CN113460087A

CN113460087A - Automatic driving graded takeover interaction method and device and readable storage medium

Info

Publication number: CN113460087A
Application number: CN202110816351.XA
Authority: CN
Inventors: 高秀晶; 刘欣; 黄红武; 段慧洁; 汪锦文
Original assignee: Xiamen University of Technology
Current assignee: Xiamen University of Technology
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2021-10-01

Abstract

The invention discloses an interaction method, a device and a readable storage medium for automatic driving graded takeover, wherein the method comprises the following steps of: acquiring and judging an early warning risk signal; the risk early warning signal comprises a planned takeover working condition signal and/or an unplanned takeover working condition signal, the planned takeover working condition signal is a predicted signal which is provided with sufficient time for a driver to take over after an early warning prompt, and the unplanned takeover working condition signal is a burst signal which is provided with short time for the driver to take over after the early warning prompt; when the early warning risk signal is a planned takeover working condition signal, sending a lowest-level risk level signal; when the early warning risk signal is an unplanned takeover working condition signal, calculating required takeover time based on the unplanned takeover working condition signal; and matching the required takeover time with a plurality of preset takeover risk response times, and sending corresponding risk grade takeover indication signals based on matching results.

Description

Automatic driving graded takeover interaction method and device and readable storage medium

Technical Field

The invention relates to the field of automatic driving of automobiles, in particular to an automatic driving graded takeover interaction method, an automatic driving graded takeover interaction device and a readable storage medium.

Background

12/3 in 2019, the division of equipments in the Ministry of industry and communications released the development planning of New energy automobile industry (2021-. Electromotion, intellectualization, networking and sharing become the future development trend of the automobile industry. The SAE of the international society of automotive engineers classifies autonomous driving vehicles into six grades L0-L5, wherein autonomous driving below the L3 grade requires that a driver and the autonomous driving vehicle share a driving task, i.e., man-machine co-driving, so man-machine takeover interaction is particularly important for man-machine co-driving autonomous driving. Under the automatic driving level of man-machine driving, after the vehicle enters the automatic driving mode, a driver does not need to continuously monitor the vehicle and the driving environment, and can perform secondary tasks unrelated to driving tasks, such as using a mobile phone, watching videos and the like. When the system cannot meet the automatic driving condition, the system needs to remind a driver to take over the vehicle through a high-efficiency and safe human-computer taking over interactive system, and the vehicle is converted into artificial driving.

In the prior art, the effect of human-computer interaction takeover is generally evaluated by takeover performance, and the takeover performance is influenced by a plurality of factors such as takeover request time, takeover prompt mode, driver human factors and the like. Therefore, designing a human-computer interaction takeover system and method which meet human factors engineering characteristics, are efficient, safe and optimal in takeover performance is a key technology for guaranteeing the safety and comfort of human-computer co-driving.

Disclosure of Invention

In view of the above problems, it is an object of the present invention to provide an automatic driving graded takeover interaction method, system and readable storage medium to improve the above problems.

The embodiment of the invention provides an automatic driving graded takeover interaction method, which comprises the following steps:

in the autonomous driving mode:

acquiring and judging an early warning risk signal; the risk early warning signal comprises a planned takeover working condition signal and/or an unplanned takeover working condition signal, the planned takeover working condition signal is a predicted signal which is provided with sufficient time for a driver to take over after an early warning prompt, and the unplanned takeover working condition signal is a signal which is provided with short time for the driver to take over after the early warning prompt;

when the early warning risk signal is an unplanned takeover working condition signal, calculating required takeover time based on the unplanned takeover working condition signal;

matching the required takeover time with a plurality of preset takeover risk response times, and sending corresponding risk grade takeover indication signals based on matching results; wherein the risk grade takeover signals corresponding to the different takeover risk response times are different.

Preferably, when the early warning risk signal is a planned takeover working condition signal, a takeover indicating signal is sent out.

Preferably, the acquiring and judging a pre-warning risk signal further includes:

acquiring predictable road information, real-time road information of obstacles and system self-checking error information; the predictable road information comprises one or more of information of a long tunnel reached in a planned route, information of a down-ramp of an expressway, time distance information of a high-curvature road, road construction information and road emergency condition information, the real-time road information of the obstacle is obtained through a sensor component on a vehicle, and the system self-checking error information is error reporting information generated by an automatic driving system;

and generating an early warning risk signal according to one or more of the predictable road information, the real-time road information of the obstacle and the self-checking error information of the system based on the limiting condition of the automatic driving function.

Preferably, the early warning risk signal is generated based on the limiting condition of the automatic driving function and the predictable road information, the real-time road information of the obstacle and/or the system self-checking error information, and specifically includes:

generating a planned takeover working condition signal according to the predictable road information based on the limiting condition of the automatic driving function;

and generating an unplanned take-over working condition signal according to the real-time road information of the obstacle and/or the self-checking error information of the system based on the limiting condition of the automatic driving function.

Preferably, the indication signal comprises one or more of an audio signal, a light indication signal, an icon indication signal and a tactile indication signal.

Preferably, the audio signal is played through a sound-producing device on the vehicle; wherein the frequency of the audio signal may be increased and/or decreased and the volume of the audio signal may be increased and/or decreased.

The light indication signal is indicated by the light emission of an indicator lamp on the vehicle;

the icon indicating signal is displayed through a human-computer interaction interface on the vehicle, and the human-computer interaction interface comprises an instrument panel and/or a display screen;

the touch indication signal comprises one or more of a state of automatically starting air conditioner air or increasing the air volume of the air conditioner, a state of automatically starting a seat to vibrate and a state of automatically locking a safety belt;

the light indication signal and/or the icon indication signal are/is displayed in a slow flashing and/or normally-on mode.

The embodiment of the invention also provides an automatic driving graded takeover interaction device, which comprises:

the early warning risk signal acquisition unit is used for acquiring and judging an early warning risk signal; the risk early warning signal comprises a planned takeover working condition signal and/or an unplanned takeover working condition signal, the planned takeover working condition signal is a predicted signal which is provided with sufficient time for a driver to take over after an early warning prompt, and the unplanned takeover working condition signal is a burst signal which is provided with short time for the driver to take over after the early warning prompt;

the required take-over time calculation unit is used for calculating required take-over time based on the unplanned take-over working condition signal when the early warning risk signal is the unplanned take-over working condition signal;

the indication signal generation unit is used for matching the required takeover time with a plurality of preset takeover risk response times and sending out corresponding risk grade takeover indication signals based on matching results; wherein the risk grade takeover signals corresponding to the different takeover risk response times are different.

Preferably, the indication signal generating unit is further configured to send a take-over indication signal when the early warning risk signal is a planned take-over working condition signal.

Preferably, the automatic driving graded takeover interaction device comprises:

the working condition acquisition unit is used for acquiring predictable road information, real-time road information of obstacles and system self-checking error information; the predictable road information comprises one or more of information of a long tunnel reached in a planned route, information of a down-ramp of an expressway, time distance information of a high-curvature road, road construction information and road emergency condition information, the real-time road information of the obstacle is obtained through a sensor component on a vehicle, and the system self-checking error information is error reporting information generated by an automatic driving system;

and the early warning prompt generating unit is used for generating an early warning risk signal according to one or more of the predictable road information, the real-time road information of the obstacle and the self-checking error information of the system based on the limiting condition of the automatic driving function.

The embodiment of the present invention further provides a computer-readable storage medium, in which an automatic driving graded takeover interaction program is stored, where the automatic driving graded takeover interaction program can be executed by a processor of a device where the computer-readable storage medium is located, so as to implement any one of the above automatic driving graded takeover interaction methods.

Through the embodiment, the invention divides the pipe connecting working condition into the planned pipe connecting working condition and the unplanned pipe connecting working condition in the automatic driving state. Namely, the taking-over reasons are classified and refined, and the actual conditions of road condition change and driving behavior characteristic change are met. The problem of uncomfortable, inaccurate that the condition is single because of taking over under the man-machine condition of driving altogether is solved. And different take-over time is divided based on the type of the working condition signal, and different take-over risk levels are indicated, so that the method is more in line with human factors engineering factors, and a driver can accept the method more leisurely and better safety and comfort are guaranteed.

Drawings

In order to more clearly illustrate the technical solution of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of an automated driving hierarchical takeover interaction system according to the present invention.

FIG. 2 is a schematic flow diagram of the automated driving hierarchical takeover interaction system of the present invention.

FIG. 3 is a schematic flow chart of classification of automatic driving graded takeover conditions according to the present invention.

FIG. 4 is a schematic diagram of the takeover risk level classification of the present invention.

Fig. 5 is a schematic diagram illustrating the details of acquiring and determining the early warning risk signal in step S500 according to the present invention.

Fig. 6 is a schematic structural diagram of an electronic device according to the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the invention provides an automatic driving graded takeover interaction system, and with reference to fig. 1, the system comprises an automatic driving vehicle state module S10, an automatic driving vehicle data detection module S20, a takeover condition judgment module S30 and an early warning prompt takeover module S40. The autonomous vehicle state module S10 includes: the vehicle state data acquisition module S110 acquires driving data of the vehicle through the CAN bus and other interface modes. The driving mode switching module S120 mainly obtains the state of the driving mode of the vehicle through information such as an automatic driving interactive switch and various kinds of enable. The autopilot data acquiring module S130 acquires an autopilot system including sensing device information, controller information, actuator information, and the like, when the vehicle is in an autopilot mode.

The automatic driving vehicle data detection module S20 comprises a road condition prediction module S210 and an obstacle real-time sensing module S220, wherein the road condition prediction module S210 predicts and acquires information such as time interval Tp for reaching a long tunnel, an expressway down-ramp, a high-curvature road in a planned route, road construction, road emergency and the like through a real-time high-precision map, a V2I device and the like. The obstacle real-time sensing module S220 acquires road information in real time through various sensors of the automatic driving system. And the system error self-checking module S230 acquires the functional safety information of the automatic driving through the error reporting and safety function self-checking module of the automatic driving system.

The takeover condition judgment module S30 classifies the takeover conditions according to the different takeover judgment information by using the information provided by the automatic driving vehicle state module S10 and the automatic driving vehicle data detection module S20. For example, when the information such as the time interval Tp to reach a long tunnel, an expressway down-ramp, a high curvature road, road construction, road emergency and the like in a planned route is predicted and acquired through a real-time high-precision map, a V2I device and the like from the road condition predicting module S210, and the limit condition of the automatic driving function is combined to judge that the automatic driving cannot be continued, the time for acquiring the information is earlier, and sufficient time is provided for warning and taking over, so that the automatic driving is judged to be the planned taking over working condition. The obstacle detection and related information obtained from the obstacle real-time sensing module S220, such as the situation that the lane line is lost or cannot be identified, etc. And the automatic driving system is detected by the system error self-detection module S230, and when the conditions such as error reporting and the like of various sensors (including but not limited to laser radar, millimeter wave radar, monocular camera, binocular camera, ultrasonic radar, high-precision positioning equipment, inertial navigation and the like), a controller and an actuating mechanism occur, the conditions are judged to be an 'unplanned taking over working condition' because the sensing information is relatively sudden and the early warning prompts that the taking over time is short.

The early warning prompt takeover module S40 includes a planned takeover module S410, an unplanned takeover module S420, a takeover risk level evaluation module S421, and an early warning prompt takeover policy module S430. And (3) utilizing the connecting pipe working condition risk evaluation module S421 to grade the connecting pipe risk for the planned connecting pipe working condition and the unplanned connecting pipe working condition according to the judgment result of the connecting pipe working condition judgment module S310. Aiming at different risk levels, different early warning prompting takeover methods are designed through an early warning prompting takeover strategy module S430.

The embodiment of the invention provides an automatic driving graded takeover interaction method, which is used in the automatic driving graded takeover interaction system and comprises the following steps:

in the autonomous driving mode, with reference to fig. 2:

and S500, acquiring and judging the early warning risk signal. The risk early warning signal comprises a planned takeover working condition signal and/or an unplanned takeover working condition signal, the planned takeover working condition signal is a signal which is provided for a driver to take over in sufficient time after the early warning prompt, and the unplanned takeover working condition signal is a signal which is provided for the driver to take over in only short time after the early warning prompt.

S600, when the early warning risk signal is a planned takeover working condition signal, a takeover risk grade signal is sent.

S700, when the early warning risk signal is an unplanned takeover working condition signal, calculating required takeover time based on the unplanned takeover working condition signal.

And S800, matching the required takeover time with a plurality of preset takeover risk response times, and sending corresponding risk grade takeover indication signals based on matching results. Wherein the risk grade takeover signals corresponding to the different takeover risk response times are different.

Referring to fig. 3, in the present embodiment, it is determined whether the vehicle is in the automatic driving mode, and if so, it is determined whether there is output of the warning risk signal in real time. And if so, judging and analyzing the early warning risk signal. And judging whether the risk signal is derived from a signal which has sufficient time for a driver to take over, if so, judging that the working condition is taken over in a planned way. If not, the working condition is judged to be taken over in an unscheduled way.

Secondly, risk grading is carried out on different takeover, and TTO (Time of Take-over Time) is defined. For the planned takeover working condition, because the signal is derived from the real-time pre-known information, the takeover time TTO is sufficient, and the risk grade is judged to be the lowest grade, namely the first-grade takeover risk grade. And analyzing the risk signal and calculating the takeover time TTO of the risk signal for the unplanned takeover working condition. Three different time thresholds TR1, TR2, TR3 are set on the basis of the take-over risk response time and compared with the take-over time TTO, and the current take-over risk level is classified and indicated to the driver according to the different comparison results. The take-over risk response time is set by taking into account factors such as driver reaction time and delay time of the vehicle actuator.

Preferably, referring to fig. 4, when TTO > TR1, the driver has sufficient time to take over the driving of the vehicle because the take over time is sufficient, and thus the take over risk is lowest, defined as a primary take over risk level. And when TR2 is more than TTO and less than or equal to TR1, the risk is the intermediate takeover risk, and the risk level is defined as the secondary takeover risk level. And when TR3 is more than TTO and less than or equal to TR2, the risk is high-level takeover risk and is defined as a three-level takeover risk grade. When TTO is less than TR3, to warn that the takeover is invalid, an active safety system needs to be triggered to replace the takeover.

Wherein, referring to fig. 5, step S500 further includes:

s510, obtaining predictable road information, real-time road information of obstacles and system self-checking error information; the predictable road information comprises one or more of information of a long tunnel reached in a planned route, information of a down-ramp of an expressway, time distance information of a high-curvature road, road construction information and road emergency condition information, the real-time road information of the obstacle is obtained through a sensor component on a vehicle, and the system self-checking error information is error reporting information generated by an automatic driving system.

And S520, generating an early warning risk signal according to one or more of the predictable road information, the real-time road information of the obstacle and the self-checking error information of the system based on the limiting condition of the automatic driving function.

Preferably, step S520 specifically includes:

and S521, generating a planned take-over working condition signal according to the predictable road information based on the limiting conditions of the automatic driving function.

And S522, generating an unplanned take-over working condition signal according to the real-time road information of the obstacle and/or the self-checking error information of the system based on the limiting condition of the automatic driving function.

Wherein, the indication signal comprises one or more of an audio signal, a light indication signal, an icon indication signal and a tactile indication signal.

In one embodiment, the audio signal is played through a sound-producing device on the vehicle. The light indication signal is indicated by the light emitting of an indicator lamp on the vehicle. The icon indicating signal is displayed through a human-computer interaction interface on the vehicle, and the human-computer interaction interface comprises an instrument panel and/or a display screen. The touch indication signal comprises one or more of a state of automatically starting air conditioner air or increasing air volume of the air conditioner, a state of automatically opening seat vibration and a state of automatically locking a safety belt.

In a preferred embodiment, the light indication signal and/or the icon indication signal are displayed in a slow flashing and/or normally-on manner.

The application of the indication signal to different takeover risk levels is described below by using a specific implementation example. Specifically, the method comprises the following steps:

(1) the first-level takeover risk level early warning prompt takeover strategy comprises the following steps:

auditory sense: and designing a scheme combining the buzzer and the voice prompt. The buzzing sound adopts slow frequency; the voice prompt adopts voice prompt with common voice speed, for example, the voice prompt content is continuous: "please take over the vehicle".

And (3) vision: in a man-machine interaction interface, such as an instrument panel, a display screen and the like, the number and the take-over icon of the TTO are demonstrated by using characteristic colors, such as yellow, and the yellow lamps of the TTO and the take-over icon slowly flash. (a green light is used for display under normal conditions).

(2) The secondary takeover risk level early warning prompt takeover strategy comprises the following steps:

auditory sense: and designing a scheme combining the buzzer and the voice prompt. Compared with a prompt strategy of a first-level risk level, the buzzer frequency is accelerated, and the volume is increased; the voice prompt adopts voice prompt with increased volume and rapid voice speed, for example, the voice prompt content is continuous: "please take over the vehicle".

And (3) vision: in a man-machine interaction interface, such as an instrument panel, a display screen and the like, the characteristic colors, such as red numbers for demonstrating TTO and a take-over icon, are utilized, and meanwhile, red lamps of the two are quickly flashed. (normally using a green light display)

(3) The three-level takeover risk level early warning prompt takeover strategy comprises the following steps:

Tactile sense: and designing a tactile early warning scheme, for example, when the air conditioner is in a closed state, automatically starting the air conditioner and increasing the air volume, automatically starting the seat to vibrate, and automatically locking the safety belt lamp to implement tactile early warning.

The integral early warning prompting takeover scheme is sequentially judged from a first-stage takeover risk to a third-stage takeover risk, whether takeover is successful or not is judged aiming at different grades of takeover schemes, and if the takeover is successful, the early warning prompting takeover is finished at the current stage; and if the takeover is unsuccessful, entering the next takeover risk level and the takeover strategy corresponding to the next takeover risk level. If the taking-over strategy of the three-level taking-over risk level cannot be implemented or fails, the system is requested to automatically trigger the active safety system, such as automatic emergency braking, automatic emergency steering and braking and the like.

The embodiment of the invention also provides an automatic driving graded takeover interaction device, which is applied to the electronic device 1 and comprises a row early warning risk signal acquisition unit 11, a required takeover time calculation unit 12 and an indication signal generation unit 13, and referring to fig. 6. The early warning risk signal acquiring unit 11 is configured to acquire an early warning risk signal and perform judgment. The risk early warning signal comprises a planned takeover working condition signal and/or an unplanned takeover working condition signal, the planned takeover working condition signal is a signal which is provided for a driver to take over for sufficient time after the early warning prompt, and the unplanned takeover working condition signal is a signal which is provided for the driver to take over for only a short time after the early warning prompt. The required takeover time calculation unit 12 is configured to calculate required takeover time based on the unplanned takeover operating condition signal when the early warning risk signal is the unplanned takeover operating condition signal. The indication signal generating unit 13 is configured to match the required takeover time with a plurality of preset takeover risk response times, and send out a corresponding risk level takeover indication signal based on a matching result. Wherein the risk grade takeover signals corresponding to the different takeover risk response times are different.

Preferably, the automatic driving graded take-over interaction device further comprises a working condition obtaining unit 14 and an early warning prompt generating unit 15. The working condition obtaining unit 14 is used for obtaining predictable road information, obstacle real-time road information and system self-checking error information; the predictable road information comprises one or more of information of a long tunnel reached in a planned route, information of a down-ramp of an expressway, time distance information of a high-curvature road, road construction information and road emergency condition information, the real-time obstacle road information is obtained through a sensor component on a vehicle, and the system self-checking error information is error reporting information generated by an automatic driving system.

The early warning prompt generating unit 15 is configured to generate an early warning risk signal according to one or more of the predictable road information, the real-time road information of the obstacle, and the system self-checking error information based on the limiting condition of the automatic driving function.

The above-mentioned implementation method and implementation principle, which are not mentioned by each unit in the automatic driving graded takeover interaction device, may be referred to in combination with the principles and methods mentioned in the above-mentioned automatic driving graded takeover interaction system, device or method.

An embodiment of the present invention provides a computer-readable storage medium, which can be applied to the electronic device described above. The computer readable storage medium includes a stored computer program, wherein when the computer program runs, the apparatus on which the computer readable storage medium is located is controlled to execute the automatic driving graded takeover method according to the above embodiment.

Illustratively, the computer programs described herein can be partitioned into one or more modules that are stored in the memory and executed by the processor to implement the invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, the instruction segments describing the execution process of the computer program in the implementation server device. For example, the autopilot step take-over device or system of the above-described embodiments of the present invention.

The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an APPlication Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, or the like. The general processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor is a control center of the automatic driving graded takeover method, and various interfaces and lines are used to connect the whole parts for realizing the automatic driving graded takeover method.

The memory may be used to store the computer program and/or module, and the processor may implement various functions of the automatic driving graded takeover method by running or executing the computer program and/or module stored in the memory and calling data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (such as a sound playing function, a text conversion function, etc.), and the like; the storage data area may store data (such as audio data, text message data, etc.) created according to the use of the user terminal, etc. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.

Wherein, the module for realizing the service device can be stored in a computer readable storage medium if it is realized in the form of software functional unit and sold or used as a stand-alone product. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain content that is subject to appropriate increase or decrease as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media does not include electrical carrier signals and telecommunications signals as is required by legislation and patent practice.

It should be noted that the above-described device embodiments are merely illustrative, where the units described as separate parts may or may not be physically separate, and the parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. In addition, in the drawings of the embodiment of the apparatus provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, and may be specifically implemented as one or more communication buses or signal lines. One of ordinary skill in the art can understand and implement it without inventive effort.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. An automated driving hierarchical takeover interaction method, comprising:

in the autonomous driving mode:

acquiring and judging an early warning risk signal; the risk early warning signal comprises a planned takeover working condition signal and/or an unplanned takeover working condition signal, the planned takeover working condition signal is a predicted signal which is provided with sufficient time for a driver to take over after an early warning prompt, and the unplanned takeover working condition signal is a burst signal which is provided with short time for the driver to take over after the early warning prompt;

2. The automated driving graded takeover interaction method according to claim 1, characterized in that when the early warning risk signal is a planned takeover condition signal, a takeover indication signal is sent.

3. The automatic driving graded takeover interaction method according to claim 1, wherein the obtaining and judging of the early warning risk signal further comprises:

acquiring predictable road information, real-time road information of obstacles and system self-checking error information; the predictable road information comprises one or more of information of a long tunnel reached in a planned route, information of a down-ramp of an expressway, time distance information of a high-curvature road, road construction information and road emergency condition information, the real-time obstacle road information is obtained through a sensor component on a vehicle, and the system self-checking error information is error reporting information generated by an automatic driving system;

and generating an early warning risk signal according to one or more of the predictable road information, the real-time obstacle road information and the system self-checking error information based on the limiting condition of the automatic driving function.

4. The automatic driving graded takeover interaction method according to claim 1, wherein the early warning risk signal is generated based on the limiting conditions of the automatic driving function and the predictable road information, the real-time road information of the obstacle and/or the system self-checking error information, and specifically comprises:

5. The automated driving hierarchy takeover interaction method of claim 1, wherein the indication signal comprises one or more of an audio signal, a light indication signal, an icon indication signal, and a tactile indication signal.

6. The automated driving hierarchy takeover interaction method of claim 5, wherein the audio signal is played through a sound-producing device on the vehicle; wherein the frequency of the audio signal may be increased and/or decreased and the volume of the audio signal may be increased and/or decreased.

7. An automated driving hierarchical takeover interaction device, comprising:

8. The automated driving graded takeover interaction device according to claim 7, wherein the indication signal generation unit is further configured to send a takeover indication signal when the early warning risk signal is a planned takeover condition signal.

9. The automated driving graded takeover interaction device of claim 7, further comprising:

10. A computer-readable storage medium, storing an automated driving tiered takeover interaction procedure that is executable by a processor of a device on which the computer-readable storage medium is located to implement the automated driving tiered takeover interaction method of any one of claims 1-6.