CN116039662B

CN116039662B - Automatic driving control method and related device

Info

Publication number: CN116039662B
Application number: CN202310328263.4A
Authority: CN
Inventors: 张志冲; 白颂荣; 陈曦
Original assignee: Shenzhen Xihua Technology Co Ltd
Current assignee: Shenzhen Xihua Technology Co Ltd
Priority date: 2023-03-30
Filing date: 2023-03-30
Publication date: 2023-08-08
Anticipated expiration: 2043-03-30
Also published as: CN116039662A

Abstract

The embodiment of the application discloses an automatic driving control method and a related device, wherein the method comprises the following steps: counting driving data of a user in a preset period; determining the driving proficiency of a user in specific vehicle conditions according to driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the user in the specific vehicle conditions; if the comprehensive driving proficiency indicates that the user is a novice user, reminding the user whether to start an auxiliary teaching function aiming at any target specific vehicle condition through a vehicle screen when the vehicle is identified to be in any target specific vehicle condition with the driving proficiency smaller than or equal to a preset threshold value, and responding to the starting operation of the user aiming at the auxiliary teaching function to acquire the state information of the vehicle and the environment information of the vehicle; generating an auxiliary teaching strategy corresponding to the specific vehicle condition of the target according to the state information and the environment information; and controlling the perception auxiliary equipment to execute auxiliary teaching strategies. The embodiment of the application is beneficial to improving the user experience.

Description

Automatic driving control method and related device

Technical Field

The application relates to the technical field of automatic driving control in new energy industry, in particular to an automatic driving control method and a related device.

Background

The conventional automatic driving domain controller system aims at most efficiently realizing the scene vehicle condition requirement, such as reversing and warehousing, and the automatic driving domain controller system calculates an optimal route according to the sensing information of a vehicle body sensor and executes automatic driving according to the route, so that no accompanying deep learning process experience is caused for a novice or a user who just takes the vehicle, and the actual vehicle feeling of the user is not improved although the data processing and the functions are realized.

Disclosure of Invention

The embodiment of the application provides an automatic driving control method and a related device, which can provide an auxiliary teaching strategy when a user has a demand, are beneficial to improving the driving feeling of the user, are beneficial to improving the driving processing capacity of the user, and are beneficial to improving the user experience.

In a first aspect, an embodiment of the present application provides an autopilot control method, which is applied to a vehicle multi-mode sensing control system, where the vehicle multi-mode sensing control system includes a domain controller chip system, a sensing auxiliary device, and a sensor, the domain controller chip system includes an autopilot domain controller, and the sensing auxiliary device includes at least one of the following: steering wheel, rotation control system, car machine screen, car machine voice system; the method comprises the following steps:

Counting driving data of a user in a preset period;

determining the driving proficiency of the user in each specific vehicle condition according to the driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the specific vehicle conditions;

if the comprehensive driving proficiency indicates that the user is a novice user, when the vehicle is identified to be in any one of the specific vehicle conditions, wherein the driving proficiency is smaller than or equal to a preset threshold, reminding the user whether to start an auxiliary teaching function aiming at the specific vehicle condition through the vehicle machine screen, and responding to the starting operation of the user aiming at the auxiliary teaching function to acquire state information of the vehicle and environment information of the vehicle, wherein the state information comprises at least one of the following: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status; or,

if the comprehensive driving skill indicates that the user is the novice user, displaying at least one specific vehicle condition of which the driving skill is smaller than or equal to the preset threshold value through the vehicle machine screen so as to remind the user whether an auxiliary teaching function for the specific vehicle condition needs to be started, determining a target specific vehicle condition in the at least one specific vehicle condition in response to the selection operation of the user, and acquiring state information of the vehicle and environment information of the vehicle;

Generating an auxiliary teaching strategy corresponding to the specific target vehicle condition according to the state information and the environment information;

and controlling the perception auxiliary equipment to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition.

In a second aspect, an embodiment of the present application provides an autopilot control apparatus applied to a vehicle multi-modal awareness control system, the vehicle multi-modal awareness control system including a domain controller chip system including an autopilot domain controller, an awareness assistance device including at least one of: steering wheel, rotation control system, car machine screen, car machine voice system; the device comprises: the system comprises a statistics unit, a determination unit, a reminding unit, a generation unit and a control unit, wherein,

the statistics unit is used for counting driving data of a user in a preset period;

the determining unit is used for determining the driving proficiency of the user in each specific vehicle condition according to the driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the specific vehicle conditions;

The reminding unit is configured to, if the comprehensive driving proficiency indicates that the user is a novice user, remind, through the vehicle-to-machine screen, whether the user starts an auxiliary teaching function for the target specific vehicle condition when it is identified that the vehicle is in any one of the specific vehicle conditions where the driving proficiency is less than or equal to a preset threshold, and obtain, in response to a start operation of the user for the auxiliary teaching function, state information of the vehicle and environmental information in which the vehicle is located, where the state information includes at least one of: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status; or,

the reminding unit is further configured to display, through the vehicle screen, at least one specific vehicle condition of which the driving proficiency is less than or equal to the preset threshold value if the comprehensive driving proficiency indicates that the user is the novice user, so as to remind the user whether an auxiliary teaching function for the specific vehicle condition needs to be started, and determine a target specific vehicle condition in the at least one specific vehicle condition in response to a selection operation of the user, and acquire state information of the vehicle and environmental information of the vehicle;

The generating unit is used for generating an auxiliary teaching strategy corresponding to the specific vehicle condition of the target according to the state information and the environment information;

the control unit is used for controlling the perception auxiliary equipment to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition.

In a third aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the first aspect of the embodiment of the present application.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program causes a computer to perform some or all of the steps as described in the first aspect of the embodiments of the present application.

In a fifth aspect, embodiments of the present application provide a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps described in the first aspect of the embodiments of the present application. The computer program product may be a software installation package.

By implementing the embodiment of the application, the following beneficial effects are achieved:

it can be seen that, according to the automatic driving control method and the related device described in the embodiments of the present application, driving data of a user in a preset period is counted; determining the driving proficiency of the user in each specific vehicle condition according to the driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the specific vehicle conditions; if the comprehensive driving proficiency indicates that the user is a novice user, when the vehicle is identified to be in any one of the specific vehicle conditions, wherein the driving proficiency is smaller than or equal to a preset threshold, reminding the user whether to start an auxiliary teaching function aiming at the specific vehicle condition through the vehicle machine screen, and responding to the starting operation of the user aiming at the auxiliary teaching function to acquire state information of the vehicle and environment information of the vehicle, wherein the state information comprises at least one of the following: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status; or if the comprehensive driving skill indicates that the user is the novice user, displaying at least one specific vehicle condition of which the driving skill is smaller than or equal to the preset threshold value through the vehicle machine screen so as to remind the user whether an auxiliary teaching function for the specific vehicle condition needs to be started, determining a target specific vehicle condition in the at least one specific vehicle condition in response to the selection operation of the user, and acquiring state information of the vehicle and environment information of the vehicle; generating an auxiliary teaching strategy corresponding to the specific target vehicle condition according to the state information and the environment information; and controlling the perception auxiliary equipment to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition. Therefore, when a user is novice, whether the vehicle is in a target specific vehicle condition or not can be identified, or the user can select the target specific vehicle condition by himself so as to start an auxiliary teaching function, and the suitability of the user is improved; and compared with the traditional automatic driving domain controller system, the system helps the user learn or get used to the driving mode under the specific driving condition through the auxiliary teaching function, is beneficial to improving the driving feeling of the user, is beneficial to improving the driving processing capacity of the user, and is beneficial to improving the user experience.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a vehicle multi-modal awareness control system according to an embodiment of the disclosure;

fig. 2A is a schematic flow chart of an autopilot control method according to an embodiment of the present application;

fig. 2B is a schematic view of a scene of a reverse warehouse-in vehicle condition according to an embodiment of the present application;

fig. 2C is a schematic view of a scenario of auxiliary teaching provided in an embodiment of the present application;

fig. 3 is a schematic structural diagram of an electronic device according to an embodiment of the present application;

fig. 4 is a functional unit composition block diagram of an automatic driving control device provided in the embodiment of the present application.

Detailed Description

In order to make the present application solution better understood by those skilled in the art, the following description will clearly and completely describe the technical solution in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application, and it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments herein without making any inventive effort, are intended to be within the scope of the present application.

The terms first, second and the like in the description and in the claims of the present application and in the above-described figures, are used for distinguishing between different objects and not for describing a particular sequential order. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

The electronic device in this embodiment of the present application may include a smart Phone (such as an Android mobile Phone, an iOS mobile Phone, a Windows Phone mobile Phone, etc.), a tablet computer, a palm computer, a vehicle recorder, a vehicle-mounted device, a server, a notebook computer, a mobile internet device (MID, mobile Internet Devices), or a wearable device (such as a smart watch, a bluetooth headset), which are merely examples, but not exhaustive, including but not limited to the above electronic device.

Referring to fig. 1, fig. 1 is a schematic architecture diagram of a vehicle multi-mode sensing control system according to an embodiment of the present application. As shown in fig. 1, the vehicle multi-modal awareness control system includes a domain controller chip system, an awareness assistance device, and sensors (or various end sensors/awareness devices/awareness chips, etc.).

Wherein the domain controller chip system comprises an autopilot domain controller, and the perception assistance device comprises at least one of the following: steering wheel, rotation control system, car machine screen, car machine voice system.

The automatic driving domain controller can be matched with various interfaces through a laser radar, a millimeter wave radar and the like in combination with a camera, an algorithm and the like, so that automatic driving of the vehicle is realized.

For example, the driving data of the user in the preset period can be counted by an automatic driving domain controller in the vehicle multi-mode sensing control system; and determining the driving proficiency of the user in each specific vehicle condition according to the driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the specific vehicle conditions. If the comprehensive driving proficiency indicates that the user is a novice user, the automatic driving domain controller is used for identifying that the vehicle is in any one target specific vehicle condition of which the driving proficiency is smaller than or equal to a preset threshold value in the plurality of specific vehicle conditions, and the user is reminded of whether to start an auxiliary teaching function aiming at the target specific vehicle condition through the vehicle-to-machine screen. Responding to the starting operation of the user for the auxiliary teaching function, acquiring state information of a vehicle through an automatic driving control domain, and acquiring environment information of the vehicle through a sensor, wherein the state information comprises at least one of the following: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status; or if the comprehensive driving skill indicates that the user is the novice user, displaying at least one specific vehicle condition that the driving skill is smaller than or equal to the preset threshold value through the vehicle machine screen so as to remind the user whether to start an auxiliary teaching function for the specific vehicle condition, responding to the selection operation of the user, determining a target specific vehicle condition in the at least one specific vehicle condition through an automatic driving control domain, acquiring state information of the vehicle, and acquiring environment information of the vehicle through a sensor. Generating an auxiliary teaching strategy corresponding to the specific vehicle condition of the target through an automatic driving domain controller according to the state information and the environment information; finally, under the auxiliary action of the automatic driving domain, the perception auxiliary equipment can be controlled to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition.

It should be noted that different controllers may be provided for different domains. For example, a micro control unit (Microcontroller Unit, MCU). Of course, a plurality of domains may share one controller, and the number of controllers corresponding to each domain is not limited in this application, and a plurality of controllers may be configured in one domain, and the controllers may be general-purpose processors, image processors, and the like with higher computing power.

Referring to fig. 2A, fig. 2A is a schematic flow chart of an automatic driving control method according to an embodiment of the present application; the system is applied to a vehicle multi-mode perception control system, the vehicle multi-mode perception control system comprises a domain controller chip system, perception auxiliary equipment and a sensor, the domain controller chip system comprises an automatic driving domain controller, and the perception auxiliary equipment comprises at least one of the following components: steering wheel, rotation control system, car machine screen, car machine voice system; the method comprises the following steps:

201. and counting driving data of the user in a preset period.

The preset period may be set by the user or default by the system, which is not limited herein. The preset period may refer to the first 15 days, 30 days, 40 days, etc. of the user driving the vehicle, and is not limited herein.

The driving data may refer to driving data of a user collected by the system under various specific vehicle conditions, for example, the driving data may include at least one of the following under each vehicle condition: the number of passes/frequency, frequency of gear change, number of gear changes, road type, mileage, passage time, engine speed, time stamp, steering wheel movement direction, number of steering wheel movements, vehicle speed at rapid acceleration/rapid deceleration, average vehicle speed, idle speed, number of idle speeds, etc., are not limited herein.

The specific vehicle conditions may include reverse parking conditions, for example, reverse parking in a narrow road or parking field, reverse parking in a wall parking garage, and the like; it may also include right angle turning vehicle conditions, such as right angle turning in narrow rural areas without lanes, right angle turning when there is an obstacle in front of the vehicle, right angle turning when there is a pier in front of the obstacle on the left side of the vehicle, etc.; the vehicle can also comprise mountain climbing or mountain descending of a interlinked mountain road and the like, and also can comprise vehicle conditions such as lateral parking of a two-workshop-separated middle parking garage; the specific vehicle conditions are not limited herein.

202. And determining the driving proficiency of the user in each specific vehicle condition according to the driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the specific vehicle conditions.

The driving proficiency refers to the proficiency of the user in different specific vehicle conditions, and the comprehensive judgment of the actual handling smoothness, success rate, spending time length and the like of the user in the specific vehicle conditions can be determined through driving data.

The comprehensive driving proficiency can refer to the proficiency of a user in various specific vehicles, and generally, the smoothness or success rate of the novice to the response of each road condition is not high with high probability.

Specifically, an average of a plurality of driving proficiency levels may be taken as the integrated driving proficiency level. The coefficient can also be set for different specific vehicle conditions, the coefficient can represent the importance of the coefficient for judging the user for novice, the comprehensive driving proficiency can be obtained by calculating according to the weighted sum of the coefficient and the driving proficiency of different specific vehicle conditions, for example, the coefficient of the vehicle condition in reverse warehouse-in can be set to be higher than the coefficient of the vehicle condition under the interlink mountain road if the user is not so much in the place; the specific setting method is not limited herein.

203. If the comprehensive driving proficiency indicates that the user is a novice user, when the vehicle is identified to be in any one of the specific vehicle conditions, wherein the driving proficiency is smaller than or equal to a preset threshold, reminding the user whether to start an auxiliary teaching function aiming at the specific vehicle condition through the vehicle machine screen, and responding to the starting operation of the user aiming at the auxiliary teaching function to acquire state information of the vehicle and environment information of the vehicle, wherein the state information comprises at least one of the following: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status.

204. And if the comprehensive driving skill indicates that the user is the novice user, displaying at least one specific vehicle condition of which the driving skill is smaller than or equal to the preset threshold value through the vehicle machine screen so as to remind the user whether an auxiliary teaching function aiming at the specific vehicle condition needs to be started, determining a target specific vehicle condition in the at least one specific vehicle condition in response to the selection operation of the user, and acquiring state information of the vehicle and environmental information of the vehicle.

Wherein, can presume the proficiency of presetting, when the comprehensive driving proficiency is less than or equal to presetting the proficiency, confirm that the user is the novice user.

The preset threshold or the preset proficiency may be set by the user or default by the system, which is not limited herein; the preset threshold may be set to be less than the preset proficiency level; when a user is a novice, the reverse storage of the vehicle under the bad vehicle condition is more skilled, but the reverse storage of the vehicle for a narrow parking lot is not skilled, so that auxiliary teaching can be performed for any specific vehicle condition of which the driving skill is less than or equal to a preset threshold value; moreover, if the auxiliary teaching function is given in each specific vehicle condition, the user may not have driving confidence more and more, so that the adaptation to the actual condition of the user is facilitated, and the user experience is improved.

Wherein, in step 203, when the user is identified as being in a specific condition of his unskilled target, a prompt may be given to the user to determine whether the user needs to turn on the auxiliary teaching function. In step 204, the user can be actively reminded of whether to start the auxiliary teaching function on the screen of the vehicle, and after the user starts, at least one specific vehicle condition is popped up to provide the user with auxiliary teaching selection of at least one specific vehicle condition; and acquiring the state information of the vehicle and the environment of the vehicle, so as to generate a corresponding auxiliary teaching strategy at any time when the state information and the environment of the vehicle meet at least one target specific vehicle condition selected by a user, and helping the user to pass through the target specific vehicle condition through the auxiliary teaching strategy.

205. And generating an auxiliary teaching strategy corresponding to the specific vehicle condition of the target according to the state information and the environment information.

The auxiliary teaching strategy mainly aims at teaching and gives a prompt to a user in modes of image, voice, force feedback and the like so as to help the user learn how to drive correctly under the specific vehicle condition of the target or pass through the specific vehicle condition of the target.

For example, the auxiliary teaching strategy can be used for controlling the steering wheel, the rotation control system, the vehicle screen, the vehicle voice system and the like to cooperatively work, and the user is helped to pass through the specific vehicle condition through the cooperation of the steering wheel prompt, the vehicle screen prompt, the voice prompt and the like.

Optionally, if the target specific vehicle condition is a reverse warehouse-in vehicle condition, step 205 may include the following steps of:

51. determining an obstacle between the vehicle and the garage, the position of the obstacle and the position of the garage according to the environmental information;

52. determining a reversing route of the vehicle reversing to the garage according to the vehicle position and the vehicle posture, as well as the position of the obstacle and the position of the garage, which are included in the state information, and displaying the reversing route through the vehicle machine screen, wherein the reversing route comprises a plurality of nodes, and each node corresponds to one pause point or inflection point of the reversing route;

53. according to the reversing route, determining the rotation direction, rotation angle and rotation moment of the steering wheel at each node;

54. when the fact that the user holds the steering wheel is detected, the reversing route displayed by the vehicle-mounted screen is cooperated, the vehicle-mounted voice system is controlled to play the rotating direction of the steering wheel in real time, and the steering wheel is controlled to give force feedback to each node according to the corresponding rotating direction, the corresponding rotating angle and the corresponding rotating moment through the rotating control system.

The obstacle between the vehicle and the garage may refer to other vehicles or piers or walls that affect the traffic of the vehicle, and is not limited herein.

The vehicle posture may refer to a vehicle posture that is shown relative to a position where a head, a tail, etc. of a current vehicle of the parking garage are located.

The above-mentioned stop point or inflection point may refer to a switching point or node of driving behavior in a reverse route where a direction is required to be switched, a steering wheel is switched, a user viewing angle is switched, and the like.

In this example, when the vehicle multi-mode sensing control system assists the user in reversing and warehousing, force feedback can be given to each node by combining the rotation direction, the rotation angle and the rotation moment through the steering wheel, so that the guiding adjustment of the hand rotation direction of the user can be realized, and under the condition of reducing the intervention of the steering wheel, the prompting of the user for assisting teaching can be given to assist the user in learning the driving method aiming at the reversing and warehousing vehicle condition, thereby being beneficial to improving the user experience.

Optionally, if the target specific vehicle condition is a reverse warehouse entry vehicle condition, after step 54, the control, by using the rotation control system, of the steering wheel may include the following steps after each of the nodes gives force feedback according to the corresponding rotation direction, rotation angle and rotation moment:

A1, if the environment information indicates that the garage with the right-angle-shaped wall body is arranged on the right side of the vehicle and the state information indicates that the vehicle is scraped to the right-angle-shaped wall body, determining the current vehicle posture of the vehicle and the wall body position of the right-angle-shaped wall body;

a2, determining a target rotation direction and a target rotation angle range corresponding to the steering wheel when the vehicle is separated from the right-angle wall according to the vehicle posture;

a3, determining a target rotation moment range of the steering wheel according to the vehicle posture and the wall position;

a4, detecting the current rotation direction, the current rotation angle and the current rotation moment of the steering wheel which are operated by the user in real time;

a5, if the current rotation direction is different from the target rotation direction and the target rotation direction is the left direction, controlling the left side of the steering wheel to vibrate at a first preset vibration frequency through the rotation control system, and feeding back a first force to the steering wheel through the rotation control system so as to prompt the user to rotate the steering wheel leftwards;

a6, if the current rotation direction is different from the target rotation direction and the target rotation direction is a rightward direction, controlling the right side of the steering wheel to vibrate at the first preset vibration frequency through the rotation control system, and feeding back the first force to the steering wheel through the rotation control system so as to prompt the user to rotate the steering wheel rightward; and/or the number of the groups of groups,

A7, if the current rotation angle is not in the target rotation angle range, controlling the steering wheel to vibrate at a second preset vibration frequency through the rotation control system, and feeding back a second force to the steering wheel through the rotation control system so as to prompt the user of a correct steering wheel operation mode, wherein the second force feedback is determined by the current rotation angle and the target rotation angle range; and/or the number of the groups of groups,

a8, if the current rotation moment is not in the target rotation moment range, controlling the steering wheel to vibrate at a third preset vibration frequency through the rotation control system, and feeding back third force to the steering wheel through the rotation control system so as to prompt the user of a correct steering wheel operation mode, wherein the third force feedback is determined by the current rotation moment and the target rotation moment range.

The example may refer to a scenario in which a user is in a garage with a right-angled wall body on the right side of a vehicle, and then the user breaks away from an auxiliary teaching strategy for backing and warehousing to cause scratch between the vehicle and the right-angled wall body.

The target rotation angle range and/or the target rotation torque range are/is a range of an angle at which the steering wheel needs to rotate or a range of a rotation torque based on a steering wheel state in which the vehicle is in a straight state. Taking the rotation angle range as an example, in the steering wheel state that the vehicle is in the straight state, the rotation angle range is set to be clockwise, positive up (or positive north) is 0 degrees or-180 degrees, positive down (or positive south) is 180 degrees, positive left (or positive west) is-90 degrees, positive right (or positive east) is 90 degrees, the target rotation angle range can be [ -135 degrees, -180 degrees ], [10 degrees, 20 degrees ] or the like, and of course, the steering wheel of the general vehicle can be rotated for two or two half turns towards one direction, and then the angle values can be accumulated under the condition of one turn, for example, the angle values of other angles are analogically 0 degrees or-180 degrees or-360 degrees to the positive up (or positive north). The current rotation angle may be 10 °, 45 °, 145 °, 270 °, etc., without limitation.

The first preset vibration frequency, the second preset vibration frequency, the third preset vibration frequency, the first force feedback, the second force feedback, and the third force feedback may be set by the user or default by the system, which is not limited herein. The first force feedback, the second force feedback or the third force feedback can be used for guiding the user to control the steering wheel to rotate in which direction, the rotating angle and the force.

For example, the first force feedback and the first preset vibration frequency may be constant values; the second force feedback and/or the second preset vibration frequency may be set according to a difference between the current rotation angle of the user and the maximum value or the minimum value of the target rotation angle range, and the larger the difference is, the larger the second force feedback and/or the second preset vibration frequency may be set.

The target rotation moment range of the steering wheel, and the target rotation direction and the target rotation angle range corresponding to the steering wheel can refer to an auxiliary teaching strategy corresponding to the position of the vehicle, which is separated from the right-angle wall body and reaches the optimal reversing and warehousing position.

Alternatively, vibration modes of different vibration frequencies, vibration intensities, and vibration directions may be set for the rotation direction, the rotation angle, and the rotation moment. And the turning direction of the steering wheel is played in real time by combining and controlling the car machine voice system.

In a specific implementation, if the current rotation moment is within the target rotation moment range and the current rotation angle is within the target rotation angle range, but the current rotation direction is different from the target rotation direction, the rotation control system may control the steering wheel to give a first force feedback towards the target rotation direction, and the position of the steering wheel held by the user in the target rotation direction vibrates at a first preset vibration frequency.

Further, if the current rotation moment is within the target rotation moment range and the current rotation direction is also the same as the target rotation direction, but the current rotation angle is not within the target rotation angle range, the rotation control system may give the user a second preset vibration frequency to vibrate the steering wheel through the steering wheel, and give the user a second force feedback to rotate to the target rotation angle, where the direction of the second force feedback may be determined according to the direction of the user rotating the steering wheel from the current rotation angle to the target rotation angle range.

Still further, if the current rotation direction is the same as the target rotation direction, the current rotation angle is within the target rotation angle range, but the current rotation moment is not within the target rotation moment range, the rotation control system may give the user a second preset vibration frequency to vibrate the steering wheel through the steering wheel, and give the user a third force feedback to rotate to the target rotation angle, and the direction of the second force feedback may be determined according to the direction of the user rotating the steering wheel from the current rotation moment to the target rotation moment range.

Still further, in a specific scenario, it is generally determined how to assist a user in driving a vehicle by combining three parameters of a rotation angle, a rotation direction and a rotation moment of a steering wheel; therefore, when the current rotation direction of the user is consistent with the target rotation direction, the current rotation angle is within the target rotation angle range, and the current rotation moment is within the target rotation moment range, the vibration prompt is still given to the user steering wheel to encourage the user to rotate correctly, and the driving direction can be kept. The vibration frequency of the vibration cue may be an average of the first preset vibration frequency vibration, the second preset vibration frequency vibration, and the third preset vibration frequency vibration.

Of course, if the current rotation direction of the user is inconsistent with the target rotation direction, the current rotation angle is not within the target rotation angle range, and the current rotation moment is not within the target rotation moment range, the average value of the first force feedback, the second force feedback and the third force feedback may be calculated to obtain an average force feedback, so that in the operation of the user, the steering wheel may be given an average force feedback through the rotation control system in the whole course to guide the user to correct driving mode. Before the user reaches the target rotation direction, giving the steering wheel a first preset vibration frequency for vibrating in the target rotation direction, and controlling the steering wheel to vibrate at a second preset vibration frequency when the current rotation direction is consistent with the target rotation direction until the current rotation angle is within the target rotation angle range, and controlling the steering wheel to vibrate at a third preset vibration frequency when the current rotation angle is within the target rotation angle range; after all three parameters are correct or within the range, the average value of the first preset vibration frequency vibration, the second preset vibration frequency vibration and the third preset vibration frequency vibration is continuously given to the user so as to prompt or encourage the user to operate the steering wheel correctly.

For example, as shown in fig. 2B, a schematic view of a scene of a reverse and warehouse-in vehicle condition is shown, where a parking space (garage) with a right-angle wall is arranged on the right side of the vehicle, and the right side of the vehicle is scraped to the right-angle wall; at this time, the target rotation direction and the target rotation angle range of the vehicle, which are separated from the right-angle wall body, can be determined according to the current gesture of the vehicle, and the target rotation moment range of the steering wheel, namely, how much force needs to be given by a user to separate from the wall body, can be determined according to the position of the wall body, and can be smoothly backed up and put in storage in the next operation. The current rotation direction, the current rotation angle and the current rotation moment of the actual steering wheel of the user are monitored in real time; the user is assisted to successfully separate from the right-angle wall body by comparing the current rotation direction, the current rotation angle and the current rotation moment with the target rotation direction, the target rotation angle and the target rotation moment respectively.

It can be seen that, in this example, the three parameters of the rotation direction, the rotation angle and the rotation moment described above may be combined to cooperate to give the user different vibration frequencies (the first preset vibration frequency and/or the second preset vibration frequency and/or the third preset vibration frequency) and the steering wheel force feedback (the first force feedback and/or the second force feedback and/or the third force feedback) to the steering wheel in different situations; the user can be helped to determine where to start turning the steering wheel by imparting vibration to the steering wheel, and can be helped to determine whether the force meets the standard by imparting force feedback; and when the actual operation of the user is consistent with the correct steering wheel rotation direction, rotation moment or rotation angle, the force feedback at the moment is up to the standard, and the user can not feel the steering wheel force feedback, and timely feedback can be given to the user through continuous vibration so as to encourage or prompt the user to control the steering wheel to be correct, so that the user experience is improved, and the user can be helped to learn the correct steering wheel control mode under the specific vehicle condition in an assisted manner.

It should be noted that, in this application, the reversing and warehousing is only exemplified, and particularly, reversing and warehousing of a garage with a right-angle wall body on the right side of a vehicle is similar to this example with respect to other specific vehicle condition processing manners of the target, and will not be described herein again.

Optionally, step A7 may further include the following steps if the current rotation angle is not within the target rotation angle range:

b1, if the current rotation angle is larger than the maximum value of the target rotation angle range, the target rotation direction is the left direction, and the current rotation direction is the right direction, controlling the left side of the steering wheel to vibrate at the second preset vibration frequency through the rotation control system, feeding back the second force to the left side of the steering wheel through the rotation control system, and reminding the user to rotate the steering wheel to the left side through the vehicle voice system;

b2, if the current rotation angle is smaller than the minimum value of the target rotation angle range, the target rotation direction is rightward rotation, and the current rotation direction is leftward, the right side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback with the steering wheel is rightward performed through the rotation control system, and the user is reminded to rightward rotate the steering wheel through the vehicle voice system;

B3, if the current rotation angle is larger than the maximum value of the target rotation angle range, the target rotation direction is left rotation, and the current rotation direction is left rotation, the left side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback is given to the steering wheel leftwards through the rotation control system, and the user is reminded to rotate the steering wheel leftwards through the vehicle voice system;

and B4, if the current rotation angle is smaller than the minimum value of the target rotation angle range, the target rotation direction is rightward rotation, the current rotation direction is rightward direction, the right side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback is carried out on the steering wheel rightward through the rotation control system, and the user is reminded to rightward rotate the steering wheel through the vehicle voice system.

The intensity of the feedback force for turning the steering wheel leftwards or rightwards can be determined according to the difference value between the corresponding current turning value and the maximum value or the minimum value of the target turning angle range.

If the current rotation angle is larger than the maximum value of the target rotation angle range, the target rotation direction is the left direction, and the current rotation direction is the right direction, indicating that the rotation direction of the user rotation steering wheel is wrong; if the current rotation angle is larger than the maximum value of the target rotation angle range, the target rotation direction is the left direction, and the current rotation direction is the left direction, the user is not rotated in place yet.

If the current rotation angle is smaller than the minimum value of the target rotation angle range, and the target rotation direction is a rightward rotation direction and the current rotation direction is a leftward direction, indicating that the rotation direction of the user rotation steering wheel is wrong; if the current rotation angle is smaller than the minimum value of the target rotation angle range, the target rotation direction is rightward rotation, and the current rotation direction is rightward rotation, the fact that the direction of the user rotating the steering wheel is correct is indicated, but the force is too large, and the target rotation angle range is rotated out.

It should be noted that, for an example, the above target rotation angle range and the rotation direction are matched with each other, for example, if the current rotation angle is greater than the maximum value of the target rotation angle range, and the target rotation direction is a rightward direction, then it indicates that the current rotation direction of the user is a rightward direction due to the fact that the target rotation direction is originally rightward, and if the user continues to be guided to rotate the steering wheel according to the original target rotation direction, the maximum value of the target rotation angle range is further away, so that the target rotation direction can be adjusted to be a leftward direction, and the left side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, and the second force feedback is given to the left side of the steering wheel through the rotation control system, and the user is reminded to rotate the steering wheel leftwards through the vehicle voice system.

Further, if the current rotation angle is greater than the maximum value of the target rotation angle range, the target rotation direction is a rightward direction, the current rotation direction is a leftward direction, which indicates that the user turns through a force during the process of rotating the steering wheel according to the rightward direction, and the user intentionally modifies the rotation direction, the target rotation direction is required to be changed into the leftward direction at this time, and only the vibration position of the steering wheel and the force feedback direction need to be adjusted, so that the user is reminded to continue rotating, namely, the left side of the steering wheel is adjusted and controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback is given to the left side of the steering wheel through the rotation control system, and the user is reminded to rotate the steering wheel to the left through the vehicle voice system.

Further, if the current rotation angle is smaller than the minimum value of the target rotation angle range, and the target rotation direction is left rotation and the current rotation direction is left rotation, it indicates that the target rotation direction is left, the user turns through the motor, and the current rotation direction of the user is left rotation, and at this time, if the user is guided to rotate the steering wheel according to the original target rotation direction, the current rotation direction is farther from the minimum value of the target rotation angle range, so that the target rotation direction can be adjusted to be right rotation, the right side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback is given to the steering wheel rightward through the rotation control system, and the user is reminded to rotate the steering wheel rightward through the car voice system.

Still further, if the current rotation angle is smaller than the minimum value of the target rotation angle range, the target rotation direction is a leftward direction, and the current rotation direction is a rightward direction, then the user is indicated to turn through the force in the process of rotating the steering wheel according to the leftward direction, and the user intentionally modifies the rotation direction, then the target rotation direction is required to be changed into a rightward direction, and the user is only required to be reminded to continue rotating, namely, the right side of the steering wheel is adjusted and controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force is fed back to the right side of the steering wheel through the rotation control system, and the user is reminded to rotate the steering wheel rightward through the vehicle voice system.

For example, as shown in fig. 2C, a schematic view of a scenario of auxiliary teaching is shown, and in conjunction with fig. 2B, if the current rotation angle is greater than the maximum value of the target rotation angle range, and the target rotation direction is a leftward direction, and the current rotation direction is a rightward direction, the rotation control system controls the left side of the steering wheel to vibrate at the second preset vibration frequency, and gives the second force feedback to the steering wheel leftward through the rotation control system, and the vehicle voice system reminds the user to rotate the steering wheel leftward.

In this example, it can be seen that, for the situation that the combination of the target rotation angle and the target rotation direction generates the auxiliary teaching strategy corresponding to the specific vehicle condition, in combination with the current rotation direction and the current rotation angle of the user, the user can be ensured to correctly learn how to drive the vehicle for the specific vehicle condition by three parties of the steering wheel, the rotation control system and the vehicle voice system, which is beneficial to improving the user experience.

Optionally, after the step B1, the step B2, the step B3, or the step B4, after the reminding the user to turn the steering wheel to the left by the car audio system, or after the reminding the user to turn the steering wheel to the right by the car audio system, the method may further include the steps of:

c1, reminding the user of reaching the standard through the car voice system when the current rotation angle of the steering wheel is in the target rotation angle range, gradually reducing a value fed back to the second force of the steering wheel through the rotation control system, and reminding the user of maintaining the current rotation angle and/or the current rotation direction and/or the current rotation moment of the steering wheel through the car voice system;

C2, updating the reversing route in real time to obtain the next pause point of the pause point or the next inflection point of the inflection point after updating;

and C3, updating the target rotation direction, the target rotation angle range and the target rotation moment range when the state information indicates that the vehicle reaches the next stop point or the next inflection point.

In order to prevent the user from rotating the steering wheel to turn through the power, after the user rotates the steering wheel so that the current rotation angle falls into the target rotation angle range, determining that the current rotation angle of the user meets the standard, and gradually reducing the intervention of the given second force feedback on the steering wheel, namely gradually reducing the value of the given second force feedback on the steering wheel in the process of rotating the steering wheel by the user; of course, if the user turns his or her hand, the direction of the second force feedback, and thus the vibration position of the steering wheel, can be adjusted at any time.

In this example, the present example may be used to alert the user of the receiving force in combination with the vehicle voice system, and by reducing the second force feedback, the user perceives that the steering wheel is controlled correctly, for a case where the current rotation angle does not conform to the target rotation angle range. When the user controls to correctly reach the correct inflection point or the position of the inflection point, the current inflection point or the rotation direction, the rotation angle range and the rotation moment range corresponding to the current inflection point or the current inflection point to the next inflection point can be updated in real time, the target rotation direction, the target rotation angle range and the target rotation moment range are updated, and finally the user can be guided to complete the study of the target specific vehicle condition according to the latest rotation direction, rotation angle range and rotation moment range, for example, successful reversing and warehousing; therefore, the auxiliary teaching strategy can be updated at any time according to the actual situation of the user, and the auxiliary teaching strategy is beneficial to assisting the user in learning.

206. And controlling the perception auxiliary equipment to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition.

Optionally, after the step 206, after the controlling the perception assistance device to execute the assistance teaching strategy, the method may further include the following steps:

d1, determining the target driving proficiency of the target specific vehicle condition;

d2, after the target driving proficiency is greater than the preset threshold, sending a reminding message of whether to close the auxiliary teaching function to the user through the vehicle-mounted screen;

d3, responding to the selection operation of closing the auxiliary teaching function triggered by the user, and closing the auxiliary teaching function;

and D4, updating the comprehensive driving proficiency corresponding to the user according to the target driving proficiency of the target specific vehicle condition and the auxiliary teaching strategy.

In specific implementation, updating the target driving proficiency aiming at the target specific vehicle condition, after the target driving proficiency is greater than a preset threshold value, indicating that a user learns the learning of the target specific vehicle condition at this time with high probability, sending a reminding message of whether to close the auxiliary teaching function to the user through a vehicle machine screen, and when receiving a selection operation of closing the auxiliary teaching function triggered by the user, indicating that the user possibly has a certain hand feeling at the moment, and closing the auxiliary teaching function; because the driving technologies to be mastered by different specific vehicle conditions may be coincident, according to the driving data of the auxiliary teaching strategy, the historical driving data of the user can be updated, and the driving proficiency of other specific vehicle conditions except the target specific vehicle condition can be recalculated so as to redetermine the specific vehicle condition or the target specific vehicle condition needing to start the auxiliary teaching function; and simultaneously, the comprehensive driving proficiency corresponding to the user is updated by combining the target driving proficiency of the target specific vehicle condition so as to judge whether the user is a novice or not, or the comprehensive driving proficiency is used for determining whether a new auxiliary teaching strategy needs to be provided for the user or whether the user needs to start the auxiliary teaching function of the redetermined specific vehicle condition or the target specific vehicle condition or not through a vehicle machine screen.

In this example, the auxiliary teaching function of the user for the specific target vehicle condition can be tracked in real time, and the specific vehicle condition of the auxiliary teaching function is required to be updated in real time according to the target driving proficiency of the specific target vehicle condition, so that the current driving experience or hand feeling of the user is combined, the auxiliary teaching function is dynamically adapted to the user, the user is helped to quickly master the driving technology for the specific vehicle condition, and the user experience is improved.

It can be seen that, in the automatic driving control method described in the embodiment of the present application, driving data of a user in a preset period is counted; determining the driving proficiency of the user in each specific vehicle condition according to the driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the specific vehicle conditions; if the comprehensive driving proficiency indicates that the user is a novice user, when the vehicle is identified to be in any one of the specific vehicle conditions, wherein the driving proficiency is smaller than or equal to a preset threshold, reminding the user whether to start an auxiliary teaching function aiming at the specific vehicle condition through the vehicle machine screen, and responding to the starting operation of the user aiming at the auxiliary teaching function to acquire state information of the vehicle and environment information of the vehicle, wherein the state information comprises at least one of the following: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status; or if the comprehensive driving skill indicates that the user is the novice user, displaying at least one specific vehicle condition of which the driving skill is smaller than or equal to the preset threshold value through the vehicle machine screen so as to remind the user whether an auxiliary teaching function for the specific vehicle condition needs to be started, determining a target specific vehicle condition in the at least one specific vehicle condition in response to the selection operation of the user, and acquiring state information of the vehicle and environment information of the vehicle; generating an auxiliary teaching strategy corresponding to the specific target vehicle condition according to the state information and the environment information; and controlling the perception auxiliary equipment to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition. Therefore, when a user is novice, whether the vehicle is in a target specific vehicle condition or not can be identified, or the user can select the target specific vehicle condition by himself so as to start an auxiliary teaching function, and the suitability of the user is improved; and compared with the traditional automatic driving domain controller system, the system helps the user learn or get used to the driving mode under the specific driving condition through the auxiliary teaching function, is beneficial to improving the driving feeling of the user, is beneficial to improving the driving processing capacity of the user, and is beneficial to improving the user experience.

Consistent with the above embodiments, referring to fig. 3, fig. 3 is a schematic structural diagram of an electronic device provided in an embodiment of the present application, as shown in the drawing, the electronic device includes a processor, a memory, a communication interface, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and in the embodiment of the present application, the electronic device is applied to a vehicle multi-mode perception control system, where the vehicle multi-mode perception control system includes a domain controller chip system, a perception assistance device, and a sensor, and the domain controller chip system includes an autopilot domain controller, and the perception assistance device includes at least one of: steering wheel, rotation control system, car machine screen, car machine voice system; the program includes instructions for performing the steps of:

counting driving data of a user in a preset period;

In one possible example, if the target specific vehicle condition is a reverse warehouse entry vehicle condition; in the aspect of generating the auxiliary teaching strategy corresponding to the target specific vehicle condition according to the state information and the environment information, the program comprises instructions for executing the following steps:

determining an obstacle between the vehicle and the garage, the position of the obstacle and the position of the garage according to the environmental information;

determining a reversing route of the vehicle reversing to the garage according to the vehicle position and the vehicle posture, as well as the position of the obstacle and the position of the garage, which are included in the state information, and displaying the reversing route through the vehicle machine screen, wherein the reversing route comprises a plurality of nodes, and each node corresponds to one pause point or inflection point of the reversing route;

according to the reversing route, determining the rotation direction, rotation angle and rotation moment of the steering wheel at each node;

When the fact that the user holds the steering wheel is detected, the reversing route displayed by the vehicle-mounted screen is cooperated, the vehicle-mounted voice system is controlled to play the rotating direction of the steering wheel in real time, and the steering wheel is controlled to give force feedback to each node according to the corresponding rotating direction, the corresponding rotating angle and the corresponding rotating moment through the rotating control system.

In one possible example, the above-described program further includes instructions for performing the steps of:

if the environment information indicates that the garage with the right-angle-shaped wall body is arranged on the right side of the vehicle and the state information indicates that the vehicle is scratched to the right-angle-shaped wall body, determining the current vehicle posture of the vehicle and the wall body position of the right-angle-shaped wall body;

according to the vehicle posture, determining a target rotation direction and a target rotation angle range corresponding to the steering wheel when the vehicle is separated from the right-angle wall;

determining a target rotation moment range of the steering wheel according to the vehicle posture and the wall position;

detecting the current rotation direction, the current rotation angle and the current rotation moment of the steering wheel controlled by the user in real time;

If the current rotation direction is different from the target rotation direction and the target rotation direction is the left direction, controlling the left side of the steering wheel to vibrate at a first preset vibration frequency through the rotation control system, and feeding back a first force to the steering wheel through the rotation control system so as to prompt the user to rotate the steering wheel leftwards;

if the current rotation direction is different from the target rotation direction and the target rotation direction is the rightward direction, controlling the right side of the steering wheel to vibrate at the first preset vibration frequency through the rotation control system, and feeding back the first force to the steering wheel through the rotation control system so as to prompt the user to rotate the steering wheel rightward; and/or the number of the groups of groups,

if the current rotation angle is not in the target rotation angle range, controlling the steering wheel to vibrate at a second preset vibration frequency through the rotation control system, and feeding back a second force to the steering wheel through the rotation control system so as to prompt the user of a correct steering wheel operation mode, wherein the second force feedback is determined by the current rotation angle and the target rotation angle range; and/or the number of the groups of groups,

And if the current rotation moment is not in the target rotation moment range, controlling the steering wheel to vibrate at a third preset vibration frequency through the rotation control system, and feeding back a third force to the steering wheel through the rotation control system so as to prompt the user of a correct steering wheel operation mode, wherein the third force feedback is determined by the current rotation moment and the target rotation moment range.

In one possible example, if the current rotation angle is not within the target rotation angle range, the program further includes instructions for:

if the current rotation angle is larger than the maximum value of the target rotation angle range, the target rotation direction is the left direction, and the current rotation direction is the right direction, the left side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback is given to the steering wheel leftwards through the rotation control system, and the user is reminded to rotate the steering wheel leftwards through the car voice system;

if the current rotation angle is smaller than the minimum value of the target rotation angle range, the target rotation direction is rightward rotation, and the current rotation direction is leftward, the right side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback is given to the steering wheel rightward through the rotation control system, and the user is reminded to rotate the steering wheel rightward through the vehicle voice system;

If the current rotation angle is larger than the maximum value of the target rotation angle range, the target rotation direction is left rotation, and the current rotation direction is left rotation, the left side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback is carried out on the steering wheel leftwards through the rotation control system, and the user is reminded to rotate the steering wheel leftwards through the car machine voice system;

if the current rotation angle is smaller than the minimum value of the target rotation angle range, the target rotation direction is rightward rotation, and the current rotation direction is rightward, the right side of the steering wheel is controlled to vibrate at the second preset vibration frequency through the rotation control system, the second force feedback is carried out on the steering wheel rightward through the rotation control system, and the user is reminded to rotate the steering wheel rightward through the vehicle voice system.

In one possible example, after said reminding said user to turn said steering wheel left by said car audio system or after said reminding said user to turn said steering wheel right by said car audio system, the above procedure further comprises instructions for:

Reminding the user of reaching the standard through the car voice system when the current rotation angle of the steering wheel is in the target rotation angle range, gradually reducing a value fed back to the second force of the steering wheel through the rotation control system, and reminding the user of maintaining the current rotation angle and/or the current rotation direction and/or the current rotation moment of the steering wheel through the car voice system;

updating the reversing route in real time to obtain the next pause point of the pause point after updating or the next inflection point of the inflection point;

and updating the target turning direction, the target turning angle range, and the target turning moment range when the state information indicates that the vehicle reaches the next stop point or the next inflection point.

In one possible example, after said controlling said perception assistance device to execute said assistance teaching strategy, the above program further comprises instructions for:

determining a target ride-proficiency for the target specific vehicle condition;

after the target driving proficiency is greater than the preset threshold, sending a reminding message of whether to close the auxiliary teaching function to the user through the vehicle-mounted screen;

Responding to the selection operation of closing the auxiliary teaching function triggered by the user, and closing the auxiliary teaching function;

and updating the comprehensive driving proficiency corresponding to the user according to the target driving proficiency of the target specific vehicle condition and the auxiliary teaching strategy.

It can be seen that, in the electronic device described in the embodiment of the present application, driving data of a user in a preset period is counted; determining the driving proficiency of the user in each specific vehicle condition according to the driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the specific vehicle conditions; if the comprehensive driving proficiency indicates that the user is a novice user, when the vehicle is identified to be in any one of the specific vehicle conditions, wherein the driving proficiency is smaller than or equal to a preset threshold, reminding the user whether to start an auxiliary teaching function aiming at the specific vehicle condition through the vehicle machine screen, and responding to the starting operation of the user aiming at the auxiliary teaching function to acquire state information of the vehicle and environment information of the vehicle, wherein the state information comprises at least one of the following: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status; or if the comprehensive driving skill indicates that the user is the novice user, displaying at least one specific vehicle condition of which the driving skill is smaller than or equal to the preset threshold value through the vehicle machine screen so as to remind the user whether an auxiliary teaching function for the specific vehicle condition needs to be started, determining a target specific vehicle condition in the at least one specific vehicle condition in response to the selection operation of the user, and acquiring state information of the vehicle and environment information of the vehicle; generating an auxiliary teaching strategy corresponding to the specific target vehicle condition according to the state information and the environment information; and controlling the perception auxiliary equipment to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition. Therefore, when a user is novice, whether the vehicle is in a target specific vehicle condition or not can be identified, or the user can select the target specific vehicle condition by himself so as to start an auxiliary teaching function, and the suitability of the user is improved; and compared with the traditional automatic driving domain controller system, the system helps the user learn or get used to the driving mode under the specific driving condition through the auxiliary teaching function, is beneficial to improving the driving feeling of the user, is beneficial to improving the driving processing capacity of the user, and is beneficial to improving the user experience.

Fig. 4 is a functional unit block diagram of an autopilot control apparatus 400 according to an embodiment of the present application, which is applied to a vehicle multi-modal sensing control system including a domain controller chip system including an autopilot domain controller, a sensing assistance device including at least one of: steering wheel, rotation control system, car machine screen, car machine voice system; the automatic driving control apparatus 400 includes: a statistics unit 401, a determination unit 402, a reminder unit 403, a generation unit 404 and a control unit 405, wherein,

the statistics unit 401 is configured to count driving data of a user in a preset period;

the determining unit 402 is configured to determine, according to the driving data, a driving proficiency of the user in each specific vehicle condition, and determine, according to a plurality of driving proficiencies of a plurality of the specific vehicle conditions, a comprehensive driving proficiency of the user in the plurality of specific vehicle conditions;

the reminding unit 403 is configured to, if the comprehensive driving proficiency indicates that the user is a novice user, remind, when it is identified that the vehicle is in any one of the specific vehicle conditions that the driving proficiency is less than or equal to a preset threshold, the user through the vehicle screen to remind whether to start an auxiliary teaching function for the specific vehicle condition, and obtain, in response to a start operation of the user for the auxiliary teaching function, state information of the vehicle and environmental information of the vehicle, where the state information includes at least one of: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status; or,

The reminding unit 403 is further configured to display, through the vehicle screen, at least one specific vehicle condition that the driving proficiency is less than or equal to the preset threshold value if the comprehensive driving proficiency indicates that the user is the novice user, so as to remind the user whether to start an auxiliary teaching function for the specific vehicle condition, and determine a target specific vehicle condition in the at least one specific vehicle condition in response to a selection operation of the user, and acquire state information of the vehicle and environmental information of the vehicle;

the generating unit 404 is configured to generate an auxiliary teaching policy corresponding to the target specific vehicle condition according to the state information and the environmental information;

the control unit 405 is configured to control the perception auxiliary device to execute the auxiliary teaching strategy, so as to instruct the user to complete learning of the target specific vehicle condition.

In one possible example, if the target specific vehicle condition is a reverse warehouse entry vehicle condition; in terms of generating the auxiliary teaching strategy corresponding to the target specific vehicle condition according to the state information and the environment information, the generating unit 404 is specifically configured to:

In one possible example, the control unit 405 is further configured to:

In one possible example, if the current rotation angle is not within the target rotation angle range, the control unit 405 is further configured to:

In one possible example, after the reminding of the user to turn the steering wheel to the left by the car audio system or after the reminding of the user to turn the steering wheel to the right by the car audio system, the control unit 405 is further configured to:

It can be seen that, in the automatic driving control device described in the embodiment of the present application, driving data of a user in a preset period is counted; determining the driving proficiency of the user in each specific vehicle condition according to the driving data, and determining the comprehensive driving proficiency of the user in the specific vehicle conditions according to the driving proficiency of the specific vehicle conditions; if the comprehensive driving proficiency indicates that the user is a novice user, when the vehicle is identified to be in any one of the specific vehicle conditions, wherein the driving proficiency is smaller than or equal to a preset threshold, reminding the user whether to start an auxiliary teaching function aiming at the specific vehicle condition through the vehicle machine screen, and responding to the starting operation of the user aiming at the auxiliary teaching function to acquire state information of the vehicle and environment information of the vehicle, wherein the state information comprises at least one of the following: vehicle speed, vehicle position, vehicle attitude, vehicle direction, and device status; or if the comprehensive driving skill indicates that the user is the novice user, displaying at least one specific vehicle condition of which the driving skill is smaller than or equal to the preset threshold value through the vehicle machine screen so as to remind the user whether an auxiliary teaching function for the specific vehicle condition needs to be started, determining a target specific vehicle condition in the at least one specific vehicle condition in response to the selection operation of the user, and acquiring state information of the vehicle and environment information of the vehicle; generating an auxiliary teaching strategy corresponding to the specific target vehicle condition according to the state information and the environment information; and controlling the perception auxiliary equipment to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition. Therefore, when a user is novice, whether the vehicle is in a target specific vehicle condition or not can be identified, or the user can select the target specific vehicle condition by himself so as to start an auxiliary teaching function, and the suitability of the user is improved; and compared with the traditional automatic driving domain controller system, the system helps the user learn or get used to the driving mode under the specific driving condition through the auxiliary teaching function, is beneficial to improving the driving feeling of the user, is beneficial to improving the driving processing capacity of the user, and is beneficial to improving the user experience.

It can be understood that the functions of each program module of the autopilot control apparatus of the present embodiment may be specifically implemented according to the method in the foregoing method embodiment, and the specific implementation process may refer to the relevant description of the foregoing method embodiment, which is not repeated herein.

The embodiment of the application also provides a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, where the computer program causes a computer to execute part or all of the steps of any one of the methods described in the embodiments of the method, where the computer includes an electronic device.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer-readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any one of the methods described in the method embodiments above. The computer program product may be a software installation package, said computer comprising an electronic device.

It should be noted that, for simplicity of description, the foregoing method embodiments are all expressed as a series of action combinations, but it should be understood by those skilled in the art that the present application is not limited by the order of actions described, as some steps may be performed in other order or simultaneously in accordance with the present application. Further, those skilled in the art will also appreciate that the embodiments described in the specification are all preferred embodiments, and that the acts and modules referred to are not necessarily required in the present application.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, such as the above-described division of units, merely a division of logic functions, and there may be additional manners of dividing in actual implementation, such as multiple units or components may be combined or integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, or may be in electrical or other forms.

The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units described above, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable memory. Based on such understanding, the technical solution of the present application may be embodied in essence or a part contributing to the prior art or all or part of the technical solution in the form of a software product stored in a memory, including several instructions for causing a computer device (which may be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned method of the various embodiments of the present application. And the aforementioned memory includes: a U-disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a removable hard disk, a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Those of ordinary skill in the art will appreciate that all or a portion of the steps in the various methods of the above embodiments may be implemented by a program that instructs associated hardware, and the program may be stored in a computer readable memory, which may include: flash disk, read-Only Memory (ROM), random access Memory (Random Access Memory, RAM), magnetic disk or optical disk.

The foregoing has outlined rather broadly the more detailed description of embodiments of the present application, wherein specific examples are provided herein to illustrate the principles and embodiments of the present application, the above examples being provided solely to assist in the understanding of the methods of the present application and the core ideas thereof; meanwhile, as those skilled in the art will have modifications in the specific embodiments and application scope in accordance with the ideas of the present application, the present description should not be construed as limiting the present application in view of the above.

Claims

1. An automatic driving control method is characterized by being applied to a vehicle multi-mode sensing control system, wherein the vehicle multi-mode sensing control system comprises a domain controller chip system, a sensing auxiliary device and a sensor, the domain controller chip system comprises an automatic driving domain controller, and the sensing auxiliary device comprises at least one of the following components: steering wheel, rotation control system, car machine screen, car machine voice system; the method comprises the following steps:

Counting driving data of a user in a preset period;

controlling the perception auxiliary equipment to execute the auxiliary teaching strategy so as to guide the user to complete the learning of the target specific vehicle condition;

if the target specific vehicle condition is a reversing and warehousing vehicle condition; after the auxiliary teaching strategy corresponding to the target specific vehicle condition is generated according to the state information and the environment information, if the environment information indicates that a garage with a right-angle wall body is arranged on the right side of the vehicle and the state information indicates that the vehicle is scratched to the right-angle wall body, determining the current vehicle posture of the vehicle and the wall body position of the right-angle wall body; according to the vehicle posture, determining a target rotation direction and a target rotation angle range corresponding to the steering wheel when the vehicle is separated from the right-angle wall; determining a target rotation moment range of the steering wheel according to the vehicle posture and the wall position; detecting the current rotation direction, the current rotation angle and the current rotation moment of the steering wheel controlled by the user in real time; if the current rotation direction is different from the target rotation direction and the target rotation direction is the left direction, controlling the left side of the steering wheel to vibrate at a first preset vibration frequency through the rotation control system, and feeding back a first force to the steering wheel through the rotation control system so as to prompt the user to rotate the steering wheel leftwards; if the current rotation direction is different from the target rotation direction and the target rotation direction is the rightward direction, controlling the right side of the steering wheel to vibrate at the first preset vibration frequency through the rotation control system, and feeding back the first force to the steering wheel through the rotation control system so as to prompt the user to rotate the steering wheel rightward; and/or if the current rotation angle is not in the target rotation angle range, controlling the steering wheel to vibrate at a second preset vibration frequency through the rotation control system, and feeding back a second force to the steering wheel through the rotation control system so as to prompt the user of a correct steering wheel operation mode, wherein the second force feedback is determined by the current rotation angle and the target rotation angle range; and/or if the current rotation moment is not in the target rotation moment range, controlling the steering wheel to vibrate at a third preset vibration frequency through the rotation control system, and feeding back a third force to the steering wheel through the rotation control system so as to prompt the user of a correct steering wheel operation mode, wherein the third force feedback is determined by the current rotation moment and the target rotation moment range.

2. The method of claim 1, wherein if the target specific vehicle condition is the reverse warehouse entry vehicle condition; the generating an auxiliary teaching strategy corresponding to the target specific vehicle condition according to the state information and the environment information comprises the following steps:

3. The method of claim 2, wherein if the current rotation angle is not within the target rotation angle range, the method further comprises:

4. The method of claim 3, wherein after said prompting said user to turn said steering wheel left by said car audio system or after said prompting said user to turn said steering wheel right by said car audio system,

The method further comprises the steps of:

5. The method of claim 1, wherein after said controlling said perception assistance device to execute said assistance teaching strategy, said method further comprises:

6. An autopilot control apparatus characterized by being applied to a vehicle multi-modal sensory control system comprising a domain controller chip system, a sensory auxiliary device and a sensor, the domain controller chip system comprising an autopilot domain controller, the sensory auxiliary device comprising at least one of: steering wheel, rotation control system, car machine screen, car machine voice system; the device comprises: the system comprises a statistics unit, a determination unit, a reminding unit, a generation unit and a control unit, wherein,

The generating unit is used for generating an auxiliary teaching strategy corresponding to the target specific vehicle condition according to the state information and the environment information, wherein if the target specific vehicle condition is a reversing and warehousing vehicle condition; after the auxiliary teaching strategy corresponding to the target specific vehicle condition is generated according to the state information and the environment information, if the environment information indicates that a garage with a right-angle wall body is arranged on the right side of the vehicle and the state information indicates that the vehicle is scratched to the right-angle wall body, determining the current vehicle posture of the vehicle and the wall body position of the right-angle wall body; according to the vehicle posture, determining a target rotation direction and a target rotation angle range corresponding to the steering wheel when the vehicle is separated from the right-angle wall; determining a target rotation moment range of the steering wheel according to the vehicle posture and the wall position; detecting the current rotation direction, the current rotation angle and the current rotation moment of the steering wheel controlled by the user in real time; if the current rotation direction is different from the target rotation direction and the target rotation direction is the left direction, controlling the left side of the steering wheel to vibrate at a first preset vibration frequency through the rotation control system, and feeding back a first force to the steering wheel through the rotation control system so as to prompt the user to rotate the steering wheel leftwards; if the current rotation direction is different from the target rotation direction and the target rotation direction is the rightward direction, controlling the right side of the steering wheel to vibrate at the first preset vibration frequency through the rotation control system, and feeding back the first force to the steering wheel through the rotation control system so as to prompt the user to rotate the steering wheel rightward; and/or if the current rotation angle is not in the target rotation angle range, controlling the steering wheel to vibrate at a second preset vibration frequency through the rotation control system, and feeding back a second force to the steering wheel through the rotation control system so as to prompt the user of a correct steering wheel operation mode, wherein the second force feedback is determined by the current rotation angle and the target rotation angle range; and/or if the current rotation moment is not in the target rotation moment range, controlling the steering wheel to vibrate at a third preset vibration frequency through the rotation control system, and feeding back a third force to the steering wheel through the rotation control system so as to prompt the user of a correct steering wheel operation mode, wherein the third force feedback is determined by the current rotation moment and the target rotation moment range;

7. The apparatus of claim 6, wherein if the target specific vehicle condition is the reverse warehouse entry vehicle condition; generating an auxiliary teaching strategy corresponding to the target specific vehicle condition according to the state information and the environment information, wherein the generating unit is specifically configured to:

8. An electronic device comprising a processor, a memory for storing one or more programs and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 1-5.

9. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-5.