WO2020147493A1 - 车辆驾驶模式切换的处理方法、车辆及服务器 - Google Patents

车辆驾驶模式切换的处理方法、车辆及服务器 Download PDF

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Publication number
WO2020147493A1
WO2020147493A1 PCT/CN2019/126268 CN2019126268W WO2020147493A1 WO 2020147493 A1 WO2020147493 A1 WO 2020147493A1 CN 2019126268 W CN2019126268 W CN 2019126268W WO 2020147493 A1 WO2020147493 A1 WO 2020147493A1
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WIPO (PCT)
Prior art keywords
driving
vehicle
reason
information
switching
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PCT/CN2019/126268
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English (en)
French (fr)
Inventor
于高
薛晶晶
李盖凡
慎东辉
吴彤
梁家琪
Original Assignee
北京百度网讯科技有限公司
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Application filed by 北京百度网讯科技有限公司 filed Critical 北京百度网讯科技有限公司
Publication of WO2020147493A1 publication Critical patent/WO2020147493A1/zh
Priority to US17/124,537 priority Critical patent/US11858494B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0053—Handover processes from vehicle to occupant
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/082—Selecting or switching between different modes of propelling
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/007—Switching between manual and automatic parameter input, and vice versa
    • B60W2050/0072—Controller asks driver to take over
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means

Definitions

  • the embodiments of the present invention relate to the field of vehicle technology, and in particular to a processing method, vehicle and server for switching the driving mode of a vehicle.
  • unmanned vehicles With the development and continuous improvement of unmanned vehicles (referred to as unmanned vehicles), unmanned vehicles may be used in the field of taxis. Compared with manned vehicles, unmanned vehicles can effectively reduce operating costs. But with the application of unmanned vehicles, the safety of unmanned vehicle driving has become particularly important.
  • the unmanned vehicle uses the existing automatic driving system to control the driving of the unmanned vehicle during the driving process, but the unmanned vehicle encounters some emergency situations that the existing automatic driving system cannot handle (such as avoidance). When obstacles, brakes are required, etc.), the current driving state will continue to be maintained. If there is an obstacle ahead at this time, the existing automatic driving system cannot handle the situation, causing the unmanned vehicle to continue driving and collide with the obstacle. As a result, the safety of unmanned vehicles is not high.
  • the embodiment of the present invention provides a processing method, a vehicle, and a server for switching the driving mode of a vehicle, so as to improve the driving safety of an unmanned vehicle.
  • an embodiment of the present invention provides a method for processing vehicle driving mode switching, and the method may include:
  • the status information and/or driving environment information and the target switching cause are sent to the server, so that the server can analyze the target switching cause.
  • the method further includes:
  • determining the reason for the target switching includes:
  • the method when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving, before determining the reason for the target switching, the method further includes:
  • the driving mode of the vehicle is switched to manual driving.
  • the switching reason includes at least one of the following reasons: obstacles cannot be avoided, a car is about to crash, need to slow down, need to speed up, need to stop, about to violate traffic rules or deviate from a driving lane.
  • the state information of the vehicle includes at least one of the following information: brake pedal state information, accelerator pedal state information, steering wheel state information, speed information, driving position information, or driving direction information.
  • the driving environment information includes at least one of the following information: road information of the driving road, obstacle information, vehicle position information, brightness of the driving section, visibility information or traffic of the driving section Signal information.
  • the acquiring state information and/or driving environment information of the vehicle corresponding to the target switching cause includes:
  • the state information and/or driving environment information of the vehicle corresponding to the target switching reason is acquired.
  • an embodiment of the present invention also provides a method for processing vehicle driving mode switching, and the method may include:
  • the reason for target switching is determined when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving;
  • the target switching reason analyze the target switching reason.
  • the analyzing the cause of target switching according to the state information and/or the driving environment information, and the cause of target switching includes:
  • the target switch reason determine the target historical state information and/or target historical driving environment information corresponding to the target switch reason in the historical state information and/or historical driving environment information;
  • Training is performed on the state information and/or the driving environment information, and the target historical state information and/or target historical driving environment information to obtain a solution strategy corresponding to the target switching cause.
  • the state information and/or the driving environment information, and the target historical state information and/or target historical driving environment information are trained to obtain the corresponding target switching reason
  • the solution strategy also includes:
  • an embodiment of the present invention also provides a vehicle, which may include:
  • the processing unit is used to determine the reason for the target switching when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving;
  • An obtaining unit configured to obtain state information and/or driving environment information of the vehicle corresponding to the target switching cause
  • the analysis unit is configured to send the status information and/or driving environment information, and the target switching cause to the server, so that the server can analyze the target switching cause.
  • the vehicle may further include a receiving unit
  • the receiving unit is configured to receive the solution strategy corresponding to the target switching cause sent by the server.
  • the processing unit is specifically configured to display at least one switching reason corresponding to the driving mode when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving; and to receive a selection instruction ,
  • the selection instruction is used to indicate the switching reason selected by the user; and then the switching reason selected by the user is determined as the target switching reason.
  • the receiving unit is further configured to receive a trigger instruction, where the trigger instruction is used to instruct the driving mode of the vehicle to switch from unmanned driving to manual driving;
  • the processing unit is further configured to switch the driving mode of the vehicle to manual driving according to the trigger instruction.
  • the switching reason includes at least one of the following reasons: obstacles cannot be avoided, a car is about to crash, need to slow down, need to speed up, need to stop, about to violate traffic rules or deviate from a driving lane.
  • the state information of the vehicle includes at least one of the following information: brake pedal state information, accelerator pedal state information, steering wheel state information, speed information, driving position information, or driving direction information.
  • the driving environment information includes at least one of the following information: road information of the driving road, obstacle information, vehicle position information, brightness of the driving section, visibility information or traffic of the driving section Signal information.
  • the acquiring unit is specifically configured to acquire all corresponding to the target switching reason according to the pre-stored correspondence between the switching reason and the state information and/or driving environment information of the vehicle. State information of the vehicle and/or driving environment information.
  • an embodiment of the present invention also provides a server, which may include:
  • the receiving unit is configured to receive the state information and/or driving environment information of the vehicle sent by the vehicle, and the reason for the target switching; the reason for the target switching is that the driving mode of the vehicle is switched from unmanned driving to manual driving upon detection Time determined
  • the analysis unit is configured to analyze the cause of target switching according to the state information and/or the driving environment information, and the cause of target switching.
  • the analysis unit is specifically configured to determine, in historical state information and/or historical driving environment information, the target historical state information and/or the target historical state information corresponding to the target switching reason according to the target switching reason. Or target historical driving environment information; train the state information and/or the driving environment information, and the target historical state information and/or target historical driving environment information to obtain the corresponding solution strategy for the target switching cause .
  • the server may further include a sending unit
  • the sending unit is configured to send the solution strategy corresponding to the target switching cause to the vehicle.
  • an embodiment of the present invention also provides a vehicle.
  • the vehicle may include a processor and a memory, where:
  • the memory is used to store program instructions
  • the processor is configured to read program instructions in the memory, and execute the method for processing vehicle driving mode switching according to any one of the above-mentioned first aspects according to the program instructions in the memory.
  • an embodiment of the present invention also provides a server, which may include a processor and a memory, where:
  • the memory is used to store program instructions
  • the processor is configured to read program instructions in the memory, and execute the method for processing vehicle driving mode switching according to any one of the above second aspects according to the program instructions in the memory.
  • an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, it executes any one of the foregoing The vehicle driving mode switching processing method; or, when the computer program is executed by the processor, the vehicle driving mode switching processing method according to any one of the second aspects is executed.
  • the vehicle and the server provided by the embodiments of the present invention, when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving, first determine the cause of target switching; and obtain the vehicle corresponding to the cause of target switching After that, the status information and/or driving environment information and the reason for target switching are sent to the server, so that the server can analyze the reasons for target switching and continuously improve the automatic driving system based on the analysis results In this way, when the target switch is encountered next time, the improved automatic driving system can avoid the danger caused by the target switch, thereby improving the safety of unmanned vehicles.
  • FIG. 1 is a schematic flowchart of a method for processing vehicle driving mode switching provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of another method for processing vehicle driving mode switching provided by an embodiment of the present invention
  • Fig. 3 is a schematic structural diagram of a vehicle provided by an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of another vehicle provided by an embodiment of the present invention.
  • FIG. 5 is a schematic structural diagram of a server provided by an embodiment of the present invention.
  • FIG. 6 is a schematic structural diagram of another server provided by an embodiment of the present invention.
  • FIG. 7 is a schematic structural diagram of yet another vehicle provided by an embodiment of the present invention.
  • FIG. 8 is a schematic structural diagram of another server provided by an embodiment of the present invention.
  • the unmanned vehicle is controlled by the existing automatic driving system during the driving process. If there is an obstacle in front at this time, the existing automatic driving system cannot handle the situation, so The unmanned vehicle continues to travel and collides with obstacles, resulting in low safety of unmanned vehicles.
  • embodiments of the present invention provide a method for processing vehicle driving mode switching.
  • the reason for the target switching is first determined; and Obtain the status information and/or driving environment information of the vehicle corresponding to the reason for the target switching; then, send the status information and/or driving environment information, and the reason for the target switching to the server, so that the server can analyze the reason for the target switching, and According to the analysis results, the automatic driving system is continuously improved, so that when the target switching reason is encountered next time, the improved automatic driving system can avoid the danger caused by the target switching reason, thereby improving the safety of unmanned vehicle driving.
  • FIG. 1 is a schematic flowchart of a method for processing a vehicle driving mode switch provided by an embodiment of the present invention.
  • the processing method for a vehicle driving mode switch may include:
  • the unmanned vehicle receives a trigger instruction.
  • the trigger instruction is used to instruct the vehicle's driving mode to switch from unmanned driving to manual driving.
  • the trigger instruction may be sent by a security officer on the unmanned vehicle, or of course, it may also be sent by the user. Take the safety officer as an example.
  • the safety officer can send the trigger instruction through the button on the unmanned vehicle, or send the trigger instruction through the virtual button on the unmanned vehicle screen.
  • the trigger instruction can also be sent through the unmanned vehicle.
  • the voice system of the car sends the trigger instruction, which can be specifically set according to actual needs.
  • the embodiment of the present invention does not further limit how to send the trigger instruction.
  • the trigger command can be sent through the button on the unmanned vehicle, so that the unmanned vehicle will not
  • the current driving mode of people and vehicles is switched from unmanned driving to manual driving, that is, the following S102 is executed:
  • the unmanned vehicle switches the driving mode of the vehicle to manual driving according to the trigger instruction.
  • the unmanned vehicle After receiving the trigger instruction, the unmanned vehicle can automatically switch the driving mode of the vehicle to manual driving, and execute the following S103:
  • the reason for switching includes at least one of the following reasons: obstacles cannot be avoided, a car is about to crash, need to slow down, need to speed up, need to stop, about to violate traffic rules or deviate from the driving lane, of course, the reason for switching can also include other dangerous
  • the slicing reason may include at least one of the foregoing, but it does not mean that the embodiment of the present invention is limited to this.
  • at least one may be one or multiple, and may be specifically set according to actual needs.
  • the value of at least one is not further limited in the embodiment of the present invention.
  • the reason for the target switching can be determined by the following at least two possible implementation methods.
  • the unmanned vehicle when it detects that the driving mode of the vehicle is switched from unmanned driving to manual driving, it can display at least one driving mode corresponding switching reason to the safety officer; correspondingly, the safety officer is in the Among the switching reasons corresponding to at least one driving mode, select the switching reason and send a selection command to the unmanned vehicle, so that the unmanned vehicle can determine the switching reason selected by the safety officer as the target switching reason according to the selection command, thereby determining the target switching the reason.
  • the security officer when sending a selection instruction, can send a selection instruction to the unmanned vehicle by voice, or send a selection instruction to the unmanned vehicle by clicking a button on the screen
  • the selection instruction can also be sent to the unmanned vehicle in text.
  • the embodiment of the present invention only uses these three methods to send the selection instruction to the unmanned vehicle as an example, but it does not represent the present invention. The embodiment is only limited to this.
  • the unmanned vehicle when the unmanned vehicle is driving, when a safety officer finds an unavoidable obstacle in front of the unmanned vehicle, he can send a trigger command through the button on the unmanned vehicle to make the When the human vehicle receives the trigger instruction, the current driving mode of the unmanned vehicle is switched from unmanned driving mode to manual driving. At this time, the unmanned vehicle detects that the current driving mode is switched from unmanned driving mode to manual driving.
  • the unmanned vehicle when the unmanned vehicle detects that the driving mode of the vehicle is switched from unmanned to manual driving, there is no need to display at least one driving mode corresponding switching reason to the safety officer, but the safety officer directly Send an instruction including the reason for the target switching to the unmanned vehicle, so that the unmanned vehicle directly receives the target switching reason sent by the safety officer, thereby determining the reason for the target switching.
  • the safety officer sends an instruction including the reason for the target switching to the unmanned vehicle, he needs to standardize the target switching reason input by the safety officer autonomously, and enable the unmanned vehicle to identify the reason for the target switching, so as to determine the target Reason for switching.
  • the security officer when the security officer sends the instruction including the reason for the target switching, he can send the instruction including the reason for the target switching to the unmanned vehicle by voice, or he can click on the screen in advance.
  • the switch reason button is set to send the instruction including the target switch reason to the unmanned vehicle.
  • the instruction including the target switch reason can also be sent to the unmanned vehicle by text.
  • the embodiment of the present invention is only Taking these three ways to send the instruction including the reason for target switching to an unmanned vehicle as an example for description, but it does not mean that the embodiment of the present invention is limited to this.
  • the unmanned vehicle when the unmanned vehicle is driving, when a safety officer finds an unavoidable obstacle in front of the unmanned vehicle, he can send a trigger command through the button on the unmanned vehicle to make the When the human vehicle receives the trigger instruction, the current driving mode of the unmanned vehicle is switched from unmanned driving mode to manual driving. At this time, the unmanned vehicle detects that the current driving mode is switched from unmanned driving mode to manual driving.
  • the unmanned vehicle obtains state information and/or driving environment information of the vehicle corresponding to the cause of the target switching.
  • the more types of information obtained are positively correlated with the more accurate the server's analysis of the cause of target switching based on the information, that is, the more types of information obtained, the server According to this information, the more accurate the result of the analysis of the cause of target switching, the higher.
  • the state information of the vehicle includes at least one of the following information: brake pedal state information, accelerator pedal state information, steering wheel state information, speed information, driving position information, or driving direction information. Of course, it may also include other information about the vehicle. Status information.
  • the embodiment of the present invention only takes as an example that the status information of the vehicle may include at least one of these types, but it does not mean that the embodiment of the present invention is limited to this.
  • the driving environment information includes at least one of the following information: road information of the driving road, obstacle information, vehicle position information, brightness of the driving section, visibility information or traffic signal information of the driving section.
  • road information of the driving road includes at least one of the following information: road information of the driving road, obstacle information, vehicle position information, brightness of the driving section, visibility information or traffic signal information of the driving section.
  • the embodiment of the present invention only takes as an example that the driving environment information may include at least one of these types, but it does not mean that the embodiment of the present invention is limited to this.
  • the relationship between the switching reason and the state information and/or driving environment information of the vehicle may be established and stored in advance.
  • the corresponding relationship between the pre-stored switching reason and the state information and/or driving environment information of the vehicle can be used in the state information and/or driving environment information of the vehicle.
  • the switching reason and the vehicle status information and/or each time before acquiring the vehicle status information and/or driving environment information corresponding to the target switching cause.
  • Correspondence between driving environment information and only need to establish and store the switching reason and the vehicle status information and/or driving environment information before acquiring the state information and/or driving environment information of the vehicle corresponding to the target switching cause for the first time
  • the pre-established corresponding relationship can be updated, and the updated switching reason and the vehicle’s Correspondence between status information and/or driving environment information.
  • the state information and/or driving environment information of the vehicle corresponding to the obstacle that cannot be avoided may be obtained.
  • the state information of the vehicle may include the driving speed A of the vehicle.
  • the driving position information is: the distance to the obstacle is B meters, the driving direction information: the direction toward the obstacle, etc.; the driving environment information can include road information on the driving pavement, obstacle information: a large rock, the position information of the vehicle : The distance to the obstacle is B meters, etc.
  • the state information and driving environment information of the vehicle corresponding to the unavoidable obstacle are just examples, which does not mean that the embodiment of the present invention is limited to this.
  • the unmanned vehicle sends the status information and/or driving environment information and the reason for the target switching to the server.
  • the unmanned vehicle can send the status information and/or driving environment information, and the reason for the target switching to the server through the wireless network.
  • it can also send the status information and/or driving environment information, and the reason for the target switching by other means.
  • the embodiment of the present invention only takes the unmanned vehicle to send the status information and/or driving environment information, and the reason for the target switching to the server via the wireless network as an example, but it does not mean that the embodiment of the present invention is only Limited to this.
  • the unmanned vehicle sends the status information and/or driving environment information, and the target switching reason to the server, so that the server receives the status information and/or driving environment information, and the target switching reason, and executes
  • S106 the server receives the status information and/or driving environment information, and the target switching reason, and executes The following S106:
  • S106 The server analyzes the cause of the target switching according to the status information and/or driving environment information, and the cause of the target switching.
  • the server After the server receives the status information and/or driving environment information, and the reason for the target switching, it can analyze the cause of the target switching based on the status information and/or driving environment information, and the reason for the target switching, and continuously improve the automatic driving based on the analysis results In this way, when the target switch is encountered next time, the improved automatic driving system can avoid the danger caused by the target switch, thereby improving the safety of unmanned vehicles.
  • an unmanned vehicle After an unmanned vehicle obtains the state information and/or driving environment information of the vehicle corresponding to the target switching cause "unavoidable obstacle", it can then obtain the state information and/or driving environment information of the vehicle corresponding to the "unavoidable obstacle” Or the driving environment information is sent to the server, so that after the server receives the state information and/or driving environment information of the vehicle corresponding to the "obstacle that cannot be avoided", it analyzes the cause of the target switching "obstacle that cannot be avoided", and based on the analysis As a result, the self-driving system has been continuously improved, so that next time when an obstacle cannot be avoided, the improved automatic driving system can avoid the danger caused by the unavoidable obstacle, thereby improving the safety of driverless vehicles. .
  • the server when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving, first determine the cause of the target switching; and obtain the status information of the vehicle corresponding to the cause of the target switching / Or driving environment information; after that, the status information and/or driving environment information and the reason for target switching are sent to the server, so that the server can analyze the reasons for target switching, and continuously improve the automatic driving system based on the analysis results, so that next time When encountering the reason for the target switching, the improved automatic driving system can avoid the danger caused by the target switching, thereby improving the safety of unmanned vehicles.
  • FIG. 2 is a schematic flowchart of another method for processing vehicle driving mode switching provided by an embodiment of the present invention.
  • the processing method for vehicle driving mode switching may further include:
  • the server determines the target historical state information and/or target historical driving environment information corresponding to the target switching reason in the historical state information and/or historical driving environment information according to the target switching reason.
  • the server can search for the historical state information and/or target corresponding to the reason for the target switching among the historical status information and/or historical driving environment information previously received according to the reason for the target switching Historical driving environment information, and after obtaining these target historical state information and/or target historical driving environment information, train the state information and/or driving environment information, and target historical state information and/or target historical driving environment information, Obtain the solution strategy corresponding to the target switching reason.
  • an unmanned vehicle analyzes the cause of target switching "obstacles that cannot be avoided” based on the reason for target switching and the state information and/or driving environment information of the corresponding vehicles, it can first be based on The reason for target switching is "obstacles that cannot be avoided”.
  • S202 The server trains the status information and/or driving environment information, as well as the target historical status information and/or target historical driving environment information, and obtains a solution strategy corresponding to the cause of target switching.
  • the solution strategy can be to stop immediately, or to bypass obstacles, etc., of course, it can also be other strategies, which can be specifically set according to actual needs.
  • the solution strategy can include, the present invention implements The example does not make specific restrictions.
  • the solution strategy corresponding to the target switching cause "the obstacle cannot be avoided” may be stopping immediately or bypassing the obstacle.
  • the server After the server obtains the target historical status information and/or target historical driving environment information corresponding to the reason for the target switching, it can perform processing based on the status information and/or driving environment information, and the target historical status information and/or target historical driving environment information. Training to obtain the solution strategy corresponding to the target switching cause, so that the server can continuously improve the autopilot system according to the solution strategy, so that when the target switching cause is encountered next time, the improved autopilot system can avoid the target switching Causes of danger, thereby improving the safety of unmanned vehicles.
  • the following S203 may be further executed:
  • the server sends a solution strategy corresponding to the cause of target switching to the vehicle, so that the vehicle receives the solution strategy corresponding to the cause of target switching sent by the server, so that the next time the target switching cause is encountered, it can be avoided by the improved automatic driving system Due to the danger caused by target switching, the safety of unmanned vehicles is improved.
  • the safety officer when the safety officer finds that the driving behavior of the unmanned vehicle is dangerous, he can send a trigger instruction to the unmanned vehicle, so that the unmanned vehicle will switch the automatic driving mode of the vehicle after receiving the trigger instruction. It is manual driving, and displays the switching reason corresponding to at least one driving mode to the safety officer; correspondingly, the safety officer selects the switching reason from the switching reason corresponding to the at least one driving mode, and sends to the unmanned vehicle to indicate the switching reason According to the selection command, the unmanned vehicle can determine the switching reason selected by the security officer as the target switching reason; and further obtain the state information and/or driving environment information of the vehicle corresponding to the target switching reason, and then The status information and/or driving environment information, and the reason for the target switching are sent to the server; after receiving the status information and/or driving environment information, and the reason for the target switching, the server can according to the reason for the target switching, the previously received In each historical state information and/or historical driving environment information, search for the target historical state information and/or target historical driving
  • FIG. 3 is a schematic structural diagram of a vehicle 30 provided by an embodiment of the present invention.
  • the vehicle 30 may include:
  • the processing unit 301 is configured to determine the reason for the target switching when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving.
  • the acquiring unit 302 is configured to acquire state information and/or driving environment information of the vehicle corresponding to the target switching cause.
  • the analyzing unit 303 is configured to send the status information and/or driving environment information and the reason for the target switching to the server, so that the server can analyze the reason for the target switching.
  • the vehicle 30 may further include a receiving unit 304.
  • a receiving unit 304 for example, please refer to FIG. 4, which is a schematic structural diagram of another vehicle 30 according to an embodiment of the present invention.
  • the receiving unit 304 is configured to receive the solution strategy corresponding to the target switching cause sent by the server.
  • the processing unit 301 is specifically configured to display the switching reason corresponding to at least one driving mode when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving; and to receive a selection instruction, which is used to instruct the user to The selected switching reason; the switching reason selected by the user is determined as the target switching reason.
  • the receiving unit 304 is further configured to receive a trigger instruction, which is used to instruct the driving mode of the vehicle to switch from unmanned driving to manual driving.
  • the processing unit 301 is also configured to switch the driving mode of the vehicle to manual driving according to the trigger instruction.
  • the switching reason includes at least one of the following reasons: obstacles cannot be avoided, a collision is imminent, a slowdown is required, a speed needs to be increased, a stop is required, a traffic regulation is about to be violated or a driving lane is about to be deviated.
  • the state information of the vehicle 30 includes at least one of the following information: brake pedal state information, accelerator pedal state information, steering wheel state information, speed information, driving position information, or driving direction information.
  • the driving environment information includes at least one of the following information: road information of the driving road surface, obstacle information, vehicle position information, brightness of the driving section, visibility information, or traffic signal information of the driving section.
  • the acquiring unit 302 is specifically configured to acquire the state information and/or driving environment of the vehicle corresponding to the target switching cause according to the correspondence between the pre-stored switching cause and the state information and/or driving environment information of the vehicle information.
  • the vehicle 30 shown in the embodiment of the present invention can execute the technical solution of the driving mode switching processing method on the unmanned vehicle side shown in any of the above embodiments, and its implementation principle and beneficial effects are the same as the driving mode switching on the unmanned vehicle side.
  • the implementation principles and beneficial effects of the processing method are similar and will not be repeated here.
  • FIG. 5 is a schematic structural diagram of a server 50 provided by an embodiment of the present invention.
  • the server 50 may include:
  • the receiving unit 501 is configured to receive state information and/or driving environment information of the vehicle sent by the vehicle, and the reason for the target switching; the reason for the target switching is determined when it is detected that the driving mode of the vehicle is switched from unmanned driving to manual driving.
  • the analysis unit 502 is configured to analyze the cause of target switching according to the status information and/or driving environment information, and the cause of target switching.
  • the analysis unit 502 is specifically configured to determine the target historical state information and/or target historical driving environment information corresponding to the target switching reason in the historical state information and/or historical driving environment information according to the target switching reason; Information and/or driving environment information, and target historical status information and/or target historical driving environment information are trained to obtain a solution strategy corresponding to the cause of target switching.
  • the server 50 may further include a sending unit 503.
  • a sending unit 503. please refer to FIG. 6, which is a schematic structural diagram of another server 50 according to an embodiment of the present invention.
  • the sending unit 503 is configured to send a solution strategy corresponding to the cause of target switching to the vehicle.
  • the server 50 shown in the embodiment of the present invention can execute the technical solution of the method for processing vehicle driving mode switching on the server side shown in any of the above embodiments, and its implementation principle and beneficial effects are similar to the server’s processing method for vehicle driving mode switching The implementation principle and beneficial effects of is similar, and will not be repeated here.
  • FIG. 7 is a schematic structural diagram of yet another vehicle 70 according to an embodiment of the present invention.
  • the vehicle 70 may include a processor 701 and a memory 702, where:
  • the memory 702 is used to store program instructions
  • the processor 701 is configured to read the program instructions in the memory 702, and execute the processing method for switching the driving mode of the vehicle on the unmanned vehicle side according to the program instructions in the memory 702.
  • the vehicle 70 shown in the embodiment of the present invention can execute the technical solution of the vehicle driving mode switching processing method on the unmanned vehicle side shown in any of the above embodiments, and its implementation principles and beneficial effects are similar to those of the vehicle driving on the unmanned vehicle side.
  • the implementation principles and beneficial effects of the mode switching processing method are similar, and will not be repeated here.
  • FIG. 8 is a schematic structural diagram of another server 80 provided by an embodiment of the present invention.
  • the server 80 may include a processor 801 and a memory 802, where:
  • the memory 802 is used to store program instructions
  • the processor 801 is configured to read program instructions in the memory 802, and execute the above-mentioned server-side vehicle driving mode switching processing method according to the program instructions in the memory 802.
  • the server 80 shown in the embodiment of the present invention can execute the technical solution of the method for processing vehicle driving mode switching on the server side shown in any of the above embodiments, and its implementation principles and beneficial effects are similar to the server’s processing method for vehicle driving mode switching The implementation principle and beneficial effects of is similar, and will not be repeated here.
  • the embodiment of the present invention also provides a computer-readable storage medium, and a computer program is stored on the computer-readable storage medium.
  • the computer program executes the vehicle driving on the unmanned vehicle side shown in any of the above embodiments.
  • the technical solution of the mode switching processing method, its implementation principles and beneficial effects are similar to the realization principles and beneficial effects of the vehicle driving mode switching processing method on the unmanned vehicle side, and will not be repeated here; or, it is processed in a computer program
  • the device is executed, the technical solution of the method for processing vehicle driving mode switching on the server side shown in any of the above embodiments is executed.
  • the implementation principle and beneficial effects are similar to those of the processing method for vehicle driving mode switching of the server , Not repeat them here.
  • the processor in the foregoing embodiment may be a general-purpose processor, a digital signal processor (digital signal processor, DSP), an application specific integrated circuit (ASIC), a ready-made programmable gate array (field programmable gate array, FPGA), or Other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.
  • DSP digital signal processor
  • ASIC application specific integrated circuit
  • FPGA field programmable gate array
  • Other programmable logic devices discrete gate or transistor logic devices, discrete hardware components.
  • the methods, steps, and logical block diagrams disclosed in the embodiments of the present invention can be implemented or executed.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • the steps of the method disclosed in conjunction with the embodiments of the present invention may be directly embodied and executed by a hardware decoding processor, or may be executed and completed by a combination of hardware and software modules in the decoding processor.
  • the software module can be located in random access memory (RAM), flash memory, read-only memory (read-only memory, ROM), programmable read-only memory, or electrically erasable programmable memory, registers, etc. mature in the field Storage medium.
  • RAM random access memory
  • flash memory read-only memory
  • read-only memory read-only memory
  • ROM programmable read-only memory
  • electrically erasable programmable memory registers, etc. mature in the field Storage medium.
  • the storage medium is located in the memory.
  • the processor reads the instructions in the memory and combines the hardware to complete the steps of the above method.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only schematic.
  • the division of the unit is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical, or other forms.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above integrated unit can be implemented in the form of hardware, or in the form of hardware plus software functional units.

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Abstract

一种车辆驾驶模式切换的处理方法、车辆及服务器，该方法包括：在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因（S103）；并获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息（S104）；再将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器，以使服务器对目标切换原因进行分析，并根据分析结果不断完善自动驾驶系统，从而提高了无人车行驶的安全性。

Description

车辆驾驶模式切换的处理方法、车辆及服务器
本申请要求于2019年01月15日提交中国专利局、申请号为201910035550.X、申请名称为“车辆驾驶模式切换的处理方法、车辆及服务器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明实施例涉及车辆技术领域，尤其涉及一种车辆驾驶模式切换的处理方法、车辆及服务器。
背景技术
随着无人驾驶车辆(简称无人车)的研发和不断改进，无人车可能被用于出租车领域，相对于有人驾驶车，无人车能够有效降低运营成本。但随着无人车的应用，无人车驾驶的安全性也变得尤为重要。
现有技术中，无人车在行驶过程中，是通过现有的自动驾驶系统控制无人车的行驶，但是无人车在遇到一些现有的自动驾驶系统无法处理的紧急状况(例如避让障碍物、需要刹车等)时，会继续保持当前的行驶状态，若此时前方有障碍物，则由于现有的自动驾驶系统无法处理该状况，使得无人车继续行驶并碰撞到障碍物，从而导致无人车行驶的安全性不高。
发明内容
本发明实施例提供一种车辆驾驶模式切换的处理方法、车辆及服务器，以提高无人车行驶的安全性。
第一方面，本发明实施例提供一种车辆驾驶模式切换的处理方法，该方法可以包括：
在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因；
获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息；
将所述状态信息和/或行驶环境信息，以及所述目标切换原因发送给服务器，以使所述服务器对所述目标切换原因进行分析。
在一种可能的实现方式中，所述方法还包括：
接收所述服务器发送的所述目标切换原因对应的解决策略。
在一种可能的实现方式中，所述在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因，包括：
在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，显示至少一个所述驾驶模式对应的切换原因；
接收选择指令，所述选择指令用于指示用户所选择的切换原因；
将所述用户所选择的切换原因确定为所述目标切换原因。
在一种可能的实现方式中，所述在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因之前，所述方法还包括：
接收触发指令，所述触发指令用于指示所述车辆的驾驶模式由无人驾驶切换为人工驾驶；
根据所述触发指令，将所述车辆的驾驶模式切换为人工驾驶。
在一种可能的实现方式中，所述切换原因包括如下原因中的至少一个：无法避让障碍物、即将撞车、需要减速、需要提速、需要停车、即将违反交规或偏离行驶车道。
在一种可能的实现方式中，所述车辆的状态信息包括如下信息中的至少一种：刹车踏板状态信息、油门踏板状态信息、方向盘状态信息、速度信息、行驶位置信息或行驶方向信息。
在一种可能的实现方式中，所述行驶环境信息包括如下信息中的至少一种：行驶路面的道路信息、障碍物信息、车辆的位置信息、行驶路段的亮度、能见度信息或行驶路段的交通信号信息。
在一种可能的实现方式中，所述获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息，包括：
根据预先存储的切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系，获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息。
第二方面，本发明实施例还提供一种车辆驾驶模式切换的处理方法，该方法可以包括：
接收车辆发送的所述车辆的状态信息和/或行驶环境信息，以及目标切换原因；所述目标切换原因为在检测到所述车辆的驾驶模式由无人驾驶切换为人工驾驶时确定的；
根据所述状态信息和/或所述行驶环境信息，以及所述目标切换原因，对所述目标切换原因进行分析。
在一种可能的实现方式中，所述根据所述状态信息和/或所述行驶环境信息，以及所述目标切换原因，对所述目标切换原因进行分析，包括：
根据所述目标切换原因，在历史状态信息和/或历史行驶环境信息中确定所述目标切换原因对应的目标历史状态信息和/或目标历史行驶环境信息；
对所述状态信息和/或所述行驶环境信息，及所述目标历史状态信息和/或目标历史行驶环境信息进行训练，得到所述目标切换原因对应的解决策略。
在一种可能的实现方式中，所述对所述状态信息和/或所述行驶环境信息，及所述目标历史状态信息和/或目标历史行驶环境信息进行训练，得到所述目标切换原因对应的解决策略之后，还包括：
向所述车辆发送所述目标切换原因对应的解决策略。
第三方面，本发明实施例还提供一种车辆，该车辆可以包括：
处理单元，用于在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因；
获取单元，用于获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息；
分析单元，用于将所述状态信息和/或行驶环境信息，以及所述目标切换原因发送 给服务器，以使所述服务器对所述目标切换原因进行分析。
在一种可能的实现方式中，所述车辆还可以包括接收单元；
所述接收单元，用于接收所述服务器发送的所述目标切换原因对应的解决策略。
在一种可能的实现方式中，所述处理单元，具体用于在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，显示至少一个所述驾驶模式对应的切换原因；并接收选择指令，所述选择指令用于指示用户所选择的切换原因；再将所述用户所选择的切换原因确定为所述目标切换原因。
在一种可能的实现方式中，所述接收单元，还用于接收触发指令，所述触发指令用于指示所述车辆的驾驶模式由无人驾驶切换为人工驾驶；
所述处理单元，还用于根据所述触发指令，将所述车辆的驾驶模式切换为人工驾驶。
在一种可能的实现方式中，所述切换原因包括如下原因中的至少一个：无法避让障碍物、即将撞车、需要减速、需要提速、需要停车、即将违反交规或偏离行驶车道。
在一种可能的实现方式中，所述车辆的状态信息包括如下信息中的至少一种：刹车踏板状态信息、油门踏板状态信息、方向盘状态信息、速度信息、行驶位置信息或行驶方向信息。
在一种可能的实现方式中，所述行驶环境信息包括如下信息中的至少一种：行驶路面的道路信息、障碍物信息、车辆的位置信息、行驶路段的亮度、能见度信息或行驶路段的交通信号信息。
在一种可能的实现方式中，所述获取单元，具体用于根据预先存储的切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系，获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息。
第四方面，本发明实施例还提供一种服务器，该服务器可以包括：
接收单元，用于接收车辆发送的所述车辆的状态信息和/或行驶环境信息，以及目标切换原因；所述目标切换原因为在检测到所述车辆的驾驶模式由无人驾驶切换为人工驾驶时确定的；
分析单元，用于根据所述状态信息和/或所述行驶环境信息，以及所述目标切换原因，对所述目标切换原因进行分析。
在一种可能的实现方式中，所述分析单元，具体用于根据所述目标切换原因，在历史状态信息和/或历史行驶环境信息中确定所述目标切换原因对应的目标历史状态信息和/或目标历史行驶环境信息；并对所述状态信息和/或所述行驶环境信息，及所述目标历史状态信息和/或目标历史行驶环境信息进行训练，得到所述目标切换原因对应的解决策略。
在一种可能的实现方式中，所述服务器还可以包括发送单元；
发送单元，用于向所述车辆发送所述目标切换原因对应的解决策略。
第五方面，本发明实施例还提供一种车辆，该车辆可以包括处理器和存储器，其中，
所述存储器用于存储程序指令；
所述处理器用于读取所述存储器中的程序指令，并根据所述存储器中的程序指令 执行上述第一方面任一项所述的车辆驾驶模式切换的处理方法。
第六方面，本发明实施例还提供一种服务器，该服务器可以包括处理器和存储器，其中，
所述存储器用于存储程序指令；
所述处理器用于读取所述存储器中的程序指令，并根据所述存储器中的程序指令执行上述第二方面任一项所述的车辆驾驶模式切换的处理方法。
第七方面，本发明实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，在所述计算机程序被处理器执行时，执行上述第一方面任一项所述的车辆驾驶模式切换的处理方法；或者，在所述计算机程序被处理器执行时，执行上述第二方面任一项所述的车辆驾驶模式切换的处理方法。
本发明实施例提供的车辆驾驶模式切换的处理方法、车辆及服务器，在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，先确定目标切换原因；并获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息；之后，再将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器，以使服务器对目标切换原因进行分析，并根据分析结果不断完善自动驾驶系统，这样在下次遇到该目标切换原因时，就可以通过完善后的自动驾驶系统避免因目标切换原因带来的危险，从而提高了无人车行驶的安全性。
附图说明
图1为本发明实施例提供的一种车辆驾驶模式切换的处理方法的流程示意图；
图2为本发明实施例提供的另一种车辆驾驶模式切换的处理方法的流程示意图；
图3为本发明实施例提供的一种车辆的结构示意图；
图4为本发明实施例提供的另一种车辆的结构示意图；
图5为本发明实施例提供的一种服务器的结构示意图；
图6为本发明实施例提供的另一种服务器的结构示意图；
图7为本发明实施例提供的又一种车辆的结构示意图；
图8为本发明实施例提供的又一种服务器的结构示意图。
具体实施方式
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
本发明的说明书和权利要求书及上述附图中的术语“第一”、“第二”、“第三”“第四”等(如果存在)是用于区别类似的对象，而不必用于描述特定的顺序或先后次序。应该理解这样使用的数据在适当情况下可以互换，以便这里描述的本发明的实施例例如能够以除了在这里图示或描述的那些以外的顺序实施。此外，术语“包括”和“具有”以及他们的任何变形，意图在于覆盖不排他的包含，例如，包含了一系列 步骤或单元的过程、方法、系统、产品或设备不必限于清楚地列出的那些步骤或单元，而是可包括没有清楚地列出的或对于这些过程、方法、产品或设备固有的其它步骤或单元。
现有技术中，无人车在行驶过程中，是通过现有的自动驾驶系统控制无人车的行驶，若此时前方有障碍物，则由于现有的自动驾驶系统无法处理该状况，使得无人车继续行驶并碰撞到障碍物，从而导致无人车行驶的安全性不高。为了提高无人车行驶的安全性，本发明实施例提供了一种车辆驾驶模式切换的处理方法，在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，先确定目标切换原因；并获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息；之后，再将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器，以使服务器对目标切换原因进行分析，并根据分析结果不断完善自动驾驶系统，这样在下次遇到该目标切换原因时，就可以通过完善后的自动驾驶系统避免因目标切换原因带来的危险，从而提高了无人车行驶的安全性。
下面以具体的实施例对本发明的技术方案以及本发明的技术方案如何解决上述技术问题进行详细说明。下面这几个具体的实施例可以相互结合，对于相同或相似的概念或过程在某些实施例中不再赘述。下面将结合附图，对本发明的实施例进行描述。
图1为本发明实施例提供的一种车辆驾驶模式切换的处理方法的流程示意图，示例的，请参见图1所示，该车辆驾驶模式切换的处理方法可以包括：
S101、无人车接收触发指令。
其中，触发指令用于指示车辆的驾驶模式由无人驾驶切换为人工驾驶。
示例的，触发指令可以是无人车上的安全员发送的，当然，也可以为用户发送的。以安全员为例，安全员在发送触发指令时，可以通过无人车上的按钮发送该触发指令，也可以通过无人车屏幕上的虚拟按键发送该触发指令，当然，也可以通过无人车的语音系统发送该触发指令，具体可以根据实际需要进行设置，在此，对于如何发送触发指令，本发明实施例不做进一步地限制。
对于无人车上的安全员而言，在发现无人车的驾驶行为存在危险时，可以通过无人车上的按钮发送触发指令，使得无人车在接收到该触发指令后，将该无人车当前的驾驶模式由无人驾驶模式切换为人工驾驶，即执行下述S102：
S102、无人车根据触发指令，将车辆的驾驶模式切换为人工驾驶。
无人车在接收到该触发指令之后，可以自动将车辆的驾驶模式切换为人工驾驶，并执行下述S103：
S103、无人车在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因。
可选地，切换原因包括如下原因中的至少一个：无法避让障碍物、即将撞车、需要减速、需要提速、需要停车、即将违反交规或偏离行驶车道，当然，切换原因还可以包括其他存在危险的原因，在此，本发明实施例只是以切片原因可以包括上述至少一种为例进行说明，但并不代表本发明实施例仅局限于此。示例的，至少一个可以为1个，也可以为多个，具体可以根据实际需要进行设置，在此，对于至少一个的值，本发明实施例不做进一步地限制。
需要说明的是，在本发明实施例中，无人车在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，可以通过下述至少两种可能的实现方式确定目标切换原因。
在一种可能的实现方式中，无人车在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，可以向安全员显示至少一个驾驶模式对应的切换原因；对应的，安全员在该至少一个驾驶模式对应的切换原因中，选择切换原因，并向无人车发送选择命令，使得无人车可以根据该选择命令，将安全员选择的切换原因确定为目标切换原因，从而确定目标切换原因。
可选地，在该种可能的实现方式中，安全员在发送选择指令时，可以通过语音的方式向无人车发送选择指令，也可以通过点击屏幕中按钮的方式向无人车发送选择指令，当然，也可以通过文字的方式向无人车发送选择指令，在此，本发明实施例只是以可以通过这三种方式向无人车发送选择指令为例进行说明，但并不代表本发明实施例仅局限于此。
示例的，在该种可能的实现方式中，在无人车行驶过程中，当安全员发现无人车前方有无法避让的障碍物时，可以通过无人车上的按钮发送触发指令，使得无人车在接收到该触发指令时，将该无人车当前的驾驶模式由无人驾驶模式切换为人工驾驶，此时，无人车在检测到当前的驾驶模式由无人驾驶模式切换为人工驾驶后，可以通过车辆屏幕向安全员显示如下切换原因：无法避让障碍物、即将撞车、需要减速、需要提速、需要停车、即将违反交规及偏离行驶车道；安全员可以通过点击无法避让障碍物对应的虚拟按键的方式，向车辆输入选择命令，使得无人车可以根据该选择指令，将无法避让障碍物确定为目标切换原因。
在另一种可能的实现方式中，无人车在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，可以无需向安全员显示至少一个驾驶模式对应的切换原因，而是安全员直接向无人车发送包括目标切换原因的指令，使得无人车直接接收安全员发送的目标切换原因，从而确定目标切换原因。
需要说明的是，安全员在向无人车发送包括目标切换原因的指令之前，需要先将安全员自主输入的目标切换原因规范化，并使得无人车可以识别该目标切换原因，从而确定该目标切换原因。
可选地，在该种可能的实现方式中，安全员在发送包括目标切换原因的指令时，可以通过语音的方式向无人车发送该包括目标切换原因的指令，也可以通过点击屏幕中预先设置的切换原因按钮的方式，向无人车发送该包括目标切换原因的指令，当然，也可以通过文字的方式向无人车发送该包括目标切换原因的指令，在此，本发明实施例只是以可以通过这三种方式向无人车发送该包括目标切换原因的指令为例进行说明，但并不代表本发明实施例仅局限于此。
示例的，在该种可能的实现方式中，在无人车行驶过程中，当安全员发现无人车前方有无法避让的障碍物时，可以通过无人车上的按钮发送触发指令，使得无人车在接收到该触发指令时，将该无人车当前的驾驶模式由无人驾驶模式切换为人工驾驶，此时，无人车在检测到当前的驾驶模式由无人驾驶模式切换为人工驾驶后，无需通过车辆屏幕向安全员显示如下切换原因：无法避让障碍物、即将撞车、需要减速、需要提速、需要停车、即将违反交规及偏离行驶车道，而是安全员直接向无人车发送包括 无法避让障碍物的指令，使得无人车直接接收安全员发送的无法避让障碍物，并将无法避让障碍物确定为目标切换原因。
可以理解的是，在本发明实施例中，无人车在确定目标切换原因时，只是以上述两种可能的实现方式为例进行说明，但并不代表本发明实施例仅局限于此。
S104、无人车获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息。
其中，在获取信息时，可以只获取目标切换原因对应的车辆的状态信息，也可以只获取目标切换原因对应的行驶环境信息，当然，也可以同时目标切换原因对应的车辆的状态信息和行驶环境信息。需要说明的是，在本发明实施例中，获取到的信息的种类越多与服务器根据该信息对目标切换原因的分析结果的越准确呈正相关关系，即获取到的信息的种类越多，服务器根据该信息对目标切换原因的分析结果的越准确越高。
可选地，车辆的状态信息包括如下信息中的至少一种：刹车踏板状态信息、油门踏板状态信息、方向盘状态信息、速度信息、行驶位置信息或行驶方向信息，当然，也可以包括车辆的其它状态信息，在此，本发明实施例只是以车辆的状态信息可以包括这几种中的至少一种为例进行说明，但并不代表本发明实施例仅局限于此。
可选地，行驶环境信息包括如下信息中的至少一种：行驶路面的道路信息、障碍物信息、车辆的位置信息、行驶路段的亮度、能见度信息或行驶路段的交通信号信息，当然，也可以包括其它行驶环境信息，在此，本发明实施例只是以行驶环境信息可以包括这几种中的至少一种为例进行说明，但并不代表本发明实施例仅局限于此。
可选地，在本发明实施例中，在获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息之前，可以预先建立并存储切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系，这样在确定目标切换原因之后，就可以根据该预先存储的切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系，在车辆的状态信息和/或行驶环境信息中，确定与目标切换原因对应的车辆的状态信息和/或行驶环境信息，从而获取到该目标切换原因对应的车辆的状态信息和/或行驶环境信息。
需要说明的是，在本发明实施例中，不是在每一次获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息之前，都要建立并存储切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系，而只需要在第一次获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息之前建立并存储切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系，当后续有新的切换原因、和其对应的车辆的状态信息和/或行驶环境信息时，可以对预先建立的对应关系进行更新，并存储更新后的切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系。
示例的，当目标切换原因为无法避让障碍物时，可以获取该无法避让障碍物对应的车辆的状态信息和/或行驶环境信息，此时，该车辆的状态信息可以包括车辆的行驶速度A，行驶位置信息为：与障碍物之间的距离为B米，行驶方向信息：向着障碍物的方向等；行驶环境信息可以包括行驶路面的道路信息、障碍物信息：一块大石头，车辆的位置信息：与该障碍物之间的距离为B米等，在此，对于无法避让障碍物对应的车辆的状态信息和行驶环境信息，只是举例说明，并不代表本发明实施例仅局限于此。
在通过S104到目标切换原因对应的车辆的状态信息和/或行驶环境信息之后，就可以执行下述S105：
S105、无人车将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器。
示例的，无人车可以通过无线网络将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器，当然，也可以通过其他方式将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器，在此，本发明实施例只是以无人车可以通过无线网络将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器为例进行说明，但并不代表本发明实施例仅局限于此。
在本发明实施例中，无人车将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器，以使服务器接收到该状态信息和/或行驶环境信息，以及目标切换原因，并执行下述S106：
S106、服务器根据状态信息和/或行驶环境信息，以及目标切换原因，对目标切换原因进行分析。
服务器在接收状态信息和/或行驶环境信息，以及目标切换原因之后，就可以根据状态信息和/或行驶环境信息，以及目标切换原因，对目标切换原因进行分析，并根据分析结果不断完善自动驾驶系统，这样在下次遇到该目标切换原因时，就可以通过完善后的自动驾驶系统避免因目标切换原因带来的危险，从而提高了无人车行驶的安全性。
示例的，无人车在获取到目标切换原因“无法避让障碍物”对应的车辆的状态信息和/或行驶环境信息之后，就可以将该“无法避让障碍物”对应的车辆的状态信息和/或行驶环境信息发生给服务器，使得服务器在接收到该“无法避让障碍物”对应的车辆的状态信息和/或行驶环境信息后，对目标切换原因“无法避让障碍物”进行分析，并根据分析结果不断完善自动驾驶系统，这样在下次遇到无法避让障碍物的情况时，就可以通过完善后的自动驾驶系统避免因无法避让障碍物带来的危险，从而提高了无人车行驶的安全性。
本发明实施例提供的车辆驾驶模式切换的处理方法，在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，先确定目标切换原因；并获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息；之后，再将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器，以使服务器对目标切换原因进行分析，并根据分析结果不断完善自动驾驶系统，这样在下次遇到该目标切换原因时，就可以通过完善后的自动驾驶系统避免因目标切换原因带来的危险，从而提高了无人车行驶的安全性。
基于上述图1所示的实施例，为了更清楚地描述在本发明实施例中，服务器如何执行S106根据状态信息和/或行驶环境信息，以及目标切换原因，对目标切换原因进行分析，示例的，请参见图2所示，图2为本发明实施例提供的另一种车辆驾驶模式切换的处理方法的流程示意图，该车辆驾驶模式切换的处理方法还可以包括：
S201、服务器根据目标切换原因，在历史状态信息和/或历史行驶环境信息中确定目标切换原因对应的目标历史状态信息和/或目标历史行驶环境信息。
服务器在接收到目标切换原因之后，可以根据该目标切换原因，在之前接收到的各历史状态信息和/或历史行驶环境信息中，查找与该目标切换原因对应的目标历史状 态信息和/或目标历史行驶环境信息，并在获取到这些目标历史状态信息和/或目标历史行驶环境信息之后，对状态信息和/或行驶环境信息，及目标历史状态信息和/或目标历史行驶环境信息进行训练，得到目标切换原因对应的解决策略。
示例的，无人车在根据目标切换原因“无法避让障碍物”，及其对应的车辆的状态信息和/或行驶环境信息，对目标切换原因“无法避让障碍物”进行分析时，可以先根据目标切换原因“无法避让障碍物”，在之前接收到各历史状态信息和/或历史行驶环境信息中，查找与该目标切换原因“无法避让障碍物”对应的目标历史状态信息和/或目标历史行驶环境信息，再执行下述S202：
S202、服务器对状态信息和/或行驶环境信息，及目标历史状态信息和/或目标历史行驶环境信息进行训练，得到目标切换原因对应的解决策略。
可选地，解决策略可以为立即停车，也可以为绕过障碍物等，当然，也可以为其它策略，具体可以根据实际需要进行设置，在此，对于解决策略具体可以包括什么，本发明实施例不做具体限制。示例的，目标切换原因“无法避让障碍物”对应的解决策略可以为立即停车，或者绕过障碍物。
服务器在获取到目标切换原因对应的目标历史状态信息和/或目标历史行驶环境信息之后，就可以根据对状态信息和/或行驶环境信息，及目标历史状态信息和/或目标历史行驶环境信息进行训练，从而得到目标切换原因对应的解决策略，这样服务器就可以根据该解决策略不断完善自动驾驶系统，这样在下次遇到该目标切换原因时，就可以通过完善后的自动驾驶系统避免因目标切换原因带来的危险，从而提高了无人车行驶的安全性。
可选地，对于服务器而言，在得到目标切换原因对应的解决策略之后，还可以执行下述S203：
S203、服务器向车辆发送目标切换原因对应的解决策略，以使车辆接收服务器发送的目标切换原因对应的解决策略，这样在下次遇到该目标切换原因时，就可以通过完善后的自动驾驶系统避免因目标切换原因带来的危险，从而提高了无人车行驶的安全性。
在一种可能的场景中，安全员在发现无人车的驾驶行为存在危险时，可以向无人车发送触发指令，使得无人车在接收到该触发指令后，将车辆的自动驾驶模式切换为人工驾驶，并向安全员显示至少一个驾驶模式对应的切换原因；对应的，安全员在该至少一个驾驶模式对应的切换原因中，选择切换原因，并向无人车发送用于指示切换原因的选择命令，使得无人车可以根据该选择命令，将安全员选择的切换原因确定为目标切换原因；并进一步获取该目标切换原因对应的车辆的状态信息和/或行驶环境信息，再将该状态信息和/或行驶环境信息，以及目标切换原因发送给服务器；使得服务器在接收到该状态信息和/或行驶环境信息，以及目标切换原因后，可以根据该目标切换原因，在之前接收到的各历史状态信息和/或历史行驶环境信息中，查找与该目标切换原因对应的目标历史状态信息和/或目标历史行驶环境信息，并对状态信息和/或行驶环境信息，及目标历史状态信息和/或目标历史行驶环境信息进行训练，从而得到目标切换原因对应的解决策略；进一步地，服务器在得到目标切换原因对应的解决策略之后，还可以向车辆发送目标切换原因对应的解决策略，以使车辆接收服务器发送的 目标切换原因对应的解决策略，这样在下次遇到该目标切换原因时，就可以通过完善后的自动驾驶系统避免因目标切换原因带来的危险，从而提高了无人车行驶的安全性。
图3为本发明实施例提供的一种车辆30的结构示意图，示例的，请参见图3所示，该车辆30可以包括：
处理单元301，用于在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因。
获取单元302，用于获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息。
分析单元303，用于将状态信息和/或行驶环境信息，以及目标切换原因发送给服务器，以使服务器对目标切换原因进行分析。
可选地，车辆30还可以包括接收单元304，示例的，请参见图4所示，图4为本发明实施例提供的另一种车辆30的结构示意图。
接收单元304，用于接收服务器发送的目标切换原因对应的解决策略。
可选地，处理单元301，具体用于在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，显示至少一个驾驶模式对应的切换原因；并接收选择指令，选择指令用于指示用户所选择的切换原因；再将用户所选择的切换原因确定为目标切换原因。
可选地，接收单元304，还用于接收触发指令，触发指令用于指示车辆的驾驶模式由无人驾驶切换为人工驾驶。
处理单元301，还用于根据触发指令，将车辆的驾驶模式切换为人工驾驶。
可选地，切换原因包括如下原因中的至少一个：无法避让障碍物、即将撞车、需要减速、需要提速、需要停车、即将违反交规或偏离行驶车道。
可选地，车辆30的状态信息包括如下信息中的至少一种：刹车踏板状态信息、油门踏板状态信息、方向盘状态信息、速度信息、行驶位置信息或行驶方向信息。
可选地，行驶环境信息包括如下信息中的至少一种：行驶路面的道路信息、障碍物信息、车辆的位置信息、行驶路段的亮度、能见度信息或行驶路段的交通信号信息。
可选地，获取单元302，具体用于根据预先存储的切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系，获取与目标切换原因对应的车辆的状态信息和/或行驶环境信息。
本发明实施例所示的车辆30，可以执行上述任一实施例所示的无人车侧的驾驶模式切换的处理方法的技术方案，其实现原理以及有益效果与无人车侧的驾驶模式切换的处理方法的实现原理以及有益效果类似，此处不再进行赘述。
图5为本发明实施例提供的一种服务器50的结构示意图，示例的，请参见图5所示，该服务器50可以包括：
接收单元501，用于接收车辆发送的车辆的状态信息和/或行驶环境信息，以及目标切换原因；目标切换原因为在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时确定的。
分析单元502，用于根据状态信息和/或行驶环境信息，以及目标切换原因，对目标切换原因进行分析。
可选地，分析单元502，具体用于根据目标切换原因，在历史状态信息和/或历史 行驶环境信息中确定目标切换原因对应的目标历史状态信息和/或目标历史行驶环境信息；并对状态信息和/或行驶环境信息，及目标历史状态信息和/或目标历史行驶环境信息进行训练，得到目标切换原因对应的解决策略。
可选地，服务器50还可以包括发送单元503，示例的，请参见图6所示，图6为本发明实施例提供的另一种服务器50的结构示意图。
发送单元503，用于向车辆发送目标切换原因对应的解决策略。
本发明实施例所示的服务器50，可以执行上述任一实施例所示的服务器侧的车辆驾驶模式切换的处理方法的技术方案，其实现原理以及有益效果与服务器的车辆驾驶模式切换的处理方法的实现原理以及有益效果类似，此处不再进行赘述。
图7为本发明实施例提供的又一种车辆70的结构示意图，示例的，请参见图7所示，该车辆70可以包括处理器701和存储器702，其中，
存储器702用于存储程序指令；
处理器701用于读取存储器702中的程序指令，并根据存储器702中的程序指令执行上述无人车侧的车辆驾驶模式切换的处理方法。
本发明实施例所示的车辆70，可以执行上述任一实施例所示的无人车侧的车辆驾驶模式切换的处理方法的技术方案，其实现原理以及有益效果与无人车侧的车辆驾驶模式切换的处理方法的实现原理以及有益效果类似，此处不再进行赘述。
图8为本发明实施例提供的又一种服务器80的结构示意图，示例的，请参见图8所示，该服务器80可以包括处理器801和存储器802，其中，
存储器802用于存储程序指令；
处理器801用于读取存储器802中的程序指令，并根据存储器802中的程序指令执行上述服务器侧的车辆驾驶模式切换的处理方法。
本发明实施例所示的服务器80，可以执行上述任一实施例所示的服务器侧的车辆驾驶模式切换的处理方法的技术方案，其实现原理以及有益效果与服务器的车辆驾驶模式切换的处理方法的实现原理以及有益效果类似，此处不再进行赘述。
本发明实施例还提供一种计算机可读存储介质，计算机可读存储介质上存储有计算机程序，在计算机程序被处理器执行时，执行上述任一实施例所示的无人车侧的车辆驾驶模式切换的处理方法的技术方案，其实现原理以及有益效果与无人车侧的车辆驾驶模式切换的处理方法的实现原理以及有益效果类似，此处不再进行赘述；或者，在计算机程序被处理器执行时，执行上述任一实施例所示的服务器侧的车辆驾驶模式切换的处理方法的技术方案，其实现原理以及有益效果与服务器的车辆驾驶模式切换的处理方法的实现原理以及有益效果类似，此处不再进行赘述。
上述实施例中处理器可以是通用处理器、数字信号处理器(digital signal processor，DSP)、专用集成电路(application specific integrated circuit，ASIC)、现成可编程门阵列(field programmable gate array，FPGA)或者其他可编程逻辑器件、分立门或者晶体管逻辑器件、分立硬件组件。可以实现或者执行本发明实施例中的公开的各方法、步骤及逻辑框图。通用处理器可以是微处理器或者该处理器也可以是任何常规的处理器等。结合本发明实施例所公开的方法的步骤可以直接体现为硬件译码处理器执行完成，或者用译码处理器中的硬件及软件模块组合执行完成。软件模 块可以位于随机存取存储器(random access memory，RAM)、闪存、只读存储器(read-only memory，ROM)、可编程只读存储器或者电可擦写可编程存储器、寄存器等本领域成熟的存储介质中。该存储介质位于存储器，处理器读取存储器中的指令，结合其硬件完成上述方法的步骤。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
本领域技术人员在考虑说明书及实践这里公开的发明后，将容易想到本公开的其它实施方案。本发明旨在涵盖本公开的任何变型、用途或者适应性变化，这些变型、用途或者适应性变化遵循本公开的一般性原理并包括本公开未公开的本技术领域中的公知常识或惯用技术手段。说明书和实施例仅被视为示例性的，本公开的真正范围和精神由下面的权利要求书指出。
应当理解的是，本公开并不局限于上面已经描述并在附图中示出的精确结构，并且可以在不脱离其范围进行各种修改和改变。本公开的范围仅由所附的权利要求书来限制。

Claims (16)

  1. 一种车辆驾驶模式切换的处理方法，其特征在于，包括：
    在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因；
    获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息；
    将所述状态信息和/或行驶环境信息，以及所述目标切换原因发送给服务器，以使所述服务器对所述目标切换原因进行分析。
  2. 根据权利要求1所述的方法，其特征在于，所述方法还包括：
    接收所述服务器发送的所述目标切换原因对应的解决策略。
  3. 根据权利要求1所述的方法，其特征在于，所述在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因，包括：
    在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，显示至少一个所述驾驶模式对应的切换原因；
    接收选择指令，所述选择指令用于指示用户所选择的切换原因；
    将所述用户所选择的切换原因确定为所述目标切换原因。
  4. 根据权利要求1所述的方法，其特征在于，所述在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因之前，所述方法还包括：
    接收触发指令，所述触发指令用于指示所述车辆的驾驶模式由无人驾驶切换为人工驾驶；
    根据所述触发指令，将所述车辆的驾驶模式切换为人工驾驶。
  5. 根据权利要求3所述的方法，其特征在于，所述切换原因包括如下原因中的至少一个：无法避让障碍物、即将撞车、需要减速、需要提速、需要停车、即将违反交规或偏离行驶车道。
  6. 根据权利要求1-5任一项所述的方法，其特征在于，所述车辆的状态信息包括如下信息中的至少一种：刹车踏板状态信息、油门踏板状态信息、方向盘状态信息、速度信息、行驶位置信息或行驶方向信息。
  7. 根据权利要求1-5任一项所述的方法，其特征在于，所述行驶环境信息包括如下信息中的至少一种：行驶路面的道路信息、障碍物信息、车辆的位置信息、行驶路段的亮度、能见度信息或行驶路段的交通信号信息。
  8. 根据权利要求1-5任一项所述的方法，其特征在于，所述获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息，包括：
    根据预先存储的切换原因与车辆的状态信息和/或行驶环境信息之间的对应关系，获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息。
  9. 一种车辆驾驶模式切换的处理方法，其特征在于，包括：
    接收车辆发送的所述车辆的状态信息和/或行驶环境信息，以及目标切换原因；所述目标切换原因为在检测到所述车辆的驾驶模式由无人驾驶切换为人工驾驶时确定的；
    根据所述状态信息和/或所述行驶环境信息，以及所述目标切换原因，对所述目标切换原因进行分析。
  10. 根据权利要求9所述的方法，其特征在于，所述根据所述状态信息和/或所述行驶环境信息，以及所述目标切换原因，对所述目标切换原因进行分析，包括：
    根据所述目标切换原因，在历史状态信息和/或历史行驶环境信息中确定所述目标切换原因对应的目标历史状态信息和/或目标历史行驶环境信息；
    对所述状态信息和/或所述行驶环境信息，及所述目标历史状态信息和/或目标历史行驶环境信息进行训练，得到所述目标切换原因对应的解决策略。
  11. 根据权利要求10所述的方法，其特征在于，所述对所述状态信息和/或所述行驶环境信息，及所述目标历史状态信息和/或目标历史行驶环境信息进行训练，得到所述目标切换原因对应的解决策略之后，还包括：
    向所述车辆发送所述目标切换原因对应的解决策略。
  12. 一种车辆，其特征在于，包括：
    处理单元，用于在检测到车辆的驾驶模式由无人驾驶切换为人工驾驶时，确定目标切换原因；
    获取单元，用于获取与所述目标切换原因对应的所述车辆的状态信息和/或行驶环境信息；
    分析单元，用于将所述状态信息和/或行驶环境信息，以及所述目标切换原因发送给服务器，以使所述服务器对所述目标切换原因进行分析。
  13. 一种服务器，其特征在于，包括：
    接收单元，用于接收车辆发送的所述车辆的状态信息和/或行驶环境信息，以及目标切换原因；所述目标切换原因为在检测到所述车辆的驾驶模式由无人驾驶切换为人工驾驶时确定的；
    分析单元，用于根据所述状态信息和/或所述行驶环境信息，以及所述目标切换原因，对所述目标切换原因进行分析。
  14. 一种车辆，其特征在于，包括处理器和存储器，其中，
    所述存储器用于存储程序指令；
    所述处理器用于读取所述存储器中的程序指令，并根据所述存储器中的程序指令执行权利要求1-8任一项所述的车辆驾驶模式切换的处理方法。
  15. 一种服务器，其特征在于，包括处理器和存储器，其中，
    所述存储器用于存储程序指令；
    所述处理器用于读取所述存储器中的程序指令，并根据所述存储器中的程序指令执行权利要求9-11任一项所述的车辆驾驶模式切换的处理方法。
  16. 一种计算机可读存储介质，其特征在于，
    计算机可读存储介质上存储有计算机程序，在所述计算机程序被处理器执行时，执行权利要求1-8任一项所述的车辆驾驶模式切换的处理方法；或者，在所述计算机程序被处理器执行时，执行权利要求9-11任一项所述的车辆驾驶模式切换的处理方法。
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