CN116215581A

CN116215581A - Vehicle driving state switching method, device, equipment and storage medium

Info

Publication number: CN116215581A
Application number: CN202310363012.XA
Authority: CN
Inventors: 陈旭; 黄硕; 陈长贵; 周琳; 钱登林; 周俊杰; 张涛; 成诚; 刘益鸣
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-04-06
Filing date: 2023-04-06
Publication date: 2023-06-06

Abstract

The invention discloses a vehicle driving state switching method, device, equipment and storage medium. The method comprises the following steps: detecting a control instruction when the current vehicle is in an automatic driving state; the control instruction includes a first instruction for switching the non-automatic driving state confirmed by the driving user or a second instruction for switching the non-automatic driving state not confirmed by the driving user; when the control instruction is a first instruction, switching the current vehicle driving state of the vehicle into a non-automatic driving state; and controlling the current vehicle to decelerate when the control command is the second command. The technical scheme of the embodiment of the invention improves the safety of the vehicle driving state switching process.

Description

Vehicle driving state switching method, device, equipment and storage medium

Technical Field

The present invention relates to the field of automatic driving technologies, and in particular, to a method, an apparatus, a device, and a storage medium for switching driving states of a vehicle.

Background

With development of automatic driving technology, application of automatic driving of vehicles is becoming wider and wider, and switching of driving states of vehicles is becoming more and more frequent.

However, how to improve the safety of the switching process of the driving state of the vehicle is in need of solving.

Disclosure of Invention

The invention provides a vehicle driving state switching method, device, equipment and storage medium, which improve the safety of the vehicle driving state switching process.

According to an aspect of the present invention, there is provided a vehicle driving state switching method including:

detecting a control instruction when the current vehicle is in an automatic driving state; the control instruction includes a first instruction for switching the non-automatic driving state confirmed by the driving user or a second instruction for switching the non-automatic driving state not confirmed by the driving user;

when the control instruction is a first instruction, switching the current vehicle driving state of the vehicle into a non-automatic driving state;

and controlling the current vehicle to decelerate when the control command is the second command.

According to another aspect of the present invention, there is provided a vehicle driving state switching device including:

the control instruction detection module is used for detecting a control instruction when the current vehicle is in an automatic driving state; the control instruction includes a first instruction for switching the non-automatic driving state confirmed by the driving user or a second instruction for switching the non-automatic driving state not confirmed by the driving user;

the non-automatic driving state switching module is used for switching the current driving state of the vehicle into a non-automatic driving state when the control instruction is a first instruction;

And the current vehicle deceleration control module is used for controlling the current vehicle to decelerate when the control instruction is the second instruction.

According to another aspect of the present invention, there is provided an electronic apparatus including:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle driving state switching method according to any one of the embodiments of the present invention.

According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the vehicle driving state switching method according to any one of the embodiments of the present invention when executed.

According to the technical scheme, when the current vehicle is in the automatic driving state, the control instruction is detected, the control instruction comprises the first instruction for switching the non-automatic driving state confirmed by the driving user or the second instruction for switching the non-automatic driving state not confirmed by the driving user, when the control instruction is the first instruction, the driving state of the current vehicle is switched to the non-automatic driving state, and when the control instruction is the second instruction, the current vehicle is controlled to decelerate, so that the problem of how to improve the safety of the switching process of the driving state of the vehicle is solved, and the safety of the switching process of the driving state of the vehicle is improved.

It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.

Drawings

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

Fig. 1 is a flowchart of a vehicle driving state switching method according to a first embodiment of the present invention;

fig. 2 is a flowchart of a vehicle driving state switching method according to a second embodiment of the present invention;

FIG. 3 is a timing diagram of an autopilot system status according to a second embodiment of the present invention;

fig. 4 is a schematic diagram of an autopilot system state switching according to a second embodiment of the present invention;

fig. 5 is a schematic structural view of a vehicle driving state switching device according to a third embodiment of the present invention;

Fig. 6 is a schematic structural diagram of an electronic device implementing a vehicle driving state switching method according to an embodiment of the present invention.

Detailed Description

In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

Example 1

Fig. 1 is a flowchart of a vehicle driving state switching method according to an embodiment of the present invention. The embodiment of the invention is applicable to the situation of switching the driving state of the vehicle, the method can be executed by the driving state switching device of the vehicle, the driving state switching device of the vehicle can be realized in the form of hardware and/or software, and the driving state switching device of the vehicle can be configured in electronic equipment carrying the driving state switching function of the vehicle.

Referring to the vehicle driving state switching method shown in fig. 1, the method includes:

s110, detecting a control instruction when the current vehicle is in an automatic driving state; the control instruction includes a first instruction to switch the non-automatic driving state confirmed by the driving user or a second instruction to switch the non-automatic driving state not confirmed by the driving user.

The control instruction may be an instruction to control the driving state of the vehicle. By way of example, the control instruction may include an instruction to switch the non-automatic driving state, an instruction to switch the automatic driving state, and the like. Alternatively, the instruction to switch the non-automatic driving state may include a first instruction and a second instruction. Wherein the first instruction may be an instruction to switch the non-automatic driving state confirmed by the driving user. The second instruction may be an instruction to switch the non-automatic driving state without confirmation by the driving user. The driving user may drive the user of the current vehicle. The automatic driving state may be a driving state of the vehicle without control by the driving user. The non-automatic driving state may be a driving state of the vehicle that requires control by the driving user. When the current vehicle is in a non-automatic driving state, a driving user is required to control the current vehicle so as to ensure normal driving of the vehicle, so that the driving user confirms switching of the non-automatic driving state, and the safety of the vehicle is particularly important.

Specifically, when the current vehicle is in an automatic driving state, it may be detected whether the control instruction is a first instruction or a second instruction.

And S120, when the control instruction is a first instruction, switching the driving state of the current vehicle into a non-automatic driving state.

Specifically, when the control instruction is the first instruction, it may be understood that the control instruction may be an instruction that is confirmed by the driving user and is to switch the non-automatic driving state, and the vehicle driving state of the current vehicle is directly switched to the non-automatic driving state.

And S130, controlling the current vehicle to decelerate when the control command is a second command.

Specifically, when the control instruction is the second instruction, it may be understood that the control instruction may be an instruction which is not confirmed by the driving user and may control the current vehicle to decelerate for switching the non-automatic driving state. Alternatively, the current vehicle may be controlled to stop on the road side.

According to the technical scheme, when the current vehicle is in the automatic driving state, the control instruction is detected, the control instruction comprises the first instruction for switching the non-automatic driving state confirmed by the driving user or the second instruction for switching the non-automatic driving state not confirmed by the driving user, when the control instruction is the first instruction, the vehicle driving state of the current vehicle is switched to the non-automatic driving state, and when the control instruction is the second instruction, the current vehicle is controlled to be decelerated, so that the switching to the non-automatic driving state is confirmed by the driving user, and when the driving user is not confirmed, the current vehicle is controlled to be decelerated for ensuring the safety of the current vehicle as much as possible, and the safety in the vehicle driving state switching process is further improved.

In an alternative embodiment of the present invention, after switching the vehicle driving state of the current vehicle to the non-automatic driving state, further comprising: when receiving a command of switching the automatic driving state from the driving user, the vehicle driving state of the current vehicle is switched to the automatic driving state.

The instruction to switch the autopilot state may be triggered by an operation by the driving user to switch autopilot. For example, the operation of driving the user to switch the autopilot may include pushing in a lever that is switched to the autopilot state.

Specifically, after the vehicle driving state of the current vehicle is switched to the non-automatic driving state, when an instruction to switch to the automatic driving state by the driving user is received, the vehicle driving state of the current vehicle may be switched to the automatic driving state.

According to the scheme, after the vehicle driving state of the current vehicle is switched to the non-automatic driving state, when the instruction of the driving user for switching the automatic driving state is received, the vehicle driving state of the current vehicle is switched to the automatic driving state, so that the switching between the non-automatic driving state and the automatic driving state is realized, the flexibility of vehicle driving state selection is further improved, and the use feeling of vehicle driving is further improved.

In an alternative embodiment of the present invention, before the current vehicle is in the automatic driving state, the method further includes: detecting vehicle hardware after the current vehicle is powered on; after the vehicle hardware detection passes, detecting vehicle software; after the vehicle software detects passing, an automatic driving instruction input by a driving user is received, and the current vehicle is controlled to drive in an automatic driving state.

The vehicle hardware may include hardware of vehicle sensing sensors, vehicle positioning systems, and vehicle master platforms, etc. The vehicle software may include vehicle control function software, vehicle self-test diagnostic software, vehicle operation diagnostic software, and the like. The command for automatic travel may be a command for controlling the vehicle to enter an automatic driving state. The instruction of the autopilot may be triggered by an operation of entering the autopilot state entered by the driving user. For example, the operation to enter the autopilot state may be pushing a lever to enter the autopilot state. Alternatively, the shift lever entering the autopilot state may be the same as or different from the shift lever switched to the autopilot state.

Specifically, after the current vehicle is powered on, the vehicle hardware is detected to determine that the vehicle hardware can meet the requirements of vehicle driving. After the vehicle hardware detection passes, the vehicle software is detected to determine that the vehicle software can meet the requirements of vehicle driving. After the vehicle software detects passing, an automatic driving instruction input by a driving user is received, and the current vehicle is controlled to drive in an automatic driving state.

According to the scheme, after the current vehicle is electrified, the vehicle hardware is detected, after the vehicle hardware is detected to pass, the vehicle software is detected, after the vehicle software is detected to pass, an automatic driving instruction input by a driving user is received, the current vehicle is controlled to drive in an automatic driving state, the detection of the vehicle hardware and the vehicle software is realized, the condition that the vehicle hardware and the vehicle software can provide for the automatic driving state of the vehicle is ensured, and the driving safety of the vehicle is further ensured.

In an alternative embodiment of the invention, the detection of vehicle hardware is embodied as: acquiring power supply state signals of hardware of each vehicle; if any one of the power supply state signals is not detected, the vehicle hardware detection is not passed; if each power supply state signal is detected, acquiring a driving state signal of each vehicle hardware; if the driving state signals are not detected, the vehicle hardware detection is not passed; if each drive state signal is detected, the vehicle hardware detection passes.

The power status signal may be used to display a vehicle hardware power status. The power status signal may be issued by vehicle hardware. Optionally, if the power supply state of the vehicle hardware is normal, the vehicle hardware sends a power supply state signal to display that the power supply state of the vehicle hardware is normal. The drive status signal is used to display the vehicle hardware drive status. The drive status signal may also be issued by the vehicle hardware. Optionally, if the driving state of the vehicle hardware is normal, the vehicle hardware sends out a driving state signal to display that the driving state of the vehicle hardware is normal. In order to distinguish the power supply state signal and the driving state signal of each vehicle hardware, a corresponding variable name may be preset for each vehicle hardware, and the detection result of the vehicle hardware may be determined by detecting the power supply state signal and the driving state signal corresponding to each variable name.

Specifically, a power supply state signal of each vehicle hardware can be obtained; if any one of the power supply state signals is not detected, the vehicle hardware detection is not passed; if each power supply state signal is detected, a driving state signal of each vehicle hardware can be obtained; if the driving state signals are not detected, the vehicle hardware detection is not passed; if each drive state signal is detected, the vehicle hardware detection passes.

According to the scheme, the power supply state signals of the vehicle hardware are obtained, if any power supply state signal of the power supply state signals is not detected, the vehicle hardware is not detected, if the power supply state signals are detected, the driving state signals of the vehicle hardware are obtained, if the driving state signals are not detected, the vehicle hardware is not detected, if the driving state signals are detected, the vehicle hardware is detected from two dimensions of the power supply state and the driving state, and a hardware foundation is provided for safe running of the vehicle.

In an alternative embodiment of the invention, the detection of vehicle software is embodied as: initializing each vehicle software and obtaining an initialization state signal fed back by each vehicle software; detecting the data flow of each vehicle software when the initialization state signal fed back by each vehicle software is detected; if the data flow of any one of the vehicle software is not detected, the vehicle software is not detected to pass; if a data stream of each vehicle software is detected, each vehicle software detects a pass.

The initialization state signal may be a signal that displays an initialization state of each vehicle software. Optionally, if the vehicle software initialization state is normal, the vehicle software sends out an initialization state signal to display that the vehicle software initialization state is normal. The data stream may be a data stream constituted by input data and output data of the vehicle software. The detection of a data stream of the vehicle software, which may be understood as receiving input data and may emit output data, functions normally.

Specifically, each vehicle software can be initialized, and an initialization state signal fed back by each vehicle software can be obtained; when the initialization state signals fed back by the vehicle software are detected, the data flow of the vehicle software can be detected; if the data flow of any one of the vehicle software is not detected, the vehicle software is not detected to pass; if a data stream of each vehicle software is detected, each vehicle software detects a pass.

According to the scheme, each vehicle software is initialized, an initialization state signal fed back by each vehicle software is obtained, when the initialization state signal fed back by each vehicle software is detected, each vehicle software data stream is detected, if the data stream of any vehicle software in each vehicle software is not detected, if the data stream of each vehicle software is detected, the vehicle software is detected from two dimensions of the initialization and the data stream, and a software foundation is provided for safe running of the vehicle.

Example two

Fig. 2 is a flowchart of a vehicle driving state switching method according to a second embodiment of the present invention. On the basis of the embodiment, the embodiment of the invention embodies a detection control instruction to send non-automatic driving state switching information to a driving user when an abnormal event exists in the front road condition; detecting a first instruction when receiving confirmation operation of a driving user for non-automatic driving state switching information; when the negative operation of the driving user aiming at the non-automatic driving state switching information is received, the second instruction is detected, so that the safety of vehicle driving when the front road condition has an abnormal event is improved. In the embodiments of the present invention, the descriptions of other embodiments may be referred to in the portions not described in detail.

Referring to the vehicle driving state switching method shown in fig. 2, the method includes:

s210, when the current vehicle is in an automatic driving state and an abnormal event exists in the front road condition, non-automatic driving state switching information is sent to a driving user. The control instruction includes a first instruction to switch the non-automatic driving state confirmed by the driving user or a second instruction to switch the non-automatic driving state not confirmed by the driving user.

The front-stop road condition may be a road condition ahead of the current vehicle. The abnormal event may include an event such as road congestion, a sudden occurrence of a vehicle ahead, and a sudden braking of a vehicle ahead. The non-automatic driving state switching information may be information prompting the driving user to switch to the non-automatic driving state. Alternatively, the non-automatic driving state switching information may include voice prompt information, text prompt information, and the like.

Specifically, when detecting that the front road condition has abnormal events including road congestion, sudden occurrence of vehicles in front, sudden braking of the vehicles in front and the like, non-automatic driving state switching information is sent to a driving user so as to prompt the driving user to confirm switching to the non-automatic driving state.

S220, detecting a first instruction when receiving a confirmation operation of the driving user for the non-automatic driving state switching information.

The confirmation operation may be an operation in which the driving user confirms the non-automatic driving state information. It is understood that the driving user confirms that the current vehicle is switched to the non-automatic driving state and performs a corresponding confirmation operation. Accordingly, the first instruction may be an instruction triggered by a confirmation operation of the driving user. For example, the confirmation operation may include pushing out a lever that switches to a non-autonomous driving state, holding a steering wheel, rotating a steering wheel, or stepping on a brake, etc. The shift lever switched to the non-automatic driving state and the shift lever switched to the automatic driving state may be the same or different.

Specifically, the first instruction triggered by the confirmation operation may be detected when the confirmation operation of the driving user for the non-automatic driving state is received.

S230, detecting a second instruction when receiving the non-automatic driving state switching information deny operation of the driving user.

The denial operation may be an operation by which the driving user denies the non-automatic driving state information. It is understood that the driving user does not confirm that the current vehicle is switched to the non-automatic driving state. For example, the denial may include not responding to or denying the non-automatic driving state information. For example, the non-automatic driving state switching information is a voice prompt message "please confirm whether to switch to the non-automatic driving state", and the non-acknowledgement operation may be not replied or voice replied "not switch".

Specifically, the second instruction triggered by the denial operation may be detected when the denial operation of the driving user for the non-automatic driving state is received.

And S240, when the control command is a first command, switching the current vehicle driving state of the vehicle to a non-automatic driving state.

And S250, controlling the current vehicle to decelerate when the control command is a second command.

According to the technical scheme, when the current vehicle is in the automatic driving state, the non-automatic driving state switching information is sent to the driving user when the abnormal event exists in the front road condition, the first instruction is detected when the confirmation operation of the driving user for the non-automatic driving state switching information is received, the second instruction is detected when the denial operation of the driving user for the non-automatic driving state switching information is received, the driving state of the current vehicle is switched to the non-automatic driving state when the control instruction is the first instruction, the current vehicle is controlled to be decelerated when the control instruction is the second instruction, different instructions are sent according to different operations of the driving user when the abnormal event exists in the front road condition, and the driving safety of the vehicle when the abnormal event exists in the front road condition is further guaranteed.

In an alternative embodiment of the present invention, the receiving of the denial of the driving user for the non-automatic driving state switching information is embodied as: and when the confirmation operation fed back by the driving user is not received within the preset determination time, determining that the denial operation of the driving user for the non-automatic driving state switching information is received.

The preset determination time period may be a time period for which the driving user transmits the determination operation, which is set in advance. The preset determination time period can be set and adjusted according to the experience of the technician. The preset determination time period may be 10s, for example.

Specifically, if the confirmation operation fed back by the driving user is not received after the preset determination time period is exceeded, it may be understood that the driving user does not reply to the non-automatic driving state switching information after the preset determination time period is exceeded, and at this time, it is determined that the denial operation of the driving user for the non-automatic driving state switching information is received.

According to the scheme, when the confirmation operation fed back by the driving user is not received within the preset determination time, the denial operation of the driving user for the non-automatic driving state switching information is determined to be received, the problem that the time for switching to the non-automatic driving state to wait for confirmation is too long due to the fact that the non-automatic driving state switching information is not confirmed by the driving user is avoided, the problem that the time for waiting for confirmation is too long is also avoided, potential safety hazards brought to vehicle driving are avoided, and the safety of vehicle driving is further improved.

Alternatively, the autopilot system may include vehicle hardware and vehicle software running on a hardware control computing platform. The vehicle software comprises vehicle self-checking diagnosis software, vehicle control function software and vehicle operation diagnosis software. The vehicle self-checking diagnosis software can diagnose the hardware of each vehicle after the power-on of the hardware of each vehicle is completed and the power is normally supplied, and judges whether the hardware of each vehicle meets the running condition of an automatic driving system or not. The vehicle control function software can realize closed-loop control of the automatic driving system sensing the control instruction output from the sensor. For example, the vehicle control function software may implement sensing, prediction, path selection, positioning, trajectory planning, and output of control instructions. The vehicle operation diagnosis software can realize two functions: firstly, monitoring and diagnosing the initial operation of the vehicle control function software, judging whether the vehicle control function software is started or not, and judging whether the control function is normally operated or not; and secondly, performing operation diagnosis when the automatic driving system is operated, wherein the operation diagnosis can be performed on the state of the automatic driving system, the hardware state of the vehicle and the software state of the vehicle so as to monitor whether the performances of all aspects of the automatic driving system meet the operation requirement of the automatic driving system in real time. Alternatively, the vehicle hardware state may include a vehicle chassis state. The vehicle operation diagnosis software can be started and operated simultaneously with the vehicle control function software, and the operation state and the operation stability of the automatic driving system can be monitored in real time.

Fig. 3 is a timing chart of an autopilot system state according to a second embodiment of the present invention. As shown in fig. 3, the state of the autopilot system during operation of the autopilot system may be customized. The autopilot system states may include an initial state, a power-up state, a not ready state, a ready state, an active state, an operational state, and a safety-oriented minimum risk driving strategy state (MSM) performed during the operational state. The automatic driving system state includes the automatic driving state and the non-automatic driving state (including the manual driving state) in the above-described embodiment. The initial state may include a state in which the vehicle hardware is not powered up, the vehicle hardware is not powered on, or the vehicle hardware is backed out of a powered-on state to a power-off (or power-off) state. The power-on state can finish power supply for the vehicle hardware, the power supply of the vehicle hardware is normal, and a corresponding working switch on the vehicle hardware is closed. It is understood that the power-on state may be a state in which the vehicle hardware may be powered and then may operate normally. The not ready state may be that the vehicle hardware power up is complete and the vehicle self-test diagnostic software is complete on the vehicle hardware self-test, but the vehicle control function software and the vehicle operation diagnostic software have not been started. The ready state may be a state in which the system control function and the vehicle operation diagnosis software are started up to completion in the non-ready state. The activation state may be a state in which the function initial operation detection of the vehicle control function software is normal and the state operation detection is normal in the ready state. Optionally, the function initial running detection of the vehicle control function software may be that an initialization state signal fed back by each vehicle control function software is received; the detection of the state operation of the vehicle control function software may be that a data flow of each vehicle software is detected. The activated state can also comprise that after the automatic driving system completes the driving task in the running state, the vehicle is stopped and returned to the running state or the automatic driving system drives the user to take over the vehicle manually in the running state The switch is to an active state, which may be understood as a manual driving state. The operating state may be an autopilot state. Specifically, the automatic driving system can detect an automatic driving instruction input by a driving user in an activated state, and can control the automatic driving system to enter an operation state. The minimum risk driving strategy state (MRM) may be a state in which the automatic driving system fails significantly, the system functions are degraded (from the automatic driving state to the non-automatic driving state), or when no confirmation operation of the driving user is received within 10s after the non-automatic driving state switching information is sent, the vehicle is automatically switched to the minimum risk driving strategy state, and the vehicle is decelerated or even stopped in order to ensure the safety of the vehicle driving. The operating course of the autopilot system corresponds to the autopilot system state. The operating procedures of the autopilot system may include system power-up, hardware self-test, software start-up, software operation, software function detection, mode entry, autopilot, minimum risk driving, mode exit, and system power-down. Wherein "(1) System Power-on" corresponds to time t ₁ For the time when the powering up of the vehicle hardware is completed, the autopilot system state is switched from the initial state to the powered up state only when the powering up of the vehicle hardware is completed. Time t corresponding to "(2) hardware self-test ₂ Is the time when the vehicle hardware self-test is completed. The autopilot system state is switched from the powered-up state to the not ready state only when the vehicle hardware self-test is complete. "(3) software Start complete" corresponding time t ₃ The time for the vehicle control function software to start up is completed. The autopilot system state is switched from the unreasonable state to the ready state only when the vehicle control function software is initiated. If there is an un-bootable or partially incomplete start of the vehicle control function software start-up process, the autopilot system state is maintained in a not ready state. "(4) time t corresponding to successful detection of software function ₄ And initializing the time for detecting the operation of the vehicle control function software for the completion of the starting of the vehicle operation diagnosis software. The autopilot system state is switched from the ready state to the active state only if the vehicle control function software function initial operation detection is normal and the vehicle control function software state operation detection is normal. "(5) mode entry" corresponds toTime t ₅ The automatic driving system is controlled to control the time when the state of the automatic driving system enters the running state in order to detect the automatic driving instruction input by the driving user. The automatic driving system state is switched from the active state to the running state only when an automatic driving instruction input by a driving user is detected, and the automatic driving state is entered. "(6) autopilot" corresponding time t ₆ For the time of normal operation of the autopilot system and for the autopilot system to enter a safety-oriented minimum risk driving strategy state (MRM) from the operating state until the autopilot system controls the time the vehicle is parked. Time t corresponding to "(7) mode exit ₇ Is the time for the autopilot system to enter an active state from an operational state. The autopilot system state is switched from the run state to the active state only when the autopilot system is automatically run out and an activation condition is met. Time t corresponding to "(8) System Power-down ₈ And (3) performing system power-down operation for the automatic driving system in an activated state until the hardware of the vehicle is powered off, and controlling the time when the computing platform is powered off and cannot work. At this time, the automated driving system is restored to the initial state. Time t ₃ ～t ₈ Are the run times of the autopilot system. Wherein, time t ₃ ～t ₄ Because the automatic driving system does not operate automatically, the vehicle control function software and the vehicle operation diagnosis software are not started to complete, and the vehicle control function software is not completed to initialize operation detection, and the stage belongs to the system starting operation stage. Time t ₄ ～t ₅ Since the autopilot system performs autopilot operation, it can be understood that the autopilot system cannot form closed-loop control from sensing the output of the control command, and this stage is the open-loop operation stage of the system. Time t ₆ ～t ₇ Since the autopilot system performs the autopilot operation phase, this phase is the system closed loop control operation phase. Time t ₈ The automatic driving system is withdrawn from the automatic driving operation until the system is powered down, and the automatic driving system is in an open loop operation stage.

Fig. 4 is a schematic diagram of state switching of an autopilot system according to a second embodiment of the present invention. As shown in fig. 4, when the autopilot system is switched from one state to another, the system is switched from one state to another by using the paint color of the state column, and the arrow indicates the switching direction of the system. For example, the autopilot system is set to be currently in an initial state, at this time, the autopilot system is powered up, and when the power up is completed, the autopilot system may be switched from the initial state to the powered up state. When there are multiple states with the same color, it means that these states can be switched to the corresponding states under the corresponding conditions. For example, when the autopilot system is in any one of the states other than the initial state, the autopilot system is switched from the current state to the initial state if a power failure of the autopilot system or a power failure condition of the autopilot system vehicle hardware occurs. The blank color indicates that the autopilot system is stateless, i.e. does not perform any state switching, when this condition occurs in the current state. For example, the autopilot system is currently in a ready state, but a condition for the mode lever to enter occurs, at which time the autopilot system state does not react, i.e., the current state is maintained, the autopilot system state does not switch until the operational diagnostic condition is complete, and the system does not switch from the ready state to the active state. As shown in fig. 4, the power-up of the vehicle hardware of the automatic driving system is completed in the initial state, and the automatic driving system is switched from the initial state to the power-up state. And in the power-on state, the automatic driving system completes the starting of a self-checking program (namely, vehicle self-checking diagnosis software) and completes the self-checking of vehicle hardware, and the automatic driving system is switched from the power-on state to the non-ready state. And when the automatic driving system is in the non-ready state, starting the vehicle control function software, and switching the automatic driving system from the non-ready state to the ready state. If the vehicle control function software is not fully started, the autopilot system is still in an unreasonable state. In the process, the vehicle operation diagnosis software and the vehicle control function software finish starting at the same time, and the operation diagnosis of the automatic driving system is started after the vehicle operation diagnosis software is started. In the process, the situation that the vehicle running diagnosis software is started successfully, but the vehicle control function software is not started completely can occur, and the vehicle running diagnosis software can still diagnose the vehicle control function software and give out fault information of the automatic driving system in a non-ready state. And under the ready state, the automatic driving system completes the initial running detection of the vehicle control function software function, and is switched from the ready state to the activated state. When the automatic driving system is in an activated state, the automatic driving system enters an automatic driving mode through a mode deflector rod, and the system is switched from the activated state to an operating state; when the automatic driving system is in the running state, the automatic driving system is switched from the running state to the activated state because the mode deflector rod is withdrawn, the automatic driving task is finished, and the driving user actively takes over or prompts the system to take over manually for preventing running accidents in the running process, wherein the activated state can be the manual driving state. When the automatic driving system is in an operation state, due to degradation of functions, serious faults of vehicle equipment in the operation process or when the system prompt needs to be manually taken over but the prompt information is sent out and is not manually taken over for more than 10 seconds, the automatic driving system is automatically switched from the operation state to a minimum risk driving strategy state (MRM) taking safety as a guide in order to ensure the safety and reliability of the operation of the vehicle. When the automatic driving system breaks down the power supply of the hardware of the vehicle or the hardware of the vehicle is powered down due to the power supply failure of the hardware of the vehicle in all the states except the initial state, the automatic driving system enters the initial state from the states. The automatic driving system controls the vehicle to stop when executing the safety-oriented minimum risk driving strategy state (MRM), and the automatic driving system state enters the active state from the safety-oriented minimum risk driving strategy state (MRM) after the vehicle stops moving. After the automatic driving system runs through the vehicle running diagnosis software, when part of the vehicle control function software fails and exits or part of the vehicle hardware fails and is powered down, the vehicle running diagnosis software can still continue to run. The vehicle operation diagnosis software may be operated in all other states except the initial state. In the figure, one row of running diagnosis is marked with color to indicate that the vehicle running diagnosis software can run in all other states except the initial state. When the power-down condition occurs to some vehicle hardware of the automatic driving system, the automatic driving system directly enters an initial state after entering an activated state. When the vehicle control function software module fails, the vehicle control function software module exits after being started and cannot be restarted, or the system network bus is disconnected to disconnect the connection between the system devices, the system exits from the current state (which can be any one of the ready state, the activated state, the running state and the MRM) to the non-ready state. When a signal that cannot be connected to the vehicle chassis state or a chassis control system (CDS) feedback signal cannot be detected occurs in any one of the active state, the running state, or the MSM, the autopilot system moves from the current state to the ready state.

The method has the advantages that the specific state meanings of the automatic driving system are defined, the switching conditions among the states are clarified, the state determination of the L4-level automatic driving system, the explanation of the state meanings and the preliminary definition of the switching conditions among the states are realized, the state progressive and state switching boundaries of the automatic driving system are clarified, the automatic driving system is conveniently monitored through vehicle operation diagnosis software in the operation process of the automatic driving system, after faults occur, a driving user can comprehensively judge the fault reasons by combining the information sent by the vehicle operation diagnosis software, the current state of the automatic driving system is timely known, the faults are conveniently and timely checked and processed, the automatic driving system is quickly recovered, and the usability of the automatic driving system is improved.

Example III

Fig. 5 is a schematic structural diagram of a vehicle driving state switching device according to a third embodiment of the present invention. The embodiment of the invention is applicable to the situation of switching the driving state of the vehicle, the device can execute the method for switching the driving state of the vehicle, the device can be realized in the form of hardware and/or software, and the device can be configured in the electronic equipment carrying the function of switching the driving state of the vehicle.

Referring to the vehicle driving state switching device shown in fig. 5, it includes: a control command detection module 510, a non-autonomous driving state switching module 520, and a current vehicle deceleration control module 530. The control instruction detection module 510 is configured to detect a control instruction when the current vehicle is in an automatic driving state; the control instruction comprises a first instruction for switching the non-automatic driving state confirmed by a driving user or a second instruction for switching the non-automatic driving state not confirmed by the driving user; a non-automatic driving state switching module 520, configured to switch the current driving state of the vehicle to a non-automatic driving state when the control instruction is a first instruction; the current vehicle deceleration control module 530 is configured to control the current vehicle to decelerate when the control command is a second command.

In an alternative embodiment of the present invention, the control instruction detection module 510 includes: the non-automatic driving state switching information sending unit is used for sending non-automatic driving state switching information to the driving user when an abnormal event exists in the front road condition; a first instruction detection unit configured to detect the first instruction upon receiving a confirmation operation of the driving user for the non-automatic driving state switching information; and the second instruction detection unit is used for detecting the second instruction when receiving the non-automatic driving state switching information deny operation of the driving user.

In an alternative embodiment of the present invention, the second instruction detection unit includes: and the negative acknowledgement operation receiving subunit is used for determining that the negative acknowledgement operation of the driving user for the non-automatic driving state switching information is received when the acknowledgement operation fed back by the driving user is not received within the preset determination time.

In an alternative embodiment of the present invention, after the non-automatic driving state switching module 520 switches the vehicle driving state of the current vehicle to the non-automatic driving state, the apparatus further includes: and the automatic driving state module is used for switching the vehicle driving state of the current vehicle into the automatic driving state when receiving the instruction of switching the automatic driving state of the driving user.

In an alternative embodiment of the invention, the apparatus further comprises, before the current vehicle is in the autonomous state: the vehicle hardware detection module is used for detecting vehicle hardware after the current vehicle is electrified; the vehicle software detection module is used for detecting the vehicle software after the vehicle hardware detection passes; and the automatic driving state control module is used for receiving an automatic driving instruction input by the driving user after the vehicle software detects to pass, and controlling the current vehicle to drive in an automatic driving state.

In an alternative embodiment of the invention, a vehicle hardware detection module includes: the power supply state signal acquisition unit is used for acquiring power supply state signals of the vehicle hardware; a first vehicle hardware detection unit configured to detect that the vehicle hardware does not pass if any one of the power supply state signals is not detected; a driving state signal acquisition unit configured to acquire driving state signals of the respective vehicle hardware if the respective power supply state signals are detected; a second vehicle hardware detection unit configured to detect no passing of the vehicle hardware detection if each of the driving state signals is not detected; and a third vehicle hardware detection unit configured to detect passing of the vehicle hardware if each of the driving state signals is detected.

In an alternative embodiment of the invention, a vehicle software detection module includes: the initialization state signal acquisition unit is used for initializing each vehicle software and acquiring an initialization state signal fed back by each vehicle software; the vehicle software data stream detection unit is used for detecting the data stream of each vehicle software when the initialization state signal fed back by each vehicle software is detected; a first vehicle software detection module for detecting each of the vehicle software if the data flow of any of the vehicle software is not detected, the vehicle software detection is not passed; and the second vehicle software detection module is used for detecting the passing of each vehicle software if the data flow of each vehicle software is detected.

The vehicle driving state switching device provided by the embodiment of the invention can execute the vehicle driving state switching method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the executing method.

In the technical scheme of the embodiment of the invention, the acquisition, storage, application and the like of the power supply state signals of the related vehicle hardware, the driving state signals of the related vehicle hardware, the initialization state signals fed back by the related vehicle software and the like all meet the regulations of related laws and regulations, and the public order is not violated.

Example IV

Fig. 6 shows a schematic diagram of an electronic device 600 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.

As shown in fig. 6, the electronic device 600 includes at least one processor 601, and a memory, such as a Read Only Memory (ROM) 602, a Random Access Memory (RAM) 603, etc., communicatively connected to the at least one processor 601, in which the memory stores a computer program executable by the at least one processor, and the processor 601 may perform various suitable actions and processes according to the computer program stored in the Read Only Memory (ROM) 602 or the computer program loaded from the storage unit 608 into the Random Access Memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The processor 601, the ROM 602, and the RAM 603 are connected to each other through a bus 604. An input/output (I/O) interface 605 is also connected to bus 604.

A number of components in the electronic device 600 are connected to the I/O interface 605, including: an input unit 606 such as a keyboard, mouse, etc.; an output unit 607 such as various types of displays, speakers, and the like; a storage unit 608, such as a magnetic disk, optical disk, or the like; and a communication unit 609 such as a network card, modem, wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information/data with other devices through a computer network, such as the internet, and/or various telecommunication networks.

The processor 601 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 601 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 601 performs the various methods and processes described above, such as a vehicle driving state switching method.

In some embodiments, the vehicle driving state switching method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 608. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 600 via the ROM 602 and/or the communication unit 609. When the computer program is loaded into RAM 603 and executed by processor 601, one or more steps of the vehicle driving state switching method described above may be performed. Alternatively, in other embodiments, the processor 601 may be configured to perform the vehicle driving state switching method by any other suitable means (e.g., by means of firmware).

Various implementations of the systems and techniques described here above can be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), complex Programmable Logic Devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.

A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.

In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.

The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.

The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical host and VPS (Virtual Private Server ) service are overcome.

It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.

The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims

1. A vehicle driving state switching method, characterized by comprising:

detecting a control instruction when the current vehicle is in an automatic driving state; the control instruction comprises a first instruction for switching the non-automatic driving state confirmed by a driving user or a second instruction for switching the non-automatic driving state not confirmed by the driving user;

when the control instruction is a first instruction, switching the vehicle driving state of the current vehicle to a non-automatic driving state;

And controlling the current vehicle to decelerate when the control command is a second command.

2. The method of claim 1, wherein detecting the control instruction comprises:

when an abnormal event exists in the front road condition is detected, non-automatic driving state switching information is sent to the driving user;

detecting the first instruction when receiving confirmation operation of the driving user for the non-automatic driving state switching information;

and detecting the second instruction when receiving the non-automatic driving state switching information deny operation of the driving user.

3. The method according to claim 2, wherein the receiving of the denial of the driving user for the non-automatic driving state switching information includes:

and when the confirmation operation fed back by the driving user is not received within the preset determination time, determining that the denial operation of the driving user for the non-automatic driving state switching information is received.

4. The method according to claim 1, characterized by further comprising, after switching the vehicle driving state of the current vehicle to a non-automatic driving state:

And when receiving the instruction of switching the automatic driving state of the driving user, switching the driving state of the current vehicle into the automatic driving state.

5. The method of claim 1, further comprising, prior to the current vehicle being in the autonomous state:

detecting vehicle hardware after the current vehicle is powered on;

detecting vehicle software after the vehicle hardware detection passes;

and after the vehicle software detects passing, receiving an automatic driving instruction input by the driving user, and controlling the current vehicle to drive in an automatic driving state.

6. The method of claim 5, wherein the detecting vehicle hardware comprises:

acquiring power supply state signals of the vehicle hardware;

if any one of the power supply state signals is not detected, the vehicle hardware detection is not passed;

if each power supply state signal is detected, acquiring a driving state signal of each vehicle hardware;

if each of the drive status signals is not detected, the vehicle hardware detection is not passed;

if each of the drive status signals is detected, the vehicle hardware detection passes.

7. The method of claim 5, wherein the detecting vehicle software comprises:

initializing each vehicle software to obtain an initialization state signal fed back by each vehicle software;

detecting the data flow of each vehicle software when the initialization state signal fed back by each vehicle software is detected;

if the data flow of any one of the vehicle software is not detected, the vehicle software is not detected to pass;

if a data stream of each of the vehicle software is detected, each of the vehicle software detects a pass.

8. A vehicle driving state switching device, characterized by comprising:

the control instruction detection module is used for detecting a control instruction when the current vehicle is in an automatic driving state; the control instruction comprises a first instruction for switching the non-automatic driving state confirmed by a driving user or a second instruction for switching the non-automatic driving state not confirmed by the driving user;

And the current vehicle deceleration control module is used for controlling the current vehicle to decelerate when the control instruction is a second instruction.

9. An electronic device, the electronic device comprising:

at least one processor; and

a memory communicatively coupled to the at least one processor; wherein,,

the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the vehicle driving state switching method of any one of claims 1-7.

10. A computer readable storage medium storing computer instructions for causing a processor to implement the vehicle driving state switching method of any one of claims 1-7 when executed.