CN116176629A

CN116176629A - Method and device for switching vehicle driving modes, vehicle and storage medium

Info

Publication number: CN116176629A
Application number: CN202310316753.2A
Authority: CN
Inventors: 王旭; 杨振
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2023-03-28
Filing date: 2023-03-28
Publication date: 2023-05-30

Abstract

The embodiment of the application is suitable for the technical field of vehicles and provides a method and a device for switching a driving mode of a vehicle, the vehicle and a storage medium, wherein the method comprises the following steps: acquiring the running state of the vehicle when the vehicle runs in an intelligent driving mode; if the running state is an abnormal state, monitoring target operation acted on the intelligent driving switch; the intelligent driving switch is used for controlling the intelligent driving mode to be started or stopped; determining a target driving mode of the vehicle according to the target operation; the vehicle operation is controlled based on the target driving mode. By adopting the method, the driving safety of the vehicle can be improved in the process of switching the intelligent driving mode in the vehicle.

Description

Method and device for switching vehicle driving modes, vehicle and storage medium

Technical Field

The application belongs to the technical field of vehicles, and particularly relates to a method and a device for switching a driving mode of a vehicle, the vehicle and a storage medium.

Background

With the development of artificial intelligence technology, vehicles having intelligent driving modes are becoming more popular. The intelligent driving system in the vehicle is provided with five functional modules of perception, cognition, decision, control and execution, and can control the automatic driving of the vehicle by acquiring the related information of the vehicle and the external environment information.

Currently, in the intelligent driving process, the intelligent driving mode is generally switched to the manual driving mode when the accelerator pedal of the vehicle is monitored to be stepped on by the driver for a long time. However, this switching scheme requires a long time and is applicable to only a single mode switch. Therefore, when the running state of the vehicle is abnormal, the switching cannot be performed in time, so that the driving safety of the existing vehicle driving mode in the switching process is low.

Disclosure of Invention

The embodiment of the application provides a method and a device for switching a vehicle driving mode, a vehicle and a storage medium, and can solve the problem that the driving safety of the vehicle driving mode is low in the switching process.

In a first aspect, an embodiment of the present application provides a method for switching a driving mode of a vehicle, where the method includes:

acquiring the running state of the vehicle when the vehicle runs in an intelligent driving mode;

if the running state is an abnormal state, monitoring target operation acted on the intelligent driving switch; the intelligent driving switch is used for controlling the intelligent driving mode to be started or stopped;

determining a target driving mode of the vehicle according to the target operation;

the vehicle operation is controlled based on the target driving mode.

In a second aspect, an embodiment of the present application provides a switching device for a driving mode of a vehicle, including:

the running state acquisition module is used for acquiring the running state of the vehicle when the vehicle runs in the intelligent driving mode;

the target operation monitoring module is used for monitoring target operation acting on the intelligent driving switch if the running state is an abnormal state; the intelligent driving switch is used for controlling the intelligent driving mode to be started or stopped;

a target driving mode determining module for determining a target driving mode of the vehicle according to the target operation;

and the control module is used for controlling the vehicle to run based on the target driving mode.

In a third aspect, embodiments of the present application provide a vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of the first aspect as described above when executing the computer program.

In a fourth aspect, embodiments of the present application provide a computer readable storage medium storing a computer program which, when executed by a processor, implements a method as in the first aspect described above.

In a fifth aspect, embodiments of the present application provide a computer program product for, when run on a vehicle, causing the vehicle to perform the method of the first aspect described above.

Compared with the prior art, the embodiment of the application has the beneficial effects that: when the vehicle is in the intelligent driving mode, the running state of the vehicle during running is obtained. Then, when the running state of the vehicle is an abnormal state, a target operation acting on the intelligent driving switch is monitored to determine a target driving mode of the vehicle based on the target operation. Finally, vehicle operation is controlled based on the target driving mode. Based on this, when the operation of the intelligent driving switch is detected, the switching of the intelligent driving mode can be responded in time, so that the driving safety when the vehicle driving mode is switched is improved. And the operation of the vehicle can be controlled by selecting different target driving modes based on the target operation of the driver on the intelligent driving switch, and the corresponding switching key is not required to be arranged for each driving mode, so that the switching cost required by the vehicle is reduced.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following description will briefly introduce the drawings that are needed in the embodiments or the description of the prior art, it is 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 illustration of a control scene in intelligent driving mode;

fig. 2 is a flowchart of an implementation of a method for switching a driving mode of a vehicle according to an embodiment of the present application;

fig. 3 is a flowchart of an implementation of a method for switching a driving mode of a vehicle according to another embodiment of the present application;

fig. 4 is a schematic structural diagram of a switching device for a driving mode of a vehicle according to an embodiment of the present disclosure;

fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system configurations, techniques, etc. in order to provide a thorough understanding of the embodiments of the present application. It will be apparent, however, to one skilled in the art that the present application may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present application with unnecessary detail.

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

With the development of artificial intelligence technology, vehicles having intelligent driving modes are becoming more popular. The intelligent driving system in the vehicle is provided with five functional modules for sensing, cognizing, deciding, controlling and executing, and the related information of the vehicle and the external environment information are obtained through the five functional modules so as to control the vehicle.

Specifically, the realizable functions of the intelligent driving system may be divided into two categories:

the first category is traffic safety-related functions, which include, but are not limited to, front collision pre-warning (Front collision warning, FCW), blind zone detection pre-warning (Blind Spot Detection, BSD), and rear collision prevention (Rear Collision Warning, RCW). Wherein, the purpose of design driving safety function is: the danger early warning can be carried out on the driver in time. Generally, the early warning mode is to remind through characters, voice, images or lamplight, and the vehicle is not involved in control.

The second category is functions related to driving assistance, which include, but are not limited to, adaptive cruise assistance (Adaptive Cruise Control, ACC), intelligent cruise assistance (Integrated Cruise Assist, ICA), and highway navigation assistance (Navigation On Driving Assist, NOA). Wherein, the purpose of design driving auxiliary function is: the driver is assisted in controlling the vehicle.

Illustratively, description will be given of ACC function among the driving assistance functions: when the ACC function is used for controlling the vehicle to run, the vehicle can sense the running environment information of the automatic driving vehicle through sensor equipment such as a laser radar module, a lens module, a high-precision map and the like. Meanwhile, a series of dynamic driving tasks such as lane changing, overtaking, decelerating and self-adaptive cruising in the intelligent driving system can be completed by controlling devices such as a steering system, a power system and a braking system of the vehicle. In the intelligent driving mode, the running speed of the vehicle can be 0-120Km/h.

Specifically, referring to fig. 1, fig. 1 is a schematic diagram of a steering scene in an intelligent driving mode. Wherein, when the driver selects the intelligent driving mode based on the intelligent driving switch (e.g., ACC switch) to control the vehicle to run, the intelligent driving system may sense the vehicle state of the preceding vehicle according to the above-described sensor device and determine whether to set it as the target vehicle, and perform the following cruising or the constant speed cruising. For example, the intelligent driving system may determine the target vehicle according to a selection instruction of the driver. After that, after determining the target vehicle, the intelligent driving system may calculate the relative distance between the own vehicle and the target vehicle, and the vehicle speed of the own vehicle. For example, the intelligent driving system may calculate the relative distance to the preceding vehicle and the own vehicle speed by a time difference or a frequency difference of a transmission signal and a reception signal (the sensor device transmits a sensing signal to the target vehicle and receives a reflected signal) inputted from the sensor device. And finally, according to the relative distance and the preset safety distance, the speed of the vehicle is regulated, so that the distance between the vehicle and the target vehicle is kept at the preset safety distance.

Under the intelligent driving mode, a driver can actively set the speed of the driver, the distance between the driver and the target vehicle and control the intelligent driving switch to start or stop the intelligent driving mode. In addition, the intelligent driving system can also send an acceleration request to the power system when the self speed is regulated, so that the power system can increase the torque generated by the engine based on the acceleration request to control the acceleration of the vehicle. Alternatively, a deceleration request may be sent to the braking system so that the braking system may provide braking resistance to the vehicle based on the deceleration request to control deceleration of the vehicle.

And in the process of controlling the vehicle in the intelligent driving mode, if the driver is monitored to tread the accelerator pedal, the intelligent driving system also triggers the intervention logic of the driver. For example, after the driver is monitored to be depressed for more than 15 minutes, the intelligent driving mode is exited, and the driver is switched to the manual driving mode.

However, this switching scheme requires a long time and is applicable to only a single mode switch. Therefore, when there is an abnormality in the running state of the vehicle, the switching cannot be performed in time, resulting in low safety in controlling the existing driving mode of the vehicle.

Based on this, in order to improve the safety when switching the intelligent driving mode of the vehicle, the embodiment of the application provides a switching method of the driving mode of the vehicle, which can be applied to the vehicle-mounted device. For example, the vehicle-mounted device may be an intelligent driving controller or a vehicle controller, which is not limited thereto.

Referring to fig. 2, fig. 2 shows a flowchart of an implementation method for switching a driving mode of a vehicle according to an embodiment of the present application, where the method includes the following steps:

s201, acquiring the running state of the vehicle when the vehicle runs in the intelligent driving mode.

In one embodiment, the operation states include a normal state and an abnormal state. The normal state may be considered as a process in which the power system, the brake system, and the sensor device can normally operate in the process of controlling the vehicle in the intelligent driving mode. For example, the power system and the braking system can normally respond to acceleration requests and deceleration requests sent by the intelligent driving mode, and the sensor device can normally sense external driving environment information. Contrary to the normal state, when any one of the power system, the brake system, and the sensor device is not operating normally, the vehicle is considered to be in an abnormal state.

For example, in the event of a failure of the powertrain or brake system, the vehicle speed may not be as expected and may not be maintained at a safe distance from the target vehicle. Therefore, safety accidents are easily caused. Based on the above, the switching device may further acquire driving environment information of the vehicle, so as to determine the desired accelerator torque provided by the accelerator pedal of the vehicle according to the driving environment information. Then, the actual torque currently provided by the accelerator pedal is determined, and the running state is determined according to the expected accelerator torque and the actual torque.

Based on the above explanation of the ACC intelligent driving mode, the switching device may sense the driving environment information of the vehicle through the sensor devices such as the laser radar module, the lens module, the high-precision map, and so on, so as to adjust the vehicle speed. Accordingly, the above-described running environment information includes, but is not limited to, information such as a vehicle distance and a vehicle speed from surrounding (front, rear, or left and right sides) vehicles.

In adjusting the vehicle speed, the vehicle needs to be adjusted by the power system or the brake system. For example, the powertrain or brake system adjusts the vehicle speed by adjusting the torque produced by the engine when operating.

Based on the above, when the expected accelerator torque is different from the actual torque, the switching device can determine that the power system or the braking system has a fault, and can not normally respond to the acceleration request or the deceleration request sent by the intelligent driving system. Therefore, the switching device can determine that the running state of the vehicle at this time is an abnormal state. And determining that the operating state is a normal state when the desired accelerator torque is the same as the actual torque.

It should be added that, because there is an error in acquisition or measurement when the actual torque is acquired, if the torque difference between the desired accelerator torque and the actual torque is smaller than the preset torque, the switching device may consider that the desired accelerator torque is the same as the actual torque. Otherwise, if the torque difference between the desired accelerator torque and the actual torque is greater than or equal to the preset torque, the switching device may consider that the desired accelerator torque is different from the actual torque. The preset torque may be set in advance, which is not limited.

When determining the actual torque, the throttle control system mainly comprises an accelerator pedal, a pedal displacement sensor, an electric control unit, a throttle valve and other actuating mechanisms. The displacement sensor is arranged inside the accelerator pedal, so that the position of the accelerator pedal can be monitored at any time. Therefore, the actual torque actually output by the accelerator pedal at this time can be determined based on the opening degree of the accelerator pedal (the position of the accelerator pedal).

In particular, in the present embodiment, the torque provided by the accelerator pedal is also affected by the driver's depression of the accelerator pedal, so that the actual torque is different from the desired accelerator torque. Therefore, the driver may be considered to be in an abnormal state when the vehicle is traveling in the intelligent driving mode when the accelerator pedal is depressed.

That is, based on the above description, when the actual torque of the accelerator is detected to be different from the desired accelerator torque, it can be considered that the driver is actively involved in the driving mode, or that the power system or the brake system is malfunctioning. In the present embodiment, for both of the above cases, in order to secure driving safety or to satisfy driver intention, it is necessary to select an appropriate target driving mode in combination with the following steps S202 to S203.

S202, if the running state is an abnormal state, monitoring target operation acted on the intelligent driving switch; the intelligent driving switch is used for controlling the intelligent driving mode to be switched on or off.

In an embodiment, the intelligent driving switch is a switch for controlling the on or off of the intelligent driving mode, which may be a virtual software switch or an actual hardware switch, which is not limited. Based on this, the target operation may be considered as a touch operation to touch the intelligent driving switch.

S203, determining a target driving mode of the vehicle according to the target operation.

In an embodiment, the target driving mode may be one of a plurality of modes, such as a current intelligent driving mode, a manual driving mode, and an emergency braking mode. Here, the intelligent driving mode has been explained above, and will not be explained. The manual driving mode is a mode in which a driver actively controls the vehicle. The emergency braking mode is a mode in which the vehicle is controlled to reduce the vehicle speed by a deceleration width of a preset deceleration in a short time so that the vehicle is stopped. Wherein, the purpose of setting the emergency braking mode is: when the abnormal state of the vehicle is detected, the vehicle can be controlled to stop running based on the target operation of the driver in time, so that the running safety is improved. The emergency braking mode of the preset deceleration can enable the vehicle to be in a reasonable deceleration range in the deceleration process, and the vehicle speed is prevented from being greatly reduced in a short time, so that the driving safety is improved.

In order to realize the switching of the multiple modes based on one intelligent driving switch, the intelligent driving switch not only needs to include a control link for controlling the on or off of the intelligent driving mode, but also multiplexes the control link for starting the emergency braking mode or starting the manual driving mode, so that the cost for setting a switch for each driving mode respectively to use the corresponding control link can be reduced.

Based on this, in order to enable switching of a plurality of intelligent driving modes, different intelligent driving modes may be set to have different target operations of touching the intelligent driving switch to determine the target driving mode based on the target operations.

For example, when the intelligent driving switch is a virtual software switch, the switching device may sense a touch operation applied to the virtual switch for a preset period of time. Then, when the target operation is determined to be the sliding operation, determining that the target driving mode is a manual driving mode; when the target operation is determined to be the pressing operation, determining that the target driving mode is an emergency braking mode; when the target operation is not detected, the target driving mode may be determined to be the intelligent driving mode. That is, if the target operation is not detected when the running state is abnormal, it is considered that the driver does not need to switch the intelligent driving mode. At this time, the cause of the vehicle being in an abnormal state may be that the driver touches the accelerator pedal by mistake, so that the actual torque is different from the desired accelerator torque. Further, the switching device may maintain the intelligent driving mode of the vehicle when it is not detected that the driver performs the target operation on the intelligent driving switch.

Wherein the above example is only one example of determining the target driving mode based on the target operation, and in another embodiment, the intelligent driving switch may include only the off switch controlling the intelligent driving mode to be off, since the vehicle is already in the intelligent driving mode. At this time, the switching device may determine the target driving mode based on the target operation of the off switch by the driver. For example, in order to enable switching of a plurality of intelligent driving modes, the number of touches of the off switch to perform a touch operation may be set, and a target driving mode may be determined.

Specifically, the switching device may count the number of times the closing switch is touched, and then determine the target driving mode according to the number of times of touching. For example, when the number of touches is a first preset number, the switching device may determine that the target driving mode is an intelligent driving mode; when the touch times are the second preset times, the switching device can determine that the target driving mode is a manual driving mode; and when the touch times are the third preset times, the switching device can determine that the target driving mode is an emergency braking mode; the emergency braking mode is used to control the vehicle to stop traveling. The first preset times, the second preset times and the third preset times are different from each other, so that the switching device can determine the target driving mode based on the touch times.

The first preset times, the second preset times and the third preset times may be set in advance according to actual situations, which is not limited. For example, the first preset number of times may be 0 times, the second preset number of times may be 1 time, and the third preset number of times may be 2 times or more.

It should be noted that the third preset times may be greater than the second preset times, and the second preset times may be greater than the first preset times. The third preset times of the emergency braking mode are set to the maximum times, and the purpose of the third preset times is that: since the emergency braking mode is generally used in the case that a braking system or a power system fails, if the third preset number of times of setting the emergency braking mode is small, the vehicle is likely to be in danger of traveling in the case that a driver bumps by mistake.

It should be added that, because the first preset number of times may be 0 times, a preset duration needs to be set to count the number of times the closing switch is touched. Specifically, when the running state is determined to be in an abnormal state, namely, the starting time, the number of touches in a preset time period after the starting time is counted. The number of times of touch is 0 in the preset time, namely the abnormal running state is generated by the driver touching the accelerator pedal by mistake.

The preset time length can be set according to actual conditions, and the switching device can monitor target operation acting on the intelligent driving switch in real time within the preset time length. When the driver touches the off switch, the voltage corresponding to the off switch is generally changed, and a corresponding touch signal (voltage signal) is generated. Therefore, when a touch signal is obtained, the switching device can record the number of touches plus 1 to count the number of touches.

In addition, it is necessary to supplement that in order to prompt the driver to perform the target operation in time, the switching device can quickly determine the target driving mode to control the vehicle to run, so as to improve the driving safety. In this embodiment, when it is determined that the running state is an abnormal state, a first prompting operation may be further performed, where the first prompting operation is used to remind the driver to perform the above-described target operation on the intelligent driving switch. The first prompting operation includes but is not limited to text, voice, light, etc., which is not limited to this.

For example, the switching device may display preset prompt text on the human-machine interaction interface (Human Machine Interface, HMI).

In another embodiment, in order to further avoid erroneous switching of the emergency braking mode caused by erroneous touch, so as to improve driving safety, when determining the emergency braking mode based on the number of touches, the switching device may display an on switch of the intelligent driving switch on the HMI interface or change the color of the intelligent driving switch from gray to other colors when determining that the number of touches is the fourth preset number. And then, when the switching device monitors that the opening switch is touched, determining that the target driving mode is an emergency braking mode.

In this case, the vehicle is in the intelligent driving mode, so that the on switch in the intelligent driving switch is not required to be touched in a normal scene. However, in order to reduce the cost of setting the switch for each driving mode to use the corresponding control link, in this embodiment, when the number of touches is determined to be the fourth preset number, an instruction generated after the on switch controlling the intelligent driving mode to be turned on at this time is touched may be set to instruct confirmation of the emergency braking mode to be turned on.

Specifically, in the intelligent driving mode, only a closing switch in the intelligent driving switch can be displayed on the HMI interface, and an opening switch is not displayed; or the on switch is displayed in a gray form which cannot be touched; then, when the number of times of touching the closing switch is detected to be the fourth preset number of times, the switching device can display the opening switch or display the opening switch in other touchable colors (green or red). And finally, when the switch device monitors that the opening switch is touched, determining that the target driving mode is an emergency braking mode. That is, the on switch at this time is used to characterize a switch confirming that the emergency braking mode is on. And when the monitoring closing switch is touched, still determining that the target driving mode is the intelligent driving mode. Based on this, the switching device may consider that the target operation of the driver for the fourth preset number of times of the closing switch is a false touch operation.

The fourth preset times may be set according to actual situations, and exemplary, the fourth preset times may be 2 times.

When the on switch is displayed on the HMI interface or the on switch is displayed in other colors (green or red) that can be touched, the switching device may further perform a second prompting operation to remind the driver to click the on switch to enter the emergency braking mode or click the off switch to maintain the intelligent driving mode. The manner of the second prompting operation may be the same as or different from that of the first prompting operation, which is not limited.

S204, controlling the vehicle to run based on the target driving mode.

In an embodiment, if the target driving mode is the intelligent driving mode, the switching device may continue to maintain the current intelligent driving mode. However, if the target driving mode is the emergency braking mode or the manual driving mode, the switching device should exit the current intelligent driving mode when the target driving mode is used to control the vehicle.

In this embodiment, the switching device may acquire the running state of the vehicle when the vehicle is in the intelligent driving mode. Then, when the running state of the vehicle is an abnormal state, a target operation acting on the intelligent driving switch is monitored to determine a target driving mode of the vehicle based on the target operation. Finally, vehicle operation is controlled based on the target driving mode. Based on this, when detecting the operation to the intelligent driving switch, the switching device can timely respond to the switching of the intelligent driving mode, so as to improve the driving safety when the vehicle driving mode is switched. And the switching device can select different target driving modes to control the vehicle to run based on the target operation of the driver on the intelligent driving switch, and a corresponding switching key is not required to be arranged for each driving mode, so that the switching cost required by the vehicle is reduced.

Referring to fig. 3, fig. 3 is a flowchart illustrating an implementation method of a vehicle driving mode switching method according to another embodiment of the present application. Taking the intelligent driving mode as the ACC driving mode, the intelligent driving switch is a virtual software switch for explanation. In the control process of the ACC driving mode, if the fact that the driver steps on the accelerator pedal or the actual torque provided by the accelerator pedal is different from the expected torque caused by the power system fault is detected, the switching device can display the driver intervention or the power system fault on the HMI interface. That is, the switching device may determine that the vehicle is in an abnormal state at this time.

Wherein, when the powertrain is not malfunctioning, but the actual torque is different from the desired torque, only driver intervention may be displayed; and, in the event of a power system failure, but it is not possible to determine whether the driver is intervening, only the power system failure may be displayed.

Then, the switching device can monitor the touch times of the driver on the closing switch in the intelligent driving switch within the preset time. When the number of touches is a first preset number, for example, 0 times, the switching device may determine that the abnormal state is caused by the driver touching the accelerator pedal by mistake. Further, the switching device may still maintain the intelligent driving mode to control the vehicle running. When the number of touches is a second preset number of times, for example, 1 time, the switching device may determine that the target driving mode is a manual driving mode, and may exit the intelligent driving mode, so as to control the vehicle to run according to the operation of the driver. And when the number of times of touch is a fourth preset number of times, for example, 2 times, the switching device may display the on switch, or display the on switch in other colors that can be touched. Finally, when the monitoring start switch is touched, the target driving mode is determined to be an emergency braking mode. Or when the monitoring closing switch is touched, the target driving mode is still determined to be the intelligent driving mode.

Referring to fig. 4, fig. 4 is a block diagram of a switching device for a driving mode of a vehicle according to an embodiment of the present application. The switching device of the driving mode of the vehicle in this embodiment includes modules for executing the steps in the embodiment corresponding to fig. 2. Refer specifically to fig. 2 and the related description in the embodiment corresponding to fig. 2. For convenience of explanation, only the portions related to the present embodiment are shown. Referring to fig. 4, a switching device 400 of a vehicle driving mode may include: an operating state acquisition module 410, a target operation monitoring module 420, a target driving mode determination module 430, and a control module 440, wherein:

the running state acquisition module 410 is configured to acquire a running state of the vehicle when the vehicle runs in the intelligent driving mode.

The target operation monitoring module 420 is configured to monitor a target operation acting on the intelligent driving switch if the running state is an abnormal state; the intelligent driving switch is used for controlling the intelligent driving mode to be switched on or off.

The target driving mode determining module 430 is configured to determine a target driving mode of the vehicle according to the target operation.

The control module 440 is configured to control vehicle operation based on the target driving mode.

In one embodiment, the running state acquisition module 410 is further configured to:

acquiring driving environment information of a vehicle; determining the expected accelerator torque provided by an accelerator pedal of the vehicle according to the driving environment information; determining the actual torque currently provided by an accelerator pedal; the operating state is determined based on the desired throttle torque and the actual torque.

if the expected accelerator torque is different from the actual torque, determining that the running state is an abnormal state; and if the expected accelerator torque is the same as the actual torque, determining that the running state is a normal state.

In one embodiment, the intelligent driving switch includes a close switch that controls the intelligent driving mode to close; the target driving mode determination module 430 is further configured to:

counting the touch times of the closing switch; and determining a target driving mode according to the touch times.

In one embodiment, the target driving mode determination module 430 is further configured to:

if the touch times are the first preset times, determining that the target driving mode is an intelligent driving mode; if the touch times are the second preset times, determining a target driving mode as an artificial driving mode; if the touch times are the third preset times, determining that the target driving mode is an emergency braking mode; the emergency braking mode is used for controlling the vehicle to stop running; the first preset times, the second preset times and the third preset times are different from each other.

In one embodiment, the intelligent drive switch further comprises an on switch confirming that the emergency braking mode is on; the switching device 400 of the vehicle driving mode further includes:

and the emergency braking mode determining module is used for determining that the target driving mode is the emergency braking mode when the start switch is monitored to be touched if the touch times are the fourth preset times.

In an embodiment, the switching device 400 of the vehicle driving mode further includes:

the prompting module is used for executing a first prompting operation if the running state is an abnormal state; the first prompting operation is used for prompting a driver to execute target operation on the intelligent driving switch.

It is to be understood that, in the block diagram of the switching device for the driving mode of the vehicle shown in fig. 4, each module is configured to execute each step in the embodiment corresponding to fig. 2, and each step in the embodiment corresponding to fig. 2 has been explained in detail in the foregoing embodiment, and reference is specifically made to fig. 2 and related descriptions in the embodiment corresponding to fig. 2, which are not repeated herein.

Fig. 5 is a block diagram of a vehicle according to an embodiment of the present application. As shown in fig. 5, the vehicle 500 of this embodiment includes: a processor 510, a memory 520 and a computer program 530 stored in the memory 520 and executable on the processor 510, for example a program for a switching method of a driving mode of a vehicle. The steps in the embodiments of the above-described switching method of the respective vehicle driving modes are implemented when the processor 510 executes the computer program 530, for example, S201 to S204 shown in fig. 2. Alternatively, the processor 410 may implement the functions of the modules in the embodiment corresponding to fig. 4, for example, the functions of the modules 410 to 440 shown in fig. 4, when executing the computer program 430, and refer to the related description in the embodiment corresponding to fig. 4.

For example, the computer program 530 may be divided into one or more modules, which are stored in the memory 520 and executed by the processor 510 to implement the vehicle driving mode switching method provided in the embodiment of the present application. One or more of the modules may be a series of computer program instruction segments capable of performing particular functions for describing the execution of the computer program 530 in the vehicle 500. For example, the computer program 530 may implement the method for switching the driving mode of the vehicle provided in the embodiment of the present application.

The vehicle 500 may include, but is not limited to, a processor 510, a memory 520. It will be appreciated by those skilled in the art that fig. 5 is merely an example of a vehicle 500 and is not intended to limit the vehicle 500, and may include more or fewer components than shown, or may combine certain components, or different components, e.g., the vehicle may further include input and output devices, network access devices, buses, etc.

The processor 510 may be a central processing unit, as well as other general purpose processors, digital signal processors, application specific integrated circuits, off-the-shelf programmable gate arrays or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 520 may be an internal storage unit of the vehicle 500, such as a hard disk or a memory of the vehicle 500. The memory 520 may also be an external storage device of the vehicle 500, such as a plug-in hard disk, a smart memory card, a flash memory card, etc. provided on the vehicle 500. Further, the memory 520 may also include both internal storage units and external storage devices of the vehicle 500.

The present embodiment provides a computer-readable storage medium storing a computer program that is executed by a processor to perform the vehicle driving mode switching method in the above embodiments.

Embodiments of the present application provide a computer program product that, when run on a vehicle, causes the vehicle to perform the method of switching the vehicle driving mode in the above-described respective embodiments.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting thereof; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A method of switching a driving mode of a vehicle, the method comprising:

if the running state is an abnormal state, monitoring target operation acted on the intelligent driving switch; the intelligent driving switch is used for controlling the intelligent driving mode to be switched on or switched off;

and controlling the vehicle to run based on the target driving mode.

2. The method of claim 1, wherein the acquiring the operating state of the vehicle while traveling in the intelligent driving mode comprises:

acquiring driving environment information of a vehicle;

determining the expected accelerator torque provided by an accelerator pedal of the vehicle according to the driving environment information;

determining the actual torque currently provided by the accelerator pedal;

and determining the running state according to the expected throttle torque and the actual torque.

3. The method of claim 2, wherein said determining said operating condition from said desired throttle torque and said actual torque comprises:

if the expected throttle torque is different from the actual torque, determining that the running state is the abnormal state;

and if the expected throttle torque is the same as the actual torque, determining that the running state is a normal state.

4. The method of claim 1, wherein the intelligent drive switch comprises a close switch that controls the intelligent drive mode to close; the determining a target driving mode of the vehicle according to the target operation includes:

counting the touch times of the closing switch;

and determining the target driving mode according to the touch times.

5. The method of claim 4, wherein the determining the target driving pattern from the number of touches comprises:

if the touch times are the first preset times, determining that the target driving mode is the intelligent driving mode;

if the touch times are the second preset times, determining the target driving mode to be an artificial driving mode;

if the touch times are third preset times, determining that the target driving mode is an emergency braking mode; the emergency braking mode is used for controlling the vehicle to stop running; the first preset times, the second preset times and the third preset times are different from each other.

6. The method of claim 4, wherein the intelligent drive switch further comprises an on switch confirming an emergency braking mode is on; the method further comprises the steps of:

and if the touch times are fourth preset times, determining that the target driving mode is the emergency braking mode when the start switch is detected to be touched.

7. The method according to any one of claims 1 to 6, further comprising, after the acquiring the running state of the vehicle when running in the intelligent driving mode:

if the running state is an abnormal state, executing a first prompting operation; the first prompting operation is used for prompting a driver to execute the target operation on the intelligent driving switch.

8. A switching device of a vehicle driving mode, characterized by comprising:

the target operation monitoring module is used for monitoring target operation acting on the intelligent driving switch if the running state is an abnormal state; the intelligent driving switch is used for controlling the intelligent driving mode to be switched on or switched off;

a target driving mode determining module configured to determine a target driving mode of the vehicle according to the target operation;

9. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the method of any one of claims 1 to 7 when the computer program is executed.

10. A computer readable storage medium storing a computer program, characterized in that the computer program when executed by a processor implements the method according to any one of claims 1 to 7.