CN114379582A

CN114379582A - Method, system and storage medium for controlling respective automatic driving functions of vehicles

Info

Publication number: CN114379582A
Application number: CN202111449219.6A
Authority: CN
Inventors: 李谦; 彭艺
Original assignee: Human Horizons Shanghai Autopilot Technology Co Ltd
Current assignee: Human Horizons Shanghai Autopilot Technology Co Ltd
Priority date: 2021-11-30
Filing date: 2021-11-30
Publication date: 2022-04-22

Abstract

The invention discloses a method, a system and a storage medium for controlling respective automatic driving functions of a vehicle, wherein the method comprises the steps of acquiring decision-making associated data for a control strategy of each automatic driving function when the vehicle is in an automatic driving mode, wherein the decision-making associated data comprises natural environment data, road type data, traffic participant data and on-vehicle personnel state data; analyzing each decision-making associated data respectively to determine the current state result; and adjusting the working state of each automatic driving function according to the state result of each decision-making associated data and the correlation degree of each decision-making associated data and each automatic driving function. According to the method for controlling the respective automatic driving functions of the vehicle, provided by the embodiment of the invention, the decision-making associated data related to the respective automatic driving functions are analyzed, and the working states of the associated automatic driving functions are correspondingly regulated and controlled, so that the working states of the respective automatic driving functions can be more accurately matched with the corresponding driving requirements, and the intelligent process of automatic driving of the vehicle is promoted.

Description

Method, system and storage medium for controlling respective automatic driving functions of vehicles

Technical Field

The present invention relates to the field of vehicle technologies, and in particular, to a method, a system, and a storage medium for controlling respective automatic driving functions of a vehicle.

Background

The automatic driving of the vehicle refers to that the sensor is used for collecting relevant information around and in the vehicle, so that the vehicle has sensing capability, and the collected information is analyzed through a corresponding algorithm, so that various driving operations of the vehicle are decided according to different road conditions, and a mechanical system of the vehicle is controlled.

Autonomous driving is a technology that integrates many advanced functions, including navigation assistance (PA), navigation assistance autonomous driving (NOH), Automatic Emergency Control (AECS), Active Lane Support (ALS), and many other types of functions, and different types of functions can perform different controls on a vehicle.

When a traditional vehicle is in an automatic driving mode, all working states of a certain function of automatic driving are usually started, so that the working states of the automatic driving function of the vehicle are difficult to match with actual driving requirements, and the respective automatic driving function cannot be correctly used, and further the safety and the stability of the automatic driving vehicle are reduced.

Disclosure of Invention

The invention provides a method, a system and a storage medium for controlling respective automatic driving functions of vehicles, which analyze decision-making associated data related to the respective automatic driving functions and correspondingly regulate and control the working state of the associated automatic driving functions, so that the working state of each automatic driving function can be more accurately matched with the corresponding driving requirement, and the intelligent process of automatic driving of the vehicles is further promoted.

In order to solve the technical problem, an embodiment of the present invention provides a method for controlling respective driving functions of a vehicle, including:

when a vehicle is in an automatic driving mode, respectively acquiring decision associated data for each automatic driving function control strategy, wherein the decision associated data comprises natural environment data, road type data, traffic participant data and on-vehicle personnel state data;

analyzing each decision-making associated data respectively to determine the current state result;

and adjusting the working state of each automatic driving function according to the state result of each decision-making related data and the correlation degree of each decision-making related data and each automatic driving function.

As one preferable scheme, the respectively obtaining of the decision-related data for each of the automatic driving function control strategies specifically includes:

acquiring the natural environment data, the road type data and the traffic participant data based on a vehicle-mounted terminal and a road terminal respectively; and the number of the first and second groups,

and acquiring the state data of the personnel on the vehicle based on the vehicle-mounted terminal.

As one preferred scheme, the analyzing each decision-making related data to determine the current state result thereof includes:

acquiring the illumination intensity and granularity in the natural environment data;

respectively comparing and analyzing the numerical values of the illumination intensity and the granularity to obtain a state result reflecting the visibility of the vehicle;

analyzing the road type data based on a geo-fencing technology to obtain a state result reflecting the type of the road section where the vehicle is located;

acquiring weak traffic participant flow and strong traffic participant flow in the traffic participant data;

respectively comparing and analyzing the flow of the weak traffic participants and the flow of the strong traffic participants to obtain a state result reflecting traffic jam; and the number of the first and second groups,

acquiring driving position state data and non-driving position state data in the on-board personnel state data;

and analyzing the driving position state data and the non-driving position state data respectively to obtain a state result reflecting the taking over capacity of the personnel on the vehicle.

As one preferable scheme, the automatic driving function at least includes a pilot assistance function, a pilot assistance automatic driving function, an automatic emergency control function, an active lane support function, a lateral collision assistance function, an intelligent traffic signal control function, an automatic parking function, a remote control parking function, and a valet parking function.

As one preferable scheme, the degree of correlation between each of the decision-related data and each of the automatic driving functions specifically includes:

the natural environment data is strongly correlated with the pilot assistance function, the navigation assistance automatic driving function, the automatic emergency control function, the active lane support function, the lateral collision assistance function, the intelligent traffic signal control function, and the valet parking function, respectively; and the natural environment data is weakly correlated with the automatic parking function and the remote control parking function respectively;

the road type data is strongly correlated with the navigation assistance automatic driving function; the road type data is weakly correlated with the pilot assist function, the active lane support function, the lateral collision assist function and the intelligent traffic signal control function respectively; and the road type data is irrelevant to the automatic emergency control function, the automatic parking function, the remote control parking function and the valet parking function respectively;

the traffic participant data being strongly correlated with the navigation assistance autopilot function; the traffic participant data being weakly correlated with the pilot assistance function, the active lane support function and the lateral collision assistance function, respectively; and the traffic participant data is irrelevant to the automatic emergency control function, the intelligent traffic signal control function, the automatic parking function, the remote control parking function and the valet parking function respectively;

the on-board personnel state data are respectively strongly correlated with the navigation auxiliary function, the navigation auxiliary automatic driving function, the remote control parking function and the passenger-replacing parking function; the on-board personnel state data are weakly related to the automatic emergency control function, the active lane support function and the automatic parking function respectively; and the on-board personnel state data is irrelevant to the lateral collision auxiliary function and the intelligent traffic signal control function respectively.

As one preferable scheme, the adjusting the working state of each automatic driving function specifically includes:

respectively controlling the automatic driving function strongly related to the natural environment data, the road type data, the traffic participant data and the on-board personnel state data to perform high gradient grade adjustment, wherein the high gradient grade adjustment comprises opening, closing, degrading, upgrading and forbidding;

respectively controlling the automatic driving function weakly related to the natural environment data, the road type data, the traffic participant data and the on-board personnel state data to perform intermediate gradient grade adjustment, wherein the intermediate gradient grade adjustment comprises opening and closing;

and respectively controlling the automatic driving function which is not related to the natural environment data, the road type data, the traffic participant data and the on-board personnel state data to carry out low gradient grade adjustment, wherein the low gradient grade adjustment comprises forbidding.

respectively controlling the automatic driving function which is weakly related to the natural environment data, the road type data, the traffic participant data and the on-board personnel state data to perform low gradient grade adjustment, wherein the medium gradient grade adjustment comprises opening, forbidding and closing;

and respectively keeping the original working states of the automatic driving function which are irrelevant to the natural environment data, the road type data, the traffic participant data and the on-board personnel state data.

Another embodiment of the present invention provides a system for controlling respective driving functions of a vehicle, including a road terminal and a vehicle-mounted terminal provided on the vehicle;

the vehicle-mounted terminal is in communication connection with the road terminal;

the vehicle-mounted terminal is configured to realize the method for controlling the respective automatic driving functions of the vehicles.

As one preferable scheme, the vehicle-mounted terminal is an ADAS domain controller.

Yet another embodiment of the present invention provides a computer-readable storage medium storing a computer program, wherein when the computer program runs, the apparatus on which the computer-readable storage medium is located is controlled to execute the method for controlling the respective automatic driving function of the vehicle as described above.

Compared with the prior art, the embodiment of the invention has the advantages that at least one point is as follows:

(1) the method comprises the steps of analyzing four decision-making associated data which are closely related to the automatic driving function of the vehicle, comprehensively considering natural environment factors, road type factors, traffic participant factors and on-vehicle personnel state factors, then determining the real-time states of the vehicle under different dimensionalities according to analysis results of different data, and further adjusting the working state of each function of automatic driving according to different real-time states. The whole control process carries out synchronous processing aiming at decision-making associated data with different dimensions, scene perception, judgment and analysis are realized, and middle-layer decision-making control is realized, so that the application range and the working state grade of each function of automatic driving are better guaranteed, the matching precision between the actual driving requirement and the working state of the corresponding automatic driving function is improved, and the intelligent process of automatic driving of the vehicle is further promoted;

(2) before a specific automatic driving function is executed, adjusting the working state of the automatic driving function to achieve a working state matched with an actual driving requirement, for example, adjusting a pilot auxiliary function which is strongly related to natural environment data to enter a functional state comprising opening, closing, degrading, upgrading and forbidding, and adjusting a lateral collision auxiliary function which is weakly related to road type data to enter a functional state of opening and closing, so that each automatic driving function has a working state accurately matched with the actual driving requirement; on the other hand, the automatic driving function can be controlled to adjust the working state according to the actual driving requirement, for example, in a road section with high traffic flow, the automatic driving lateral collision auxiliary function is upgraded, so that a plurality of traffic participants on the peripheral side can be accurately identified, and more accurate data support is provided for the subsequent automatic driving control.

Drawings

FIG. 1 is a schematic flow chart of a method for controlling the respective automatic driving functions of a vehicle according to one embodiment of the present invention;

FIG. 2 is a block flow diagram of a method of controlling the respective automatic driving functions of a vehicle in one embodiment of the invention;

FIG. 3 is a flow chart illustrating the processing of natural environment data according to one embodiment of the present invention;

FIG. 4 is a schematic illustration of the acquisition of natural environment data in one embodiment of the present invention;

FIG. 5 is a schematic flow chart illustrating the processing of road type data according to one embodiment of the present invention;

FIG. 6 is a schematic illustration of the acquisition of road type data in one embodiment of the present invention;

FIG. 7 is a flow chart illustrating the processing of traffic participant data in one embodiment of the present invention;

FIG. 8 is a schematic diagram of traffic participant data acquisition in one embodiment of the present invention;

FIG. 9 is a flow chart illustrating the processing of the on-board personnel status data according to one embodiment of the present invention;

FIG. 10 is a table of the correspondence between the autopilot function and the decision related data in one embodiment of the invention;

FIG. 11 is a schematic structural diagram of an apparatus for controlling the respective automatic driving functions of a vehicle according to an embodiment of the present invention;

fig. 12 is a block diagram of a structure of an apparatus for controlling an individual driving function of a vehicle in one embodiment of the invention;

reference numerals:

11, a data acquisition module; 12. a data analysis module; 13. a function adjusting module; 21. a processor; 22. a memory.

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.

In the description of the present application, the terms "first", "second", "third", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first," "second," "third," etc. may explicitly or implicitly include one or more of the features. In the description of the present application, "a plurality" means two or more unless otherwise specified.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. As used herein, the terms "vertical," "horizontal," "left," "right," "up," "down," and the like are for illustrative purposes only and do not indicate or imply that the referenced device or element must be in a particular orientation, constructed or operated in a particular manner, and is not to be construed as limiting the present invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

In the description of the present application, it is to be noted that, unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention, as those skilled in the art will recognize the specific meaning of the terms used in the present application in a particular context.

An embodiment of the present invention provides a method for controlling respective driving functions of a vehicle, and in particular, referring to fig. 1 and fig. 2, fig. 1 is a schematic flowchart illustrating a method for controlling respective driving functions of a vehicle according to an embodiment of the present invention, and fig. 2 is a block flow diagram illustrating a method for controlling respective driving functions of a vehicle according to an embodiment of the present invention, wherein the control method includes steps S1 to S3:

s1, when the vehicle is in an automatic driving mode, respectively acquiring decision associated data for each automatic driving function control strategy, wherein the decision associated data comprise natural environment data, road type data, traffic participant data and on-vehicle personnel state data;

s2, analyzing each decision-making associated data respectively to determine the current state result;

and S3, adjusting the working state of each automatic driving function according to the state result of each decision related data and the correlation degree of each decision related data and each automatic driving function.

It should be noted that, in the actual driving process of the vehicle, decision-making associated data for determining each automatic driving function control strategy plays an important role, and the invention comprehensively considers decision-making associated data of four dimensions from the actual vehicle driving requirement, and analyzes the decision-making associated data respectively for natural environment data, road type data, traffic participant data and on-vehicle personnel state data, thereby providing reliable data support for the adjustment of the working state of the automatic driving function of the vehicle.

The natural environment is the surrounding natural condition of the vehicle, and different natural conditions can affect automatic driving to different degrees, and some of the conditions even have negative effects on the automatic driving function or performance, so that unexpected safety accidents occur. In order to quantify the influence of the natural environment on automatic driving, the embodiment of the invention attributes the influence of the natural condition to the visibility state of the vehicle, and realizes the analysis of the natural environment of the vehicle by acquiring the illumination intensity and the granularity.

If the automatic driving of the vehicle is activated in an unexpected road type, a serious safety accident may be caused. For example, the automatic driving function developed for an expressway does not consider a complex scene such as an intersection, and if the automatic driving function is activated in a complex environment of a city, a serious safety accident may be caused. Therefore, in order to quantify the influence of the road type on the automatic driving, the embodiment of the invention obtains the real-time road segment type of the vehicle by means of the related positioning technology to judge the road type of the vehicle.

When the vehicle is in the autopilot mode, the state of the traffic participants can also have an effect on the autopilot function. For example, on an open road and a crowded and busy road, the perception capability of automatic driving is limited differently, so that the embodiment of the invention associates the automatic driving with the state of surrounding traffic participants, can improve the control precision of automatic driving and improve the traffic efficiency of vehicles.

Since the current automatic driving technology is still in a development stage, the perception of driving environment, the response of road events and the control of vehicles are not yet reached to the level of human drivers, so the state of 'man-machine driving together' will exist in the automatic driving vehicle for a long time. Different degrees of automatic driving function also have different responsibility requirements for the driver and the passenger. For example, in a level 3 driving automation level, the occupant assumes the role of a "driving task backup user" who needs to be ready to take over whenever the automatic driving system fails. Therefore, the embodiment of the invention controls the automatic driving function of the vehicle to be correspondingly adjusted by analyzing the states of the personnel on the vehicle, such as the physiological states, the vital signs and the emergency assistance capability of the driver and the passengers, and obtaining the relevant information, thereby realizing more safety strategies to ensure the life safety of the driver and the passengers.

In summary, unlike the prior art in which the automatic driving function is directly turned on in all operating states, the embodiment of the present invention further adds a middle-level control logic for adjusting the operating state of the automatic driving function between "acquiring data" and "using function", so that the automatic driving function has an operating state matching the actual driving requirement, thereby improving the control flow of the entire automatic driving, further ensuring the safety and rationality of the automatic driving control, improving the matching accuracy between different driving scenes and corresponding functional states, and further advancing the intelligent process of the automatic driving of the vehicle.

In addition, before the "middle level" adjustment of the automatic driving function, it is needless to say that the current operating state of each automatic driving function needs to be detected in advance, and details thereof are not repeated.

Further, in the above embodiment, the respectively obtaining the decision-making related data for each of the automatic driving function control strategies specifically includes:

Specifically, referring to fig. 3 and 4, fig. 3 is a schematic diagram illustrating a processing flow of natural environment data in one embodiment of the present invention, and fig. 4 is a schematic diagram illustrating acquisition of natural environment data in one embodiment of the present invention, and for the natural environment data, it is preferably acquired through two parts, one is obtained through detection by a sensor arranged on a vehicle terminal, and the other is obtained through information data detected by a road terminal, for example, an optical sensor, a rainfall sensor and a vehicle-mounted radar are arranged at a position corresponding to a vehicle, where the vehicle-mounted radar can perform communication interaction with a camera at a road end, a weather station and a road end radar. By acquiring the data of the vehicle end and the road end, the accuracy of the natural environment data can be improved, so that good data support is provided for subsequent control.

Specifically, referring to fig. 5 and 6, fig. 5 is a schematic view illustrating a processing flow of road type data in one embodiment of the present invention, and fig. 6 is a schematic view illustrating obtaining of road type data in one embodiment of the present invention, where the road type data is obtained by two parts, one part is obtained by a positioning module disposed on a vehicle terminal, and the other part is obtained by information data detected by a road terminal, for example, the vehicle terminal is generally provided with a positioning module, and by obtaining vehicle positioning information, the data is analyzed based on a camera and a road radar of the road terminal, and current road section type information can be accurately obtained.

Specifically, referring to fig. 7 and 8, fig. 7 is a schematic diagram illustrating a processing flow of traffic participant data in one embodiment of the present invention, and fig. 8 is a schematic diagram illustrating an acquisition of traffic participant data in one embodiment of the present invention, for the traffic participant data, it is preferable to acquire the traffic participant data by two parts, one of which is obtained by a sensing module disposed on a vehicle terminal, and the other of which is obtained by information data detected by a road terminal, for example, a camera is disposed on the periphery of the vehicle terminal, and is used for acquiring the type, number and position of traffic participants around the vehicle, and the real-time state of the traffic participants around the vehicle and the type of the traffic participants around the vehicle can be obtained by combining the camera and a road-end radar of the road end, so as to provide good data support for subsequent control.

Specifically, please refer to fig. 9, fig. 9 is a schematic diagram illustrating a processing flow of the vehicle occupant status data according to an embodiment of the present invention, and the vehicle occupant status data is preferably obtained through a sensing module disposed on a vehicle terminal, for example, an infrared sensor and an in-vehicle camera are disposed in the vehicle, so as to analyze different occupants in different seats, analyze whether the occupant is in a corresponding position, analyze facial feature data of the occupant collected by the in-vehicle camera by using a neural network technology, and determine the attention state of the occupant, thereby providing a reliable basis for determining the takeover capability of the vehicle occupant. Of course, besides the above sensors, an alcohol concentration sensor, a heart rate detector for measuring the heart rate of the occupant, and the like may be further disposed in the vehicle, and are not described herein again.

Further, in the above embodiment, the analysis process for analyzing each decision related data is as follows:

and (3) natural environment: and acquiring the illumination intensity and the granularity in the natural environment data, and comparing and analyzing the detected illumination intensity value and the granularity value with a preset threshold value, so as to obtain the visibility state of the current weather and further obtain a state result reflecting the visibility of the vehicle. Of course, the ambient light may also be divided into strong light and weak light according to the comparison result of the illumination intensity, the rainfall is detected according to the real-time weather state, and the result that the current rainfall is too large or too small is output, which is not described herein again.

Road type: the method comprises the steps of obtaining static road network information and positioning information of a current position, obtaining dynamic road network information of the current position based on a geo-fencing technology, judging whether a current automatic driving system type is matched with a current road section, for example, whether the current running automatic driving system type is developed for an expressway, judging whether the current position is still in the geo-fencing of the expressway, if so, judging that the current automatic driving system type is matched with the current road section, and if not, judging that the current automatic driving exceeds the application range of the system.

The traffic participants: firstly, acquiring a target type on the peripheral side of the vehicle, and further acquiring the flow of weak traffic participants when the peripheral side has weak traffic participants (VRU), wherein if the weak traffic participants are congested, a mixed flow congestion state result is output, and if the weak traffic participants are unobstructed, a mixed flow unobstructed state result is output;

when the peripheral side does not have weak traffic participants (VRU), the flow of the strong traffic participants is further obtained, if the traffic is congested, the state result of traffic congestion is output, and if the traffic is unobstructed, the state result of the traffic is output.

Of course, the above process is performed by synchronizing the vehicle terminal and the road terminal, and will not be described herein again.

The state of the personnel on the vehicle: acquiring driving position information data and non-driving position (passenger position) information data in the on-board personnel state data;

analyzing the driving position information data, wherein the analyzing comprises driving position occupation judgment, if no driving position occupation exists, outputting a state result without a driver, and if the driving position occupation exists, judging the vital signs of the driving position;

if no driving position vital sign is detected, outputting a state result without the driver vital sign, and if the driving position vital sign exists, judging the fatigue state of the driving position;

if the fatigue of the driver position is detected, outputting the state result of the fatigue of the driver, and if the fatigue of the driver position is not detected, judging the drunk state of the driver position;

if the drunk driving position is detected, outputting a drunk driving state result, and if the drunk driving position is not detected, judging the attention state of the driving position;

if the driver position attention is detected to be concentrated, outputting a state result that the driver has the takeover capability, and if the driver position attention is detected to be concentrated, outputting a state result that the driver is not concentrated;

for the non-driving seat (passenger seat), the analysis process includes the analysis of the information data of the passenger seat and the analysis of the information data of the passenger shot later, the analysis process may refer to the analysis process of the driving seat, of course, the processes that need to be detected and analyzed at different positions may not be the same, and are not described herein again.

Further, in the present embodiment, the functions of the autonomous driving include at least a pilot assist function (PA), a navigation-assisted autonomous driving function (NOH), an automatic emergency control function (AECS), an active lane support function (ALS), a lateral collision assist function (RSCA), an intelligent traffic signal control function (ITSC), an autonomous parking function (APA), a remote parking function (RPA), and a valet parking function (HVP).

In the embodiment of the present invention, each automatic driving function and each decision-making related data have a certain corresponding relationship, which is specifically represented as a degree of association, and preferably, the degree of association between each decision-making related data and each automatic driving function is as shown in fig. 10, and includes:

Of course, the above-mentioned automatic driving function and the degree of association between the automatic driving function and the corresponding decision-making associated data are only a preferred example of the present invention, and those skilled in the art may also set other automatic driving functions and associate them with the corresponding decision-making associated data under the concept of the present invention, and will not be described herein again.

In this embodiment, in order to implement "middle level" logic control on the automatic driving, so as to achieve a working state matching with an actual driving requirement, one or more working states of starting, closing, degrading, upgrading and disabling of the automatic driving function are correspondingly adjusted mainly by different degrees of association, specifically, the adjustment includes high gradient level adjustment, middle gradient level adjustment and low gradient level adjustment, as follows:

In the above embodiment, the high gradient level adjustment, the medium gradient level adjustment, and the low gradient level correspond to strong correlation, weak correlation, and irrelevant, respectively, so that accurate adjustment of the operating state of each autopilot function can be performed. Of course, when the decision-related data is not related to the automatic driving function, the original operating state of the corresponding automatic driving function may be maintained without performing any degree of operating state adjustment on the corresponding automatic driving function, and the adjustment only includes high gradient level adjustment and low gradient level adjustment, as described below:

In another embodiment of the present invention, an apparatus for controlling respective driving functions of a vehicle is provided, and specifically, referring to fig. 11, fig. 11 is a schematic structural diagram of the apparatus for controlling respective driving functions of a vehicle according to one embodiment of the present invention, which includes:

the data acquisition module 11 is configured to respectively acquire decision-making associated data for each automatic driving function control strategy when the vehicle is in an automatic driving mode, where the decision-making associated data includes natural environment data, road type data, traffic participant data, and vehicle personnel state data;

a data analysis module 12, configured to analyze each decision-making related data to determine a current state result thereof;

and the function adjusting module 13 is configured to adjust the working state of each autonomous driving function according to the state result of each decision-related data and the degree of correlation between each decision-related data and each autonomous driving function.

The device for controlling the respective automatic driving functions of the vehicle provided by the embodiment of the invention acquires different dimensional data closely related to the driving assistance function/automatic driving function, analyzes the acquired data, and performs the processes of opening, closing, degrading, upgrading, forbidding and the like on the corresponding automatic driving function according to the analysis result so as to ensure that the driving assistance function/automatic driving function is correctly used, thereby achieving the aim of improving the driving safety.

The invention further provides a system for controlling respective automatic driving functions of a vehicle, which comprises a road terminal and a vehicle-mounted terminal arranged on the vehicle;

Further, in the foregoing embodiment, the vehicle-mounted terminal is an ADAS domain controller.

By the system for controlling the respective automatic driving functions of the vehicle, provided by the invention, the intelligent control process of the vehicle in the actual driving process can be promoted, and the following steps are carried out:

(1) the automatic driving system can accurately evaluate whether the automatic driving system can normally operate under the current weather condition, so that the safety and the reliability of the system are achieved, for example, when the automatic driving system encounters heavy rain weather and the sensing system cannot normally identify a target object, the automatic driving system prompts a driver to take over the vehicle and safely quit the automatic driving state.

(2) The automatic driving system can accurately evaluate whether the system is suitable for the current road type so as to ensure the safety and reliability of functions, for example, when the road type of the automatic driving system outside the designed operation range is requested to be started by a driver, after the system evaluation, the system refuses the automatic driving function to be activated, and prompts the driver for reasons.

(3) The automatic driving system can accurately evaluate surrounding traffic participants and adjust the vehicle control strategy according to different traffic participant states, for example, the system recognizes that the surrounding traffic participants are only in traffic flow, and under the condition of smoothness, the automatic driving system executes a more aggressive vehicle control strategy; when the traffic participant state is mixed and is congested, the system executes a conservative strategy.

(4) The automatic driving system can accurately evaluate the states of the on-board personnel including a driver and passengers so as to carry out user management, for example, in an automatic driving mode, when the system fails and cannot continuously execute a driving task for a long time, the system can evaluate the takeover capacity according to the states of the passengers in a driving position and a secondary driving position and execute a corresponding takeover request strategy.

Referring to fig. 12, which is a block diagram illustrating a structure of an apparatus for controlling a vehicle autonomous driving function according to an embodiment of the present invention, an apparatus 20 for controlling a vehicle autonomous driving function according to an embodiment of the present invention includes a processor 21, a memory 22, and a computer program stored in the memory 22 and configured to be executed by the processor 21, and when the processor 21 executes the computer program, the steps in the above-described method embodiment for controlling a vehicle autonomous driving function are implemented, for example, steps S1 to S3 shown in fig. 1; alternatively, the processor 21 may implement the functions of the modules in the above device embodiments when executing the computer program, for example, the data acquiring module 11.

Illustratively, the computer program may be divided into one or more modules, which are stored in the memory 22 and executed by the processor 21 to accomplish the present invention. The one or more modules may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program in the apparatus 20 for controlling the respective autonomous driving functions of the vehicle. For example, the computer program may be divided into a data acquisition module 11, a data analysis module 12, and a function adjustment module 13, and the specific functions of each module are as follows:

The apparatus 20 for controlling the respective driving functions of the vehicle may include, but is not limited to, a processor 21 and a memory 22. It will be appreciated by those skilled in the art that the schematic diagrams are merely examples of devices for controlling the respective vehicle's respective driving functions and do not constitute a limitation of the devices 20 for controlling the respective vehicle's respective driving functions, and may include more or less components than those shown, or some components in combination, or different components, for example, the devices 20 for controlling the respective vehicle's respective driving functions may also include input-output devices, network access devices, buses, etc.

The Processor 21 may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component, etc. The general processor may be a microprocessor or the processor may be any conventional processor, etc., and the processor 21 is a control center of the apparatus 20 for controlling the respective driving functions of the vehicle, and various interfaces and lines are used to connect various parts of the entire apparatus 20 for controlling the respective driving functions of the vehicle.

The memory 22 may be used to store the computer programs and/or modules, and the processor 21 may implement various functions of the apparatus 20 for controlling the respective automatic driving functions of the vehicle by operating or executing the computer programs and/or modules stored in the memory 22 and calling up data stored in the memory 22. The memory 22 may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; the storage data area may store data (such as audio data, a phonebook, etc.) created according to the use of the cellular phone, and the like. In addition, the memory 22 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.

The integrated modules of the device 20 for controlling the respective automatic driving functions of the vehicle may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. 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 will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.

The method, the system and the storage medium for controlling the respective automatic driving functions of the vehicle have the advantages that at least one point is as follows:

While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention.

Claims

1. A method of controlling individual vehicle driving functions, comprising:

2. The method according to claim 1, wherein the obtaining of decision-related data for each of the autonomous driving function control strategies comprises:

3. The method according to claim 2, wherein the analyzing each of the decision-related data to determine the current status result comprises:

4. The method of controlling respective automatic driving functions of vehicles according to claim 1, wherein the automatic driving functions include at least a pilot assistance function, a navigation assistance automatic driving function, an automatic emergency control function, an active lane support function, a side collision assistance function, an intelligent traffic signal control function, an automatic parking function, a remote parking function, and a valet parking function.

5. The method for controlling respective automatic driving functions of a vehicle according to claim 4, wherein the degree of correlation between each decision related data and the respective automatic driving function specifically comprises:

6. The method for controlling the respective automatic driving functions of the vehicle according to claim 5, wherein the adjusting the working states of the respective automatic driving functions specifically comprises:

7. The method for controlling the respective automatic driving functions of the vehicle according to claim 5, wherein the adjusting the working states of the respective automatic driving functions specifically comprises:

8. A system for controlling respective automatic driving functions of a vehicle is characterized by comprising a road terminal and a vehicle-mounted terminal arranged on the vehicle;

the vehicle-mounted terminal is configured to realize the method for controlling the respective automatic driving functions of the vehicle according to any one of claims 1 to 7.

9. The system for controlling the respective driving functions of the vehicle as claimed in claim 8, wherein the vehicle-mounted terminal is an ADAS domain controller.

10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a computer program, wherein when the computer program runs, the computer-readable storage medium is controlled by an apparatus to execute the method for controlling the respective automatic driving function of the vehicle according to any one of claims 1 to 7.