-automatic driving pattern, vehicle can entirely autonomous row in this mode
To sail, vehicle can be automatically performed need not be intervened including turning to the driver behavior including speed control, occupant, or even at some
In the case of can there is no occupant in vehicle；2) condition automatic driving mode, the condition automatic driving mode are included with automatic Pilot
Based on driving model, such as vehicle can realize automatic Pilot in highway, outskirts of a town or city；3) driving model is aided in, should
Driving model is aided in include the driving model based on pilot steering, such as unidirectional dynamic driving task and information auxiliary
(such as navigation), or multidirectional dynamic driving task and high-level information auxiliary (such as automatic parking)；4) pilot steering mould
Formula, driver carry out manual control to vehicle.In certain embodiments, driving model control device can be according to different vehicles
State causes described various driving models to be in the state of may be selected.For example, in the case where speed is not higher than 20km/h, drive
Mode control device causes foregoing 4 kinds of driving models to be in optional state, i.e., before the current optional driving model of vehicle includes
State 4 kinds of driving models；In the case that speed is higher than 80km/h, driving model control device is only in artificial driving model can
State is selected, i.e. the current optional driving model of vehicle only includes pilot steering pattern.
In step s 13, driving model control device by the current driving model of the vehicle switch to it is one or
One of multiple optional driving models.The operation that handover operation can be sent based on remote operation instruction or automotive occupant/driver
Instruction, may be based on control instruction caused by driving model control device or other relative control apparatus.For example, driving model control
Device processed sends the title of the current optional driving model of vehicle to teleoperator or automotive occupant, according to teleoperator
Or the operational order that automotive occupant is sent according to optional driving model, the current driving model of vehicle is switched into optional driving mould
One in formula, such as the current driving model of vehicle is pilot steering pattern, driving model control device is according to the behaviour of occupant
Instruct the condition automatic driving mode current driving model switched in optional driving model, or according to teleoperator's
Operational order switches to current driving model the full-automatic driving pattern in optional driving model.In another example vehicle is current
Driving model is full-automatic driving pattern, driving model control device or other relative control apparatus according to the current vehicle of vehicle
Status information generates control instruction, and steering control device switches to the current driving model of vehicle according to the control instruction optional
Pilot steering pattern in driving model.In certain embodiments, driving model control device, can before driving model is switched
Prompt message is sent to teleoperator or automotive occupant to prompt the switching of current driving model, or to teleoperator or car
Occupant sends confirmation, switches current driving model again after teleoperator or automotive occupant confirm.
In certain embodiments, this is used to control the method for vehicle driving model also to include step S14 (not shown).In step
In rapid S14, driving model control device detect the vehicle current driving model whether with the car status information phase
Match somebody with somebody；In step s 13, if the current driving model of the driving model control device vehicle loses with the car status information
Match somebody with somebody, the current driving model of the vehicle is switched into one of one or more of optional driving models.In some implementations
In example, whether driving model control device can be matched with car status information by detecting the current driving model of vehicle
One of optional driving model, realize the detection whether status information of the current driving model and vehicle of vehicle matches；Once
The current driving model of vehicle is not one of current optional driving model of vehicle, the i.e. current driving model and current vehicle of vehicle
The current driving model of vehicle is switched to the current one or more of vehicle can by status information mismatch, driving model control device
Select one of driving model.
In certain embodiments, this is used to control the method for vehicle driving model also to include step S15 (not shown).In step
In rapid S15, one or more of optional driving models are presented in driving model control device；In step s 13, driving model control
Device processed controls selection operation of the user to one or more of optional driving models based on the vehicle, by the vehicle
Current driving model switch to optional driving model corresponding to the selection operation.In certain embodiments, driving model control
Optional driving model is presented to the control user of vehicle by device processed, and control user can be at vehicle interior, such as control is used
Family is the passenger in the driver or vehicle of vehicle；Control user can also be in outside vehicle, such as vehicle be carried out long-range
The user of control, or auxiliary vehicle carry out the teleoperator of automatic Pilot.It is in by current driving model or optional driving model
Now the mode to the control user of vehicle has a variety of, and in certain embodiments, driving model control device is with including but not limited to
The modes such as sound, light, vibrations, by including but is not limited to instrument board, middle control, head-up display device (HUD, Head Up
Display), the steering wheel with vibration function or equipped with light-emitting device, the seat with vibration function, be installed on vehicle interior
The current optional driving model of vehicle is presented in the lighting fixture on surface (such as roof, floor etc.) etc., and prompts vehicle current
The switching of driving model, such as driving model switch prompting information is presented by said apparatus.For example, current driving model is behaved
Work driving model, when will switch to full-automatic driving pattern, driving model control device is carried by vibration of steering wheel, voice
Wake up, console or the instruction of HUD characters/graphics, in-car atmosphere lamp color transition, indicator light colors change, indicator lamp is lighted or put out
Go out, the change of indicator lamp flash speed (such as flash speed it is fast when vehicle be in full-automatic driving pattern, and car when flash speed is slow
Be in pilot steering pattern) etc. one or more of current driving models that vehicles are presented and what will be switched to optional drive
Pattern is sailed, to provide the feedback of the selection operation on controlling user, or reminds the driving model of control user or occupant's vehicle
Imminent change.In certain embodiments, driving model switch prompting information and the optional driving model after switching
Match, for example, when driving model switches, driving model control device is only once prompted, and the prompting is simultaneously
Optional driving model after driving model switch prompting information and switching, when such as in-car atmosphere lamp is red, when the driving of vehicle
Pattern is artificial driving model by full-automatic driving pattern switching, and in-car atmosphere lamp is changed into green, prompts driving for driver vehicle
The pattern of sailing is switched, and switches to the pilot steering pattern corresponding to green atmosphere lamp.Wherein, carried out by light
During instruction, light-emitting device can be arranged at in-car any place for enabling to driver or occupant easily and clearly seeing.
Certainly, those skilled in the art will be understood that the presentation of the presentation mode and driving model of above-mentioned driving model
Position is only for example, and other existing or presentation modes and the position of appearing of driving model for being likely to occur from now on are if be applicable
In the application, it is also contained within the protection domain of the application, and is incorporated herein by reference herein.For example, by light,
The current driving model of the information such as sound instruction vehicle, and prompt driving model to cut by way of seat vibrations
Change；Or the light bar by being arranged on steering wheel indicates current switching of driving model, driving model of vehicle etc..
In certain embodiments, this is used to control the method for vehicle driving model also to include step S16 (not shown).In step
In rapid S16, control user of the driving model control device based on the vehicle is set to the task of the vehicle, from one
Or target driving model corresponding to being determined in multiple optional driving models；In step s 13, driving model control device is by described in
The current driving model of vehicle switches to the target driving model.Target driving model is vehicle currently optional driving model
One of them.Wherein, the control user of vehicle is provided for determining the method for operation of Current vehicle to the task of vehicle, such as makes
Vehicle matches target driving model from optional driving model, and corresponding according to completions such as the parameter preset of vehicle or external environment conditions
Task.In certain embodiments, the task, which is set, includes automatic parking, automatic withdrawing or automatic charging.For example, drive mould
Formula control device instructs according to the automatic parking or automatic charging of control user, such as vehicle is set when being got off according to driver
Put, vehicle is switched into full-automatic driving pattern, and it is parking position or charge position to set target location or target area, vehicle is certainly
Dynamic traveling completes automatic parking or starts automatic charging to parking position or charge position.In another example driving model control device according to
The automatic withdrawing instruction of user is controlled, vehicle is switched into full-automatic driving pattern, and sets target position is in place for user institute
Put, vehicle automatic running to user position, complete automatic withdrawing.
In certain embodiments, the car status information includes the driving speed information of the vehicle；In step S12
In, driving model control device determines that current one or more of the vehicle optional drive according to the Vehicle Speed information
Sail pattern.In certain embodiments, it is operation of the simplify control user (such as vehicle driver) when speed is relatively low, works as vehicle
Speed when being less than minimum speed threshold value, the optional driving model of vehicle includes full-automatic driving pattern, condition automatic Pilot mould
One or more in formula, auxiliary driving model；In further embodiments, to ensure the security of vehicle traveling, vehicle is worked as
Speed when being more than max. speed threshold value, the optional driving model of vehicle only includes pilot steering pattern, or only includes manually driving
Sail pattern and auxiliary driving model.For example, in one embodiment, when vehicle sets minimum speed threshold value as 20km/h, highest
Speed threshold value is 80km/h；When speed is less than or equal to 20km/h, the optional driving model of vehicle include full-automatic driving pattern,
Condition automatic driving mode, auxiliary driving model and pilot steering pattern, the current driving model of vehicle can be automatically or manually
Switch between these driving models；When speed is more than 20km/h but is no greater than 80km/h, the full-automatic driving mould of vehicle
Formula is unavailable, and currently available driving model only includes condition automatic driving mode, auxiliary driving model and pilot steering pattern, car
Current driving model automatically or manually can switch between these driving models；When speed is higher than 80km/h, currently
Pilot steering pattern can only be included with driving model, correspondingly, the current driving model of vehicle also just can be only in pilot steering
Pattern.
Certainly, those skilled in the art will be understood that above-mentioned determines the optional driving model of vehicle according to Vehicle Speed
Method be only for example, other are existing or what is be likely to occur from now on determines the optional driving model of vehicle according to Vehicle Speed
Method be such as applicable to the application, be also contained within the protection domain of the application, and be contained in by reference herein
This.For example, setting the threshold speed of three or more, and optional driving model is combined according to these threshold speeds.
In certain embodiments, the car status information includes the running environment information of the vehicle；In step S12
In, driving model control device determines the current environment complexity information of the vehicle according to the vehicle running environment information,
And the current one or more optional driving models of the vehicle are determined according to the environment complexity information.The current ring of vehicle
The complexity of border complexity information reflection Current vehicle running environment, the complexity of vehicle running environment is higher, keeps vehicle peace
Computing resource required for row for the national games is more, and the margin of safety of vehicle autonomous operation is lower, and the driving procedure of vehicle also more has
Manpower intervention may be needed.
The environment complexity information of vehicle is according to the determination of the running environment information of vehicle, in certain embodiments, above-mentioned row
Environmental information is sailed including following one or more：Surrounding's car flow information of vehicle；Surrounding's pedestrian information of vehicle；The road of vehicle
Condition information；The running region information of vehicle.Wherein, surrounding car flow information includes but is not limited to the vehicle fleet size letter of vehicle periphery
The positional information of breath, traffic density information, the speed of surrounding vehicles, the travel direction of surrounding vehicles or surrounding vehicles, surrounding row
People's information includes but is not limited to pedestrian's quantity, pedestrian density, pedestrian movement's speed, pedestrian position or the fortune of pedestrian of vehicle periphery
Dynamic direction, road vehicle condition information include radius of curvature of road width, climb and fall, the illumination condition of road, bend etc., car
Running region information include but is not limited to outskirts of a town, highway, urban road, cell etc..According to the running environment of vehicle
Information can determine the current environment complexity information of vehicle, in certain embodiments, the current environment complexity information of vehicle
It is calculated according to the running environment information of vehicle, such as surrounding car flow information of the driving model control device according to vehicle, week
One or more of pedestrian information, road condition information, running region information is enclosed to perform mathematical calculations (such as weighted sum)
Obtain；In further embodiments, the current running environment information of vehicle is inputted complexity data by driving model control device
Model, the current environment complexity information of vehicle is obtained, wherein, complexity data model includes but is not limited to logistic regression mould
Type, supporting vector machine model, decision-tree model, neural network model etc..By the current running environment acquisition of information vehicle of vehicle
Current environment complexity information can locally be completed in vehicle, can also complete beyond the clouds, or locally cooperateed with vehicle with high in the clouds
Into.
In certain embodiments, car status information can also be the driving speed information of vehicle and the running environment of vehicle
The combination of information, such as some optional driving models are determined according to Vehicle Speed information, further according to running environment information from
Further preferably one or more optional driving models in this some optional driving model；Certainly, the driving speed information of vehicle
It can also be combined by other means with the running environment information of vehicle, in certain embodiments, driving model control device can be same
When driving speed information based on vehicle and the running environment information of vehicle calculate and (such as calculated by weighted sum or based on multiple
Miscellaneous degrees of data model calculates) the current environment complexity information of vehicle.
According to further aspect of the application, there is provided a kind of device for being used to control vehicle driving model, the device bag
Include vehicle-state acquisition module 11, driving model determining module 12 and driving model handover module 13.Driven for control vehicle
Exemplified by the driving model control device for sailing pattern, with reference to figure 2, vehicle-state acquisition module 11 obtains the vehicle-state letter of vehicle
Breath；Driving model determining module 12 determines the current one or more optional driving of the vehicle according to the car status information
Pattern；The current driving model of the vehicle is switched to one or more of optional driving moulds by driving model handover module 13
One of formula.
Specifically, vehicle-state acquisition module 11 obtains the car status information of vehicle, wherein, car status information is used
In the state that instruction vehicle is presently in, these states include but is not limited to vehicle oneself state and outside vehicle state, for example,
Vehicle oneself state can be including geographical position, vehicle part running status or fault message residing for Vehicle Speed, vehicle
Deng outside vehicle state can include vehicles or pedestrians dense degree, the road like of vehicle present position of vehicle periphery
State etc..In certain embodiments, the state that vehicle is presently in monitors in real time.
Driving model determining module 12 determines that the current one or more of the vehicle can according to the car status information
Select driving model.The optional driving model of the one or more determines according to the car status information of Current vehicle, in some implementations
In example, with the change of car status information, the quantity or species of optional driving model also respective change.Wherein, it is described can
Driving model is selected to include but is not limited to：1) full-automatic driving pattern, in this mode vehicle entirely autonomous can travel, vehicle can from
The dynamic driver behavior completed including steering and speed control, occupant need not be intervened, or even vehicle in some cases
It is interior there is no occupant；2) condition automatic driving mode, the condition automatic driving mode include the driving based on automatic Pilot
Pattern, such as vehicle can realize automatic Pilot in highway, outskirts of a town or city；3) driving model is aided in, the auxiliary drives mould
Formula includes the driving model based on pilot steering, such as unidirectional dynamic driving task and information auxiliary (such as navigation),
Or multidirectional dynamic driving task and high-level information auxiliary (such as automatic parking)；4) pilot steering pattern, driver couple
Vehicle carries out manual control.In certain embodiments, driving model control device can cause institute according to different vehicle-states
The various driving models stated are in the state of may be selected.For example, in the case where speed is not higher than 20km/h, driving model control dress
Put so that foregoing 4 kinds of driving models are in optional state, i.e. the current optional driving model of vehicle includes foregoing 4 kinds driving moulds
Formula；In the case that speed is higher than 80km/h, driving model control device only makes artificial driving model be in optional state, i.e. car
Current optional driving model only includes above-mentioned 4) pilot steering pattern.
The current driving model of the vehicle is switched to one or more of optional drive by driving model handover module 13
Sail one of pattern.The operational order that handover operation can be sent based on remote operation instruction or automotive occupant/driver, also can base
In control instruction caused by driving model control device or other relative control apparatus.For example, driving model control device is by car
The title of current optional driving model is sent to teleoperator or automotive occupant, according to teleoperator or automotive occupant
The operational order sent according to optional driving model, the current driving model of vehicle is switched to one in optional driving model
It is individual, such as the current driving model of vehicle is pilot steering pattern, driving model control device will according to the operational order of occupant
Current driving model switches to the condition automatic driving mode in optional driving model, or the operational order according to teleoperator
Current driving model is switched to the full-automatic driving pattern in optional driving model.In another example the current driving model of vehicle
It is full-automatic driving pattern, driving model control device or other relative control apparatus according to the current car status information of vehicle
Control instruction is generated, the current driving model of vehicle is switched to optional driving model by steering control device according to the control instruction
In pilot steering pattern.In certain embodiments, driving model control device, can be to long-range behaviour before driving model is switched
Work person or automotive occupant send prompt message to prompt the switching of current driving model, or sent out to teleoperator or automotive occupant
Confirmation is sent, switches current driving model again after teleoperator or automotive occupant confirm.
In certain embodiments, this is used to control the device of vehicle driving model also to include driving model detection module 14
(not shown).Driving model detection module 14 detect the vehicle current driving model whether with the car status information phase
Matching；If the current driving model of 13 vehicle of driving model handover module and the car status information mismatch, by described in
The current driving model of vehicle switches to one of one or more of optional driving models.In certain embodiments, drive
Whether mode control device can be the optional driving that matches with car status information by detecting the current driving model of vehicle
One of pattern, realize the detection whether status information of the current driving model and vehicle of vehicle matches；Once vehicle is worked as
Preceding driving model is not one of current optional driving model of vehicle, i.e. the current driving model of vehicle is believed with current vehicle condition
Mismatch is ceased, the current driving model of vehicle is switched to the current one or more optional driving moulds of vehicle by driving model control device
One of formula.
In certain embodiments, this is used to control the device of vehicle driving model also to include driving model presentation module 15
(not shown).Driving model is presented module 15 and one or more of optional driving models is presented；Driving model handover module 13
Selection operation of the user to one or more of optional driving models is controlled based on the vehicle, by the current of the vehicle
Driving model switches to optional driving model corresponding to the selection operation.In certain embodiments, driving model control device
Optional driving model is presented to the control user of vehicle, control user can be at vehicle interior, such as control user is car
Driver or vehicle in passenger；Control user can also be in outside vehicle, such as carry out remote control to vehicle
User, or auxiliary vehicle carry out the teleoperator of automatic Pilot.Current driving model or optional driving model are presented to car
The mode of control user have a variety of, in certain embodiments, driving model control device is to include but is not limited to sound, lamp
The modes such as light, vibrations, by include but is not limited to instrument board, middle control, head-up display device (HUD, Head Up Display),
Steering wheel with vibration function or equipped with light-emitting device, the seat with vibration function, be installed on interior surfaces (such as
Roof, floor etc.) lighting fixture etc. be presented the current optional driving model of vehicle, and the prompting current driving model of vehicle
Switching, such as driving model switch prompting information is presented by said apparatus.For example, current driving model is pilot steering mould
Formula, when will switch to full-automatic driving pattern, driving model control device passes through vibration of steering wheel, voice reminder, console
Or the instruction of HUD characters/graphics, in-car atmosphere lamp color transition, indicator light colors change, indicator lamp is lighted or extinguished, indicator lamp
Flash speed change (such as flash speed it is fast when vehicle be in full-automatic driving pattern, and vehicle is in people when flash speed is slow
Work driving model) etc. one or more of current driving model that vehicles are presented and the optional driving model that will be switched to,
To provide the feedback of the selection operation on controlling user, or the driving model of control user or occupant's vehicle is reminded to occur
Change.In certain embodiments, driving model switch prompting information matches with the optional driving model after switching, example
Such as, when driving model switches, driving model control device is only once prompted, and the prompting is cut for driving model simultaneously
The optional driving model changed after prompt message and switching, such as in-car atmosphere lamp for it is red when, when vehicle driving model by it is complete from
Dynamic driving model switches to pilot steering pattern, and in-car atmosphere lamp is changed into green, prompts the driving model of driver vehicle to occur
Switching, and switch to the pilot steering pattern corresponding to green atmosphere lamp.Wherein, when being indicated by light, hair
Electro-optical device can be arranged at in-car any place for enabling to driver or occupant easily and clearly seeing.
Certainly, those skilled in the art will be understood that the presentation of the presentation mode and driving model of above-mentioned driving model
Position is only for example, and other existing or presentation modes and the position of appearing of driving model for being likely to occur from now on are if be applicable
In the application, it is also contained within the protection domain of the application, and is incorporated herein by reference herein.For example, by light,
The current driving model of the information such as sound instruction vehicle, and prompt driving model to cut by way of seat vibrations
Change；Or the light bar by being arranged on steering wheel indicates current switching of driving model, driving model of vehicle etc..
In certain embodiments, this is used to control the device of vehicle driving model also to include target pattern determining module 16
(not shown).Control user of the target pattern determining module 16 based on the vehicle is set to the task of the vehicle, from described
Target driving model corresponding to being determined in one or more optional driving models；Driving model handover module 13 is by the vehicle
Current driving model switches to the target driving model.Target driving model be vehicle currently optional driving model wherein it
One.Wherein, the control user of vehicle to the task of vehicle be provided for determine Current vehicle the method for operation, such as make vehicle from
Target driving model is matched in optional driving model, and is appointed accordingly according to completions such as the parameter preset of vehicle or external environment conditions
Business.In certain embodiments, the task, which is set, includes automatic parking, automatic withdrawing or automatic charging.For example, driving model control
Device processed instructs according to the automatic parking or automatic charging of control user, such as setting when being got off according to driver to vehicle,
Vehicle is switched into full-automatic driving pattern, and it is parking position or charge position to set target location or target area, vehicle is automatic
Traveling completes automatic parking or starts automatic charging to parking position or charge position.In another example driving model control device is according to control
The automatic withdrawing instruction of user processed, full-automatic driving pattern is switched to by vehicle, and sets target position is user position,
Vehicle automatic running completes automatic withdrawing to user position.
In certain embodiments, the car status information includes the driving speed information of the vehicle；Driving model is true
Cover half block 12 determines the current one or more optional driving models of the vehicle according to the Vehicle Speed information.One
It is operation of the simplify control user (such as vehicle driver) when speed is relatively low, when the speed of vehicle is less than in a little embodiments
During minimum speed threshold value, the optional driving model of vehicle includes full-automatic driving pattern, condition automatic driving mode, auxiliary and driven
One or more in pattern；In further embodiments, to ensure the security of vehicle traveling, when the speed of vehicle is more than most
During high speed threshold value, the optional driving model of vehicle only includes pilot steering pattern, or only includes pilot steering pattern and auxiliary
Driving model.For example, in one embodiment, when vehicle sets minimum speed threshold value be 20km/h, max. speed threshold value be
80km/h；When speed is less than or equal to 20km/h, the optional driving model of vehicle is driven automatically including full-automatic driving pattern, condition
Pattern, auxiliary driving model and pilot steering pattern are sailed, the current driving model of vehicle automatically or manually can drive at these
Switch between pattern；When speed is more than 20km/h but is no greater than 80km/h, the full-automatic driving pattern of vehicle is unavailable, when
Before can only include condition automatic driving mode, auxiliary driving model and pilot steering pattern with driving model, the current of vehicle is driven
The pattern of sailing automatically or manually can switch between these driving models；When speed is higher than 80km/h, currently available driving mould
Formula only includes pilot steering pattern, and correspondingly, the current driving model of vehicle also just can be only in pilot steering pattern.
Certainly, those skilled in the art will be understood that above-mentioned determines the optional driving model of vehicle according to Vehicle Speed
Method be only for example, other are existing or what is be likely to occur from now on determines the optional driving model of vehicle according to Vehicle Speed
Method be such as applicable to the application, be also contained within the protection domain of the application, and be contained in by reference herein
This.For example, setting the threshold speed of three or more, and optional driving model is combined according to these threshold speeds.
In certain embodiments, the car status information includes the running environment information of the vehicle；Driving model is true
Cover half block 12 determines the current environment complexity information of the vehicle according to the vehicle running environment information, and according to the ring
Border complexity information determines the current one or more optional driving models of the vehicle.The current environment complexity information of vehicle
Reflect the complexity of Current vehicle running environment, the complexity of vehicle running environment is higher, required for holding vehicle safety operation
Computing resource it is more, the margin of safety of vehicle autonomous operation is lower, and the driving procedure of vehicle is also more likely to require manually
Intervention.
The environment complexity information of vehicle is according to the determination of the running environment information of vehicle, in certain embodiments, above-mentioned row
Environmental information is sailed including following one or more：Surrounding's car flow information of vehicle；Surrounding's pedestrian information of vehicle；The road of vehicle
Condition information；The running region information of vehicle.Wherein, surrounding car flow information includes but is not limited to the vehicle fleet size letter of vehicle periphery
The positional information of breath, traffic density information, the speed of surrounding vehicles, the travel direction of surrounding vehicles or surrounding vehicles, surrounding row
People's information includes but is not limited to pedestrian's quantity, pedestrian density, pedestrian movement's speed, pedestrian position or the fortune of pedestrian of vehicle periphery
Dynamic direction, road vehicle condition information include radius of curvature of road width, climb and fall, the illumination condition of road, bend etc., car
Running region information include but is not limited to outskirts of a town, highway, urban road, cell etc..According to the running environment of vehicle
Information can determine the current environment complexity information of vehicle, in certain embodiments, the current environment complexity information of vehicle
It is calculated according to the running environment information of vehicle, such as surrounding car flow information of the driving model control device according to vehicle, week
One or more of pedestrian information, road condition information, running region information is enclosed to perform mathematical calculations (such as weighted sum)
Obtain；In further embodiments, the current running environment information of vehicle is inputted complexity data by driving model control device
Model, the current environment complexity information of vehicle is obtained, wherein, complexity data model includes but is not limited to logistic regression mould
Type, supporting vector machine model, decision-tree model, neural network model etc..By the current running environment acquisition of information vehicle of vehicle
Current environment complexity information can locally be completed in vehicle, can also complete beyond the clouds, or locally cooperateed with vehicle with high in the clouds
Into.
According to the one side of the application, there is provided a kind of computer-readable medium including instructing, the instruction is in quilt
System is caused to carry out following operate during execution：
Obtain the car status information of vehicle；
The current one or more optional driving models of the vehicle are determined according to the car status information；
The current driving model of the vehicle is switched into one of one or more of optional driving models.
According to further aspect of the application, there is provided a kind of equipment for being used to select the driving model of vehicle, wherein, should
Equipment includes：
Processor；And
It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed
Manage device and perform following operate：
Obtain the car status information of vehicle；
The current one or more optional driving models of the vehicle are determined according to the car status information；
The current driving model of the vehicle is switched into one of one or more of optional driving models.
Fig. 3 shows the exemplary equipment 100 for being used to select the driving model of vehicle according to some embodiments of the application
Block diagram.Wherein, it is above-described to be used to select the operation of the method (for example, with reference to shown in figure 1) of the driving model of vehicle
Performed by the equipment 100, and in above-described road characterizing method, certain operations are optionally combined and/or some behaviour
The order of work is optionally changed.
In certain embodiments, equipment 100 is laptop computer, desktop computer, tablet PC, multimedia
Device equipment, mobile terminal, navigation equipment, educational facilities (for example, children for learning toy), games system or control device (for example,
Household or industrial controller).Equipment 100 generally includes one or more processing units (CPU) 110, one or more networks
Communication interface 160 or other communication interfaces, memory 170 and one or more communication bus for making these component connections
120.Communication bus alternatively includes making the circuit of the communication between system unit interconnection and control system part (sometimes be called
Chipset).Equipment 100 also includes I/O (input/output) interface 130, and I/O interfaces 130 include display 140, display 140
Alternatively use LCD (liquid crystal display) technology, LPD (light emitting polymer displays) technologies or LED (light emitting diode) skill
Art.In addition, I/O interfaces also alternatively include keyboard and/or mouse 150, touch pad 151, for generating tactile on the appliance 100
Output tactile output maker 152, sensor 153 (for example, optical sensor, acceleration transducer, proximity transducer, touch
Dependent sensor).Memory 170 includes high-speed random access memory, such as DRAM, SRAM, DDR RAM or other arbitrary access
Solid-state memory device, and alternatively include nonvolatile memory, such as one or more disk storage equipments, CD are deposited
Store up equipment, flash memory device or other non-volatile solid-state memory devices.In addition, equipment 100 also alternatively includes being used for
For the power system of each part power supply, one or more optical sensors, one or more proximity transducers, magnetometer, GPS
(or GLONASS or other global positioning systems) receiver, and/or one or more accelerometers.
In certain embodiments, be stored in software part in memory 170 include operating system 111, communication module (or
Instruction set) 112, for detect touching operation contact/motion module (or instruction set) 113, for when user operates to
Family provides the haptic feedback module (or instruction set) 114 of corresponding touch feedback, in display 140 or other displays
The text for render and show the figure module (or instruction set) 115 of figure, carrying out text input in various applications for user is defeated
Enter module (or instruction set) 116, the GPS for determining device location and providing the information to use in various applications
(Global Positioning System, global positioning system) module (or instruction set) 117, using (or instruction set) 118.
Wherein, alternatively include using 118 with lower module (or instruction set) or its subset or superset：
- contact module (or contacts list or address list) 119；
- phone module 121；
- video conference module 122；
- email client module 123；
- instant message transport module 124；
- calendaring module 125；
- desktop small routine module 126, alternatively including following at least any one：Weather desktop small routine, stock desktop are small
Program, calculator desktop small routine, alarm clock desktop small routine, dictionary desktop small routine, other tables for being obtained or being created by user
Face small routine；
- be used to create the desktop small routine creation module 127 of desktop small routine；
- search module 128；
- video and musical player module 129, are alternatively made up of video player module and musical player module；
- browser module 131；
- mapping module 132.
In addition, in certain embodiments, the storage device of memory 170/global internal state 133, the internal shape of equipment/overall situation
State 133 include it is following in one or more：Activate application state, indicate which or which using (if there is) currently be activation
's；Display state, instruction application, view or other information occupy the regional of display 140；Sensor states, including
The information that each sensor of slave unit and other inputs or control device obtain；And the position on equipment and/or posture
Position and/or location information be used for determining which or which application is currently activation by event classifier.
Certainly, those skilled in the art will be understood that the above-mentioned equipment 100 for being used to select the driving model of vehicle is only lifted
Example, equipment 100 alternatively combine two or more parts alternatively than having more or less parts shown in Fig. 3, or can
Selection of land has different configurations or the arrangement of these parts；Also, other equipment that are existing or being likely to occur from now on are for example applicable
In the application, should also be included within the application protection domain, and be incorporated herein by reference herein.
It should be noted that the application can be carried out in the assembly of software and/or software and hardware, for example, can adopt
With application specific integrated circuit (ASIC), general purpose computer or any other realized similar to hardware device.In one embodiment
In, the software program of the application can realize steps described above or function by computing device.Similarly, the application
Software program (including related data structure) can be stored in computer readable recording medium storing program for performing, for example, RAM memory,
Magnetically or optically driver or floppy disc and similar devices.In addition, some steps or function of the application can employ hardware to realize, example
Such as, coordinate as with processor so as to perform the circuit of each step or function.
In addition, the part of the application can be applied to computer program product, such as computer program instructions, when its quilt
When computer performs, by the operation of the computer, it can call or provide according to the present processes and/or technical scheme.
Those skilled in the art will be understood that existence form of the computer program instructions in computer-readable medium includes but is not limited to
Source file, executable file, installation package file etc., correspondingly, the mode that computer program instructions are computer-executed include but
It is not limited to：The computer directly performs the instruction, or the computer compile perform again after the instruction corresponding to compile after program,
Either the computer read and perform the instruction or the computer read and install perform again after the instruction corresponding to install after
Program.Here, computer-readable medium can be available for computer access any available computer-readable recording medium or
Communication media.
Communication media includes thereby including such as computer-readable instruction, data structure, program module or other data
Signal of communication is sent to the medium of another system from a system.Communication media may include have the transmission medium led (such as electric
Cable and line (for example, optical fiber, coaxial etc.)) and can propagate wireless (not having the transmission the led) medium of energy wave, such as sound, electricity
Magnetic, RF, microwave and infrared.Computer-readable instruction, data structure, program module or other data can be embodied as example wireless
Medium (such as carrier wave or be such as embodied as spread spectrum technique a part similar mechanism) in modulated message signal.
Term " modulated message signal " refers to that one or more feature is modified or set in a manner of coding information in the signal
Fixed signal.Modulation can be simulation, digital or Hybrid Modulation Technology.
Unrestricted as example, computer-readable recording medium may include for storing such as computer-readable finger
Make, the volatibility that any method or technique of the information of data structure, program module or other data is realized and it is non-volatile, can
Mobile and immovable medium.For example, computer-readable recording medium includes, but not limited to volatile memory, such as with
Machine memory (RAM, DRAM, SRAM)；And nonvolatile memory, such as flash memory, various read-only storages (ROM, PROM,
EPROM, EEPROM), magnetic and ferromagnetic/ferroelectric memory (MRAM, FeRAM)；And magnetic and optical storage apparatus (hard disk,
Tape, CD, DVD)；Or other currently known media or Future Development can store the computer used for computer system
Readable information/data.
Here, including a device according to one embodiment of the application, the device includes being used to store computer program
The memory of instruction and the processor for execute program instructions, wherein, when the computer program instructions are by the computing device
When, trigger methods and/or techniques scheme of the plant running based on foregoing multiple embodiments according to the application.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, scope of the present application is by appended power
Profit requires rather than described above limits, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the application.Any reference in claim should not be considered as to the involved claim of limitation.This
Outside, it is clear that the word of " comprising " one is not excluded for other units or step, and odd number is not excluded for plural number.That is stated in device claim is multiple
Unit or device can also be realized by a unit or device by software or hardware.The first, the second grade word is used for table
Show title, and be not offered as any specific order.
The various aspects of each embodiment are defined in detail in the claims.Each reality is defined in following numbering clause
Apply these and other aspects of example：
1. a kind of method for controlling vehicle driving model, wherein, this method includes：
Obtain the car status information of vehicle；
The current one or more optional driving models of the vehicle are determined according to the car status information；
The current driving model of the vehicle is switched into one of one or more of optional driving models.
2. according to the method described in clause 1, wherein, methods described also includes：
Whether the current driving model for detecting the vehicle matches with the car status information；
Wherein, it is described that the current driving model of the vehicle is switched into it in one or more of optional driving models
One includes：
If the current driving model of the vehicle and the car status information mismatch, by the current driving mould of the vehicle
Formula switches to one of one or more of optional driving models.
3. according to the method described in clause 1, wherein, methods described also includes：
One or more of optional driving models are presented；
Wherein, it is described that the current driving model of the vehicle is switched into it in one or more of optional driving models
One includes：
Selection operation of the user to one or more of optional driving models is controlled based on the vehicle, by the car
Current driving model switch to optional driving model corresponding to the selection operation.
4. according to the method described in clause 1, wherein, methods described also includes：
Control user based on the vehicle is set to the task of the vehicle, from one or more of optional driving moulds
Target driving model corresponding to being determined in formula；
Wherein, it is described that the current driving model of the vehicle is switched into it in one or more of optional driving models
One includes：
The current driving model of the vehicle is switched into the target driving model.
5. according to the method described in clause 4, wherein, the task, which is set, to be included automatic parking, automatic withdrawing or fills automatically
Electricity.
6. according to the method described in clause 1, wherein, the travel speed that the car status information includes the vehicle is believed
Breath；
Wherein, it is described that the current one or more optional driving models of the vehicle are determined according to the car status information
Including：
The current one or more optional driving models of the vehicle are determined according to the Vehicle Speed information.
7. according to the method described in clause 1, wherein, the running environment that the car status information includes the vehicle is believed
Breath；
Wherein, it is described that the current one or more optional driving models of the vehicle are determined according to the car status information
Including：
The current environment complexity information of the vehicle is determined according to the vehicle running environment information；
The current one or more optional driving models of the vehicle are determined according to the environment complexity information.
8. according to the method described in clause 7, wherein, the running environment information includes following at least any one：
Surrounding's car flow information of the vehicle；
Surrounding's pedestrian information of the vehicle；
The road condition information of the vehicle；
The running region information of the vehicle.
9. according to the method described in clause 1, wherein, it is described the current driving model of the vehicle is switched to it is one
Or one of multiple optional driving models include：
The current driving model of the vehicle is switched into one of one or more of optional driving models, and presented
Driving model switch prompting information.
10. according to the method described in clause 9, wherein, the driving model switch prompting information can with described after switching
Driving model is selected to match.
11. a kind of device for being used to control vehicle driving model, wherein, the device includes：
Vehicle-state acquisition module, for obtaining the car status information of vehicle；
Driving model determining module, for determining the current one or more of the vehicle according to the car status information
Optional driving model；
Driving model handover module, it is one or more of optional for the current driving model of the vehicle to be switched to
One of driving model.
12. according to the device described in clause 11, wherein, described device also includes：
Driving model detection module, for detect the vehicle current driving model whether with the car status information
Match；
Wherein, the driving model handover module is used for：
If the current driving model of the vehicle and the car status information mismatch, by the current driving mould of the vehicle
Formula switches to one of one or more of optional driving models.
13. according to the device described in clause 11, wherein, described device also includes：
Module is presented in driving model, for one or more of optional driving models to be presented；
Wherein, the driving model handover module is used for：
Selection operation of the user to one or more of optional driving models is controlled based on the vehicle, by the car
Current driving model switch to optional driving model corresponding to the selection operation.
14. according to the device described in clause 11, wherein, described device also includes：
Target pattern determining module, the task of the vehicle is set for the control user based on the vehicle, from institute
State target driving model corresponding to being determined in one or more optional driving models；
Wherein, the driving model handover module is used for：
The current driving model of the vehicle is switched into the target driving model.
15. according to the device described in clause 14, wherein, the task, which is set, includes automatic parking, automatic withdrawing or automatic
Charging.
16. according to the device described in clause 11, wherein, the travel speed that the car status information includes the vehicle is believed
Breath；
Wherein, the driving model determining module is used for：
The current one or more optional driving models of the vehicle are determined according to the Vehicle Speed information.
17. according to the device described in clause 11, wherein, the running environment that the car status information includes the vehicle is believed
Breath；
Wherein, the driving model determining module is used for：
The current environment complexity information of the vehicle is determined according to the vehicle running environment information；
The current one or more optional driving models of the vehicle are determined according to the environment complexity information.
18. according to the device described in clause 17, wherein, the running environment information includes following at least any one：
Surrounding's car flow information of the vehicle；
Surrounding's pedestrian information of the vehicle；
The road condition information of the vehicle；
The running region information of the vehicle.
19. according to the device described in clause 11, wherein, the driving model handover module is used for：
The current driving model of the vehicle is switched into one of one or more of optional driving models, and presented
Driving model switch prompting information.
20. according to the device described in clause 19, wherein, the driving model switch prompting information can with described after switching
Driving model is selected to match.
21. a kind of computer-readable medium including instructing, the instruction causes system to carry out such as clause 1 when executed
To the operation of method any one of 10.
22. a kind of equipment for being used to select the driving model of vehicle, wherein, the equipment includes：
Processor；And
It is arranged to store the memory of computer executable instructions, the executable instruction makes the place when executed
Manage method of the device execution as any one of clause 1 to 10.
Claims (10)
1. a kind of method for controlling vehicle driving model, wherein, this method includes：
Obtain the car status information of vehicle；
The current one or more optional driving models of the vehicle are determined according to the car status information；
The current driving model of the vehicle is switched into one of one or more of optional driving models.
2. according to the method for claim 1, wherein, methods described also includes：
Whether the current driving model for detecting the vehicle matches with the car status information；
Wherein, it is described to switch to one of one or more of optional driving models to wrap the current driving model of the vehicle
Include：
If the current driving model of the vehicle and the car status information mismatch, the current driving model of the vehicle is cut
It is changed to one of one or more of optional driving models.
3. according to the method for claim 1, wherein, methods described also includes：
One or more of optional driving models are presented；
Wherein, it is described to switch to one of one or more of optional driving models to wrap the current driving model of the vehicle
Include：
Selection operation of the user to one or more of optional driving models is controlled based on the vehicle, by the vehicle
Current driving model switches to optional driving model corresponding to the selection operation.
4. according to the method for claim 1, wherein, methods described also includes：
Control user based on the vehicle is set to the task of the vehicle, from one or more of optional driving models
It is determined that corresponding target driving model；
Wherein, it is described to switch to one of one or more of optional driving models to wrap the current driving model of the vehicle
Include：
The current driving model of the vehicle is switched into the target driving model.
5. a kind of device for being used to control vehicle driving model, wherein, the device includes：
Vehicle-state acquisition module, for obtaining the car status information of vehicle；
Driving model determining module, for determining current one or more optional of the vehicle according to the car status information
Driving model；
Driving model handover module, for the current driving model of the vehicle to be switched into one or more of optional driving
One of pattern.
6. device according to claim 5, wherein, described device also includes：
Driving model detection module, for detect the vehicle current driving model whether with the car status information phase
Match somebody with somebody；
Wherein, the driving model handover module is used for：
If the current driving model of the vehicle and the car status information mismatch, the current driving model of the vehicle is cut
It is changed to one of one or more of optional driving models.
7. device according to claim 5, wherein, described device also includes：
Module is presented in driving model, for one or more of optional driving models to be presented；
Wherein, the driving model handover module is used for：
Selection operation of the user to one or more of optional driving models is controlled based on the vehicle, by the vehicle
Current driving model switches to optional driving model corresponding to the selection operation.
8. device according to claim 5, wherein, described device also includes：
Target pattern determining module, the task of the vehicle is set for the control user based on the vehicle, from described one
Target driving model corresponding to being determined in individual or multiple optional driving models；
Wherein, the driving model handover module is used for：
The current driving model of the vehicle is switched into the target driving model.
9. a kind of computer-readable medium including instructing, the instruction causes system to carry out such as claim 1 when executed
To the operation of method any one of 4.
10. a kind of equipment for being used to select the driving model of vehicle, wherein, the equipment includes：
Processor；And
It is arranged to store the memory of computer executable instructions, the executable instruction makes the processor when executed
Perform the method as any one of Claims 1-4.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN109084793A (en) * | 2018-07-27 | 2018-12-25 | 北京航空航天大学 | A kind of grid enhancing automatic Pilot multi-level alarm method based on Beidou |
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| CN112740295A (en) * | 2020-03-31 | 2021-04-30 | 华为技术有限公司 | Method and device for detecting complexity of vehicle driving scene |
| CN112578713A (en) * | 2020-12-15 | 2021-03-30 | 北京百度网讯科技有限公司 | Vehicle information processing method, device, equipment and storage medium |
| CN113173179A (en) * | 2021-06-09 | 2021-07-27 | 中国第一汽车股份有限公司 | Driving mode switching prompting method and device and vehicle |
| CN113173179B (en) * | 2021-06-09 | 2023-02-21 | 中国第一汽车股份有限公司 | Driving mode switching prompting method and device and vehicle |
| CN113665590A (en) * | 2021-09-24 | 2021-11-19 | 阿波罗智联(北京)科技有限公司 | Method, device, equipment, medium and vehicle for controlling vehicle |
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