CN115871698A

CN115871698A - Vehicle control method and device, vehicle, communication equipment and system

Info

Publication number: CN115871698A
Application number: CN202111152611.4A
Authority: CN
Inventors: 张学艳
Original assignee: CICTCI Technology Co Ltd
Current assignee: CICTCI Technology Co Ltd
Priority date: 2021-09-29
Filing date: 2021-09-29
Publication date: 2023-03-31

Abstract

The application provides a vehicle control method, a device, a vehicle, a communication device and a system, wherein the vehicle control method applied to the vehicle comprises the following steps: under the condition that the control right of the vehicle is switched from automatic driving to taking over by a driver, if the decision accuracy corresponding to the automatic driving system of the vehicle in the current environment is greater than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value, a transition reminding mode is started; when the vehicle is in the transition reminding mode, the automatic driving system at least has sensing capability and decision-making capability. Under the condition that the control right of the vehicle is switched from automatic driving to driver taking over, whether a preset transition reminding mode is started or not can be judged, so that after the driver takes over the control right of the vehicle, the perception and decision of an automatic driving system under the transition reminding mode can be referred, misoperation caused by inattention and the like when the driver takes over the control right of the vehicle is reduced, and the driving safety of the vehicle is improved.

Description

Vehicle control method and device, vehicle, communication equipment and system

Technical Field

The present application relates to the field of vehicle control technologies, and in particular, to a vehicle control method, an apparatus, a vehicle, a communication device, and a system.

Background

The american society of automotive engineering divides the autopilot system into L1-L5 grades:

level 1 assisted driving (Driver Assistance), the system at most has "partial control power" at the same time-either steering control or throttle/brake control. When an emergency situation occurs, the driver needs to be ready to immediately take over control at any time. And humans need to monitor the surrounding environment.

Level 2 semi-Automation (Partial Automation), the control right transferred to the system in the Level 2 stage is changed from 'Partial' to 'full', that is, under the ordinary driving environment, a driver can transfer the horizontal and vertical control right to the system at the same time. And humans need to monitor the surrounding environment.

Level 3 Conditional Automation, the system performs most of the driving operations, only when an emergency occurs, the driver optionally giving a stage of appropriate response. At this point, the system takes over the human being, monitoring the surrounding environment.

Level 4 is highly automated (High Automation), and the automatic driving system can complete all driving operation stages under the condition that the driver does not answer. However, at this time, the system only supports a part of the driving modes, and cannot adapt to all scenes.

Level 5 is fully automated (Full Automation), and the system can support all driving modes. In this stage, it is possible that the driver will no longer be allowed to become the controlling subject.

In the automatic driving system with the L2 level and above, a driver can temporarily take off the vehicle, the system realizes the control of the vehicle, and when an emergency occurs, the driver takes over the control of the vehicle.

In a complex environment, the automatic driving system cannot support the automatic driving system to continue to carry out automatic driving of L3 or more, so that a driver needs to be reminded to take over the vehicle within a period of time before the latest take-over time, various judgment criteria exist at the latest take-over time, and the safety distance can be used as one of the criteria. Assuming that the time t1, the automatic driving system prompts the driver to take over the vehicle and requires the driver to complete the taking over before the time t2, otherwise, the automatic driving system can adopt a braking and stopping mode to ensure the safety of the vehicle.

After a driver takes over the vehicle, the control right and responsibility of the traditional intelligent single-vehicle automatic driving vehicle and the intelligent network-connected vehicle are transferred to the driver, the vehicle only provides auxiliary driving functions of L2 and below, such as AEB (automatic emergency braking), LDW (lane departure warning), LCW (lane change collision warning) and the like, and does not execute the functions of high-level automatic driving of L3 or above, and at the moment, the functions of the high-level automatic driving system above L3 are only provided for the driver as perceived input.

In the design process of the existing automatic driving system, the taking over condition or the early warning mechanism of a driver is according to a preset threshold value, and the actual driving process is not considered; in the actual driving process, factors such as the time after the driver takes off the vehicle, the engaged activities, whether to continuously pay attention to the driving state of the vehicle and the like all influence the initial control level when the driver takes over the vehicle again, and if the reaction time is not enough, misoperation in a short time can be caused, and accidents are caused.

Disclosure of Invention

The technical purpose to be achieved by the embodiments of the present application is to provide a vehicle control method, device, vehicle, communication device and system, so as to solve the problem that an accident is easily caused by an unstable initial control level when a driver takes over a vehicle from automatic driving.

In order to solve the above technical problem, an embodiment of the present application provides a vehicle control method, applied to a vehicle, including:

under the condition that the control right of the vehicle is switched from automatic driving to taking over by a driver, if the decision accuracy corresponding to the automatic driving system of the vehicle under the current environment is greater than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value, starting a transition reminding mode; when the vehicle is in the transition reminding mode, the automatic driving system at least has sensing capability and decision-making capability.

Preferably, in the vehicle control method as described above, after controlling the vehicle to turn on the transition alert mode, the method further includes:

and outputting driving prompt information according to the decision information obtained by the automatic driving system under the current environment.

Specifically, before outputting the driving prompt information according to the decision information obtained by the automatic driving system in the current environment, the vehicle control method further includes:

acquiring environmental information, and determining whether the vehicle has potential safety hazards or not according to the environmental information;

and when the vehicle has potential safety hazards, executing a step of outputting driving prompt information according to decision information obtained by an automatic driving system under the current environment.

Specifically, the vehicle control method as described above, the manner of obtaining the first personal ability value of the driver includes:

acquiring at least one personal ability evaluation parameter;

and obtaining a first personal ability value according to the acquired personal ability evaluation parameters.

Further, the vehicle control method as described above, wherein the personal ability evaluation parameter includes at least one of:

a driver driving ability parameter;

the driver takes over the reaction capability parameters;

a passenger state parameter;

a vehicle state parameter;

an environmental status parameter.

Preferably, the vehicle control method as described above, the method further includes:

and acquiring the target duration of the vehicle in the transition reminding mode according to the first personal ability value.

Further, the vehicle control method as described above, the method further comprising:

and when the duration that the vehicle starts the transition reminding mode reaches the target duration, exiting the transition reminding mode.

Optionally, in the vehicle control method as described above, after the transition reminding mode is turned on, the method further includes:

monitoring the decision accuracy and/or the driving state of the vehicle;

and when the decision accuracy is lower than a first preset value and/or the driving state in a first preset time period is continuously in a safe and stable driving state, exiting the transition reminding mode.

Preferably, in the case where the vehicle is in the transition warning mode, the vehicle control method as described above further includes:

periodically broadcasting the first information;

wherein the first information is used for indicating that the vehicle is in the transition reminding mode.

Optionally, the vehicle control method as described above, further comprising:

when second information sent by other vehicles is received, adjusting safety and efficiency strategies corresponding to the other vehicles according to the second information, wherein the second information is used for indicating that the other vehicles are in a transition reminding mode;

wherein the security and efficiency policies include at least one of:

the vehicle transfers the control right to the time of the driver in the automatic driving mode;

the safety early warning strategy of the vehicle to other vehicles;

safe distance of the vehicle from other vehicles;

target duration for which the vehicle is in the transition alert mode;

priority of other vehicles requesting information.

Specifically, as the vehicle control method described above, when the target information is the first information or the second information, the target information includes at least one of:

starting time of the transition reminding mode;

a current duration of the transitional alert mode;

a target duration of the transitional alert mode;

a current transition reminder level, wherein the current reminder level is determined according to a current duration and a target duration.

Another preferred embodiment of the present application also provides a vehicle control method applied to a communication device, including:

when first information sent by the vehicle is received, adjusting output information and/or a control strategy of the vehicle according to the first information;

the first information is used for indicating that the vehicle is in a transition reminding mode; when the vehicle is in the transition reminding mode, the automatic driving system at least has sensing capability and decision-making capability.

Still another preferred embodiment of the present application further provides a first control apparatus applied to a vehicle, including:

the first processing module is used for starting a transition reminding mode when the decision accuracy corresponding to the automatic driving system of the vehicle in the current environment is greater than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value under the condition that the control right of the vehicle is switched from automatic driving to taking over by the driver; when the vehicle is in the transition reminding mode, the automatic driving system at least has sensing capability and decision-making capability.

Preferably, the first control apparatus as described above, further comprises:

and the third processing module is used for outputting driving prompt information according to the decision information obtained by the automatic driving system under the current environment.

Specifically, the first control apparatus as described above further includes:

the fourth processing module is used for acquiring the environmental information and determining whether the vehicle has potential safety hazards or not according to the environmental information;

and the fifth processing module is used for executing the step of outputting the driving prompt information according to the decision information obtained by the automatic driving system under the current environment when the vehicle has potential safety hazards.

Specifically, as described above, the first processing sub-module of the first processing module for obtaining the first personal ability value of the driver includes:

a first processing unit for obtaining at least one personal ability evaluation parameter;

and the first processing unit is used for obtaining a first personal ability value according to the acquired personal ability evaluation parameters.

Further, the first control device as described above, the personal ability evaluation parameter includes at least one of:

a driver driving ability parameter;

the driver takes over the reaction capability parameters;

a passenger state parameter;

a vehicle state parameter;

an environmental status parameter.

Preferably, the first control apparatus as described above, further comprises:

and the sixth processing module is used for acquiring the target duration of the vehicle in the transition reminding mode according to the first personal ability value.

Further, the vehicle control method as described above, further comprising:

and the seventh processing module is used for exiting the transition reminding mode when the duration of the starting of the transition reminding mode of the vehicle reaches the target duration.

Optionally, the first control device as described above further includes:

the eighth processing module is used for monitoring the decision accuracy and/or the running state of the vehicle;

and the ninth processing module exits the transition reminding mode when the decision accuracy is lower than a first preset value and/or the driving state in a first preset time period is continuously in a safe and stable driving state.

Preferably, the first control apparatus as described above, further comprises:

a tenth processing module, configured to broadcast the first information periodically;

Optionally, the first control device as described above further includes:

the tenth processing module is used for adjusting safety and efficiency strategies corresponding to other vehicles according to second information when the second information sent by other vehicles is received, wherein the second information is used for indicating that the other vehicles are in a transition reminding mode;

wherein the security and efficiency policy comprises at least one of:

the vehicle transfers control to the driver's opportunity in the automatic driving mode;

the safety early warning strategy of the vehicle to other vehicles;

safe distances of the vehicle from other vehicles;

target duration for which the vehicle is in the transition alert mode;

priority of other vehicle request information.

Specifically, as described above, when the target information is the first information or the second information, the first control means includes at least one of:

starting time of the transition reminding mode;

the current duration of the transitional alert mode;

a target duration of the transitional alert mode;

a current transition alert level, wherein the current alert level is determined according to a current duration and a target duration.

Yet another preferred embodiment of the present application further provides a vehicle including: the first control device as described above.

Another preferred embodiment of the present application also provides a second control apparatus, applied to a communication device, including:

the second processing module is used for adjusting output information and/or a control strategy of the vehicle according to the first information when the first information sent by the vehicle is received;

Still another preferred embodiment of the present application further provides a communication apparatus including: the second control device as described above.

Yet another preferred embodiment of the present application further provides a car networking system, comprising: a vehicle as described above and a communication device as described above, wherein the vehicle is communicatively connected to the communication device.

Compared with the prior art, the vehicle control method, the vehicle control device, the vehicle, the communication equipment and the vehicle control system provided by the embodiment of the application have the following beneficial effects:

in one embodiment of the present application, a vehicle control method using a vehicle is provided, and optionally, the vehicle control method may be specifically applied to a controller or a control system on the vehicle. When the control method is executed by the vehicle, the control right attribution of the vehicle can be detected, preferably, when the control right of the vehicle is detected to be switched from automatic driving to driver taking over, whether a preset transition reminding mode is started or not can be judged according to the decision accuracy corresponding to the automatic driving system in the current environment and the first personal ability value of the driver, wherein if the decision accuracy is larger than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value, the decision result of the current vehicle is credible and the driver has the requirement of transition reminding is indicated, at the moment, the transition reminding mode different from the normal reminding mode is started, the automatic driving system at the transition reminding mode at least has the sensing ability and the decision ability, so that after the driver takes over the control right of the vehicle, the perception and the decision of the automatic driving system at the transition reminding mode can be referred, misoperation caused by the carelessness and the like when the driver takes over the control right of the vehicle can be reduced, and the driving safety of the vehicle can be improved.

Drawings

FIG. 1 is one of flow diagrams of a vehicle control method of the present application as applied to a vehicle;

FIG. 2 is a second flowchart illustration of a vehicle control method of the present application;

FIG. 3 is a third schematic flow chart of a vehicle control method of the present application as applied to a vehicle;

FIG. 4 is a fourth flowchart illustration of a vehicle control method of the present application as applied to a vehicle;

fig. 5 is a flowchart illustrating a vehicle control method applied to the communication device according to the present application;

FIG. 6 is a schematic of the construction of a first control device of the present application;

fig. 7 is a schematic configuration of a second control device of the present application.

Detailed Description

To make the technical problems, technical solutions and advantages to be solved by the present application clearer, the following detailed description is made with reference to the accompanying drawings and specific embodiments. In the following description, specific details such as specific configurations and components are provided only to help the embodiments of the present application be fully understood. Accordingly, it will be apparent to those skilled in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present application. In addition, descriptions of well-known functions and constructions are omitted for clarity and conciseness.

It should be appreciated that reference throughout this specification to "one embodiment" or "an embodiment" means that a particular feature, structure or characteristic described in connection with the embodiment is included in at least one embodiment of the present application. Thus, the appearances of the phrases "in one embodiment" or "in an embodiment" in various places throughout this specification are not necessarily all referring to the same embodiment. Furthermore, the particular features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

In various embodiments of the present application, it should be understood that the sequence numbers of the following processes do not mean the execution sequence, and the execution sequence of each process should be determined by its function and inherent logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

It should be understood that the term "and/or" herein is merely one type of association relationship that describes an associated object, meaning that three relationships may exist, e.g., a and/or B may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, the character "/" herein generally indicates that the former and latter associated objects are in an "or" relationship.

In the embodiments provided herein, it should be understood that "B corresponding to a" means that B is associated with a from which B can be determined. It should also be understood that determining B from a does not mean determining B from a alone, but may be determined from a and/or other information.

Referring to fig. 1, an embodiment of the present application provides a vehicle control method applied to a vehicle, including:

step S101, under the condition that the control right of the vehicle is switched from automatic driving to taking over by a driver, if the decision accuracy corresponding to the automatic driving system of the vehicle in the current environment is greater than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value, a transition reminding mode is started; when the vehicle is in the transition reminding mode, the automatic driving system at least has sensing capability and decision-making capability.

In one embodiment of the present application, a vehicle control method using a vehicle is provided, and optionally, the vehicle control method may be specifically applied to a controller or a control system on the vehicle. When the control method is executed by the vehicle, the control right attribution of the vehicle can be detected, preferably, when the control right of the vehicle is detected to be switched from automatic driving to driver taking over, whether a preset transition reminding mode is started or not can be judged according to the decision accuracy corresponding to the automatic driving system in the current environment and the first personal ability value of the driver, wherein if the decision accuracy is larger than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value, the decision result of the current vehicle is reliable and the driver has the requirement of transition reminding is indicated, at the moment, the transition reminding mode different from the normal reminding mode is started, the automatic driving system in the transition reminding mode at least has the sensing ability and the decision ability, so that the automatic driving system can still sense and decide the environment, after the driver takes over the control right of the vehicle, the sensing and decision of the automatic driving system in the transition reminding mode can be referred, misoperation of the driver caused by the carelessness of the carelessness when the driver takes over the control right of the vehicle can be reduced, and the driving safety of the vehicle can be improved.

Optionally, when judging whether to start the preset transition reminding mode, if the decision accuracy is smaller than the first preset value, it indicates that the decision result of the current vehicle is not trusted or has low reliability, and at this time, the transition reminding mode is not started; if the first personal ability value of the driver is higher than the second preset value, it is indicated that the ability of the driver meets the requirement of taking over the rear safe driving, namely the requirement of no transition reminding, at the moment, the transition reminding mode is preferably not started, but on the basis of improving the driving safety, the transition reminding mode can also be started under the condition, and double guarantee is provided for the driving safety.

Preferably, the case where the control right of the vehicle is switched from the automatic driving to the driver's takeover is preferably used for performing the above-described determination and the like in an early stage of the driver's takeover within a preset time after the automatic driving mode is switched to the manual driving mode and the driver's control of the steering wheel, the pedal, or the switch button is detected.

It should be noted that, when the vehicle is in the transition reminding mode, the reminding level, the reminding mode and/or the reminding frequency of the same reminder on the vehicle may be changed to be distinguished from the normal reminding mode, and preferably, the reminding level, the reminding mode and/or the reminding frequency of the same reminder in the transition reminding mode may all be processed in an improved manner.

It should be noted that the above decision accuracy is determined by the automatic driving system according to the external environment, which includes but is not limited to weather conditions, such as road conditions sensed by the vehicle due to fog in foggy weather, and the decision accuracy is reduced.

Preferably, the vehicle control method as described above, after controlling the vehicle to turn on the transition warning mode, the method further includes:

In a preferred embodiment of the application, after the vehicle is controlled to start the transition reminding mode, decision information obtained by sensing and deciding of the automatic driving system in the current environment is obtained, and driving prompt information is output according to the decision information, so that a user can know that the automatic driving system needs to execute operations if the automatic driving mode is adopted in the current environment, the user can control the vehicle according to the driving prompt information, and the problems that the driver cannot make correct judgment due to factors such as inattention and the like after taking over the control right of the vehicle, and further misoperation is caused to influence the driving safety of the vehicle are avoided.

Referring to fig. 2, in particular, before the vehicle control method as described above outputs the driving prompt information according to the decision information obtained by the automatic driving system under the current environment, the method further includes:

step S201, acquiring environmental information, and determining whether a vehicle has potential safety hazards according to the environmental information;

and S202, when the vehicle has potential safety hazards, outputting driving prompt information according to decision information obtained by an automatic driving system in the current environment.

In a preferred embodiment of the present application, before outputting the driving guidance information according to the decision information, a step of determining whether the driving guidance information needs to be output may be added, which is exemplified in a specific embodiment of the present application, and the step includes: acquiring environmental information, determining whether the vehicle has potential safety hazards or not according to the environmental information, and if the vehicle has the potential safety hazards, executing the step of outputting the driving prompt information according to the decision information so as to facilitate the driver to operate according to the driving prompt information and avoid triggering of the potential safety hazards; if the vehicle has no potential safety hazard, the vehicle is in a safe driving state at present, and operation is not required to be performed according to the driving prompt information, so that the driving prompt information can be provided or not provided.

It should be noted that, in this embodiment, the environmental information includes, but is not limited to, weather conditions, road conditions, the positional relationship between other traffic participants and the host vehicle, self-state information detected by the vehicle, driver operation information, and the like.

Referring to fig. 3, in particular, the manner of obtaining the first personal ability value of the driver, as the vehicle control method described above, may include:

step S301, at least one personal ability evaluation parameter is obtained;

step S302, obtaining a first personal ability value according to the acquired personal ability evaluation parameters.

In a preferred embodiment of the present application, when the first personal ability value of the driver is obtained, at least one personal ability evaluation parameter is obtained, and the first personal ability value is obtained according to the obtained personal ability evaluation parameter. Preferably, the step of obtaining the first personal ability value according to the obtained personal ability evaluation parameter is exemplified by: and acquiring a corresponding value from a preset personal ability evaluation parameter evaluation corresponding table according to the personal ability evaluation parameter, and further acquiring the first personal ability value according to the acquired value corresponding to the personal ability evaluation parameter and a preset algorithm, wherein the preset algorithm comprises but is not limited to addition, functions and the like. Alternatively, the first personal ability value may be an evaluation value, an evaluation level, or the like.

a driver driving ability parameter;

the driver takes over the reaction capability parameters;

a passenger state parameter;

a vehicle state parameter;

an environmental status parameter.

In an embodiment of the present application, the personal ability evaluation parameter is exemplified, wherein the personal ability evaluation parameter includes at least one of the following: a driver driving ability parameter; the driver takes over the reaction capability parameters; a passenger state parameter; a vehicle state parameter; an environmental status parameter.

Further, the driver's driving ability parameters include, but are not limited to, actual driving experience, driving age, gender, physical condition, and the like.

The reaction capability parameters taken over by the driver include, but are not limited to, driving habits of the driver, current state of the driver, and the like, and specifically, the driving habits of the driver include, but are not limited to, lane changing habits, braking habits, violation frequency, and the like; the current state of the driver includes, but is not limited to, emotional state, length of stay, line-of-sight dwell position, current activity engaged, and the like.

The occupant status parameters include, but are not limited to, whether a particular occupant is a particular occupant, including, but not limited to, old, young, sick, disabled, pregnant, etc.

Vehicle status parameters include, but are not limited to, vehicle loading conditions, vehicle malfunction conditions, and the like, wherein vehicle loading conditions include, but are not limited to, whether a load is present, the type of load (e.g., whether it is a hazardous item), the volume of the load, the weight of the load, and the like.

Environmental status parameters include, but are not limited to, weather conditions, road conditions, route conditions, other traffic participant conditions; wherein, the weather conditions include but are not limited to rain, snow, wind, haze, fog, etc.; the road conditions include, but are not limited to, road width, terrain, congestion, sharp curves, sharp downhill slopes, etc.; the route information includes but is not limited to whether lane changing, remitting into and remitting out, driving into and out of intersections and the like are needed in a short time on a planned route; the other traffic participant situations include, but are not limited to, whether other traffic participants have an abnormality, whether to execute a special safety or efficiency policy, whether to execute a VRU, whether to execute an emergency braking, etc., and in this application, the other traffic participants refer to other vehicles near the current vehicle, and may also be other devices or apparatuses that affect the driving safety or driving efficiency of the vehicle, such as road side units, signal lights, etc.

In a preferred embodiment of the present application, the target duration of the vehicle in the transition reminding mode is further obtained according to the obtained first personal ability value, and is used for evaluating the demand time for the transition reminding mode. Preferably, the target duration time may be used as a condition for determining whether to exit the transition reminding mode, and when the duration time for starting the transition reminding mode reaches the target duration time, the transition reminding mode exits, so that the transition reminding mode exits under the condition that it is determined that the driver can drive safely, and the transition reminding mode may be selectively switched to the normal reminding mode, which is beneficial to reducing resource consumption for the automatic driving system to make a decision to obtain decision information and determine whether to output the driving reminding information according to the decision information in the transition reminding mode.

Alternatively, after the target duration that the vehicle is in the transition reminding mode is acquired, only the target duration may be used in the first information sent as described below, and the target duration is not used as a judgment condition for whether to exit the transition reminding mode.

Referring to fig. 4, optionally, the vehicle control method as described above, after the transition alert mode is turned on, the method further includes:

step S401, monitoring decision accuracy and/or a driving state of a vehicle;

and S402, when the decision accuracy is lower than a first preset value and/or the running state in a first preset time period is continuously in a safe and stable running state, exiting the transition reminding mode.

Optionally, after the transition reminding mode is started, the decision accuracy and/or the driving state of the vehicle are monitored, whether the current decision information is credible or not is judged according to the decision accuracy, and whether the vehicle is safely driven or whether the driver is safely driven or not is judged according to the driving state of the vehicle. And when the decision accuracy is lower than a first preset value, determining that the current decision information is not credible, wherein the given driving prompt information has no reference significance, so that the driver needs to exit the transition reminding mode and switch to the normal reminding mode to avoid misleading the driver. When the driving state of the vehicle is determined to be continuously in the safe and stable driving state within the first preset time period, the vehicle can be determined to be in the safe driving state or the driver can drive safely, the transition reminding mode exits at the moment, the normal reminding mode is switched, and resource consumption of decision information obtained by decision making of an automatic driving system in the transition reminding mode and whether the driving reminding information is output or not according to the decision information is reduced.

Preferably, the above steps can also be executed on the basis of obtaining the target duration of the vehicle-on transition reminding mode; when the fact that the transition reminding mode needs to be quitted is determined according to at least one of the target duration, the decision accuracy and the driving state, the transition reminding mode is quitted, and the normal reminding mode is switched to; or when the transition reminding mode needs to be quitted according to the decision accuracy and/or the driving state, the transition reminding mode is quitted and the normal reminding mode is switched.

periodically broadcasting the first information;

In a preferred implementation of the present application, the vehicle may communicate with other vehicles, roadside devices and/or a cloud server, and therefore, when the vehicle is in the transition reminding mode, the vehicle may also periodically broadcast first information, where the first information is used to indicate that the vehicle is in the transition reminding mode, so that the other vehicles, the roadside devices and/or the cloud server adopt corresponding measures according to the transition reminding mode of the vehicle, and further improve vehicle safety and/or vehicle traffic efficiency.

Specifically, the vehicle transmitting the first information includes: at least one of: starting time of the transition reminding mode; a current duration of the transitional alert mode; a target duration of the transitional alert mode; a current transition alert level, wherein the current alert level is determined according to a current duration and a target duration. The method is convenient for other vehicles, roadside equipment and/or cloud equipment to further improve the refinement of the taken measures according to the starting time, the duration time, the target duration time, the current transition reminding level and the like of the vehicle in the transition reminding mode.

It should be noted that the current reminding level is determined according to the current duration and the target duration, for example, a ratio of the current duration to the target duration, or a ratio of a remaining duration obtained by subtracting the current duration from the target duration to the target duration.

Optionally, the vehicle control method as described above, further comprising:

wherein the security and efficiency policies include at least one of:

the safety early warning strategy of the vehicle to other vehicles;

safe distances of the vehicle from other vehicles;

target duration for the vehicle in the transition alert mode;

priority of other vehicle request information.

In another preferred embodiment of the present application, based on that the vehicle may communicate with other vehicles, roadside devices, and/or cloud servers, when the vehicle receives second information sent by other vehicles and used for indicating that other vehicles are in a transition reminding mode, the security and efficiency policy corresponding to other vehicles may be adjusted according to the second information, where the security and efficiency policy that needs to be adjusted includes at least one of the following: the vehicle transfers the control right to the time of the driver in the automatic driving mode; the safety early warning strategy of the vehicle to other vehicles; safe distance of the vehicle from other vehicles; target duration for which the vehicle is in the transition alert mode; priority of other vehicles requesting information. Based on the safety and efficiency strategies described above, it is preferable to extend the opportunity for the vehicle to transfer control to the driver in the autonomous driving mode when adjusting; improving the safety early warning strategy of the vehicle to other vehicles; increasing the safe distance between the vehicle and other vehicles; prolonging the target duration of the vehicle in the transition reminding mode; the priority of other vehicle request information is increased. Specifically, the second information received by the vehicle includes: at least one of the following: starting time of the transition reminding mode; a current duration of the transitional alert mode; a target duration of the transitional alert mode; a current transition alert level, wherein the current alert level is determined according to a current duration and a target duration. The method is convenient for other vehicles, road side equipment and/or a cloud server and the like to further improve the refinement of the taken measures according to the starting time, the duration time, the target duration time, the current transition reminding level and the like of the vehicle in the transition reminding mode.

When the received second information includes the duration and the target duration but does not include the current transition reminding level, the current transition reminding level can be obtained according to the duration and the target duration.

Referring to fig. 5, another preferred embodiment of the present application also provides a vehicle control method applied to a communication apparatus, including:

step 501, when first information sent by a vehicle is received, adjusting output information and/or a control strategy of the vehicle according to the first information;

In another preferred embodiment of the present application, a vehicle control method applied to a communication device is further provided, where the communication device includes, but is not limited to, a roadside device, a cloud device, and the like, and when the communication device receives first information indicating that a vehicle is in a transition alert mode, the communication device adjusts output information and/or a control strategy for the vehicle according to the first information; specifically, when the communication device is a roadside device, the output information output to the signal lamp or the control strategy for controlling the signal lamp is adjusted according to the first information, so that the signal lamp prolongs the duration of a green light corresponding to the vehicle lane, shortens the duration of a red light, and the like.

It should be noted that the cloud device includes, but is not limited to, an edge computing unit or a central subsystem.

Referring to fig. 6, still another preferred embodiment of the present application further provides a first control apparatus applied to a vehicle, including:

the first processing module 601 is configured to, under the condition that the control right of the vehicle is switched from the automatic driving to the driver taking over, start a transition reminding mode if the decision accuracy corresponding to the automatic driving system of the vehicle in the current environment is greater than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value; when the vehicle is in the transition reminding mode, the automatic driving system at least has sensing capability and decision-making capability.

Preferably, the first control apparatus as described above, further comprises:

Specifically, the first control device as described above further includes:

Specifically, as for the first control device, the first processing sub-module of the first processing module for obtaining the first personal ability value of the driver includes:

a driver driving ability parameter;

the driver takes over the reaction capability parameters;

a passenger state parameter;

a vehicle state parameter;

an environmental status parameter.

Preferably, the first control apparatus as described above, further comprises:

Further, the vehicle control method as described above, further includes:

Optionally, the first control device as described above further includes:

the eighth processing module is used for monitoring the decision accuracy and/or the driving state of the vehicle;

and the ninth processing module exits the transition reminding mode when the decision accuracy is lower than a first preset value and/or the running state in a first preset time period is continuously in a safe and stable running state.

Preferably, the first control apparatus as described above, further comprises:

Optionally, the first control device as described above further includes:

the tenth processing module is used for adjusting safety and efficiency strategies corresponding to other vehicles according to second information when the second information sent by the other vehicles is received, wherein the second information is used for indicating that the other vehicles are in a transition reminding mode;

wherein the security and efficiency policy comprises at least one of:

safety early warning strategies of the vehicle to other vehicles;

safe distances of the vehicle from other vehicles;

target duration for which the vehicle is in the transition alert mode;

priority of other vehicles requesting information.

Specifically, as described above, when the target information is the first information or the second information, the target information includes at least one of:

starting time of the transition reminding mode;

a current duration of the transitional alert mode;

a target duration of the transitional alert mode;

The embodiment of the first control device of the present application corresponds to the embodiment of the vehicle control method applied to the vehicle, and all implementation means in the embodiment of the vehicle control method are applied to the embodiment of the first control device, and the same technical effects can be achieved.

Yet another preferred embodiment of the present application also provides a vehicle including: the first control device as described above.

Referring to fig. 7, another preferred embodiment of the present application further provides a second control apparatus applied to a communication device, including:

the second processing module 701 is used for adjusting output information and/or a control strategy of the vehicle according to first information when the first information sent by the vehicle is received;

The embodiment of the first control device of the present application corresponds to the embodiment of the vehicle control method applied to the vehicle, and all the implementation means in the embodiment of the vehicle control method are applied to the embodiment of the first control device, and the same technical effects can be achieved.

Yet another preferred embodiment of the present application further provides a car networking system, including: the vehicle and the communication device as described above, wherein the vehicle is in communication connection with the communication device.

Further, the present application may repeat reference numerals and/or letters in the various examples. This repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion.

The foregoing is a preferred embodiment of the present application, and it should be noted that, for those skilled in the art, several modifications and refinements can be made without departing from the principle described in the present application, and these modifications and refinements should be regarded as the protection scope of the present application.

Claims

1. A vehicle control method applied to a vehicle, characterized by comprising:

under the condition that the control right of the vehicle is switched from automatic driving to taking over by a driver, if the decision accuracy corresponding to an automatic driving system of the vehicle under the current environment is greater than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value, starting a transition reminding mode; and when the vehicle is in the transition reminding mode, the automatic driving system at least has perception capability and decision-making capability.

2. The vehicle control method according to claim 1, characterized in that after controlling the vehicle to turn on the transition warning mode, the method further comprises:

3. The vehicle control method according to claim 2, wherein before outputting the driving advice information based on the decision information obtained by the automatic driving system under the current environment, the method further comprises:

and when the vehicle has potential safety hazards, executing the step of outputting driving prompt information according to the decision information obtained by the automatic driving system under the current environment.

4. The vehicle control method according to claim 1, characterized in that the manner of obtaining the first personal ability value of the driver includes:

acquiring at least one personal ability evaluation parameter;

and obtaining the first personal ability value according to the acquired personal ability evaluation parameters.

5. The vehicle control method of claim 4, wherein the personal ability assessment parameter comprises at least one of:

a driver driving ability parameter;

the driver takes over the reaction capability parameters;

a passenger state parameter;

a vehicle state parameter;

an environmental status parameter.

6. The vehicle control method according to claim 1, characterized by further comprising:

7. The vehicle control method according to claim 6, characterized in that the method further comprises:

8. The vehicle control method according to claim 1 or 6, characterized in that after the transition warning mode is turned on, the method further includes:

monitoring the decision accuracy and/or the driving state of the vehicle;

and when the decision accuracy is lower than the first preset value and/or the running state in a first preset time period is continuously in a safe and stable running state, exiting the transition reminding mode.

9. The vehicle control method according to claim 1, characterized in that, in a case where the vehicle is in the transition warning mode, the method further includes:

periodically broadcasting the first information;

wherein the first information is used to indicate that the vehicle is in the transitional alert mode.

10. The vehicle control method according to claim 9, characterized by further comprising:

when second information sent by other vehicles is received, adjusting safety and efficiency strategies corresponding to the other vehicles according to the second information, wherein the second information is used for indicating that the other vehicles are in the transition reminding mode;

wherein the security and efficiency policy comprises at least one of:

the vehicle transfers control to the driver's opportunity in an autonomous driving mode;

the safety early warning strategy of the vehicle to the other vehicles;

a safe distance of the vehicle from the other vehicle;

a target duration for which the vehicle is in the transition alert mode;

the priority of the other vehicle request information.

11. The vehicle control method according to claim 9 or 10, characterized in that when target information is the first information or the second information, the target information includes at least one of:

the starting time of the transition reminding mode;

a current duration of the transitional alert mode;

a target duration of the transitional alert mode;

a current transition reminder level, wherein the current reminder level is determined according to the current duration and the target duration.

12. A vehicle control method applied to a communication device, characterized by comprising:

when first information sent by a vehicle is received, adjusting output information and/or a control strategy of the vehicle according to the first information;

wherein the first information is used to indicate that the vehicle is in a transitional alert mode; and when the vehicle is in the transition reminding mode, the automatic driving system at least has perception capability and decision-making capability.

13. A first control apparatus applied to a vehicle, characterized by comprising:

the first processing module is used for starting a transition reminding mode if the decision accuracy corresponding to an automatic driving system of the vehicle under the current environment is more than or equal to a first preset value and the first personal ability value of the driver is lower than a second preset value under the condition that the control right of the vehicle is switched from automatic driving to taking over by the driver; and when the vehicle is in the transition reminding mode, the automatic driving system at least has perception capability and decision-making capability.

14. A vehicle, characterized by comprising: the first control device of claim 13.

15. A second control apparatus applied to a communication device, comprising:

the second processing module is used for adjusting output information and/or a control strategy of the vehicle according to first information when the first information sent by the vehicle is received;

16. A communication device, comprising: the second control device of claim 15.

17. A vehicle networking system, comprising: the vehicle of claim 13 and the communication device of claim 15, wherein the vehicle is communicatively coupled with the communication device.