CN115635973A

CN115635973A - Vehicle driving method and device

Info

Publication number: CN115635973A
Application number: CN202110819075.2A
Authority: CN
Inventors: 刘荣
Original assignee: Huawei Technologies Co Ltd
Current assignee: Huawei Technologies Co Ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2023-01-24
Also published as: WO2023001068A1

Abstract

The embodiment of the application discloses a vehicle driving method and device, and relates to the technical field of vehicle intelligent control. The method comprises the following steps: activating a traffic jam assistance TJA system of the vehicle under the condition that the vehicle is positioned on a traffic jam road section; outputting reminding information, wherein the reminding information is used for indicating that the TJA system is activated; receiving control information from a driver of the vehicle, wherein the control information is used for controlling state switching of the TJA system, and the control information is associated with the reminding information. The method is beneficial to reducing the driving pressure of the driver and improving the driving experience and driving safety.

Description

Vehicle driving method and device

Technical Field

The application relates to the technical field of vehicle intelligent control, in particular to a vehicle driving method and device.

Background

A Traffic Jam Assistance (TJA) system is a system that can provide assistance to a driver during a Traffic Jam. Generally, when the vehicle speed is lower than 60km/h, the driver may activate the TJA system, and thereafter, operations such as braking, acceleration, and steering may be assistively controlled by the TJA system, thereby alleviating driver fatigue. However, since the TJA system is designed to be manually controlled by the driver to perform the state switching, the control operation of the driver may affect the implementation of the TJA function and may involve various safety risks, which may increase driving stress of the driver and reduce driving experience, thereby being contrary to the application purpose of the TJA system.

Therefore, when the TJA function is expected to be applied to a vehicle, how to relieve driving stress of a driver is still an important problem to be solved urgently.

Disclosure of Invention

The embodiment of the application provides a vehicle driving method and device, which are beneficial to reducing driving pressure of a driver when a TJA function is expected to be applied to a vehicle, and meanwhile, the driving experience and the driving safety are also improved.

In a first aspect, an embodiment of the present application provides a vehicle driving method, where the method may be applied to a vehicle driving apparatus, where the vehicle driving apparatus may be an independent device, may also be a chip or a component in a device, and may also be a software module, and may be deployed on a vehicle, or in an on-board device or an intelligent device on the vehicle.

The method comprises the following steps: activating a traffic jam assistance TJA system of the vehicle when the vehicle is located on a traffic jam road section; outputting reminding information, wherein the reminding information is used for indicating that the TJA system is activated; receiving control information from a driver of the vehicle, wherein the control information is used for controlling state switching of the TJA system, and the control information is associated with the reminding information.

By the method, the vehicle driving device can automatically activate the TJA system of the vehicle according to the traffic road condition, and can flexibly realize the state control of the TJA system in the activated state according to the control information from the driver on the vehicle, so that the driver can concentrate on driving, the state switching of the TJA system is not required to be controlled by distraction, the driving pressure of the driver is favorably relieved, and the driving experience and the driving safety are improved.

With reference to the first aspect, in one possible design, the control information includes first indication information used for indicating an activation duration of the TJA system, and after receiving the control information from the driver of the vehicle, the method further includes: and according to the control information, after the activation time of the TJA system reaches the activation duration, deactivating the TJA system.

By the method, the vehicle driving device can control the TJA system to switch states according to the activation duration carried in the control information, and more flexible control measures are provided.

With reference to the first aspect, in one possible design, after receiving control information from a driver of the vehicle, the method further includes: and deactivating the TJA system according to the control information.

By the method, the vehicle driving device can directly control the TJA system to switch states according to the control information, and more flexible control measures are provided.

With reference to the first aspect, in one possible design, within a preset time after the activation of the TJA system is cancelled according to the control information, an automatic activation function of the TJA system is in a sleep state.

By the method, the TJA function can be in the dormant state after the TJA system is controlled to be deactivated by the driver, so that the TJA system is prevented from being reactivated by the vehicle driving device.

With reference to the first aspect, in one possible design, the method further includes: determining that the vehicle is located on a traffic jam road segment by at least two items of information: navigation status information, roadside device status information, status information of the vehicle, and status information of other vehicles within a predetermined range around the vehicle.

By the method, the vehicle driving device can comprehensively utilize multiple data to check whether the vehicle is positioned on a traffic jam road section or not, so that the reliability and the robustness of the automatic activation function are guaranteed, and the false activation, the automatic activation of dangerous road conditions and the like are avoided as far as possible.

In a second aspect, an embodiment of the present application provides a vehicle driving apparatus, including: the control unit is used for activating a traffic jam assisting TJA system of the vehicle under the condition that the vehicle is located on a traffic jam road section; the output unit is used for outputting reminding information, and the reminding information is used for indicating that the TJA system is activated; the receiving unit is used for receiving control information from a driver of the vehicle, the control information is used for controlling state switching of the TJA system, and the control information is related to the reminding information.

With reference to the second aspect, in a possible design, the control information includes first indication information, where the first indication information is used to indicate an activation duration of the TJA system, and the control unit is further configured to: after control information from a driver of the vehicle is received by the receiving unit, the activation of the TJA system is cancelled after the activation time of the TJA system reaches the activation duration according to the control information.

With reference to the second aspect, in one possible design, the control unit is further configured to: deactivating the TJA system after receiving control information from a driver of the vehicle, in accordance with the control information.

With reference to the second aspect, in one possible design, the automatic activation function of the TJA system is in a sleep state within a preset time after the activation of the TJA system is cancelled according to the control information.

With reference to the second aspect, in one possible design, the control unit is configured to: determining that the vehicle is located on a traffic jam road section through at least two items of information: navigation status information, roadside device status information, status information of the vehicle, and status information of other vehicles within a predetermined range around the vehicle.

In a third aspect, an embodiment of the present application provides a vehicle driving apparatus, including: a processor and a memory; the memory is used for storing programs; the processor is configured to execute the program stored in the memory to enable the apparatus to implement the first aspect as well as the possible design methods of the first aspect.

In a fourth aspect, the present application provides a computer-readable storage medium, where a computer program is stored, and when the computer program runs on a computer, the computer is caused to execute the first aspect and the possible design method of the first aspect.

In a fifth aspect, the present application provides a computer program product, which when executed on a computer, causes the computer to execute the first aspect and the possible design method of the first aspect.

In a sixth aspect, an embodiment of the present application provides a chip system, where the chip system includes a processor, and is configured to call a computer program or computer instructions stored in a memory, so as to cause the processor to execute the first aspect and the possible design method of the first aspect.

With reference to the sixth aspect, in one possible implementation, the processor is coupled with the memory through an interface.

With reference to the sixth aspect, in a possible implementation manner, the chip system further includes a memory, and the memory stores a computer program or computer instructions.

In a seventh aspect, an embodiment of the present application provides a processor, where the processor is configured to call a computer program or computer instructions stored in a memory, so as to enable the processor to execute the first aspect and the possible design method of the first aspect.

In an eighth aspect, an embodiment of the present application provides a vehicle, including: a processor and a memory; the memory is used for storing programs; the processor is configured to execute the program stored in the memory to cause the vehicle to implement the design method as described above in the first aspect and possible in the first aspect.

The embodiments of the present application may be further combined to provide more implementations on the basis of the implementations provided by the above aspects.

Drawings

FIG. 1 is a schematic diagram illustrating an application scenario in which embodiments of the present application are applicable;

FIG. 2 illustrates a schematic diagram of a vehicle driving method according to an embodiment of the present application;

FIG. 3 is a flow chart illustrating a method of driving a vehicle according to an embodiment of the present application;

4 a-4 d illustrate state diagrams of the TJA system of embodiments of the present application;

FIG. 5 is a flow chart illustrating a vehicle driving method according to an embodiment of the present application;

6 a-6 d illustrate an example of determining whether to traffic jam according to an embodiment of the present application;

7 a-7 c illustrate schematic diagrams of HMI interfaces of embodiments of the present application;

fig. 8 shows a schematic diagram of a vehicle driving apparatus of an embodiment of the present application;

fig. 9 shows a schematic view of a vehicle driving apparatus of the embodiment of the present application.

Detailed Description

With the rapid development of the intelligent internet technology, a plurality of levels of intelligent driving assistance technologies gradually appear, including but not limited to, different levels such as level L0 (emergency assistance), level L1 (partial driving assistance), level L2 (combined driving assistance), level L3 (conditional automatic driving), level L4 (highly automatic driving), level L5 (fully automatic driving), and the like. Among them, the L1 level and the L2 level are generally called Advanced Driving Assistance System (ADAS). The intelligent driving assistance technology of each level can be used for assisting a driver to intelligently drive a vehicle, and the driving experience and the driving safety are improved.

Currently, a lower-level technology is generally adopted in an intelligent driving assistance system for loading in a finished automobile manufacturer, for example, an L1-level assistance driving system generally comprises: adaptive Cruise Control (ACC) or Lane Keeping Assist (LKA) or Automatic Emergency Braking (AEB) systems; the L2 level driver assistance system is generally: traffic Jam Assistance (TJA) system, and the like.

The TJA system is an intelligent assistant driving system which can provide assistance for a driver in traffic jam. Generally, the TJA system can be activated by a driver when the vehicle speed is lower than 60km/h, and then operations such as braking, accelerating and steering can be assisted and controlled by the TJA system, so that the fatigue of the driver is relieved. However, since the TJA system is designed to be manually controlled by the driver to perform the state switching, the control operation of the driver will affect the implementation of the TJA function and may involve various safety risks.

For example, under congested road conditions, the driver may forget to activate the TJA system, which will not provide assistance to the driver. For another example, when the driver operates the human-computer interface to activate the TJA system, the driver is distracted and cannot concentrate on the road conditions, which may bring about safety risks. For another example, if the time for activating the TJA system is not timely, the TJA function cannot be implemented at a proper time, which may bring a safety risk.

Therefore, in some scenes, the TJA system may increase driving pressure of the driver, and reduce driving experience, which is contrary to the application purpose of the TJA system. Therefore, how to reduce the driving pressure of the driver when the TJA system is applied to the vehicle is still an important problem to be solved urgently.

The embodiment of the application provides a vehicle driving method and device, the vehicle driving device can have a function of controlling a TJA system of a vehicle to automatically switch states, and the operation of a driver is reduced by automatically activating the TJA system, deactivating the TJA system and the like, so that the driving pressure of the driver is relieved, and the driving experience and the driving safety are improved. The method and the device are based on the same technical conception, and because the principles of solving the problems of the method and the device are similar, the implementation of the device and the method can be mutually referred, and repeated parts are not repeated.

It should be noted that the vehicle driving scheme in the embodiment of the present application may be applied to a vehicle networking, such as vehicle to all (V2X), long term evolution (LTE-V) for vehicle-to-vehicle communication, vehicle to vehicle (V2V), and the like. For example, it may be applied to a vehicle having a driving movement function, or other devices having a driving movement function in a vehicle. Such other devices include, but are not limited to: the vehicle can pass through the vehicle-mounted terminal, the vehicle-mounted controller, the vehicle-mounted module, the vehicle-mounted component, the vehicle-mounted chip, the vehicle-mounted unit, the vehicle-mounted radar or the vehicle-mounted camera, and the vehicle driving method provided by the embodiment of the application is implemented. Of course, the control scheme in the embodiment of the present application may also be used in other intelligent terminals with a motion control function than a vehicle, or be provided in a component of the intelligent terminal. The intelligent terminal can be intelligent transportation equipment, intelligent household equipment, a robot and the like. Including but not limited to, for example, a smart terminal or other sensor such as a controller, chip, radar or camera within a smart terminal, and other components.

In the embodiments of the present application, "at least one" means one or more, "and" a plurality "means two or more. "and/or" describes the association relationship of the associated object, indicating that there may be three relationships, for example, a and/or B, which may indicate: a exists alone, A and B exist simultaneously, and B exists alone, wherein A and B can be singular or plural. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship. "at least one of the following" or similar expressions refer to any combination of these items, including any combination of the singular or plural items. For example, at least one (one) of a, b, or c, may represent: a, b, c, a and b, a and c, b and c, or a and b and c, wherein a, b and c can be single or multiple.

And, unless specifically stated otherwise, the embodiments of the present application refer to the ordinal numbers "first", "second", etc., for distinguishing between a plurality of objects, and do not limit the priority or importance of the plurality of objects. For example, the first indication information and the second indication information are only used for distinguishing different indication information, but do not represent the difference of the priority, the importance degree, and the like of the two items of indication information.

For the convenience of understanding, the embodiments of the present application will be described below with reference to the accompanying drawings.

Fig. 1 shows a schematic diagram of an application scenario to which an embodiment of the present application is applicable. In this application scenario, a vehicle 100 and a cloud server 200 may be included, and the vehicle 100 and the cloud server 200 may communicate through a network. In one embodiment, the cloud server 200 may also be implemented by a virtual machine.

Some or all of the functions of the vehicle 100 are controlled by a computing platform 150 (otherwise known as a computer system). Computing platform 150 may include at least one processor 151, and processor 151 may execute instructions 153 stored in a non-transitory computer-readable medium, such as memory 152. In some embodiments, the computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of the vehicle 100 in a distributed manner. Processor 151 may be any conventional processor, such as a Central Processing Unit (CPU). Alternatively, the processor 151 may also include a processor such as a Graphic Processing Unit (GPU), a Field Programmable Gate Array (FPGA), a System On Chip (SOC), an Application Specific Integrated Circuit (ASIC), or a combination thereof.

Alternatively, the vehicle 100 may be a car, a truck, a motorcycle, a bus, a boat, an airplane, a helicopter, a lawn mower, a recreational vehicle, a playground vehicle, construction equipment, a trolley, a golf cart, a train, or the like, and the embodiment of the present invention is not particularly limited.

It should be understood that the structure of the vehicle in FIG. 1 should not be construed as limiting the embodiments of the present application.

The vehicle driving method in the embodiment of the present application may be implemented by a vehicle driving device, which may be an independent device, may also be a chip or a component in the vehicle 100 shown in fig. 1, and may also be a software module, and may be deployed on a related vehicle-mounted device of the vehicle 100, and optionally, the vehicle driving device may also be deployed in a cloud server. Hereinafter, for ease of understanding and description, the vehicle driving scheme of the embodiment of the present application will be described by taking a vehicle driving device as a TJA processor of the computing platform 150 integrated in the vehicle 100 as an example.

The following describes the implementation principle of the embodiments of the present application.

Referring to FIG. 2, the TJA processor may interact with other modules in the vehicle to implement the vehicle driving scheme. For example, the TJA processor may constantly maintain monitoring of the surrounding environment by receiving the sensing information of a camera, other sensors, a gateway (including a wireless communication system, not shown), and the like, and also by receiving the sensing information of a millimeter wave radar, a laser radar, and the like. The TJA processor can synthesize data obtained by a millimeter wave radar, a laser radar, a camera, other sensors, a gateway and the like to obtain information of the vehicle and other surrounding traffic participants, and the information can be used for the TJA processor to make vehicle driving decisions. For example, whether the vehicle is located in a traffic jam road section or not is determined, whether a TJA system of the vehicle is automatically activated to provide the TJA system for the vehicle or not is determined, so that the TJA function is automatically provided for a driver on the vehicle under the condition of a jam road condition, driving pressure of the driver is relieved, and driving experience and driving safety are improved.

Under the condition that the TJA system is activated, the TJA processor can issue control instructions to the braking unit, the steering unit, the throttle valve and the like through the gateway, so that the braking unit, the steering unit, the throttle valve and the like can assist in controlling the vehicle to safely drive according to the control instructions from the TJA processor, the driving pressure of a driver is relieved, and the driving experience is improved. For example, the Steering unit may be an Electronic Power Steering (EPS) System or the like, the brake unit may be an Electronic Stability Program (ESP) System or an Anti-lock braking System (ABS) System or the like, and the throttle may be connected to an Engine Management System (EMS).

In the process of activating the TJA system and after activating the TJA system, the TJA processor may output (or via a gateway) a prompt message to a touch screen, a speaker, or other peripheral device to indicate the state of the TJA system to a driver, so that the driver can know the state change of the TJA system. The TJA processor may also receive control information from the vehicle driver via a peripheral device such as a touchscreen, microphone, or the like (or via a gateway), which may be associated with the aforementioned reminder information and may be used to control state switching of the TJA system.

In fig. 2, the two-way arrows between different modules are only used to indicate that communication between the modules is possible, and do not limit any communication method, information format, and the like. The TJA processor may communicate with different modules by using different communication modes or information formats, and may further have a protocol conversion function or a format conversion function, which is not limited in this embodiment of the present application. Other modules in the vehicle shown in fig. 2 are only examples, and the dashed boxes only indicate that the corresponding modules are optional modules, and the vehicle may not include some of the modules shown in fig. 2, may also include other modules besides some of the modules shown in fig. 2, or may replace some of the modules in fig. 2 with other modules not shown, and will not be described again here.

In practice, referring to fig. 3, the vehicle driving method may include the steps of:

s310: a vehicle driving device (such as a TJA processor) activates a traffic jam assistance TJA system of a vehicle when the vehicle is located on a traffic jam road section.

In the embodiment of the application, the vehicle driving device can integrate various perception information obtained by the sensor system of the vehicle, constantly keep monitoring the surrounding environment, judge whether the vehicle is located in the traffic jam road section, and automatically activate the TJA system of the vehicle under the condition that the vehicle is located in the traffic jam road section.

When the method is implemented, at least one congested road condition judgment condition can be preset in the vehicle driving device, and then, in the vehicle driving process, the vehicle driving device can judge whether the position of the vehicle is in a traffic congestion road section or not by judging whether various comprehensively collected sensing information accords with the at least one congested road condition judgment condition or not.

For example, according to the monitoring requirement, the at least one congestion road condition determining condition may be, for example, a condition that is configured for perception information obtained through various approaches and is to be satisfied by the congestion road condition, such as navigation state information, roadside device state information, state information of the vehicle, or state information of other vehicles within a predetermined range around the vehicle. The vehicle driving device can comprehensively acquire various perception information whether to meet the conditions to be met, such as the navigation state information, the state information of road side equipment, the state information of the vehicle, the state information of other vehicles in a preset range around the vehicle and the like, and determine whether the vehicle is positioned on a traffic jam road section. It should be noted that, in the embodiment of the present application, the preset at least one congestion road condition determining condition may be configured manually or obtained through an automation tool or a big data statistical calculation, and the specific implementation manner is not limited in the embodiment of the present application. In addition, the present disclosure is only an example but not a limitation of a determination method of a congested road condition, and in other embodiments, other determination conditions of the congested road condition may also be set, which is not described herein again.

It should be understood that the navigation state information may be obtained or processed directly from sensing information obtained from a navigation module (installed in a vehicle or other devices on the vehicle), roadside device state information may be obtained or processed directly from sensing information obtained from a roadside device, and state information of a vehicle and state information of other vehicles within a predetermined range around the vehicle may be obtained or processed directly from sensing information obtained from a sensor system of the vehicle itself, and the embodiment of the present application does not limit the manner of obtaining the above information. The navigation state information, roadside apparatus state information, state information of the vehicle, or state information of other vehicles within a predetermined range around the vehicle may be used to indicate whether traffic is congested at the current location of the vehicle. In order to ensure the accuracy of the judgment of the congested road condition, in a possible implementation manner, according to at least one preset congested road condition judgment condition, the vehicle driving device may determine that the vehicle is located in a congested road section when the at least two items of information meet the relevant judgment conditions, and automatically activate a TJA system of the vehicle. The determining step will be described in detail with reference to the drawings and the embodiments, which are not repeated herein.

S320: and outputting reminding information by a vehicle driving device, wherein the reminding information is used for indicating that the TJA system is activated.

In the embodiment of the present application, the vehicle driving apparatus may output the warning message through the peripheral device 140 on the vehicle to indicate to the driver that the TJA system is activated.

The reminding information may have at least one expression form according to different interaction modes of the vehicle driving device and the specifically used peripheral device 140, for example, when the vehicle driving device outputs the reminding information by using a human-computer interaction interface, the reminding information may be videos, images, characters, and the like displayed on the human-computer interaction interface; in the case where the vehicle driving apparatus outputs the reminder using a speaker, the reminder may be audio.

S330: and the vehicle driving device receives control information from a driver of the vehicle, wherein the control information is used for controlling the state switching of the TJA system, and the control information is related to the reminding information. Further, the vehicle driving apparatus may control the state switching of the TJA system according to the control information.

In the embodiment of the application, the reminding information can be received by a driver on the vehicle, the driver can issue control information to the vehicle driving device in response to the reminding information, and correspondingly, the vehicle driving device can receive the control information and control the state switching of the TJA system according to the control information.

Referring to fig. 4a, in the embodiment of the present application, the TJA system may include, but is not limited to, the following states: off state, on state, standby state (also referred to as intermediate state), active state. The closing state represents that the TJA system is closed, the opening state represents that the TJA system is opened, the standby state represents that the TJA system waits for activation, the activation state represents that the TJA system is activated, and the deactivation state represents that the TJA system is deactivated. Wherein, after the deactivation, the TJA system can enter a closed state, an open state or a standby state. Optionally, the TJA system may further have a sleep state, which indicates that the TJA function of the TJA system has been put to sleep.

It should be understood that fig. 4a is only an exemplary illustration and not a limitation of states that the TJA system may include, and arrows only schematically represent possible switching relationships between different states, and in other embodiments, referring to fig. 4b, the states of the TJA system may include a closed state, an open state, and an active state, and the TJA system may directly enter the active state from the open state when relevant conditions are met. Or, referring to fig. 4c, the state of the TJA system may include an off state, an on state, an active state, and a sleep state, where when the TJA system is in the active state and is deactivated, the TJA system may switch from the active state to the sleep state, the on state, or the off state according to the control information, and when the TJA system is in the sleep state, the TJA system may also switch from the sleep state to the active state, or the on state, or the off state according to the control information.

Generally, the TJA system may be turned on from an off state after the vehicle is operated. Alternatively, the vehicle driving apparatus may control the TJA system to enter an on state from an off state according to an operating state of the vehicle. Or, the vehicle driving device may control the TJA system to enter the open state from the closed state according to control information from a driver, and the opening manner of the TJA system is not limited in the embodiment of the present application.

Taking the example shown in fig. 4a as an example, after the TJA system is in the on state, when the vehicle driving apparatus determines at S310 whether the vehicle is located in a congested road segment, if various sensing information of the vehicle meets one of the at least one congested road condition determining condition, the vehicle driving apparatus may control the TJA system to switch from the on state to the standby state, and further, when the various sensing information of the vehicle meets all of the at least one congested road condition determining condition, the vehicle driving apparatus controls the TJA system to switch from the standby state to the active state. Or, as shown in fig. 4b or fig. 4c as an example, after the TJA system is in the on state, when the vehicle driving apparatus determines at S310 whether the vehicle is located in a congested road segment, and when various perception information of the vehicle meets all of the at least one congested road condition determination condition, the vehicle driving apparatus controls the TJA system to switch from the on state to the active state.

In the case where the TJA system has been activated, the vehicle driving apparatus may deactivate the TJA system according to control information from the driver. Wherein the TJA system may be switched from an active state to the other states shown in fig. 4a, 4b or 4c, depending on the manner in which the TJA system is deactivated by triggering.

In the embodiment of the present application, in order to realize flexible control of the TJA system by the vehicle driving apparatus, deactivation of the TJA system may be triggered in the following manner:

the first method is as follows: control information from a driver may be used to instruct deactivation of the TJA system, and the vehicle driving apparatus may deactivate the TJA system according to the control information. In this manner, the TJA system switches from the active state to the sleep state.

Correspondingly, within the preset time after the TJA system is deactivated according to the control information, the automatic activation function of the TJA system is in a dormant state, the vehicle driving device can still integrate various perception information obtained through the sensor system of the vehicle, constantly keep monitoring the surrounding environment, and judge whether the vehicle is located in a traffic jam road section, but at the moment, the vehicle driving device cannot automatically activate the TJA system of the vehicle.

The second method comprises the following steps: the control information may include first instruction information for instructing an activation duration of the TJA system, and the vehicle driving apparatus may cancel activating the TJA system after an activation time of the TJA system reaches the activation duration according to the control information after receiving the control information from a driver. In this manner, the TJA system switches from the active state to the sleep state. For convenience of distinction, referring to fig. 4d, the control information may include first indication information and second indication information, the second indication information may be used to indicate that the TJA system is deactivated, and the first indication information may be used to indicate an activation duration of the TJA system.

Correspondingly, similarly to the first mode, within a preset time after the activation of the TJA system is cancelled according to the control information, the automatic activation function of the TJA system is in a dormant state, and the vehicle driving device can still integrate various perception information obtained through the sensor system of the vehicle, constantly keep monitoring the surrounding environment, and judge whether the vehicle is located in a traffic jam road section, but at this time, the vehicle driving device cannot automatically activate the TJA system of the vehicle. After the preset time, the vehicle driving device can recover the automatic activation function of the TJA system, and further, the vehicle driving device can realize state switching control of the TJA system according to the vehicle driving method of the embodiment of the application.

Therefore, in the first mode and the second mode, the TJA system is set to be in the dormant state within the preset time, so that the TJA system is prevented from being automatically activated again by the vehicle driving device, and the problem of repeated activation caused by the fact that the TJA system is deactivated by a driver is reduced.

It should be noted that, in the first and second manners, the preset time may be preset, and may be, for example, 15 minutes, or 30 minutes, or any time between 15 and 30 minutes, or a shorter time less than 15 minutes, or a longer time greater than 15 minutes, and the preset time may be manually configured, or may be calculated according to experience or an automated tool or a big data statistic. Optionally, the preset time may also be carried in control information from a driver, which is not limited in this embodiment of the present application.

It should be understood that the preset time may also be configured to dynamically change according to the information about the position where the vehicle is actually located. For example, according to the information displayed on the navigation map, when the actual location of the vehicle is an urban road where traffic congestion is more likely to occur, the preset time may be adjusted to a shorter time, for example, from 30 minutes to 15 minutes; alternatively, when the vehicle is actually located at a position on an urban road where traffic congestion is difficult to occur, the preset time may be adjusted to a longer time, for example, from 30 minutes to 1 hour. Whether the urban road is easy or difficult to have traffic jam or not can be determined according to the current running scene (such as running time period or running place) of the vehicle, the dynamic adjustment of the preset time can be manual adjustment of a driver, voice adjustment or automatic adjustment of a vehicle driving device, and any information for making a vehicle driving decision can be preset in the vehicle driving device.

The third method comprises the following steps: the control information may be used to instruct the vehicle driving apparatus to autonomously control the TJA system to perform state switching, and accordingly, the vehicle driving apparatus may deactivate the TJA system, for example, in a case where it is determined that the vehicle is on a non-traffic-congested road segment, according to the control information. In this manner, the TJA system switches from the active state to the standby state.

Accordingly, the vehicle driving apparatus can integrate various kinds of perception information obtained by the sensor system of the vehicle, constantly maintain monitoring of the surrounding environment, and automatically activate the TJA system of the vehicle to switch the TJA system from the standby state to the activated state in a case where it is determined that the vehicle is located on a traffic congestion section.

The method is as follows: the control information may be used to instruct the vehicle driving apparatus to autonomously control the TJA system to perform state switching, and the vehicle driving apparatus may cancel activation of the TJA system when it is determined that the activation time of the TJA system reaches a preset activation duration according to the control information. In this manner, the TJA system switches from the active state to the standby state.

Accordingly, similarly to the third mode, the vehicle driving apparatus may integrate various kinds of perception information obtained by the sensor system of the vehicle, constantly maintain monitoring of the surrounding environment, and automatically activate the TJA system of the vehicle to switch the TJA system from the standby state to the activated state in a case where it is determined that the vehicle is located on a congested road section.

Therefore, in the third and fourth modes, after obtaining the authorization of the driver, the vehicle driving device can autonomously realize the state switching control of the TJA system, and in this case, the driver can pay attention to the traffic condition without being distracted from the state control of the TJA system, so that the driving pressure of the driver is reduced, and the driving experience and the driving safety are improved.

It should be noted that, similar to the preset time, the activation duration indicated by the first indication information carried in the control information in the above-mentioned manner two, or the activation duration preset in the vehicle driving device in the above-mentioned manner four may be any duration, or may be dynamically adjusted by the vehicle driving device according to the actual scene where the vehicle is located, and is not described herein again.

The following describes a vehicle driving method according to an embodiment of the present application.

Referring to fig. 5, the vehicle driving method may include the steps of:

s510: the vehicle driving apparatus acquires state information of the vehicle.

For example, the state information of the vehicle may include, but is not limited to, position information, running speed, or heading angle of the vehicle, and the vehicle driving apparatus may acquire the state information of the vehicle using, but is not limited to, a navigation module, a speed sensor, a steering unit, and the like of the vehicle.

S520: the vehicle driving apparatus determines whether or not the current operating state of the vehicle belongs to an Operation Design Domain (ODD) of the TJA function based on the state information of the vehicle. For example, whether the vehicle is on an expressway or an urban road with good road environment, or whether the running speed of the vehicle is below 60km/h, etc. If yes, entering S530; if the determination result is negative, the process returns to S510.

S530: and the vehicle driving device integrates various perception information to determine whether the at least one condition for judging the congested road condition is met.

Taking the at least one congested road condition determining condition as an example that the navigation status information, the roadside device status information, the vehicle status information, and the status information of other vehicles within the predetermined range around the vehicle should satisfy the condition, in practice, the step S530 may include the following cases:

the first situation is as follows: s531: and judging whether the navigation state information indicates traffic jam.

Referring to fig. 6a, a vehicle may be equipped with a navigation application, a GPS, a camera, a millimeter wave radar, a laser radar, and the like, the navigation application may update location information of the vehicle through sensing information obtained by the GPS, the camera, the millimeter wave radar, the laser radar, and the like, and acquire road condition information at the current location of the vehicle in real time, and the navigation application may provide navigation state information to the vehicle driving apparatus (i.e., the TJA processor) through a network communication device (or a gateway), and the navigation state information may be used to indicate whether the current location of the vehicle is congested. The navigation state information accords with corresponding congestion road condition judgment conditions under the condition that the navigation state indicates that the traffic at the current position of the vehicle is congested; and under the condition that the navigation state information indicates that the current position of the vehicle is not congested, the navigation state information is not in accordance with the corresponding congestion road condition judgment condition. It should be noted that the dashed boxes in fig. 6a indicate that the corresponding modules are optional modules, i.e. do not limit the way in which the navigation application obtains the perception information of the vehicle.

The second situation: s532: and judging whether the state information of the road side equipment indicates traffic jam or not.

Referring to fig. 6b, generally, cameras are disposed on the relevant sections of the urban road and the expressway to monitor traffic information, and the traffic department may calculate traffic flow information of the current section in real time by using the monitored traffic information.

Accordingly, the vehicle driving device may receive road-side device state information from a road-side device through the network communication device, compare traffic flow information indicated by the road-side device state information with a congestion definition specified by a traffic department, and determine that a current road section is congested, that is, the vehicle is currently located in a traffic congestion road section if the traffic flow information conforms to the congestion definition specified by the traffic department.

It should be understood that the congestion definition specified by the traffic department may be preset in the vehicle driving device or may be obtained by the vehicle driving device in real time, where the congestion definition specified by the traffic department may indicate a lower threshold of the vehicle flow rate when the congestion is met, and may also indicate vehicle flow rate ranges respectively corresponding to different levels of the congestion (for example, light congestion, medium congestion, heavy congestion, etc.), which is not limited in the embodiment of the present application.

Case three: s533: and judging whether the state information of the vehicle indicates traffic jam.

Referring to fig. 6c, an evaluation model may be configured in the vehicle driving apparatus, and the evaluation model may be used to evaluate a current traffic type of the vehicle according to the vehicle state information, so as to determine whether traffic is congested.

In this embodiment of the application, the evaluation model may be obtained by training in advance using behavior data samples. During model training, the road conditions can be divided into the following five road condition types with congestion of different degrees according to the traffic congestion auxiliary coefficient: the method comprises the steps of unblocked, basically unblocked, slightly congested, moderately congested and heavily congested, and then n longitudinal speed and longitudinal acceleration data samples under different congested road condition types are collected through an actual vehicle or collected from vehicles in traffic departments. Further, according to n longitudinal speed and longitudinal acceleration data samples under each road condition type, an assessment model corresponding to the longitudinal speed state and the longitudinal acceleration state of the vehicle and the different road condition types is trained by using a supervised learning method. The embodiments of the present application do not limit this.

A vehicle may be equipped with a wheel speed sensor, an acceleration sensor, etc. to acquire state information of the vehicle, for example, the acceleration sensor may be used to acquire acceleration information of the vehicle in real time, and the wheel speed sensor may be used to acquire wheel speed information of the vehicle in real time. The vehicle driving apparatus may acquire the state information of the vehicle from the wheel speed sensor, the acceleration sensor, and the like. And respectively inputting the obtained state information of the vehicle into the evaluation models corresponding to different road condition types to obtain the probability of matching the state information of the vehicle with the different road condition types. And if the evaluation model with the maximum matching probability is the evaluation model corresponding to the slightly congested road condition, the moderately congested road condition and the heavily congested road condition, determining that the vehicle is currently in the traffic congestion road condition. And if the evaluation model with the maximum matching probability is the evaluation model corresponding to the unblocked road condition or the basically unblocked road condition, determining that the vehicle is in the non-traffic jam road condition currently.

It should be noted that, in the embodiment of the present application, a common supervised learning method may be used to train the above-mentioned evaluation Model, for example, a baum-welch algorithm is used to train a Hidden Markov Model (HMM), and a specific implementation manner of the evaluation Model is not limited in the embodiment of the present application.

Situation four: s534: determining whether the state information of other vehicles within a predetermined range around the vehicle indicates traffic congestion.

Referring to fig. 6d, the vehicle may be equipped with a sensor such as a camera, a laser radar, or a millimeter wave radar, which may identify other vehicles within a predetermined range around the vehicle and obtain status information of the other vehicles. The vehicle driving apparatus may perform fusion based on state information of other vehicles obtained from sensors such as the camera, the laser radar, or the millimeter wave radar to determine the number of other vehicles within a predetermined range around the vehicle, thereby determining whether traffic is congested based on the number of other vehicles.

The camera may continuously collect a plurality of image frames, analyze the image frames by a preset image processing method, identify state information such as position, speed, acceleration and the like of other vehicles (as targets), and calculate the number of the targets. The state information of the other vehicle provided by the camera to the vehicle driving apparatus may include the number of targets. Under the condition of traffic jam road conditions, the vehicles are mutually shielded, so that the number of the targets calculated by the camera is less than that of the targets in the real condition, the vehicle driving device can also receive the state information of other vehicles of the laser radar and/or the millimeter wave radar and fuse the state information of other vehicles from the camera, and finally the number of other vehicles around the vehicle is obtained. Wherein if the number of other vehicles within the vehicle surrounding radius R (e.g., R =20 meters) is greater than or equal to a number threshold (e.g., 15), determining that the traffic jam occurs; if the number of other vehicles within the vehicle surrounding radius R (e.g., R =20 meters) is less than a number threshold (e.g., 15), determining that there is no traffic congestion.

It should be noted that the dashed boxes in fig. 6d indicate that the corresponding modules are optional modules, i.e. the manner for fusing to obtain a more accurate number of target vehicles is not limited.

Note that the TJA system is in an on state before S530 is implemented. In the implementation of S530, if there is any one of the first to fourth cases indicating traffic congestion, the vehicle driving apparatus may control the TJA system to switch from the on state to the standby state. Fig. 5 is a schematic illustration only of the case where there is any one of the conditions S531 to S534 indicating traffic congestion and the vehicle driving device controlling the TJA system to switch from the on state to the standby state, and the state switching of the TJA system in the implementation of S530 is not limited. It should be understood that the above-mentioned S531-S534 can be performed simultaneously, or sequentially (for example, according to the order of the task priorities of the various items of information), which is not limited in this embodiment of the application. S540: and the vehicle driving device determines whether the corresponding congestion road condition judgment condition is met at the same time according to at least two items of information in the situations from the first situation to the fourth situation. If the judgment result is yes, the process goes to S550, and if the judgment result is no, the TJA system is kept in a standby state, or the TJA system is switched back to an open state from the standby state.

It should be noted that, in practical applications, the determination process of the first to fourth cases is related to actual configuration details, and if the vehicle driving device is configured with only two or three of the above cases for determination, or is configured with more determination cases, the vehicle driving device only needs to complete the corresponding determination according to the configuration details when implementing S530, which is not described herein again.

S550: and the vehicle driving device determines that the vehicle is positioned on a traffic jam road section and automatically activates the TJA system.

S560: the vehicle driving device outputs the reminding information.

Referring to fig. 7a, taking a Human Machine Interface (HMI) as an example, a reminder message may be output on the HMI in real time, and the reminder message is used for indicating that the TJA system has been automatically activated. Wherein, for the convenience of understanding, the solid line box represents that the corresponding information (for example, "TJA automatic activation") is lighted and operable, and the dotted line box may represent that the corresponding information (for example, "TJA manual activation") is grayed and inoperable. The driver may manually click the "TJA auto-activation" option to issue control information to the vehicle driving device, the control information being used to control state switching of the TJA system.

Alternatively, referring to fig. 7b, a "deactivation TJA" option may also be output on the HMI at the same time, the "TJA automatically activates" lighted, inoperable (distinguished by a gray implementation box), the "deactivation TJA" lighted, operable, and the "TJA manually activates" grayed, inoperable. The driver may manually click the "deactivate TJA" option to issue control information to the vehicle driving apparatus, where the control information is used to control state switching of the TJA system. Optionally, at least one activation duration option (not shown in the figure) may be further output on the HMI for the driver to select first indication information that needs to be carried in the control information, where the first indication information is used to indicate the activation duration of the TJA system, and details are not described here.

S570: a vehicle driving device receives control information from the vehicle driver, and determines whether the control information indicates that the TJA system is deactivated. If yes, the process proceeds to S580. If not, the automatic activation process is ended.

S580: the vehicle driving apparatus deactivates the TJA system according to the control information (for example, the foregoing first and second modes), and within a preset time after the activation of the TJA system is deactivated according to the control information, the automatic activation function of the TJA system is in a sleep state.

After a preset time, the vehicle driving apparatus may control the TJA system to switch from the sleep state to the on state, and restart the above steps of S510 to S580, so as to automatically implement the state switching control of the TJA system.

It should be noted that, in the process of implementing S510-S550, the HMI may also display the relevant information of S510-S550 in real time, as shown in fig. 7c, for example, whether the running state of the vehicle belongs to the ODD of the TJA system, or whether each of the information in the first to fourth cases indicates traffic congestion. For convenience of understanding, the dashed line boxes indicate that the corresponding information is not judged or does not meet the corresponding judgment condition, and the solid line boxes indicate that the corresponding information meets the corresponding judgment condition. It should be understood that, in practical applications, the information shown in fig. 7a, fig. 7b, or fig. 7c may be displayed in a floating manner on the HMI interface, or displayed directly, may be presented in the same interface, or may be presented in different interfaces, and this specific presentation manner is not limited in this embodiment of the application.

It should be understood that, the output mode of the reminder information is only described by taking the HMI interface as an example, and the output mode of the reminder information is not limited, and accordingly, the triggering and transmission mode of the control information is also not limited, and is not described herein again.

So far, the specific implementation process of the vehicle driving method according to the embodiment of the present application has been described in detail with reference to the above drawings and embodiments, and according to the vehicle driving method, a function of automatically activating the TJA system according to the traffic road condition is added by a vehicle driving device, so as to reduce the safety risk caused by the driver manually activating the TJA system, and improve the driving experience and driving safety. It should be understood that in the embodiment of the present application, the automatic detection of the vehicle driving device to automatically activate the function of the TJA system may coexist with the manual activation of the function of the TJA system by the driver, that is, the manual activation of the function of the TJA system by the driver is still supported, so that when the function of the automatic activation of the TJA system fails, the state control of the TJA system is flexibly implemented by taking a manual activation scheme as an alternative. Further, before automatic activation, the method determines whether the vehicle enters the ODD of TJA or not according to the state information of the vehicle, and on the basis, whether the vehicle is positioned on a traffic jam road section or not is checked by using multiple data so as to ensure the reliability and robustness of an automatic activation function and avoid false activation, dangerous road condition automatic activation and the like as much as possible.

In addition, the vehicle driving method can be realized by using common equipment on the vehicle, no extra expensive equipment is needed, whether the vehicle is located on a traffic jam road section can be judged by randomly combining perception information acquired by different equipment, and more selectivity is provided for implementation of the vehicle driving method in the embodiment of the application. And modifying the HMI interface to highlight each reminding message on the HMI interface, so that the driver can conveniently know the state change of the TJA system at any time, and the panic of the driver caused by the state mutation of the TJA system is reduced. After the TJA system is automatically activated by the vehicle driving device, the TJA system is allowed to be manually deactivated by a driver, the TJA function is in a dormant state within a preset time, repeated automatic activation after the TJA system is deactivated by the driver is reduced, and the driving experience and the driving safety of the driver are improved.

The embodiment of the present application further provides a vehicle driving device, which is configured to execute the method executed by the vehicle driving device in the foregoing embodiment, and related features may be referred to in the foregoing method embodiment, and are not described herein again.

As shown in fig. 8, the apparatus 800 may include: a control unit 801, configured to activate a traffic congestion assistance TJA system of the vehicle if the vehicle is located on a traffic congestion road segment; an output unit 802, configured to output a reminding message, where the reminding message is used to indicate that the TJA system is activated; a receiving unit 803, configured to receive control information from a driver of the vehicle, where the control information is used to control state switching of the TJA system, and the control information is associated with the prompted information.

Optionally, the control information includes first indication information, where the first indication information is used to indicate an activation duration of the TJA system, and the control unit 801 is further configured to: after control information from a driver of the vehicle is received by the receiving unit, the activation of the TJA system is cancelled after the activation time of the TJA system reaches the activation duration according to the control information.

Optionally, the control unit 801 is further configured to: deactivating the TJA system after receiving control information from a driver of the vehicle, in accordance with the control information.

Optionally, within a preset time after the activation of the TJA system is cancelled according to the control information, the automatic activation function of the TJA system is in a sleep state.

Optionally, the control unit 801 is configured to: determining that the vehicle is located on a traffic jam road section through at least two items of information: navigation status information, roadside device status information, status information of the vehicle, and status information of other vehicles within a predetermined range around the vehicle.

It should be noted that the division of the unit in the embodiment of the present application is schematic, and is only a logic function division, and there may be another division manner in actual implementation. Each functional unit in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application may be essentially implemented or make a contribution to the prior art, or all or part of the technical solutions may be implemented in the form of a software product stored in a storage medium, and including several instructions for causing a computer device (which may be a personal computer, a server, a network device, or the like) or a processor (processor) to execute all or part of the steps of the methods described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.

In a simple embodiment, those skilled in the art can appreciate that the communication devices in the above embodiments may all take the form shown in fig. 9.

The apparatus 900 shown in fig. 9 includes at least one processor 910, a memory 920, and optionally a communication interface 930.

Memory 920 may be a volatile memory, such as a random access memory; the memory may also be a non-volatile memory such as, but not limited to, a read-only memory, a flash memory, a Hard Disk Drive (HDD) or a solid-state drive (SSD), or the memory 920 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. The memory 920 may be a combination of the above memories.

The specific connection medium between the processor 910 and the memory 920 is not limited in the embodiments of the present application.

In the apparatus of fig. 9, a communication interface 930 is further included, and the processor 910 can perform data transmission through the communication interface 930 when communicating with other devices.

When the communication device takes the form shown in fig. 9, the processor 910 in fig. 9 may execute the instructions by calling a computer stored in the memory 920, so that the device 900 may execute the method performed by the communication device in any of the above-described method embodiments.

The embodiment of the present application further relates to a chip system, which includes a processor, configured to call a computer program or computer instructions stored in a memory, so that the processor executes the method according to any one of the embodiments shown in fig. 3 or fig. 5.

In one possible implementation, the processor is coupled to the memory through an interface.

In one possible implementation, the system-on-chip further includes a memory having a computer program or computer instructions stored therein.

Embodiments of the present application also relate to a processor for calling a computer program or computer instructions stored in a memory to cause the processor to perform a method according to any one of the embodiments of fig. 3 or fig. 5.

The processor referred to herein may be a general purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more ics for controlling program execution of the methods of any of the embodiments shown in fig. 3 or 5. Any of the above mentioned memories may be read-only memories (ROMs) or other types of static storage devices that may store static information and instructions, random Access Memories (RAMs), etc.

It should be understood that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present application without departing from the scope of the embodiments of the present application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to encompass such modifications and variations.

Claims

1. A method of driving a vehicle, comprising:

activating a traffic jam assistance TJA system of the vehicle when the vehicle is located on a traffic jam road section;

outputting reminding information, wherein the reminding information is used for indicating that the TJA system is activated;

receiving control information from a driver of the vehicle, wherein the control information is used for controlling state switching of the TJA system, and the control information is associated with the reminding information.

2. The method according to claim 1, wherein the control information includes first indication information indicating an activation period of the TJA system, and after receiving the control information from the driver of the vehicle, the method further comprises:

and according to the control information, after the activation time of the TJA system reaches the activation duration, deactivating the TJA system.

3. The method of claim 1, wherein after receiving control information from a driver of the vehicle, the method further comprises:

and deactivating the TJA system according to the control information.

4. The method according to claim 2 or 3, wherein the automatic activation function of the TJA system is in a sleep state for a preset time after the TJA system is deactivated according to the control information.

5. The method according to any one of claims 1-4, further comprising:

determining that the vehicle is located on a traffic jam road segment by at least two items of information:

navigation status information, roadside device status information, status information of the vehicle, and status information of other vehicles within a predetermined range around the vehicle.

6. A vehicle driving apparatus, characterized by comprising:

the control unit is used for activating a traffic jam assisting TJA system of the vehicle under the condition that the vehicle is positioned on a traffic jam road section;

the output unit is used for outputting reminding information, and the reminding information is used for indicating that the TJA system is activated;

the receiving unit is used for receiving control information from a driver of the vehicle, the control information is used for controlling state switching of the TJA system, and the control information is related to the reminding information.

7. The apparatus according to claim 6, wherein the control information includes first indication information, the first indication information is used for indicating an activation duration of the TJA system, and the control unit is further configured to:

after control information from a driver of the vehicle is received through the receiving unit, the activation of the TJA system is cancelled after the activation time of the TJA system reaches the activation duration according to the control information.

8. The apparatus of claim 6, wherein the control unit is further configured to:

deactivating the TJA system after receiving control information from a driver of the vehicle, in accordance with the control information.

9. The apparatus according to claim 7 or 8, wherein the automatic activation function of the TJA system is in a sleep state for a preset time after the TJA system is deactivated according to the control information.

10. The apparatus according to any one of claims 6-9, wherein the control unit is configured to:

navigation state information, roadside device state information, state information of the vehicle, and state information of other vehicles within a predetermined range around the vehicle.

11. An apparatus, comprising: a processor and a memory;

the memory is used for storing programs;

the processor is configured to execute the program stored in the memory to cause the apparatus to implement the method of any of claims 1-5.

12. A computer-readable storage medium comprising computer-readable instructions that, when executed, implement the method of any of claims 1-5.