CN117429458A - Vehicle driving control method and device, computing equipment and vehicle - Google Patents

Abstract

The invention relates to a vehicle driving control method, a vehicle driving control device, a computing device and a vehicle. A vehicle driving control method includes: presenting warning information indicating that a switch to control by a driver is required when an incapability of processing driving scene occurs during control of the vehicle by the autopilot feature; switching to be manipulated by the driver; acquiring reaction data of manual driving operation executed by a driver aiming at a driving scene; determining whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data; based on the counted number of abnormal situations, it is determined that the vehicle is switched to be operated by the automatic driving feature or the automatic driving feature is to be disabled after the execution of the manual driving operation such that the vehicle remains operated by the driver. According to the invention, whether the vehicle is controlled by the automatic driving feature or the driver is determined by combining the response data of the driver, so that the driver is prevented from being excessively dependent on the automatic driving to cause the reduction of driving skills, and the safety of the driver and the vehicle is improved.

Description

Vehicle driving control method and device, computing equipment and vehicle

Technical Field

The present disclosure relates to the field of automated driving technologies, and in particular, to a vehicle driving control method, apparatus, computing device, and vehicle.

Background

The following description is given of the background of the invention, but these descriptions do not necessarily constitute the prior art of the invention.

With the development of information, intelligence, semiconductor, control, and software technologies, more and more vehicles are beginning to be equipped with automated systems (e.g., advanced Driving Assistance Systems (ADAS)/Automated Driving (AD) systems, etc.) and automated driving features or functions provided thereby. According to the automatic driving technology, the level of automatic driving is divided into 6 levels L0-L5 by the International Society of Automotive Engineers (SAE), wherein the level L0 is non-automation, the level L1 is driving support, the level L2 is partial automation, the level L3 is conditional automation, the level L4 is highly automated, and the level L5 is fully automated. The L2 or L2 level or more provides various autopilot features or functions of the steerable vehicle (e.g., adaptive Cruise Control (ACC), lane keeping assist system (LKA)/Lane Positioning Assist (LPA), automatic lane change Assist (ALC), highway integrated driving assist (HIA), traffic Jam Assist (TJA), traffic jam assist co-driver (TJC), etc.). These functions are useful for reducing the workload of the driver and releasing the driving pressure of the driver. From a technical point of view, prior to the L4 or L5 stage, the control of each function by the automatic system always has a certain limit, always requiring continuous monitoring by the driver and ready to resume control of the vehicle.

In reality, however, as soon as drivers use more and more autopilot functions, some drivers will start to rely too much on the autopilot system and become incapacitated or blinded in certain driving situations. If a driving scenario is encountered where the automatic system is not controllable (e.g. an emergency or very complex situation), the driver is required to resume control of the vehicle, in which case, once the driver is not fast enough to respond, control cannot be withdrawn, which is very dangerous, for example, resulting in accidents such as casualties or vehicle damage.

Currently, in the case where the driver does not resume control in time, there is no other suitable way to improve the driving safety of the driver for such performance than to issue warning information to the driver.

Disclosure of Invention

The invention aims to overcome the defects and provide a vehicle driving control method, a device, a computing device and a vehicle.

According to a first aspect of the present invention, there is provided a vehicle driving control method including: during the manipulation of a vehicle by an autopilot feature, when a driving scenario is present that cannot be handled by the autopilot feature, presenting alert information indicating that the vehicle needs to be switched to be manipulated by a driver; switching the vehicle to be maneuvered by the driver; acquiring response data of manual driving operation executed by the driver aiming at the driving scene; determining whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data; based on a comparison of the statistical number of abnormal situations and a threshold number, it is determined that the vehicle is switched to be steered by the automatic driving feature or the automatic driving feature is to be disabled after execution of the manual driving operation such that the vehicle remains steered by the driver.

According to a preferred embodiment of the invention, the warning information also indicates the manual driving operation to be performed by the driver and/or information about the driving scenario.

According to a preferred embodiment of the present invention, acquiring reaction data of a manual driving operation performed by the driver for the driving scene includes: and acquiring the response time and/or the response accuracy of the driver about the manual driving operation.

According to a preferred embodiment of the present invention, determining whether an abnormal situation of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data includes: determining whether the abnormal condition occurs based on a comparison of the reaction time and a time threshold and/or a comparison of the reaction accuracy and an accuracy threshold.

According to a preferred embodiment of the invention, the method further comprises: acquiring attention data of the driver; and determining whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data includes: determining whether the abnormal condition occurs based on the reaction data and the attention data.

According to a preferred embodiment of the invention, the acquiring of the attention data comprises: acquiring a driving state image and/or a physiological parameter of the driver; the driver's attention data is determined based on the driving state image and/or the physiological parameter.

According to a preferred embodiment of the invention, the method further comprises: acquiring vehicle configuration information including information indicating whether to disable the automatic driving feature if the counted number of abnormal situations exceeds a threshold number; and based on a comparison of the statistical number of abnormal situations and a threshold number of times, determining that the vehicle is switched to be steered by the automatic driving feature or that the automatic driving feature is to be disabled such that the vehicle remains steered by the driver after execution of the manual driving operation includes: based on the vehicle configuration information and a comparison of the statistical number of abnormal situations and a threshold number of times, it is determined that the vehicle is switched to be operated by the automatic driving feature or the automatic driving feature is to be disabled after execution of the manual driving operation such that the vehicle remains operated by the driver.

According to a preferred embodiment of the invention, the method further comprises: based on the driver's manipulation of the vehicle after the autopilot feature is disabled meeting a predetermined criterion, it is determined that the autopilot feature is to be enabled and the vehicle is switched to be manipulated by the autopilot feature.

According to a preferred embodiment of the invention, the predetermined criterion relates to driving time and/or driving distance.

According to a preferred embodiment of the present invention, the statistical number of abnormal situations is at least one of a continuous number or a cumulative number of abnormal situations.

According to a preferred embodiment of the invention, further comprising performing one or more of the following via the vehicle human machine interface: requesting the driver to confirm disabling or enabling the autopilot feature; notifying the driver of the status of the autopilot feature; the vehicle configuration information is set by the driver.

According to a preferred embodiment of the present invention, further comprising: acquiring operation data of a driving operation performed by the driver on the vehicle after the automatic driving feature is disabled; based on the operation data, an ability of the driver to maneuver the vehicle is evaluated.

According to a second aspect of the present invention, there is provided a vehicle driving control apparatus comprising: an alert presentation module configured to present alert information indicating that the vehicle needs to be switched to be handled by a driver when a driving scenario that cannot be handled by an autopilot feature occurs during the vehicle being handled by the autopilot feature; a switching module configured to switch the vehicle to be manipulated by the driver; a data acquisition module configured to acquire reaction data of a manual driving operation performed by the driver for the driving scene; an abnormality determination module configured to determine whether an abnormality of a decrease in ability of the driver to maneuver the vehicle occurs based on the reaction data; and a control determination module configured to determine, based on a comparison of the statistical number of abnormal situations and a threshold number, whether to switch the vehicle to be manipulated by the automatic driving feature or to disable the automatic driving feature after execution of the manual driving operation such that the vehicle remains manipulated by the driver.

According to a third aspect of the present invention there is provided a computing device comprising: at least one processor; and a memory for storing machine-readable instructions that, when executed, cause the at least one processor to perform the method of the preceding first aspect.

According to a fourth aspect of the present invention, there is provided a vehicle comprising: the vehicle driving control apparatus according to the foregoing second aspect or the computing device according to the foregoing third aspect.

According to the invention, whether the vehicle is controlled by the automatic driving feature or the driver is determined by combining the response data of the driver, so that intelligent exercise is provided, and the driver is retrained by manual driving to improve the driving skill (without supporting the automatic driving function) in the manual mode, so that the driver is prevented from excessively depending on the automatic driving, and the safety of the driver and the vehicle is improved.

Drawings

Other features and advantages of the present invention will be better understood from the following detailed description of the preferred embodiment taken in conjunction with the accompanying drawings, in which like reference numerals identify the same or similar elements.

FIG. 1 illustrates an exemplary vehicle in which embodiments of the present disclosure may be applied.

Fig. 2 illustrates a flowchart of an exemplary vehicle driving control method according to an embodiment of the present disclosure.

Fig. 3 illustrates a block diagram of an exemplary vehicle driving apparatus according to an embodiment of the present disclosure.

Fig. 4 illustrates a block diagram of an exemplary computing device, according to an embodiment of the present disclosure.

Fig. 5 illustrates an exemplary vehicle hardware architecture according to an embodiment of the present disclosure.

Detailed Description

The following detailed description is merely exemplary in nature and is not intended to limit the application and uses. Furthermore, there is no intention to be bound by any expressed or implied theory presented in the preceding technical field, background, brief summary or the following detailed description.

As previously mentioned, more and more vehicles are beginning to be equipped with automated systems and the automated driving features or functions provided thereby. However, as soon as drivers use more and more autopilot functions, some drivers will start to rely too much on the autopilot system and become incapacitated or blinded in certain driving situations. If a driving scene which is uncontrollable by the automatic system is encountered, the driver is required to timely resume the control of the vehicle so as to avoid accidents. Currently, in the case where the driver does not resume control in time, there is no other suitable way to improve the driving safety of the driver for such performance than to issue warning information to the driver.

As described below, some exemplary embodiments of the present disclosure provide a vehicle driving control method, a vehicle driving control apparatus, a computing device, and a vehicle. In some examples, intelligent exercises are implemented by determining whether the vehicle is being maneuvered by an autopilot feature or a driver in conjunction with the driver's reaction data, as described in more detail below in conjunction with fig. 1-5.

Referring to FIG. 1, an exemplary vehicle 100 in which embodiments of the present disclosure may be applied is shown. The vehicle 100 may be any type of mobile vehicle, such as an automobile, truck, or other type of vehicle, etc. As shown in fig. 1, the vehicle 100 includes a manual system(s) 110 for providing manual control of the vehicle 100, and an automatic system(s) 120, such as an automatic steering system, an automatic braking system, etc. of the vehicle 100, for providing various autopilot features or functions (e.g., ACC of level L2 or above, LKA/LPA, ALC, HIA, TJA, TJC, etc.) that can operate the vehicle 100.

As previously mentioned, when the driver is overly dependent on the autopilot characteristics during the course of vehicle travel, hazards may be created, such as accidents that result in casualties or vehicle damage.

Referring to fig. 2, a flow chart of an exemplary vehicle drive control method 200 according to an embodiment of the present disclosure is shown. The method 200 may be applicable to the vehicle 100 of fig. 1 and may be performed by, for example, the vehicle drive control apparatus 300 of fig. 3 or the computing device 400 of fig. 4. As shown in fig. 2, method 200 includes steps 210-250.

At step 210, during the vehicle being maneuvered by the autopilot feature, when a driving scenario occurs that cannot be handled by the autopilot feature, alert information is presented indicating that the vehicle needs to be switched to be maneuvered by the driver. For example, due to the diversity and complexity of traffic environments, autopilot features may not be able to handle all driving scenarios (e.g., emergency or very complex situations) where a driver is alerted that the vehicle needs to switch from being maneuvered by autopilot to being maneuvered by the driver by presenting alert information. In some examples, the alert information may be presented visually (e.g., a light flashing or displaying an image) or audibly (e.g., a voice prompt) or otherwise, e.g., the alert information may be presented through a vehicle human-machine interface (HMI). The alert information may be issued by the automated system 110 of the vehicle 100, for example, or may be issued by the automated system 110 requesting a separate alert system. In addition, the alert information may be presented multiple times until the driver takes the corresponding driving action to stop the presentation.

At step 220, the vehicle is switched to be maneuvered by the driver. For example, when the autopilot feature is unable to handle a driving scenario, the vehicle may be switched from the automated system to the manual system by the control system of the vehicle to effect steering by the driver, at which time the autopilot feature temporarily fails but is not disabled.

In step 230, reaction data of a manual driving operation performed by the driver for the driving scene is acquired. For the presented warning information, the driver needs to take some driving operation to process the driving scene, and the response data of the manual driving operation performed by the driver for the driving scene can be acquired (e.g. measured, etc.) through an information acquisition device such as a sensor. For example, the change in angle of the steered wheel and the time thereof may be acquired when the driving operation is a steering operation, the change in the driver pedal position and the time thereof may be acquired when the driving operation is a braking operation, or one or more pieces of reaction data may be acquired when the driving operation is a combination of one or more operations, or the like.

At step 240, it is determined whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data. For example, the reaction data may characterize a reaction state (e.g., timeliness, accuracy, etc.) of the driver to help determine whether an abnormal condition of a decrease in the ability (or driving skill) of the driver to maneuver the vehicle has occurred.

At step 250, it is determined, based on a comparison of the statistical number of abnormal situations and the threshold number, that the vehicle is switched to be steered by the autopilot feature or that the autopilot feature is to be disabled after execution of the manual driving operation such that the vehicle remains steered by the driver. For example, when the statistical number of abnormal conditions is greater than or equal to a threshold number of times (e.g., 3 times, by way of example only, and not limitation), a significant change in the ability of the driver to maneuver the vehicle is indicated, not a occasional drop (e.g., occasional driving error caused) but a sustained drop, the automatic driving feature needs to be disabled after the performance of the manual driving operation so that the vehicle remains maneuvered by the driver to provide intelligent exercise, retraining the driver by manual driving. For example, when the number of statistics of abnormal conditions is less than a threshold number of times, indicating that the driver's ability to maneuver the vehicle has not changed significantly, the vehicle may be switched back to being maneuvered by the autopilot feature after performance of the manual driving maneuver, at which time the autopilot feature is again made active. In addition, through the comparison with the threshold number, the decline of user experience caused by frequent intelligent exercise due to occasional driving errors can be avoided, and the user experience degree is improved.

The method 200 provides intelligent training by combining the driver's reaction data to determine whether the vehicle is being operated by the autopilot feature or the driver, and retraining the driver by manual driving to improve driving skills in manual mode (not supporting autopilot functionality) to prevent the driver from being overly dependent on autopilot, thereby improving the safety of the driving vehicle.

In some embodiments, the alert information may also indicate a manual driving operation to be performed by the driver and/or information about the driving scenario. For example, the alert information may alert or recommend to the driver what manual driving operation should be performed for the driving scenario, and/or provide information about the driving scenario, such as the surrounding traffic environment conditions of the vehicle, etc., to the driver. In this way, the warning information may assist the driver in taking appropriate driving actions to handle the driving scenario.

In some embodiments, step 230 may include: the reaction time and/or the reaction accuracy of the driver with respect to performing the manual driving operation are obtained. For example, the reaction data may include reaction time, which may be the time elapsed from the first presentation of the alert information to the taking of the corresponding manual driving action to reflect the timeliness of the action, and/or reaction accuracy, which may characterize the degree of accuracy with which the driver takes the manual driving action (e.g., whether the correct or reasonable driving action was taken, whether the force of the action was in place, whether irrelevant driving action or the reverse driving action was taken, etc.). For example, the change in angle of the steered wheels and the time thereof may be acquired when the driving operation is a steering operation, and the difference between the time at which the steering is determined to be performed and the time at which the warning information is presented for the first time is determined as the reaction time, and whether the correct steering is taken and whether the steering force is in place are determined according to the change in steering angle.

In some embodiments, step 240 may include: based on a comparison of the reaction time and the time threshold and/or a comparison of the reaction accuracy and the accuracy threshold, it is determined whether an abnormal situation occurs in which the driver's ability to maneuver the vehicle is reduced. For example, when the reaction time exceeds a time threshold and/or when the reaction accuracy does not exceed an accuracy threshold, an abnormal condition is determined to occur in which the driver's ability to maneuver the vehicle decreases, otherwise it is determined that the abnormal condition does not occur. In some cases, it may also be determined whether an abnormal situation in which the driver's ability to maneuver the vehicle is reduced has occurred in conjunction with or based on a comparison of the driver's current reaction data with stored normal reaction data (e.g., a comparison of the current reaction time and the normal reaction time and/or a comparison of the current reaction accuracy and the normal reaction accuracy).

In some embodiments, the method 200 may further comprise: acquiring attention data of a driver; and step 240 may include: it is determined whether an abnormal situation in which the ability of the driver to maneuver the vehicle is reduced occurs based on the reaction data and the attention data. In addition to reaction data (e.g., reaction time and reaction accuracy) that directly reflects the driver's ability to operate, it is possible to further assist in determining whether the driver's ability to operate is reduced by acquiring the driver's attentiveness, because the ability to normally operate the vehicle is reduced when the driver's attentiveness is reduced (e.g., due to fatigue, relaxation, line of sight offset, poor physical condition, etc.).

In some embodiments, acquiring the attention data may include: acquiring a driving state image and/or a physiological parameter of a driver; the driver's attention data is determined based on the driving state image and/or the physiological parameter. For example, a physiological parameter of the driver may be detected by an image capturing device (e.g., a camera) disposed within the vehicle to capture an image of the driving state of the driver and/or a wearable device worn by the driver and provided to a vehicle driving control device or computing device. The driving state image (e.g., picture or video) may include, for example, a face image of the driver, through which it may be monitored (e.g., monitored in real time) whether the driver's eyes are open and closed, mouth open and closed, nodding frequency, yawning, whether the eyes ' line of sight deviates from the traffic environment in front of the vehicle, whether headphones are worn and voice communication is being performed or music is being played, etc., and/or a limb posture image, through which it may be monitored (e.g., monitored in real time) whether the driver's limbs are placed on a steering wheel, pedals, etc. in the vehicle, whether the body is sitting at will, whether the hand is holding a portable device (e.g., a cell phone, a tablet, etc.), or operating the portable device, etc., so that it may be determined whether the driver's attention condition significantly changes based on the driving state image, such as the ability to normally operate the vehicle may be degraded when the driver's attention concentration is lowered. The physiological parameters may include, for example, pulse, electroencephalogram, electrocardiogram, electromyogram, etc., by which the physical condition of the driver may be monitored (e.g., monitored in real time), in which case the driver's attention will typically be reduced, so that it may be determined whether the driver's attention has changed significantly based on the physiological parameters, such as the ability to maneuver the vehicle when the driver's attention level is reduced. It should be appreciated that the above or other attentiveness data may be obtained in other ways to determine whether the driver's attentiveness is reduced to assist in determining whether the driver's ability to maneuver the vehicle is reduced.

In some embodiments, the method 200 may further comprise: acquiring vehicle configuration information including information indicating whether to disable an automatic driving feature in the event that the counted number of abnormal situations exceeds a threshold number of times; and step 240 comprises: based on the vehicle configuration information and a comparison of the statistical number of abnormal situations and the threshold number, it is determined that the vehicle is switched to be operated by the automatic driving feature or the automatic driving feature is to be disabled after the execution of the manual driving operation such that the vehicle remains operated by the driver. For example, vehicle configuration information may be provided to determine whether to enable or disable the intelligent exercises described above in order to determine whether the vehicle is being maneuvered by an autopilot feature or by the driver after performance of the manual driving maneuver. Whether the vehicle configuration information turns on or off the above-described intelligent exercises may be set by a driver through buttons in the vehicle, or a vehicle human-machine interface (e.g., dashboard, etc.), for example. The freedom of whether to select the intelligent exercise can be provided for various drivers through the vehicle configuration information, and the selection of the intelligent exercise can be conveniently and quickly realized.

In some embodiments, the method 200 may further comprise: based on the driver's manipulation of the vehicle after the autopilot feature is disabled meeting a predetermined criterion, it is determined that the autopilot feature is to be enabled and the vehicle is switched to be manipulated by the autopilot feature. In this step, when a predetermined criterion is satisfied, it can be considered that the driving skill in the manual mode (automatic driving function is not supported) has been improved by retraining the driver by manual driving, so that the vehicle can be switched back to be manipulated by the automatic driving feature to reduce the workload of the driver and to release the driving pressure of the driver.

In some embodiments, the predetermined criteria relates to driving time and/or driving distance. For example, the predetermined criteria may relate to a driving time and/or driving distance associated with the driver, such as the driver's manipulation of the vehicle reaching a particular driving time and/or driving distance. For example, when the driver has completed driving of a plurality of driving cycles of exercise (e.g., 2 weeks of 14 driving cycles of exercise, wherein 2 driving cycles of exercise per day) and/or when the driver has completed exercise of a driving distance such as 700km, it may be considered that the driving skill in the manual mode has been improved by retraining the driver by manual driving.

In some embodiments, the statistical number of abnormal situations is at least one of a continuous number or a cumulative number of abnormal situations. For example, the statistics of abnormal situations may be multiple times (e.g., 3 times, etc.) and/or multiple times (e.g., 8 times, etc.) in a cumulative manner, which may avoid degradation of user experience caused by frequent intelligent exercises due to occasional driving errors, and improve user experience.

In some embodiments, the method 200 may further include performing one or more of the following via the vehicle human-machine interface: requesting the driver to confirm disabling or enabling the autopilot feature; notifying the driver of the status of the autopilot feature; the vehicle configuration information is set by the driver. For example, the driver may be requested via the HMI to confirm that the autopilot feature is disabled or enabled, and the status of the autopilot feature may not be changed (e.g., disabled, enabled, etc.) until the driver confirms. In general, in any event, the status of the autopilot feature or a change thereof (e.g., becoming inactive, becoming active, being disabled, being enabled, etc.) may be notified to the driver so that the driver is timely aware of the vehicle's handling status, e.g., the status of the autopilot feature or a change thereof may be presented to the driver through HMI messages via HMI. In general, in any event, the driver may choose to turn on or off the intelligent exercises described above, which may request the driver to set relevant options to set vehicle configuration information, e.g., via the HMI, to determine whether to choose to support the intelligent exercises at any time during driving.

In some embodiments, the method 200 may further comprise: acquiring operation data of a driving operation performed on the vehicle by a driver after the automatic driving feature is disabled; based on the operation data, the driver's ability to maneuver the vehicle is evaluated. In this step, operation data of a driving operation performed on the vehicle by the driver after the automatic driving feature is disabled may be acquired, and the operation data may be analyzed in conjunction with information such as a driving scene to evaluate the ability of the driver to handle the vehicle, for example, whether to timely react and accurately handle the vehicle to objectively evaluate the ability of the driver to handle the vehicle. For example, when the estimated drivability of the driver is significantly improved compared to the drivability of the driver before the autopilot feature is disabled, the early exit from the intelligent exercise may be selected, and the vehicle switched back to being maneuvered by the autopilot feature to reduce the driver's workload and to relieve the driver's driving pressure.

Referring to fig. 3, a block diagram of an exemplary vehicle driving apparatus 300 according to an embodiment of the present disclosure is shown. The modules of apparatus 300 may be implemented in software, hardware (e.g., integrated circuit, FPGA, etc.), or a combination of software and hardware. As shown in fig. 3, the apparatus 300 includes an alert presentation module 310, a switching module 320, a data acquisition module 330, an anomaly determination module 340, and a control determination module 350.

Alert presentation module 310 is configured to: during the vehicle's maneuver by the autopilot feature, when a driving scenario occurs that cannot be handled by the autopilot feature, alert information is presented that indicates that the vehicle needs to be switched to maneuver by the driver. The warning information may also indicate a manual driving operation to be performed by the driver and/or information about the driving scenario.

The switching module 320 is configured to: the vehicle is switched to be operated by the driver.

The data acquisition module 330 is configured to: reaction data of a manual driving operation performed by a driver for a driving scene is acquired.

The anomaly determination module 340 is configured to: based on a comparison of the reaction time and the time threshold and/or a comparison of the reaction accuracy and the accuracy threshold, it is determined whether an abnormal situation occurs in which the driver's ability to maneuver the vehicle is reduced.

The control determination module 350 is configured to: based on a comparison of the statistical number of abnormal situations and the threshold number, it is determined that the vehicle is switched to be operated by the automatic driving feature or that the automatic driving feature is to be disabled after the performance of the manual driving operation such that the vehicle remains operated by the driver.

In some embodiments, the data acquisition module 330 may be configured to: the reaction time and/or the reaction accuracy of the driver with respect to performing the manual driving operation are obtained.

In some embodiments, anomaly determination module 340 may be configured to: determining whether an abnormal condition of reduced ability of the driver to maneuver the vehicle occurs based on a comparison of the reaction time and the time threshold and/or a comparison of the reaction accuracy and the accuracy threshold; and is also provided with

In some embodiments, the data acquisition module 330 may be further configured to: acquiring attention data of a driver; and anomaly determination module 340 may be configured to: it is determined whether an abnormal situation in which the ability of the driver to maneuver the vehicle is reduced occurs based on the reaction data and the attention data.

In some embodiments, the data acquisition module 330 may be configured to: acquiring a driving state image and/or a physiological parameter of a driver; the driver's attention data is determined based on the driving state image and/or the physiological parameter.

In some embodiments, the data acquisition module 330 may be further configured to acquire vehicle configuration information including information indicating whether to disable the autopilot feature if the number of statistics of abnormal situations exceeds a threshold number of times; and anomaly determination module 340 may be configured to: based on the vehicle configuration information and a comparison of the statistical number of abnormal situations and the threshold number, it is determined that the vehicle is switched to be operated by the automatic driving feature or the automatic driving feature is to be disabled after the execution of the manual driving operation such that the vehicle remains operated by the driver.

In some embodiments, the control determination module 350 may be further configured to: based on the driver's manipulation of the vehicle after the autopilot feature is disabled meeting a predetermined criterion, it is determined that the autopilot feature is to be enabled and the vehicle is switched to be manipulated by the autopilot feature. The predetermined criterion may relate to driving time and/or driving distance.

In some embodiments, the data acquisition module 330 may be further configured to: operation data of a driving operation performed by a driver on a vehicle after an automatic driving feature is disabled is acquired. Also, the apparatus 300 may further include an evaluation module configured to: based on the operation data, the driver's ability to maneuver the vehicle is evaluated.

Referring to fig. 4, a block diagram of an exemplary computing device 400 is shown, according to an embodiment of the present disclosure. The computing device 400 includes at least one processor 410 and a memory 420 coupled to the at least one processor 410. The memory 420 is used to store machine-readable instructions that, when executed by the at least one processor 410, cause the processor 410 to perform the methods of the above embodiments (e.g., any one or more of the steps of the method 200 described previously).

Referring to fig. 5, an exemplary vehicle control architecture 500 is shown in accordance with an embodiment of the present disclosure. As shown in fig. 5, the architecture 500 includes a first control module 510 (e.g., a Body Control Module (BCM)), an automatic system module 520 (e.g., an ADAS Electronic Control Unit (ECU)) communicatively coupled to the first control module 510, a first data acquisition module 530 (e.g., a sensor, etc.), a second data acquisition module 540 (e.g., a camera, a wearable device, etc.), a human-machine interface module 550 (e.g., an instrument panel, etc.), a second control module 560 (e.g., an electronic control unit or a Vehicle Control Unit (VCU)). In fig. 5, the solid line indicates connection through wired or wireless connection, and the broken line indicates connection through an on-vehicle communication network (for example, an on-vehicle network bus such as CAN, LIN, flex Ray, MOST, LVDS, or the like, or a vehicle communication network of an ethernet bus, or the like).

The first control module 510 may implement, for example, any one or more of the steps of the method 200 described previously. The automatic system module 520 is used to provide various autopilot features or functions (e.g., L2 level or more ACC, LKA/LPA, ALC, HIA, TJA, TJC, etc.) that may operate the vehicle 100. When the vehicle presents a driving scenario that cannot be handled by the autopilot feature during an autopilot procedure performed by the autopilot feature of the autopilot module 520, the autopilot module 520 may provide or issue alert information to the first control module 510 indicating that the vehicle needs to be switched to be maneuvered by the driver. For example, the first control module 510 may present alert information via the human interface module 550.

Subsequently, the first control module 510 may switch the vehicle to be manipulated by the driver and obtain reaction data of the manual driving operation performed by the driver for the driving scenario. For example, the first control module 510 may collect reaction data via a first data collection module 530 (e.g., a sensor, etc.). For example, when the driving operation is a steering operation, the angle change of the steered wheels and the time thereof may be acquired via the first data acquisition module 530 connected with the first control module 510. For example, when the driving operation is a braking operation, the driver pedal position change and the time thereof may be acquired via a second control module 560 (e.g., ECU or VCU) connected to the first control module 510, at which time the first data acquisition module 530 (e.g., sensor, etc.) provides the driver pedal position change and the time thereof to the second control module 560.

The first control module 510 may determine whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data, and determine to switch the vehicle to be maneuvered by the autopilot feature or to disable the autopilot feature after performance of the manual driving operation based on a comparison of a statistical number of abnormal conditions and a threshold number of abnormal conditions such that the vehicle remains maneuvered by the driver.

The first control module 510 may also obtain attention data of the driver from the second data acquisition module 540 (e.g., camera, wearable device, etc.), and determine whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data and the attention data. Optionally, the first control module 510 may issue a command to the second data acquisition module 540 to turn on or off to save energy consumption during autopilot.

According to the method 200 of fig. 2, the apparatus 300 of fig. 3, the computing device 400 of fig. 4 and the vehicle control architecture 500 of fig. 5, it is possible to determine whether the steering ability of the driver to the vehicle appears to be degraded in addition to providing warning information in combination with the reaction data of the driver, and to pertinently provide intelligent exercises to keep the vehicle being steered by the driver, so as to prevent the driver from being excessively dependent on automatic driving to cause degradation of driving skills, thereby improving the driving safety of the represented driver.

Referring back to fig. 1, the vehicle 100 may include the vehicle drive control apparatus 300, the computing device 400, and the vehicle control architecture 500 described in connection with fig. 2-5 to implement any one or more of the steps of the vehicle drive control method 200 described previously.

As discussed above, although methods of determining vehicle drive control in vehicle applications are discussed herein, the vehicle drive control methods, apparatus and computing devices of the present disclosure are applicable in other arrangements where automatic drive control needs to be determined.

The foregoing discussion is merely a disclosure and description of exemplary embodiments of the invention. From this discussion, and the accompanying drawings and claims, those skilled in the art will readily recognize that various changes, modifications and variations can be made therein without departing from the spirit and scope of the invention as defined in the following claims.

Claims (15)

1. A vehicle driving control method, comprising:

during the manipulation of a vehicle by an autopilot feature, when a driving scenario is present that cannot be handled by the autopilot feature, presenting alert information indicating that the vehicle needs to be switched to be manipulated by a driver;

switching the vehicle to be maneuvered by the driver;

acquiring response data of manual driving operation executed by the driver aiming at the driving scene;

determining whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data;

based on a comparison of the statistical number of abnormal situations and a threshold number, it is determined that the vehicle is switched to be steered by the automatic driving feature or the automatic driving feature is to be disabled after execution of the manual driving operation such that the vehicle remains steered by the driver.

2. The method of claim 1, wherein the alert information further indicates the manual driving operation to be performed by the driver and/or information about the driving scenario.

3. The method of claim 1, wherein obtaining reaction data of a manual driving operation performed by the driver for the driving scenario comprises:

and acquiring the response time and/or the response accuracy of the driver about the manual driving operation.

4. The method of claim 3, wherein determining whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data comprises:

determining whether the abnormal condition occurs based on a comparison of the reaction time and a time threshold and/or a comparison of the reaction accuracy and an accuracy threshold.

5. The method of claim 1, the method further comprising:

acquiring attention data of the driver; and is also provided with

Determining whether an abnormal condition of a decrease in the ability of the driver to maneuver the vehicle occurs based on the reaction data includes: determining whether the abnormal condition occurs based on the reaction data and the attention data.

6. The method of claim 5, wherein obtaining the attention data comprises:

acquiring a driving state image and/or a physiological parameter of the driver;

the driver's attention data is determined based on the driving state image and/or the physiological parameter.

7. The method of claim 1, further comprising:

acquiring vehicle configuration information including information indicating whether to disable the automatic driving feature if the counted number of abnormal situations exceeds a threshold number; and is also provided with

Based on a comparison of the statistical number of abnormal situations and a threshold number of times, determining that the vehicle is switched to be steered by the automatic driving feature or that the automatic driving feature is to be disabled such that the vehicle remains steered by the driver after execution of the manual driving operation includes: based on the vehicle configuration information and a comparison of the statistical number of abnormal situations and a threshold number of times, it is determined that the vehicle is switched to be operated by the automatic driving feature or the automatic driving feature is to be disabled after execution of the manual driving operation such that the vehicle remains operated by the driver.

8. The method of claim 1, further comprising:

based on the driver's manipulation of the vehicle after the autopilot feature is disabled meeting a predetermined criterion, it is determined that the autopilot feature is to be enabled and the vehicle is switched to be manipulated by the autopilot feature.

9. The method according to claim 8, wherein the predetermined criterion relates to driving time and/or driving distance.

10. The method of claim 1, wherein the statistical number of abnormal situations is at least one of a continuous number or a cumulative number of abnormal situations.

11. The method of claim 1, further comprising performing one or more of the following via a vehicle human-machine interface:

requesting the driver to confirm disabling or enabling the autopilot feature;

notifying the driver of the status of the autopilot feature;

the vehicle configuration information is set by the driver.

12. The method of claim 1, further comprising:

acquiring operation data of a driving operation performed by the driver on the vehicle after the automatic driving feature is disabled;

based on the operation data, an ability of the driver to maneuver the vehicle is evaluated.

13. A vehicle driving control apparatus comprising:

an alert presentation module configured to present alert information indicating that the vehicle needs to be switched to be handled by a driver when a driving scenario that cannot be handled by an autopilot feature occurs during the vehicle being handled by the autopilot feature;

a switching module configured to switch the vehicle to be manipulated by the driver;

a data acquisition module configured to acquire reaction data of a manual driving operation performed by the driver for the driving scene;

an abnormality determination module configured to determine whether an abnormality of a decrease in ability of the driver to maneuver the vehicle occurs based on the reaction data; and

a control determination module configured to determine, based on a comparison of the statistical number of abnormal situations and a threshold number, whether to switch the vehicle to be steered by the autopilot feature or to disable the autopilot feature after execution of the manual driving operation such that the vehicle remains steered by the driver.

14. A computing device, comprising:

at least one processor; and

a memory storing machine-readable instructions that, when executed by the at least one processor, cause the at least one processor to perform the vehicle drive control method of any one of claims 1-12.

15. A vehicle comprising the vehicle drive control apparatus according to claim 13 or the computing device according to claim 14.