WO2021226767A1 - 一种自适应优化自动驾驶系统的方法及装置 - Google Patents
一种自适应优化自动驾驶系统的方法及装置 Download PDFInfo
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Definitions
- This application relates to the field of automatic driving technology, and in particular to a method and device for adaptively optimizing an automatic driving system.
- Autonomous driving can refer to the configuration of one or more automatic driving modes on the vehicle.
- the driver selects the automatic driving mode suitable for the current driving scene from one or more automatic driving modes according to his own needs, and triggers the vehicle based on the automatic driving mode Driving.
- the number of configurations of existing automatic driving modes is limited.
- the driving needs of all drivers in all different driving scenarios are not considered.
- the automatic driving modes configured on the vehicle cannot meet the requirements.
- the driving behavior of the vehicle under the control of the automatic driving system conflicts with the driving intention of the driver (such as the driving plan desired by the driver)
- the driver usually directly takes over the vehicle and drives it manually.
- the automatic driving plan included in the vehicle's automatic driving system is not adjusted according to the current conflicts, resulting in the driving behavior of the vehicle under the control of the automatic driving system when facing the same driving scene in the future will still be generated by the driver's driving intention.
- Conflict can not meet the individual needs of the driver.
- the present application provides a method and device for adaptively optimizing an automatic driving system to solve the problem of conflict between the driving behavior of a vehicle under the control of the automatic driving system and the driving intention of the driver in the prior art.
- a method for adaptively optimizing an automatic driving system can be applied to an automatic driving device of a vehicle.
- the automatic driving device may be an on-vehicle device, or the automatic driving device may also be applied to an on-vehicle device
- the method may include: the automatic driving device obtains the driving intention of the driver of the vehicle that is automatically driven under the control of the automatic driving system; based on the driving intention of the driver, the automatic driving device detects the automatic driving of the target vehicle The driving behavior under the control of the driving system conflicts with the driving intention of the driver.
- the automatic driving system is updated so that the driving behavior of the target vehicle under the control of the updated automatic driving system matches the driving intention of the driver.
- the driving intention is characterized by characteristic parameters corresponding to the driver's behavior; the driver's behavior includes one or more of the driver's operating behavior, visual behavior, emotional behavior, and physical posture behavior.
- the driver's driving intention can be determined from multiple angles according to the driver's multiple characteristic behaviors, which is comprehensive and accurate.
- the driving behavior of the target vehicle under the control of the automatic driving system conflicts with the driving intention of the driver, including: the characteristic parameter corresponding to the driver's behavior exceeds the preset range, and/or the driver
- the time that the characteristic parameter corresponding to the behavior of the driver exceeds the preset range is greater than or equal to the first preset value, and/or the number of times the characteristic parameter corresponding to the driver's behavior exceeds the preset range is greater than or equal to the second preset value.
- the driver’s behavior can accurately reflect the driver’s driving intention, based on this, when the driver’s behavior corresponds to a feature parameter that exceeds the preset range, and/or the driver’s behavior corresponds to When the time and/or the number of times that the characteristic parameter exceeds the preset range is greater than or equal to the preset value, it can be accurately determined that the driving intention of the driver conflicts with the driving behavior of the vehicle under the control of the automatic driving system.
- the automatic driving device obtains the driving intention of the driver and the driving behavior of the target vehicle under the control of the automatic driving system according to the driving intention of the driver and the driving behavior of the target vehicle under the control of the automatic driving system.
- the first characteristic parameter of the driving data corresponding to the driving behavior; the automatic driving device inputs the first characteristic parameter into the preset neural network model used to determine the driving behavior matching the driving intention of the driver to obtain the first driving behavior;
- the first driving behavior is to update the automatic driving system.
- the automatic driving device can characterize the driving intention of the driver and the driving of the vehicle under the control of the automatic driving system.
- the characteristic parameters of the driving data corresponding to the behavior are input into the preset neural network model to obtain the first behavior characteristic, and the automatic driving system is updated according to the first behavior characteristic, which is simple and convenient.
- the automatic driving device presents one or more questions to the driver; the automatic driving device receives answers from the driver to the one or more questions, and the answers to the one or more questions are used to indicate whether Update the automatic driving system; when the answers to the one or more questions are used to instruct to update the automatic driving system, the automatic driving device updates the automatic driving system according to the first driving behavior.
- the driver's driving intention can be further confirmed according to one or more questions. Because the driver’s answer to the one or more questions can reflect the driver’s true driving intention, the driver’s driving intention can be determined more accurately, and furthermore, whether to update the automatic driving system can be determined according to the driver’s answer .
- the automatic driving system is updated according to the driving behavior that matches the driving intention. So that the driving behavior of the vehicle under the control of the updated automatic driving system meets the driving intention of the driver.
- the automatic driving device uses the first driving behavior as the driving behavior of the target vehicle under the control of the updated automatic driving system; If the behavior does not conform to the safe driving behavior of the target vehicle, the automatic driving device will perform the driving behavior of the target vehicle under the control of the updated automatic driving system for the safe driving behavior.
- the driving behavior of the vehicle under the control of the updated automatic driving system matches the driving intention of the driver, and the driving behavior conforms to the driving behavior of the vehicle
- the driving behavior can be regarded as the behavior under the control of the updated automatic driving system.
- the safe driving behavior can be regarded as the behavior under the control of the updated automatic driving system. In this way, the vehicle can drive safely under the control of the automatic driving system.
- a device for adaptively optimizing an automatic driving system is provided.
- the device is applied to an automatic driving device or a chip or a system on a chip in an automatic driving device. It can also be used in an automatic driving device to implement the first aspect or the first Any possible design of the functional modules of the described method.
- the device can realize the functions performed by the automatic driving device in the above-mentioned aspects or various possible designs, and the functions can be realized by hardware executing corresponding software.
- the hardware or software includes one or more modules corresponding to the above-mentioned functions.
- the device of the self-adaptive optimization automatic driving system includes a communication unit and a processing unit.
- the communication unit is used to obtain the driving intention of the driver of the target vehicle, where the target vehicle is a vehicle that is automatically driven under the control of an automatic driving system.
- the processing unit is used to detect that there is a conflict between the driving behavior of the target vehicle under the automatic driving control and the driving intention of the driver based on the driving intention of the driver.
- the processing unit is also used to update the automatic driving system, so that the driving behavior of the target vehicle under the control of the updated automatic driving system matches the driving intention of the driver.
- the specific implementation of the device for self-adaptive optimization of the automatic driving system can refer to the behavioral function of the automatic driving device in the method for self-adaptive optimization of the automatic driving system provided in the first aspect or any possible design of the first aspect, here Do not repeat it again. Therefore, the provided device for adaptively optimizing an automatic driving system can achieve the same beneficial effects as the first aspect or any possible design of the first aspect.
- an automatic driving device may be a vehicle-mounted device or a chip or a system on a chip in the vehicle-mounted device.
- the automatic driving device can realize the functions performed by the above-mentioned aspects or various possible designs.
- the functions can be realized by hardware.
- the automatic driving device may include: a processor and a communication Interface, the processor is used to run a computer program or instructions to implement the method for adaptively optimizing the automatic driving system as described in the first aspect and any one of the possible implementation manners of the first aspect.
- the automatic driving device may further include a memory, and the memory is used to store computer execution instructions and data necessary for the automatic driving device.
- the processor executes the computer-executable instructions stored in the memory, so that the automatic driving device executes the self-adaptive optimization automatic control described in the first aspect or any one of the possible designs of the first aspect. The method of driving the system.
- a computer-readable storage medium may be a readable non-volatile storage medium.
- the computer-readable storage medium stores computer instructions or programs. During operation, the computer can execute the method for adaptively optimizing the automatic driving system described in the first aspect or any one of the possible designs of the foregoing aspects.
- a computer program product containing instructions which when running on a computer, enables the computer to execute the adaptively optimized automatic driving system described in the first aspect or any one of the possible designs of the above aspects Methods.
- an automatic driving device may be an automatic driving device or a chip or a system on a chip in the automatic driving device.
- the automatic driving device includes one or more processors and one or more memories. .
- the one or more memories are coupled with the one or more processors, and the one or more memories are used to store computer program codes, and the computer program codes include computer instructions.
- the automatic driving device is caused to execute the method for adaptively optimizing the automatic driving system as described in the first aspect or any possible design of the first aspect.
- a chip system in a seventh aspect, includes a processor and a communication interface.
- the chip system can be used to implement the functions performed by the automatic driving device in the first aspect or any possible design of the first aspect.
- the processor is used to obtain the operating characteristics of the driver through the communication interface.
- the technical effects brought about by any one of the design methods of the second aspect to the seventh aspect may refer to the technical effects brought about by the above-mentioned first aspect or any possible design of the first aspect, and will not be repeated.
- a communication system in an eighth aspect, includes an automatic driving device and a vehicle to everything (V2X) server.
- the automatic driving device is in communication connection with the V2X server, and the automatic driving device can be used to implement the foregoing
- the V2X server may be used to provide a plurality of information for the automatic driving device, for example, the plurality of information may include characteristic information of the driver , The driving behavior of the vehicle under the control of the automatic driving system, etc.
- FIG. 1 is a schematic structural diagram of a communication system provided by an embodiment of this application.
- FIG. 2 is a schematic structural diagram of a vehicle provided by an embodiment of the application.
- FIG. 3 is a schematic structural diagram of an automatic driving device provided by an embodiment of the application.
- FIG. 4 is a schematic structural diagram of a V2X server provided by an embodiment of the application.
- FIG. 5 is an example flowchart of a method for adaptively optimizing an automatic driving system according to an embodiment of the application
- FIG. 6a is an example diagram of a driver's operation of the accelerator pedal of a vehicle provided by an embodiment of the application;
- FIG. 6b is an example diagram of a driver's operation of a deceleration pedal of a vehicle provided by an embodiment of the application;
- FIG. 6c is an example diagram of a driver's operation of a steering wheel of a vehicle provided by an embodiment of the application.
- FIG. 7 is a schematic structural diagram of a vehicle provided by an embodiment of the application.
- FIG. 8 is a schematic diagram of a display interface of a vehicle provided by an embodiment of the application.
- FIG. 9 is an example flowchart of another method for adaptively optimizing an automatic driving system provided by an embodiment of the application.
- FIG. 10 is a schematic structural diagram of an automatic driving device 1000 provided by an embodiment of this application.
- FIG. 11 is a schematic structural diagram of a communication system provided by an embodiment of this application.
- Traffic information It can also be called key elements, traffic characteristics, traffic characteristics, etc., without restriction.
- the traffic information can be used to indicate the traffic environment on the road during the driving of the vehicle.
- the traffic information may include one or more of vehicle information, obstacle information, pedestrian information, and information about the traffic environment on the road on which the vehicle is traveling.
- vehicle information, obstacle information, and pedestrian information can indicate the position and relative speed of other vehicles, pedestrians, and obstacles relative to the vehicle.
- vehicle information may include the number of vehicles, the speed of the vehicle, the distance from the vehicle to the vehicle, and the type of the vehicle.
- Obstacle information can include road height limit bars, guardrails, and so on.
- Pedestrian information can include the number of pedestrians, pedestrian speed, and the distance between the pedestrian and the vehicle.
- the traffic environment information can include road information, lighting conditions, and weather conditions.
- the road information may be highways, national highways, provincial highways, urban roads, or rural roads.
- Road information can also include closed road signs, traffic lights, lane lines, closed roads and non-closed roads, etc., which are not restricted.
- the traffic sign can indicate the upper limit of the road speed limit, the lower limit of the speed limit, and stop driving ahead. Traffic lights can indicate whether to stop, turn left or turn right.
- the lane line can indicate the driving direction of the vehicle, the turning radius, the direction of the lanes on both sides, whether it is allowed to change lanes, etc.
- the driver when the driver is driving the vehicle on the road, facing different traffic information, the driver can control the vehicle to perform driving behavior corresponding to the traffic information.
- Driving behavior can mean that when a vehicle is driving on a road, it needs to complete different driving actions in different traffic environments before it can reach the destination. The different actions can be following the car, keeping the lane, changing lanes and cutting in, being cut in by other vehicles while driving, and so on. For example, when the vehicle is cut in by another vehicle while driving, the driving behavior of the vehicle is to reduce the speed when the vehicle is cut in.
- the vehicle can perform one or more driving behaviors under one traffic information.
- the one or more driving behaviors may be used to reflect the driving intention of the driver.
- the driving behavior of the vehicle may include slowing down and adjusting the driving direction according to the radius of the curve.
- the traffic information and one or more driving behaviors of the vehicle corresponding to the traffic information may constitute a driving scene.
- Driving scene It can also be called the driving function domain.
- the driving scene may refer to clustering multiple traffic information with the same or similar characteristics and the driving behavior of the vehicles under the traffic information according to a preset clustering algorithm to obtain multiple categories, wherein each of the multiple categories
- Each category may include a type of traffic information and at least one driving behavior corresponding to the traffic information.
- One category corresponds to one driving scene.
- the vehicle has different driving behaviors under the control of the automatic driving system.
- the preset clustering algorithm may be a k-means clustering algorithm (k-means).
- k-means k-means clustering algorithm
- the k-means clustering algorithm can refer to the prior art, which will not be repeated here.
- the driving scene may include: direct traffic on urban peak sections, closed roads forward traffic, unclosed roads slow traffic, urban road intersections, non-urban road intersections, and the like.
- the traffic information and driving behavior included in the above driving scene can be as shown in Table 1.
- the traffic information in each driving scene may also include other information, such as road vehicle information, pedestrian information, etc.
- other information such as road vehicle information, pedestrian information, etc.
- Table 1 can also include other driving scenarios, which are not limited.
- the driver's driving intention refers to the operation that the driver performs on the vehicle or the driving behavior that the driver wants the vehicle to perform when the vehicle is running.
- the driving behavior can include following a car, changing lanes to the left, changing lanes to the right, or overtaking.
- the driving behavior that the driver wants the vehicle to perform is overtaking.
- the driving operation of the driver is to control the accelerator pedal so that the vehicle performs the driving behavior of accelerating.
- the driving operation of the driver controlling the accelerator pedal and the driving behavior of the vehicle performing acceleration can be called natural driving data.
- Natural driving data refers to the general designation of the driving behavior of the vehicle and the characteristics of the driver's operation of the vehicle when the driver is driving the vehicle.
- the operating features may include controlling the steering wheel, controlling the accelerator pedal, and controlling the deceleration pedal, etc., which are not limited.
- Auto-driving mode It means that the driver enters the destination through the auto-driving system, and the auto-driving system can determine a reasonable driving route based on preset parameters.
- the driving route may include a plurality of traffic information, for example, the plurality of traffic information may include a plurality of curves, a plurality of road junctions, and so on.
- the automatic driving system can control the vehicle equipped with the automatic driving system to perform corresponding driving behaviors according to different driving scenarios on the driving route. For example, at the curve of the driving route, the automatic driving system can adjust the driving behavior of the vehicle according to the curvature of the road. For example, the automatic driving system can adjust the rotation direction, rotation angle, and speed of the vehicle to make the vehicle Smooth and safe driving.
- the vehicle is configured on certain driving scenarios.
- the automatic driving mode cannot meet the driving needs of the driver, or, in the automatic driving technology, for scenes that the automatic driving system cannot handle, the automatic driving system will remind the driver to take over the driving right of the vehicle and drive manually.
- the driver needs to switch the automatic driving mode to manual driving.
- the driving behavior of the vehicle under the control of the automatic driving system conflicts with the driver's driving intention (such as the driving plan desired by the driver)
- the driver usually directly takes over the vehicle and drives manually.
- the driving behavior of the vehicle under the control of the automatic driving mode is not adjusted according to the current conflict, which causes the driving behavior of the vehicle under the control of the automatic driving system to conflict with the driver's driving intention when facing the same driving scene in the future. , Can not meet the individual needs of the driver.
- an embodiment of the present application provides a method for adaptively optimizing an automatic driving system, which is applied to an automatic driving device of a vehicle, including: the automatic driving device obtains the driving intention of the driver; and based on the driving intention of the driver, The automatic driving device detects that the driving behavior of the vehicle under the control of the automatic driving system conflicts with the driving intention of the driver, and the automatic driving device updates the automatic driving system so that the driving behavior of the vehicle under the control of the updated automatic driving system matches driving Driver’s driving intention.
- the automatic driving system when it is detected that the driving intention of the driver of a vehicle that is automatically driven under the control of the automatic driving system conflicts with the driving behavior of the vehicle under the control of the automatic driving system of the vehicle, the automatic driving system is updated so that the vehicle is updated
- the driving behavior under the control of the subsequent automatic driving system matches the driver's driving intention.
- the subsequent driving behavior under the control of the updated automatic driving system can meet the driving needs of the driver.
- Fig. 1 shows an example diagram of a communication system provided by an embodiment of the present application.
- the communication system may include a vehicle 10 and a V2X server 20.
- the vehicle 10 may communicate with the V2X server 20 using V2X communication technology.
- the vehicle 20 can also communicate with the V2X server 20 via a wireless link, for example, via a fifth generation (5G) network, or via other methods, without limitation.
- 5G fifth generation
- the vehicle 10 may be an intelligent network driving (intelligent network driving) vehicle, which is a typical vehicle networking terminal.
- vehicle 10 may specifically execute the method for adaptively optimizing the automatic driving system in the embodiment of the present application through its internal functional units or devices.
- the vehicle 10 may include an automatic driving device for executing the method for adaptively optimizing the automatic driving system provided by the embodiment of the present application.
- the automatic driving device may communicate with other components of the vehicle 10 through a controller area network (CAN) bus.
- CAN controller area network
- the V2X server 20 can provide the vehicle 10 with multiple driving behaviors of the vehicle under the control of the automatic driving system and/or the natural driving data of multiple drivers, etc., and can also be used to receive image information from the driver of the vehicle 10, and The image information of the driver is recognized to obtain the body posture behavior of the driver.
- the body posture behavior may include whether the driver is using a mobile phone, whether the driver is driving fatigued, and so on.
- the V2X server 20 may also send the driver's body posture behavior to the vehicle 10.
- the V2X server 20 may be a physical server or a virtual server, such as a cloud server, etc., which is not limited. The specific structure of the V2X server 20 will be described in detail in the embodiment shown in FIG. 4.
- FIG. 2 is a schematic structural diagram of a vehicle 10 provided by an embodiment of this application.
- the vehicle 10 may include an automatic driving device 101, a vehicle body gateway 102, a vehicle body antenna 103, and the like.
- the automatic driving device 101 may be communicatively connected with the body antenna 103 through a radio frequency (RF) cable.
- RF radio frequency
- the vehicle 10 may include more or fewer components than those shown in FIG. 2, or the vehicle 10 may include a combination of certain components shown in FIG. 2, or the vehicle 10 may include Split parts of the parts shown, etc.
- the vehicle 10 may also include a domain controller (DC) and a multi-domain controller (multi-domain controller,
- the components shown in FIG. 2 may be implemented in hardware, software, or a combination of software and hardware.
- the automatic driving device 101 in the vehicle 10 may be a car networking chip or the like, and the specific structure of the automatic driving device 101 will be described in detail in the embodiment shown in FIG. 3.
- the automatic driving device 101 may be called an on-board unit (OBU), an on-board terminal, etc., for example, the automatic driving device 101 may be a telematics BOX (T-Box).
- the automatic driving device 101 is mainly used to execute the method for adaptively optimizing the automatic driving system provided in the embodiments of the present application.
- the body gateway 102 is mainly used for receiving and sending vehicle information, and the body gateway 102 may be connected to the automatic driving device 101 through a CAN bus.
- the vehicle body gateway 102 may obtain from the automatic driving device 101 the updated automatic driving system obtained after the automatic driving device 101 executes the method for adaptively optimizing the automatic driving system provided in this embodiment of the application, and the vehicle is under the control of the automatic driving system
- the obtained driving behavior of the updated automatic driving system and the driving behavior of the vehicle under the control of the automatic driving system are sent to other components of the vehicle 10.
- the body antenna 103 may have a built-in communication antenna, and the communication antenna is responsible for signal reception and transmission.
- the communication antenna can send vehicle information of a vehicle to an automatic driving device of another vehicle, and can also receive vehicle information sent from another automatic driving device.
- FIG. 3 is a schematic structural diagram of an automatic driving device 101 provided by an embodiment of this application.
- the automatic driving device 101 may include an automatic driving perception module 1011, a smart cockpit interaction module 1012, a driving intention conflict detection module 1013, and an automatic driving control module 1014.
- the automatic driving perception module 1011 can be used to recognize and divide the traffic information and driving behavior of the vehicle 10; Perform voice recognition; the driving intention conflict detection module 1013 can be used to determine the driving intention of the driver, and detect whether the driving intention of the driver conflicts with the driving behavior of the vehicle under the control of the automatic driving system.
- the automatic driving control module 1014 may be used to control the driving behavior of the vehicle during automatic driving.
- the smart cockpit interaction module 1012 may use a long-short term memory-deep neural networks (LSTM-DNN) model to recognize the voice information of the driver.
- LSTM-DNN long-short term memory-deep neural networks
- the smart cockpit interaction module 1012 is equipped with an LSTM-DNN model, and the autopilot device can obtain the voice information of the people inside the vehicle through the sound collection device, and input the voice information of the people inside the vehicle into the LSTM of the smart cockpit interaction module 1012 -In the DNN model, so that the intelligent cockpit interaction module 1012 recognizes the voice information of persons located inside the vehicle.
- the following descriptions related to the recognition of voice information can be referred to here, and will not be repeated in the following.
- the automatic driving device 101 may further include a driver online adaptive module 1015.
- the driver online adaptive module 1015 can be used to adjust the driving behavior of the vehicle under the control of the automatic driving system in the driving scene according to the driving intention of the driver of the vehicle in the driving scene, and to adjust the driving behavior of the vehicle under the control of the automatic driving system after the adjustment.
- the driving behavior under control and the driving scene are sent to the automatic driving control module 1014.
- the automatic driving control module 1014 After the automatic driving control module 1014 receives the adjusted driving behavior of the vehicle under the control of the automatic driving system and the information of the driving scene from the driver online adaptive module 1015, it can update the automatic driving system, for example, The driving behavior of the vehicle under the control of the automatic driving system is replaced with the driving behavior of the adjusted vehicle under the control of the automatic driving system.
- the structure illustrated in FIG. 3 does not constitute a specific limitation on the automatic driving device 101.
- the automatic driving device 101 may include more or fewer components than those shown in FIG. 3, or the automatic driving device 101 may include a combination of certain components shown in FIG.
- the driving device 101 may include split parts of the parts shown in FIG. 3 and the like.
- the components shown in FIG. 3 can be implemented in hardware, software, or a combination of software and hardware.
- the device shown in FIG. 3 may also be a chip or a chip system in an automatic driving device.
- the chip system can be composed of chips, and can also include chips and other discrete devices.
- FIG. 4 is a schematic structural diagram of a V2X server 20 according to an embodiment of this application.
- the V2X server 20 may include a driver preference and historical operation database 2011, and a parameter module 2012 with the highest driver acceptance.
- the driver preference and historical operation database 2011 is used to store natural driving data of multiple drivers within a preset time period and at least one driving behavior of the vehicle under the control of the automatic driving system.
- the parameter module 2012 with the highest driver acceptance is used to store the most frequently used automatic driving mode among the at least one automatic driving mode.
- the V2X server 20 can also update the data in the driver preference and historical operation database 2011 and the parameter module 2012 with the highest driver acceptance according to a preset time period.
- the preset time period may be preset by the V2X server 20.
- the V2X server 20 may also update the data in the driver preference and historical operation database 2011 and the parameter module 2012 with the highest driver acceptance through interaction with the automatic driving device 101. For example, after the automatic driving device updates the driving behavior of the vehicle under the control of the automatic driving system, it sends the driving behavior of the vehicle under the control of the updated automatic driving system to the V2X server.
- the V2X server After the V2X server receives the driving behavior of the vehicle under the control of the updated automatic driving system from the automatic driving device, it can replace the driving behavior of the vehicle under the control of the automatic driving system in the V2X server with the updated automatic driving behavior of the vehicle. Driving behavior under the control of the driving system.
- the V2X server 20 may also include the driver online adaptive module 1015 in FIG. 2, where the function of the driver online adaptive module 1015 can be referred to the above description, which will not be repeated here.
- the structure illustrated in FIG. 4 does not constitute a specific limitation on the V2X server 20.
- the V2X server 20 may include more or less components than those shown in FIG. 4, or the V2X server 20 may include a combination of certain components shown in FIG. 4, or the V2X server 20 It may include split parts of the parts shown in FIG. 4 and the like.
- the components shown in FIG. 4 can be implemented in hardware, software, or a combination of software and hardware.
- the device shown in FIG. 4 may also be a chip or a chip system in a V2X server.
- the chip system can be composed of chips, and can also include chips and other discrete devices.
- words such as “exemplary” or “for example” are used as examples, illustrations, or illustrations. Any embodiment or design solution described as “exemplary” or “for example” in the embodiments of the present application should not be construed as being more preferable or advantageous than other embodiments or design solutions. To be precise, words such as “exemplary” or “for example” are used to present related concepts in a specific manner.
- first and second are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined with “first” and “second” may explicitly or implicitly include one or more of these features. In the description of the embodiments of the present application, unless otherwise specified, “plurality” means two or more.
- the execution subject of the method for adaptively optimizing the automatic driving system may be an automatic driving device, for example, the automatic driving device may be the automatic driving device in FIG. 2 or FIG. 3.
- the execution subject of the method may also be the chip or the system on chip in the automatic driving device, which is not limited.
- the following describes an example in which the execution subject of the method for adaptively optimizing an automatic driving system is an automatic driving device.
- FIG. 5 is a schematic flowchart of a method for adaptively optimizing an automatic driving system according to an embodiment of the application. As shown in Figure 5, the method may include:
- Step 501 The automatic driving device acquires the driving intention of the driver of the target vehicle.
- the target vehicle is a vehicle that is automatically driven under the control of an automatic control system.
- the target vehicle may be the vehicle in FIG. 1, and the target vehicle may have the components described in FIG. 2.
- the automatic driving device may include one or more modules in FIG. 3.
- the driver can be a driver who has driven the target vehicle, or a driver who has not driven the target vehicle, or can be described as a new driver.
- the automatic driving device can detect whether the driver has driven the target vehicle or is a new driver based on the driver's characteristic information. One feature information is used to identify a driver.
- the driver's driving intention may be characterized by characteristic parameters corresponding to the driver's behavior. That is, the automatic driving device can detect the driver's driving intention based on the driver's behavior.
- the driver's behavior may include one or more of the driver's operating behavior, visual behavior, emotional behavior, and body posture behavior.
- the operation behavior of the driver may refer to the manual operation behavior of the driver on the vehicle during the automatic driving of the vehicle.
- the operation behavior of the driver may include the operation behavior of the driver on the steering wheel of the vehicle, the operation behavior of the driver on the accelerator pedal of the vehicle, and the operation behavior of the driver on the deceleration pedal of the vehicle.
- the automatic driving device can obtain the driver's driving intention in a variety of ways.
- the multiple methods may include: the automatic driving device can input characteristic parameters corresponding to the driver's behavior into the driving intention model to obtain the driver's driving intention; the automatic driving device can determine the driver's driving intention according to the driver's operating behavior ; The automatic driving device can determine the driver's driving intention based on the driver's emotional behavior.
- the automatic driving device can also determine the driver's driving intention in other ways, without restriction.
- the automatic driving device inputs the characteristic parameters corresponding to the driver's behavior into the driving intention model to obtain the driving intention of the driver.
- the input parameter of the driving intention model is the characteristic parameter of the driver's behavior
- the output parameter of the driving intention is the driving intention of the driver.
- the driving intention model can be preset by the automatic driving device.
- a method for determining the driving intention model may be obtained by training the behavior characteristics of multiple drivers in a preset time period and the corresponding natural driving data through a hidden Markov model.
- the training method of the hidden Markov model can refer to the prior art, which will not be repeated here.
- the automatic driving device may input the characteristic parameters of the driver's behavior into the above-mentioned driving intention model to obtain the driving intention of the driver.
- the automatic driving device can compare the driving intention of the driver with the driving behavior of the vehicle under the control of the automatic driving system. If the driving intention of the driver is inconsistent with the driving behavior of the vehicle under the control of the automatic driving system, the automatic driving device can determine the driver's driving behavior. The driving intention conflicts with the driving behavior of the vehicle under the control of the automatic driving system.
- the automatic driving device can determine the driver's driving intention according to the driver's operating behavior.
- the driver's operating characteristics may include the driver's operation of the accelerator pedal, the driver's operation of the deceleration pedal, and the driver's operation of the steering wheel.
- the method for the automatic driving device to determine the driving intention of the driver according to the operating characteristics of the driver will be described in detail below.
- the automatic driving device may obtain the parameter characteristics corresponding to the driver's behavior through one or more sensors.
- the sensor may include one or more of an accelerator pedal position sensor, a deceleration pedal position sensor, and a steering wheel torque sensor.
- the accelerator pedal position sensor is used to detect the position change information of the accelerator pedal of the target vehicle
- the deceleration pedal position sensor is used to detect the position change information of the deceleration pedal of the target vehicle
- the steering wheel torque sensor is used to detect the angle information of the steering wheel rotation of the target vehicle.
- the automatic driving device can determine the driver's operation behavior on the accelerator pedal based on the change information of the accelerator pedal.
- the automatic driving device can determine the driver's operation behavior on the deceleration pedal through the change information of the deceleration pedal.
- the automatic driving device can determine the driver's operation behavior on the steering wheel through the torque change information of the steering wheel. The following is based on the driver's operation behavior of the automatic driving device. Detect the driver’s driving intention to explain:
- the automatic driving device obtains the driver's driving intention according to the driver's operation behavior on the steering wheel of the vehicle.
- the automatic driving device detects that the position of the accelerator pedal of the target vehicle has moved from the first position to the second position, when the accelerator pedal of the target vehicle is in the first position, the speed of the target vehicle is the first position. Vehicle speed; when the accelerator pedal of the target vehicle is in the second position, the vehicle speed of the target vehicle is the second vehicle speed, and the second vehicle speed is greater than the first vehicle speed. Then the automatic driving device can determine that the driver's driving intention is to increase the driving speed of the target vehicle in the driving scene.
- the automatic driving device obtains the driver's driving intention according to the driver's operation behavior on the deceleration pedal.
- the automatic driving device detects that the position of the deceleration pedal of the target vehicle has moved from the third position to the fourth position, when the deceleration pedal of the target vehicle is in the third position, the speed of the target vehicle is the third position.
- Vehicle speed When the deceleration pedal of the target vehicle is in the fourth position, the vehicle speed of the target vehicle is the fourth vehicle speed, and the fourth vehicle speed is less than the third vehicle speed. Then the automatic driving device can determine that the driver's driving intention is to reduce the driving speed of the target vehicle in the driving scene.
- the automatic driving device obtains the driver's driving intention according to the driver's operation behavior on the steering wheel.
- the torque change information of the steering wheel may include the change information of the first direction and the change information of the second direction of the steering wheel.
- the first direction and the second direction are opposite directions. For example, as shown in FIG. 6c, when the steering wheel rotates in the first direction, the target vehicle rotates to the left of the traveling direction; when the steering wheel rotates in the second direction, The target vehicle turns to the right in the direction of travel.
- the automatic driving device may determine that the driver's driving intention is that the target vehicle is expected to turn in the first direction.
- the automatic driving device can determine the driver's driving intention according to the driver's emotional behavior.
- the automatic driving device may determine that the driver's driving intention is not satisfied with the driving behavior of the target vehicle under the control of the automatic driving system in the driving scene.
- the automatic driving device can also determine whether the driver is focused on the driving behavior of the target vehicle and whether it is performing the second task through the driver's body posture behavior.
- the automatic driving device determines that the driving intention of the driver is not satisfied with the driving behavior of the vehicle under the control of the automatic driving system. That is, in this driving scenario, the driving intention of the driver conflicts with the driving behavior of the vehicle under the control of the automatic driving system.
- the driver's visual behavior and body posture behavior can be used to reflect the driver's concentration on the driving behavior of the target vehicle.
- the driver's visual behavior may include the driver's head behavior and gaze behavior.
- the driver's head behavior may include the direction of the driver's head rotation, the angular speed of rotation, the angle of rotation, and so on.
- the driver's gaze behavior includes the driver's blinking frequency, the duration of eye closure, and so on.
- the driver's visual behavior may also include the driver's other eye behavior, which is not limited.
- the driver's body posture behavior can also be used to determine the driver's second behavior.
- the second behavior may be behaviors other than the driving behavior of focusing on the target vehicle.
- the second behavior may include behaviors such as the driver using a mobile phone, and the driver talking with people in other locations.
- the emotional behavior of the driver is used to reflect whether the driver is satisfied with the driving behavior of the target vehicle under the control of the automatic driving system.
- the driver's emotional behavior can include the driver's facial expressions and language features.
- the automatic driving device may obtain various images of the driver within a preset time period through the camera device.
- the automatic driving device can recognize the multiple images to obtain the driver's visual behavior, body posture behavior, and facial expressions.
- the preset time period can be preset according to needs.
- the automatic driving device may obtain the driver's voice information through the sound collection device.
- the sound collection device may be a microphone or the like.
- the automatic driving device can recognize the driver's voice information to obtain the driver's language characteristics.
- the facial expression of the driver may include a first facial expression and a second facial expression.
- the language features of the driver may include a first language feature and a second language feature.
- the automatic driving device may be preset with a first facial expression library and a second facial expression library. After acquiring the facial expression of the driver, the automatic driving device matches the facial expression of the driver with each facial expression in the first facial expression library and the second facial expression library, and determines that the driver’s facial expression belongs to the first The facial expression is still the second facial expression.
- the automatic driving device may determine that the driver’s facial expression belongs to the first facial expression .
- the automatic driving device may determine that the driver's facial expression belongs to the second facial expression.
- the first preset threshold and the second preset threshold may be preset according to needs and are not limited.
- Multiple sound collection devices may be provided in the target vehicle.
- the multiple sound collection devices are in communication connection with the automatic driving device.
- the automatic driving device can acquire the voice of a person located inside the target vehicle through the multiple sound collection devices, and recognize the voice of the person inside the target vehicle to determine the source of the sound. For example, the automatic driving device can identify the source of the sound based on the audio of the sound, and determine the source of the sound. When it is determined that the source of the sound includes multiple locations and the multiple locations include the driver's location, the automatic driving device determines that the driver is talking with people in other locations.
- the target vehicle may be provided with a sound collection device 1 and a sound collection device 2.
- the sound collection device 1 is used to collect the voices of the driver and the person located at the front passenger position
- the sound collection device 2 is used to collect the voices of the person located in the back row of the target vehicle.
- the sound collection device 1 and the sound collection device 2 can send the collected sounds to the automatic driving device for the automatic driving device to recognize the sound, so that the automatic driving device can determine whether the driver is talking with people in other locations.
- the sound collection device 1 can collect the voice of the driver, and the sound collection device 2 can collect the voice of the person in the back row of the target vehicle, and the automatic driving device can determine that the driver is talking with the person in the back row.
- the target vehicle can also be provided with a sound collection device at each seat, so that the automatic driving device can more accurately determine the source of the sound.
- the method for determining the first language feature and the second language feature of the driver can refer to the above-mentioned method for determining the first facial expression and the second facial expression, which will not be repeated here.
- the first facial feature and the first language feature can be used to characterize the driver's emotional behavior as positive emotional behavior.
- the driver's emotional behavior is a positive emotional behavior
- the driver's driving intention is: to be satisfied with the driving behavior of the target vehicle under the automatic control system.
- the first facial feature may include happiness, satisfaction, etc.
- the first language feature may include good, very good, etc.
- the second facial feature and the second language feature can be used to characterize the driver's emotional behavior as negative emotional behavior.
- the driver's emotional behavior is negative emotional behavior
- the driver's driving intention is: not satisfied with the driving behavior of the target vehicle under the automatic control system.
- the second facial expression may include worry, anger, etc.
- Second language features can include really bad, not easy to use, and so on.
- the automatic driving device may input the characteristic parameters corresponding to the driver's behavior into the driving intention model to obtain the driving intention of the driver.
- Step 502 Based on the driving intention of the driver, the automatic driving device detects that there is a conflict between the driving behavior of the target vehicle under the automatic control system and the driving intention of the driver.
- the automatic driving device can detect whether there is a conflict between the driver's driving intention and the driving behavior of the vehicle under the automatic control system according to the characteristic parameters corresponding to the driver's behavior. For example, when the driver’s relief corresponding characteristic parameter exceeds the preset range, and/or the driver’s corresponding characteristic parameter exceeds the preset range for a time greater than or equal to the first preset value, and/or the driver’s corresponding characteristic parameter When the number of times exceeding the preset range is greater than or equal to the second preset value, the automatic driving device may detect that there is a conflict between the driver's driving intention and the driving behavior of the vehicle under the automatic control system.
- the number of times the driver's corresponding characteristic parameter exceeds the preset range is greater than or equal to the second preset value can also be described as the number of times the driver's corresponding characteristic parameter exceeds the preset range within the preset time is greater than or equal to the second default value.
- the preset time can be set in advance according to needs.
- the change range of the accelerator pedal corresponding to the automatic driving system of the target vehicle is the first range.
- the first range can be preset according to needs.
- the automatic driving device can detect the driving behavior of the target vehicle under the control of the automatic driving system and the driver's driving There is a conflict of intentions.
- the change range of the deceleration pedal corresponding to the automatic driving system of the target vehicle is the second range.
- the second range can be preset according to needs.
- the automatic driving device can detect the driving behavior of the target vehicle under the control of the automatic driving system and the driver's driving There is a conflict of intentions.
- the driving behavior of the target vehicle under the control of the automatic driving system is: the threshold of the angle at which the target vehicle rotates in the first direction is the first angle.
- the first angle can be preset according to needs.
- the automatic driving device can detect that the driving behavior of the target vehicle under the control of the automatic driving system conflicts with the driving intention of the driver.
- the first threshold to the sixth threshold can be preset as needed.
- the automatic driving device can determine the conflict time between the driver's driving intention and the driving behavior of the vehicle under the control of the automatic driving system /The number of conflicts, if the conflict time is greater than or equal to the preset time/the number of conflicts is greater than or equal to the preset number, the automatic driving device can determine that the driver's driving intention conflicts with the driving behavior of the target vehicle under the control of the automatic driving system.
- the preset time and the preset number of times can be preset and are not limited.
- the following takes the automatic driving device to determine the driver's driving intention according to the driver's visual behavior as an example, and the method for the automatic driving device to determine the conflict time and the number of conflicts between the driver's driving intention and the driving behavior of the vehicle under the control of the automatic driving system. Specific instructions.
- the automatic driving device determines the conflict time between the driver's driving intention and the vehicle's driving behavior under the control of the automatic driving system.
- the automatic driving device can count the conflict time between the driver's driving intention and the driving behavior of the vehicle under the control of the automatic driving system. If the conflict time is greater than or equal to the preset time, the automatic driving device can determine the driver's driving intention and the vehicle in automatic Conflict of driving behavior under the control of the driving system. If the conflict time is less than the preset time, the automatic driving device can determine that the driver's driving intention does not conflict with the driving behavior of the vehicle under the control of the automatic driving system.
- the automatic driving device is provided with a timer. Once the automatic driving device detects that the driver’s driving intention is inconsistent with the driving behavior of the vehicle under the control of the automatic driving system, it can trigger the timer to start timing. The steps are:
- the automatic driving device obtains the driver's visual behavior, and inputs the visual behavior into the above-mentioned driver's driving intention model to obtain the driver's driving intention.
- the automatic driving device can repeat the above steps until the automatic driving device determines the driver's behavior according to the driver's visual behavior.
- the driving intention is consistent with the driving behavior of the vehicle under the control of the automatic driving system.
- the timer is triggered to stop timing.
- the automatic driving device determines the conflict time between the driving intention of the driver and the driving behavior of the vehicle under the control of the automatic driving system according to the time when the timer starts and the time when the timer stops.
- the automatic driving device can periodically or randomly obtain the driver's visual behavior, and determine the driver's driving intention, without limitation.
- the automatic driving device determines the driver The driving intention of the vehicle conflicts with the driving behavior of the vehicle under the control of the automatic driving system.
- the automatic driving device can detect the target vehicle's The driving behavior under the control of the automatic driving system conflicts with the driver's driving intention.
- the automatic driving device is provided with a counter. Once the automatic driving device detects that the driver’s driving intention is inconsistent with the driving behavior of the vehicle under the control of the automatic driving system, the automatic driving device acquires multiple visual behaviors of the driver within a preset period of time, and combines the multiple visual behaviors Input into the aforementioned driving intention model to obtain the driving intention of the driver corresponding to each of the multiple visual behaviors. The automatic driving device can respectively compare whether the driving intention of the driver corresponding to each visual behavior is consistent with the driving behavior of the vehicle under the control of the automatic driving system.
- the counter will record the first value; if the driving intention of the driver corresponding to a visual behavior is the same as that of the vehicle under the control of the automatic driving system If the driving behavior is consistent, the counter records the second value. If the number of the first values counted by the counter is greater than or equal to the preset value, the automatic driving device may determine that the driving intention of the driver conflicts with the driving behavior of the vehicle under the control of the automatic driving system.
- the preset time period and preset value are set in advance and are not limited.
- the automatic driving device determines that the driver’s driving intention at the first moment is inconsistent with the driving behavior of the vehicle under the control of the automatic driving system.
- the visual behavior of the driver corresponding to the time such as: visual behavior 1, visual behavior 2,..., visual behavior N, where N is a positive integer greater than or equal to 1, and the time gap between the N moments can be the same , Can also be different, and there is no restriction.
- the automatic driving device can determine the driving intention of the driver corresponding to each of the N visual behaviors according to the above-mentioned driving intention model of the driver.
- the driving intention of the driver determined by the automatic driving device includes driving intention 1. 2,..., driving intention N, where visual behavior corresponds to driving intention one-to-one, for example, visual behavior 1 corresponds to driving intention 1, visual behavior 2 corresponds to driving intention 2, and visual behavior N corresponds to visual behavior N.
- the automatic driving device respectively compares whether the above N driving intentions are consistent with the driving behavior of the vehicle under the control of the automatic driving system. Among them, if they are inconsistent, the counter can record the first value, for example, the first value is 1. If they are consistent, the counter can record the second value, for example, the second value can be 0. For example, the automatic driving device compares whether the driving intention 1 is consistent with the driving behavior of the vehicle under the control of the automatic driving system. Whether the driving behavior under the control of the driving system is consistent, if not, the counter can be increased by 1 on the basis of 1, that is, the counter can be recorded as 2. Until the automatic driving device has compared the N driving intentions with the driving behavior of the vehicle under the control of the automatic driving system.
- the automatic driving device detects that the driver's driving intention is inconsistent with the driving behavior of the vehicle under the control of the automatic driving system, the automatic driving device acquires the driver's visual behavior and inputs the visual behavior In the above driving intention model, the driving intention of the driver corresponding to the visual behavior is obtained. The automatic driving device compares whether the driving intention of the driver corresponding to the visual behavior is consistent with the driving behavior of the vehicle under the control of the automatic driving system.
- the counter can record the first value; if the driver's driving intention is consistent with the driving behavior of the vehicle under the control of the automatic driving system, the counter You can record the second value.
- the automatic driving device can cyclically execute the above steps 3 to 4 within a preset time period, and the automatic driving device can determine that the driver’s driving intention and the vehicle’s driving intention within the preset time period are under the control of the automatic driving system The number of inconsistent driving behaviors.
- the automatic driving device determines that the driver’s driving intention at the first moment is inconsistent with the driving behavior of the vehicle under the control of the automatic driving system. Whether the driver’s driving intention corresponding to the driver’s visual behavior 2 at the moment is consistent with the driving behavior of the vehicle under the control of the automatic driving system, if inconsistent, the counter is recorded as 1; if it is consistent, the counter does not count or is recorded as 0. In this way, the automatic driving device can repeat the above steps 4 and 4 to determine the number of times the driver's driving intention is inconsistent with the driving behavior of the vehicle under the control of the automatic driving system within the preset time period.
- the automatic driving device can determine that the driver’s driving intention is: dissatisfied with the target vehicle’s driving behavior under the control of the automatic driving system, that is, , The automatic driving device can detect that the driving behavior of the target vehicle under the control of the automatic driving system conflicts with the driving intention of the driver.
- Step 503 The automatic driving device updates the automatic driving system.
- the driving behavior of the target vehicle under the control of the updated automatic driving system matches the driving intention of the driver.
- the automatic driving device can obtain the first characteristic parameter according to the driving intention of the driver and the driving data corresponding to the driving behavior of the target vehicle under the control of the automatic driving system; the automatic driving device inputs the first characteristic parameter
- the neural network model is preset to obtain the first driving behavior; the automatic driving device updates the automatic driving system according to the first driving behavior.
- the first characteristic parameter represents the driving intention of the driver and the driving data corresponding to the driving behavior of the target vehicle under the control of the automatic driving system.
- the first feature parameter may be a feature vector.
- the feature vector may include multiple parameters, and each parameter of the multiple parameters may be used to represent a piece of driving data.
- the first characteristic parameter may include the distance between the target vehicle and other vehicles, the speed of the target vehicle, the driving direction, and the steering angle.
- the preset neural network model is used to determine the driving behavior that matches the driver's driving intention.
- the preset neural network model can be preset.
- the preset neural network model may be a deep feedforward neural network regression model.
- the preset neural network model is obtained by training based on multiple historical driving data of the driver.
- the input of the preset neural network model is the characteristic parameter, and the output is the first driving behavior that satisfies the driver's driving intention. That is, the first driving behavior is a driving behavior that satisfies the driver's driving intention.
- the first driving behavior may include one or more driving data.
- the one or more driving data may be the speed of the vehicle, the distance to the preceding vehicle, and the like.
- the training method of the preset neural network model can refer to the prior art, which will not be repeated here.
- the automatic driving device may input the above-mentioned characteristic parameters into the preset neural network model in the form of a characteristic vector to obtain an output vector corresponding to the characteristic vector.
- the output vector may include one or more parameters, and each of the one or more parameters corresponds to a driving behavior.
- the automatic driving device updates the automatic driving system according to the first driving behavior means that the automatic driving device can compare the first driving behavior with the driving behavior of the vehicle under the control of the automatic driving system, and update the automatic driving system according to the comparison result.
- the automatic driving device can replace the driving behavior of the vehicle under the control of the automatic driving system with the first driving behavior.
- the driving behavior of the target vehicle under the control of the automatic driving system is to keep the speed of the target vehicle at the second speed.
- the first vehicle speed is greater than the second vehicle speed.
- the automatic driving device may replace the vehicle speed of the target vehicle under the control of the automatic driving system with the first vehicle speed, so that the vehicle speed of the target vehicle under the control of the automatic driving system is the first vehicle speed.
- the automatic driving device may cyclically execute the above steps 501 to 503 until the target vehicle stops running, where stopping the target vehicle includes: the driver controls the target vehicle to stop running, Or the driver turns off the automatic driving system of the target vehicle, for example, the driver manually drives.
- the automatic driving device updates the automatic driving system when it detects that the driving intention of the driver of the automatic driving vehicle under the control of the automatic driving system conflicts with the driving behavior of the vehicle under the control of the automatic driving system of the vehicle, So that the driving behavior of the vehicle under the control of the updated automatic driving system matches the driving intention of the driver. Based on this, the subsequent driving behavior under the control of the updated automatic driving system can meet the driving needs of the driver. Thus, the problem of conflict between the driving behavior of the vehicle under the control of the automatic driving system and the driving intention of the driver is solved.
- the method provided in the embodiment of the present application may further include: the automatic driving device detects whether the driver of the target vehicle is a new driver.
- the new driver refers to a person who has not driven the target vehicle.
- the automatic driving device when the automatic driving device detects that the target vehicle is started, the automatic driving device can obtain the characteristic information of the driver, and match the characteristic information of the driver with the characteristic information of multiple drivers possessed by the automatic driving device. If the characteristic information of the driver does not match the characteristic information of each driver in the characteristic information of the multiple drivers, the automatic driving device determines that the driver of the target vehicle is a new driver; if the characteristic of the driver If the information matches the characteristic information of one driver among the characteristic information of the plurality of drivers, the automatic driving device determines that the driver of the target vehicle is the driver who has driven the target vehicle.
- the automatic driving device may also determine the driving of the target vehicle under the control of the automatic driving system according to the characteristic information of the driver of the target vehicle. model.
- the automatic driving device determines the automatic driving mode of the target vehicle according to the characteristic information of the driver. That is, if the driver of the target vehicle is a driver who has driven the target vehicle, the automatic driving device may determine the automatic driving mode of the target vehicle according to the characteristic information of the driver.
- the automatic driving device may obtain the automatic driving mode used by the driver from the V2X server shown in FIG. 4, and use the used automatic driving mode as the automatic driving mode of the target vehicle.
- the automatic driving device may also store the historical automatic driving mode used by the driver, and the automatic driving device may use the stored automatic driving mode used by the driver as the automatic driving mode of the target vehicle without limitation.
- the automatic driving device may use the preset automatic driving mode as the automatic driving mode of the target vehicle.
- the preset automatic driving mode can be pre-configured in the automatic driving device.
- the automatic driving device can also obtain the preset automatic driving mode from the historical automatic driving mode used by multiple drivers in the V2X server, without limitation. For example, the automatic driving device may select the most frequently used automatic driving mode from among the historical automatic driving modes used by multiple drivers as the preset automatic driving mode.
- the method provided in the embodiment of the present application may further include: the automatic driving device obtains the driving behavior of the target vehicle under the control of the automatic driving system.
- the target vehicle has different driving behaviors under the control of the automatic driving system.
- the driving scene and the driving behavior of the target vehicle corresponding to the driving scene under the control of the automatic driving system may be as shown in Table 1, which will not be repeated.
- the automatic driving device may obtain the driving intention of the driver in the first driving scene and the driving behavior of the target vehicle corresponding to the first driving scene under the control of the automatic control system. If the automatic driving device detects that there is a conflict between the driver's driving intention in the first driving scene and the driving behavior of the target vehicle under the control of the automatic control system, the automatic driving device may update the automatic driving system.
- the automatic driving device may update the automatic driving during the driving of the target vehicle.
- the automatic driving device can also update the automatic driving behavior corresponding to the first driving scene in the automatic driving system after the target vehicle stops driving.
- the automatic driving device can update the first driving scene in the automatic driving system after the target vehicle reaches the destination.
- the autonomous driving behavior corresponding to a driving scene is not restricted.
- the automatic driving device may record multiple driving scenarios that conflict with the driving intention of the driver and the driving intention of the driver.
- the driving scene recorded by the automatic driving device includes driving scene 1 and driving scene 2.
- driving scene 1 and driving scene 2 are driving scenes in which the driving behavior of the vehicle under the control of the automatic driving system conflicts with the driving intention of the driver.
- the automatic driving device may update the driving behavior of the vehicle corresponding to driving scene 1 under the control of the automatic driving system and the driving behavior of the vehicle corresponding to driving scene 2 under the control of the automatic driving system after the automatic driving of the vehicle ends.
- the automatic driving device may acquire the first driving scene of the target vehicle in multiple ways.
- the multiple methods may include: the automatic driving device acquires the first driving scene of the target vehicle through the equipment of the target vehicle, such as: automatic The driving device can obtain the first driving scene of the target vehicle through a variety of sensors.
- the automatic driving device obtains the first driving scene of the target vehicle from the interaction of other devices.
- the automatic driving device can obtain the first driving scene of the target vehicle through the interaction with the V2X server. The interaction to obtain the first driving scene of the target vehicle.
- the automatic driving device may also obtain the first driving scene of the target vehicle according to one or more of the above-mentioned multiple methods, which is not limited. The above multiple methods are described below:
- the automatic driving device can obtain the first driving scene of the target vehicle through a variety of sensors.
- the automatic driving device can collect the traffic information of the target vehicle driving road through various sensors, and integrate the collected traffic information of the target vehicle driving road to obtain the first driving scene of the target vehicle.
- various sensors may include laser radar, millimeter wave radar, ultrasonic radar, monocular or binocular cameras, etc., which are not limited.
- the automatic driving device can obtain the speed of vehicles around the target vehicle and the speed of pedestrians through lidar.
- the automatic driving device can obtain road condition information, the number of vehicles, the number of pedestrians, etc. of the target vehicle's driving road through monocular or binocular cameras, and there is no restriction.
- the automatic driving device can obtain the first driving scene of the target vehicle through interaction with the V2X server.
- the automatic driving device may send request information for requesting the first driving scene to the V2X server.
- the V2X server receives the request information for requesting the first driving scene from the automatic driving device.
- the V2X server determines the first driving scene according to the request message, and sends the first driving scene to the automatic driving device.
- the automatic driving device can send the coordinate information of the target vehicle (such as global positioning system (GPS) coordinates) to the V2X server through the body antenna in Figure 2, and the V2X server receives the coordinate information of the target vehicle, According to the coordinate information, the driving scene corresponding to the coordinate information is determined.
- the V2X server sends the first driving scene corresponding to the coordinate information to the automatic driving device.
- the automatic driving device may receive the first driving scene corresponding to the coordinate information through the vehicle body antenna.
- the automatic driving device can obtain the first driving scene of the target vehicle by interacting with other vehicles.
- this manner can refer to the manner in which the first driving scene of the target vehicle is acquired by the interaction between the automatic driving device and the V2X server, which will not be repeated here.
- the automatic driving device may acquire the behavior characteristics of the driver in the first driving scene, and determine the driving intention of the driver according to the behavior characteristics of the driver.
- the driver's behavior characteristics can be used to characterize whether the driver is satisfied with the driving behavior of the target vehicle under the control of the automatic driving system.
- the driver's behavior characteristics can include the driver's operating characteristics, visual behavior, emotional behavior, and physical
- the automatic driving device can determine the driver's driving intention based on one or more of these behavior characteristics.
- the relevant description of the driver's behavior characteristics and the implementation of the on-board device to determine the driver's driving intention according to the driver's behavior characteristics can be referred to the technical solution shown in FIG. 5.
- the automatic driving device when the automatic driving device detects that there is a conflict between the driving intention of the driver of the vehicle in the first driving scene and the driving behavior of the vehicle under the control of the automatic driving system, the automatic driving device can use the automatic driving system
- the corresponding driving behavior is adjusted to a driving behavior that meets the driver's driving intention in the first driving scene, so that the subsequent automatic driving device faces the type of driving scene and the driving behavior of the vehicle under the control of the automatic driving system can satisfy the driver Demand.
- the method provided in the embodiment of the present application may further include: the automatic driving device determines the automatic driving mode of the target vehicle in the first driving scene.
- the relevant description of the automatic driving mode can refer to the above, and it will not be repeated.
- the automatic driving device determining the automatic driving mode of the target vehicle in the first driving scene may include: the automatic driving device automatically selects, for example: the automatic driving device automatically selects from a plurality of pre-configured automatic driving modes according to some relevant information of the first driving scene
- the automatic driving mode of the target vehicle is selected in the, or the driver manually selects, for example, when the driver wants automatic driving, the driver manually selects the appropriate automatic driving mode, and triggers the automatic driving device according to the automatic driving selected by the driver Mode for automatic driving.
- this method can refer to the following method 1 or method 2.
- Method 1 Automatic selection by the autopilot device.
- the automatic driving device can select an automatic driving mode from one or more automatic driving modes according to the characteristic information of the driver. Among them, the characteristic information of a driver is used to uniquely identify a driver.
- the one or more automatic driving modes may be an automatic driving mode stored by the automatic driving device, or may be an automatic driving mode obtained by the automatic driving device from the V2X server in FIG. 2.
- the automatic driving device may obtain the image information of the driver through the camera device, and the image information may be video information or picture information.
- the image information may include facial features or pupil features of the driver.
- the automatic driving device can identify the driver's characteristic information by recognizing the driver's image information, or the automatic driving device can send the driver's image information to the V2X server so that the V2X server can recognize the driver's image information , Get the driver's characteristic information.
- the automatic driving device may match the characteristic information of the driver with the characteristic information of multiple drivers possessed by the automatic driving device, and determine the automatic driving mode that matches the characteristic information of the driver.
- the characteristic information of each driver in the characteristic information of the plurality of drivers has a corresponding automatic driving mode.
- the automatic driving device may use the automatic driving mode corresponding to the characteristic information of the driver of the target vehicle with the characteristic information of the driver of the target vehicle whose similarity is greater than the preset value among the characteristic information of the multiple drivers as the driver of the target vehicle Autopilot mode.
- the preset value can be preset by the automatic driving device and is not limited.
- the automatic driving device may also send the acquired characteristic information of the driver to the V2X server.
- the V2X server may compare the characteristic information of the driver with one or more automatic driving information. The characteristic information of the driver corresponding to the mode is matched, and the automatic driving mode that matches the characteristic information of the driver is selected from one or more automatic driving modes.
- the V2X server may send the automatic driving mode that matches the characteristic information of the driver to the automatic driving device.
- the automatic driving device receives the automatic driving mode matching the driver's characteristic information from the V2X server, it can control the target vehicle to automatically drive according to the automatic driving mode matching the driver's characteristic information.
- the automatic driving mode may be an automatic driving mode manually selected by the driver after starting the vehicle.
- the target vehicle may be provided with a display device.
- the display device may be triggered to display the display interface shown in FIG. 8, and the driver may select the automatic driving mode through the display interface according to requirements.
- the automatic driving device detects the operation instruction of the driver, it can determine the automatic driving mode corresponding to the operation instruction according to the operation instruction of the driver.
- the display interface in FIG. 8 may include multiple touch buttons from “Mode 1" to "Mode 6", and each touch button corresponds to an automatic driving mode.
- the automatic driving device can be triggered to obtain the automatic driving mode corresponding to the touch button.
- the touch button "Mode 5" the automatic driving device can be triggered to obtain the automatic driving mode corresponding to the touch button "Mode 5".
- the driver can manually select the automatic driving mode through the terminal corresponding to the target vehicle, and trigger the terminal corresponding to the target vehicle to notify the automatic driving device of the selected automatic driving mode.
- the driving device determines the automatic driving mode of the target vehicle in the first driving scene according to the notification from the terminal.
- the terminal corresponding to the automatic driving device may include any device that controls the target vehicle, such as a smart phone, a mobile hard disk, a personal notebook, a tablet computer, etc., without limitation.
- the driver uses the mobile phone to send the automatic driving mode of the terminal such as the mobile phone to the automatic driving device in a wired or wireless manner.
- the wired method may be a universal serial bus (universal serial bus).
- Serial bus, USB), Type-C, etc. are connected to automatic driving devices.
- the wireless method can be connected to the autopilot device through Bluetooth, wireless fidelity (wireless fidelity, WiFi), etc., and there is no restriction.
- the automatic driving device can receive the automatic driving mode from the smart phone.
- the method may further include:
- the automatic driving device determines the first characteristic parameter according to the driving intention of the driver and the driving behavior of the vehicle under the control of the automatic driving system.
- the first characteristic parameter may be a characteristic vector.
- driving scenes are as follows: urban rush forward follow-up, urban peak forward follow-up, and urban peak vehicle actively cuts in, the automatic driving device is based on the driver’s driving intention and the vehicle’s The driving behavior under the control of the automatic driving system is explained by the determined feature vector.
- the automatic driving device may indicate the driving intention and vehicle information of the driver with numbers or characters, so as to determine the characteristic parameters corresponding to the driving scene.
- v+ means that the driver’s driving intention is to increase the speed of the vehicle
- v- means that the driver’s driving intention is to reduce the speed of the vehicle
- s means that the driver’s driving intention is to pull over
- s means that the driver’s driving intention is to left.
- Lanes move closer r means that the driver’s driving intention is to move closer to the right lane
- l+v means that the driver’s driving intention is to increase the speed of the vehicle when moving closer to the left lane
- lv means that the driver’s driving intention is to lower when moving closer to the left lane
- the driver's driving intention can also be expressed by other driving, which is not restricted.
- the vehicle type can be represented by numbers or characters. For example, taking the number to indicate the vehicle type as an example, "1" can indicate that the vehicle type is a car, "2" can indicate that the vehicle type is a truck, and "3" can indicate that the vehicle type is a bus, and there is no restriction.
- Driving scene 1 The driving scene is going forward and following the car at the peak of the city.
- the automatic driving device can construct a feature vector based on the vehicle information of the target vehicle and the vehicle information of the preceding vehicle.
- the feature vector determined by the automatic driving device may be:
- d f represents a distance in front of the vehicle and the target vehicle
- the vehicle speed V F represents the front of the vehicle
- v e represents the target vehicle speed
- i f represents the type of the vehicle front of the vehicle.
- Each variable in the feature vector may include multiple dimensions.
- the size of the vehicle may include three dimensions: vehicle length, vehicle width, and vehicle height.
- the vehicle type of the vehicle may include cars, trucks, buses, and so on.
- Driving scene 2 The driving scene is the traffic lane keeping in the city peak.
- the driving parameters of the target vehicle are related to the vehicle information of the preceding vehicle, the left vehicle, and the right vehicle.
- the vehicle information and the vehicle information of the vehicle on the right construct a feature vector.
- the feature vector determined by the vehicle device may be:
- f ⁇ v-, d f , v f , v e , s f , i f , i l , s l , v lv , v ll , d l , i r , s r , v rv , v rl , dr ⁇ .
- d f, v f, v e, s f, i f can be described with reference to a scene, and is not repeated here.
- i l represents the type of the left vehicle
- s l represents the size of the left vehicle
- v lv represents the lateral speed of the left vehicle
- v ll represents the longitudinal speed of the left vehicle
- d l represents the lateral relative between the left vehicle and the target vehicle distance.
- the lateral relative distance refers to the horizontal distance between two vehicles.
- i r denotes the type of the vehicle to the right
- s r indicates the size of the right of the vehicle
- v rv right direction represents the lateral speed of the vehicle
- v rl represents the longitudinal speed of the vehicle to the right
- d r represents the lateral rightward of the vehicle relative to the target vehicle distance.
- the automatic driving device can complement the feature vector according to the following criteria:
- the type of the vehicle in front is a bicycle; the size of the vehicle in front is small enough, such as ⁇ 0,0,0 ⁇ ; the distance between the vehicle in front and the target vehicle is a larger value, such as 3000m; the speed of the vehicle in front is a larger value, such as 800km/h.
- the automatic driving device's method of complementing the parameters in the feature vector can refer to the above-mentioned automatic driving device for when there is no vehicle in front of the target vehicle, the automatic driving device compares the feature vector The processing method of complementing the parameters in, will not be repeated here.
- Driving scene 3 The driving scene is the active cut-in of the city peak vehicle.
- the automatic driving device can construct a feature vector based on the vehicle information of the target vehicle and the cut-in vehicle.
- the feature vector determined by the automatic driving device may be:
- d l represents the longitudinal distance between the target vehicle and the vehicle being cut into
- d v represents the lateral distance between the target vehicle and the vehicle being cut into
- v ev represents the cut speed of the target vehicle
- v el represents the longitudinal distance when the target vehicle cuts in.
- i represents the type of vehicle being cut into
- s represents the size of the vehicle being cut into.
- the automatic driving device inputs the characteristic parameters into the preset neural network model to obtain the first driving behavior.
- the preset neural network model is obtained by training based on the driver's historical driving data in multiple driving scenarios.
- the input of the preset neural network model is the characteristic parameter, and the output is the first driving behavior that satisfies the driver's driving intention. That is, the first driving behavior is a driving behavior that satisfies the driver's driving intention.
- the first driving behavior may include one or more driving data.
- the one or more driving data may be the speed of the vehicle, the distance to the preceding vehicle, and the like.
- the preset neural network model may be preset.
- the preset neural network model may be a deep feedforward neural network regression model.
- the preset neural network model can be obtained by training based on multiple sample feature parameters, and one sample feature parameter corresponds to the driving behavior of a driver.
- the training method of the preset neural network model can refer to the prior art, which will not be repeated here.
- the automatic driving device may input the above-mentioned characteristic parameters into the preset neural network model in the form of a characteristic vector to obtain an output vector corresponding to the characteristic vector.
- the output vector may include one or more parameters, and each of the one or more parameters corresponds to a driving behavior.
- the driver’s driving intention is to reduce the speed of the vehicle.
- the distance between the target vehicle and the vehicle in front is 5m
- the speed of the vehicle in front of the target vehicle is 40km/h
- the speed of the target vehicle is 50km/h
- the length of the vehicle in front is 40km/h. It is 4.6m, 1.7m wide and 1.4m high.
- the vehicle type of the vehicle in front is a sedan.
- the automatic driving device inputs the feature vector into the preset neural network model, and the output vector obtained is ⁇ 40, 0, 0, 0 ⁇ .
- 40 indicates that the speed of the target vehicle is 40km/h
- the last three 0s respectively indicate that the target vehicle does not slow down, does not pull over, and does not exit the following mode. That is, the first driving behavior is to control the speed of the target vehicle to 40 km/h.
- the automatic driving device presents one or more questions to the driver. And receive the driver's answer to the one or more questions. The answer to the one or more questions can be used to indicate whether to update the automatic driving system.
- the automatic driving device may select one or more questions from a preset question library according to the first driving behavior and the first driving scene.
- the automatic driving device may play the one or more questions through the voice playback device, or may display the one or more questions through the display device.
- the preset question library is determined according to the driving behaviors of multiple drivers within a preset time.
- the realization process of this realization method can be:
- the automatic driving device compares the driving behavior of the vehicle under the control of the automatic driving system with the first driving behavior, and determines whether the driving behavior of the vehicle under the control of the automatic driving system is consistent/same as the first driving behavior. For example, if the difference between the driving behavior of the vehicle under the control of the automatic driving system and the first driving behavior satisfies the preset condition/does not exceed the preset range, the automatic driving device determines that the driving behavior of the vehicle under the control of the automatic driving system is different from that of the first driving behavior.
- the first driving behavior is consistent/same; if the difference between the driving behavior of the vehicle under the control of the automatic driving system and the first driving behavior does not meet the preset condition or exceeds the preset range, the automatic driving device determines that the vehicle is in the automatic driving system
- the driving behavior under control is inconsistent/different from the first driving behavior.
- the vehicle is under the control of the automatic driving system to increase the speed of the target vehicle to 80km/h
- the first driving behavior is to increase the speed of the target vehicle to 81km/h.
- the driving behavior of the vehicle under the control of the automatic driving system is to control the distance between the target vehicle and the preceding vehicle to be 10m
- the first driving behavior is to control the target vehicle to the front
- the distance of the vehicle is 15m
- the preset condition is that the distance between the control target vehicle and the preceding vehicle does not exceed 12m. Since 15m is greater than 12m, that is, the first driving behavior does not meet the preset condition, the automatic driving device determines that the driving behavior of the vehicle under the control of the automatic driving system is inconsistent/different from the first driving behavior.
- the automatic driving device can determine that the driving behavior of the vehicle under the control of the automatic driving system does not conflict with the driving intention of the driver;
- the driving behavior under the control of the automatic driving system is inconsistent/different from the first driving behavior.
- the automatic driving device can compare the driving behavior of the vehicle under the control of the automatic driving system with the first driving behavior, and determine the driving behavior of the vehicle under the control of the automatic driving system.
- driving data that is inconsistent with the driving data of the first driving behavior and change information of the inconsistent driving data.
- the automatic driving device matches the inconsistent/different driving data and the change information of the inconsistent/different driving data with a preset problem library, and determines the problem corresponding to the inconsistent/different driving data.
- the automatic driving device broadcasts in the form of voice, or displays the problem corresponding to the inconsistent driving data through the display device.
- the automatic driving device receives the driver's voice through a microphone, recognizes the driver's voice, and determines the driver's answer to the one or more questions. Wherein, the driver's voice is the driver's answer to the question corresponding to the inconsistent driving data.
- the automatic driving device can play the question corresponding to the inconsistent driving data again, and the automatic driving device can also use the preset answer as the driver's answer .
- the preset time can be preset by the automatic driving device and is not limited. For example, taking the preset time of 10s as an example, if the autopilot device does not receive the driver's voice within 10s, the preset answer of the autopilot device is an affirmative answer, for example, the affirmative answer may be "yes".
- the automatic driving device may update the automatic driving system.
- the answer to the one or more questions is "yes"
- the answer to the one or more questions can be used to instruct to update the automatic driving system.
- the questions in the question library may be set as simple and direct questions, for example, the set questions may be judged questions.
- the answer given by the driver can be "yes" or "no".
- the corresponding question library may be as shown in Table 2.
- the autopilot device determines the driver’s driving The intention is to increase the speed of the vehicle.
- the automatic driving device compares the driving behavior of the vehicle under the control of the automatic driving system (the speed of the target vehicle is 50km/h) with the first driving behavior (the speed of the target vehicle is 40km/h) to determine that the vehicle is controlled by the automatic driving system
- the driving data in which the next driving behavior is inconsistent with the first driving behavior is the speed of the target vehicle, and the change information of the speed of the target vehicle is that the speed is reduced from 50km/h to 40km/h.
- the automatic driving device matches the vehicle speed of the target vehicle and the change information of the vehicle speed with the vehicle speed and the problem in Table 2, and determines that the problem corresponding to the vehicle speed of the target vehicle is Problem 2 in Table 2.
- the automatic driving device plays question 2 in Table 2 in the form of voice.
- the automatic driving device receives the driver's voice through a microphone, and recognizes the driver's voice to determine the driver's answer.
- the automatic driving device determines that the driver's answer is "yes" based on the recognized voice, the automatic driving device can determine that the driver's driving intention is to reduce the speed of the target vehicle.
- the automatic driving device reduces the speed of the target vehicle to 40km/h, and updates the speed of the vehicle in the driving behavior under the control of the automatic driving system to 40km/h .
- the automatic driving device determines that the driver's answer is "No" based on the recognized voice, the automatic driving device can determine that the driver's driving intention is not to reduce the speed of the target vehicle.
- the automatic driving device can also continue to play question 1 in Table 2. If the automatic driving device determines that the answer of the driver corresponding to question 1 in Table 2 is "No", the automatic driving device does not update the driving behavior of the vehicle under the control of the automatic driving system.
- the corresponding problem library may be as shown in Table 3.
- Question 2 Does it slow down?
- Question 3 Do you move closer to the left lane?
- Question 4 Do you move closer to the right lane?
- Question 5 Do you pull over and park?
- Question 6 Do you want to exit lane keeping mode?
- the corresponding problem database may be as shown in Table 4.
- Question 1 Whether to increase the cutting speed?
- Question 2 Whether to reduce the cutting speed?
- Question 3 Whether to increase the cutting distance?
- Question 4 Whether to reduce the cutting distance?
- Question 5 Whether to increase the cutting distance and cutting speed at the same time?
- Question 6 Whether to reduce the cutting distance and increase the cutting speed?
- Question 7 Whether to increase the cutting distance and reduce the cutting speed?
- Question 8 Whether to reduce the cutting distance and cutting speed at the same time?
- Question 9 Do you pull over and park?
- Question 10 Do you want to exit the active cut-in mode?
- the automatic driving device may also detect whether the first driving behavior is included in the preset driving behavior.
- the preset driving behavior may be a safe driving behavior that conforms to the target vehicle.
- the automatic driving device may regard the first driving behavior as the driving behavior of the target vehicle under the control of the updated automatic driving system; if the first driving behavior does not conform to the target vehicle For safe driving behavior, the automatic driving device can regard the safe driving behavior as the driving behavior of the target vehicle under the control of the updated automatic driving system.
- the automatic driving device determines that the first driving behavior is to increase the speed of the target vehicle to 80 km/h. However, if the maximum speed of the restricted vehicle on a certain road on which the target vehicle is traveling is 60km/h, the automatic driving device detects that the first driving behavior does not conform to the safe driving behavior of the target vehicle, and the automatic driving device can take the speed of 60km/h as The speed of the vehicle under the control of the updated autopilot system. That is, in the subsequent automatic driving process of the target vehicle, the speed of the target vehicle under the control of the automatic driving system is 60 km/h.
- the automatic driving device may send prompt information, which is used to prompt the driver that the target vehicle is going to speed.
- the method provided in the embodiment of the present application may further include: the automatic driving device determines the characteristic information of the driver of the target vehicle in the second driving scene. When the first driving scene matches the second driving scene, and the characteristic information of the driver in the first driving scene is consistent with the characteristic information of the driver in the second driving scene, the automatic driving device determines the driving of the target vehicle in the second driving scene The behavior is the driving behavior under the updated autopilot system.
- the automatic driving mode used by the target vehicle in the second driving scene is the updated automatic driving mode.
- the matching of the first driving scene and the second driving scene means that the similarity of the first driving scene is greater than or equal to a preset value.
- the characteristic information of the driver in the first driving scene is consistent with the characteristic information of the driver in the second driving scene means that the driver of the target vehicle in the first driving scene and the driver of the target vehicle in the second driving scene are the same driver .
- the automatic driving device when facing the same or similar driving scene in the subsequent, can control the target vehicle to drive according to the driving behavior of the updated automatic driving system, which solves the problem of the same or similar driving scene in the first driving scene.
- the driving behavior of the vehicle under the control of the automatic driving system still conflicts with the driver's driving intention.
- FIG. 5 The method shown in FIG. 5 will be described in detail below in conjunction with the communication system shown in FIG. 1.
- another method for adaptively optimizing an automatic driving system may include:
- FIG. 5 The method shown in FIG. 5 will be described in detail below in conjunction with the communication system shown in FIG. 1.
- the method for adaptively optimizing an automatic driving system may include:
- Step 901 The automatic driving device detects whether the driver of the target vehicle is a new driver.
- Step 902 The automatic driving device determines the automatic driving mode of the target vehicle according to the characteristic information of the driver.
- the automatic driving device may determine the automatic driving mode of the target vehicle according to the characteristic information of the driver.
- the automatic driving device may obtain the automatic driving mode used by the driver from the V2X server shown in FIG. 4, and use the used automatic driving mode as the automatic driving mode of the target vehicle.
- the automatic driving device may also store the historical automatic driving mode used by the driver, and the automatic driving device may use the stored automatic driving mode used by the driver as the automatic driving mode of the target vehicle without limitation.
- Step 903 The automatic driving device obtains characteristic parameters corresponding to the behavior of the driver in the first driving scene.
- Step 904 The automatic driving device determines the driver's driving intention according to the characteristic parameter corresponding to the driver's behavior.
- Step 905 The automatic driving device determines the first characteristic parameter according to the driving intention of the driver and the driving behavior of the vehicle under the control of the automatic driving system.
- Step 906 The automatic driving device inputs the first characteristic parameter into the preset neural network model to obtain the first driving behavior.
- Step 907 The automatic driving device updates the automatic driving system according to the first driving behavior.
- the method provided in the embodiments of the present application is introduced from the perspective of an automatic driving device.
- the automatic driving device includes a hardware structure and/or software module corresponding to each function.
- the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed by hardware or computer software-driven hardware depends on the specific application and design constraint conditions of the technical solution. Professionals and technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered beyond the scope of this application.
- the embodiment of the present application may divide the function modules of the automatic driving device according to the foregoing method examples.
- each function module may be divided corresponding to each function, or two or more functions may be integrated into one processing module.
- the above-mentioned integrated modules can be implemented in the form of hardware or software functional modules. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division, and there may be other division methods in actual implementation.
- FIG. 10 shows a schematic diagram of a possible structure of the device (denoted as the automatic driving device 100) involved in the above embodiment.
- the automatic driving device 100 includes a communication unit 1002 and a processing unit. 1001, may further include a storage unit 1003.
- the schematic structural diagram shown in FIG. 10 may be used to illustrate the structure of the automatic driving device involved in the foregoing embodiment.
- the schematic structural diagram shown in FIG. 10 may be used to illustrate the structure of the V2X server involved in the foregoing embodiment.
- the processing unit 1001 is used to control and manage the actions of the automatic driving device, for example, the processing unit 1001 is used to execute FIG. 5 Step 501, step 502, step 503 in FIG. 9, step 901, step 902, step 904, step 905, step 906, step 906, step 907 in FIG. 9, step 903 in FIG. 9 is executed through the communication unit 1002, and/ Or actions performed by the automatic driving device in other processes described in the embodiments of this application.
- the processing unit 1001 may communicate with other network entities through the communication unit 1002, for example, communicate with the V2X server 20 shown in FIG. 1.
- the storage unit 1003 is used to store program codes and data of the automatic driving device.
- the automatic driving device 100 may be an automatic driving device or a chip in the automatic driving device.
- the processing unit 1001 may be a processor or a controller, and the communication unit 1002 may be a communication interface, a transceiver, a transceiver, a transceiver circuit, a transceiver, and the like.
- the communication interface is a general term and may include one or more interfaces.
- the storage unit 1003 may be a memory.
- the processing unit 1001 may be a processor or a controller, and the communication unit 1002 may be an input interface and/or an output interface, a pin or a circuit, or the like.
- the storage unit 1003 may be a storage unit (for example, a register, a cache, etc.) in the chip, or a storage unit (for example, read-only memory (ROM), Random access memory (random access memory, RAM for short, etc.).
- the processing unit 1001 is used to control and manage the actions of the V2X server.
- the processing unit 1001 is used to execute the embodiments of the present application.
- the processing unit 1001 may communicate with other network entities through the communication unit 1002, for example, communicate with the vehicle 10 shown in FIG. 1.
- the storage unit 1003 is used to store the program code and data of the V2X server.
- the automatic driving device 100 may be a V2X server or a chip in the V2X server.
- the processing unit 1001 may be a processor or a controller, and the communication unit 1002 may be a communication interface, a transceiver, a transceiver, a transceiver circuit, a transceiver, and the like.
- the communication interface is a general term and may include one or more interfaces.
- the storage unit 1003 may be a memory.
- the processing unit 1001 may be a processor or a controller, and the communication unit 1002 may be an input interface and/or an output interface, a pin or a circuit, or the like.
- the storage unit 1003 may be a storage unit (for example, a register, a cache, etc.) in the chip, or a storage unit (for example, read-only memory (ROM), Random access memory (random access memory, RAM for short, etc.).
- the integrated unit in FIG. 10 is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer readable storage medium.
- the technical solutions of the embodiments of the present application are essentially or the part that contributes to the prior art, or all or part of the technical solutions can be embodied in the form of software products, and the computer software products are stored in a storage
- the medium includes several instructions to make a computer device (which can be a personal computer, a server, or a first access network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of the present application .
- Storage media for storing computer software products include: U disk, mobile hard disk, read-only memory, random access memory, magnetic disk or optical disk and other media that can store program codes.
- the unit in FIG. 10 may also be referred to as a module, for example, the processing unit may be referred to as a processing module.
- FIG. 11 shows an example diagram of a communication system provided by an embodiment of the present application, which includes a V2X server 1101 and an automatic driving device 1102.
- the V2X server 1101 is configured to execute the actions performed by the V2X server in the foregoing embodiment. For example, the V2X server 1101 sends a preset automatic driving mode to the automatic driving device.
- the automatic driving device 1102 is used to perform the actions performed on the automatic driving device in the above-mentioned embodiment.
- the automatic driving device 1102 is used to perform the steps in FIG. 5 and FIG. 9.
- each step in the method provided in this embodiment can be completed by an integrated logic circuit of hardware in the processor or instructions in the form of software.
- the steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.
- the processor in this application may include but is not limited to at least one of the following: central processing unit (CPU), microprocessor, digital signal processor (DSP), microcontroller (microcontroller unit, MCU), or Various computing devices such as artificial intelligence processors that run software.
- Each computing device may include one or more cores for executing software instructions for calculation or processing.
- the processor can be a single semiconductor chip, or it can be integrated with other circuits to form a semiconductor chip. For example, it can form an SoC (on-chip) with other circuits (such as codec circuits, hardware acceleration circuits, or various bus and interface circuits). System), or it can be integrated into the ASIC as a built-in processor of an ASIC, and the ASIC integrated with the processor can be packaged separately or together with other circuits.
- the processor may further include necessary hardware accelerators, such as field programmable gate array (FPGA) and PLD (programmable logic device) , Or a logic circuit that implements dedicated logic operations.
- FPGA field programmable gate array
- the memory in the embodiments of the present application may include at least one of the following types: read-only memory (ROM) or other types of static storage devices that can store static information and instructions, random access memory , RAM) or other types of dynamic storage devices that can store information and instructions, and may also be electrically erasable programmable read-only memory (EEPROM).
- ROM read-only memory
- RAM random access memory
- EEPROM electrically erasable programmable read-only memory
- the memory can also be a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital universal discs, Blu-ray discs, etc.) , Disk storage media or other magnetic storage devices, or any other media that can be used to carry or store desired program codes in the form of instructions or data structures and that can be accessed by a computer, but are not limited thereto.
- CD-ROM compact disc read-only memory
- optical disc storage including compact discs, laser discs, optical discs, digital universal discs, Blu-ray discs, etc.
- Disk storage media or other magnetic storage devices or any other media that can be used to carry or store desired program codes in the form of instructions or data structures and that can be accessed by a computer, but are not limited thereto.
- the above embodiments it may be implemented in whole or in part by software, hardware, firmware, or any combination thereof.
- a software program it can be implemented in the form of a computer program product in whole or in part.
- the computer program product includes one or more computer instructions.
- the computer program instructions When the computer program instructions are loaded and executed on the computer, the processes or functions described in the embodiments of the present application are generated in whole or in part.
- the computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices.
- Computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium.
- computer instructions may be transmitted from a website, computer, server, or data center through a cable (such as Coaxial cable, optical fiber, digital subscriber line (digital subscriber line, referred to as DSL) or wireless (such as infrared, wireless, microwave, etc.) transmission to another website site, computer, server or data center.
- the computer-readable storage medium may be any available medium that can be accessed by a computer, or may include one or more data storage devices such as a server or a data center that can be integrated with the medium.
- the usable medium may be a magnetic medium (for example, a floppy disk, a hard disk, and a magnetic tape), an optical medium (for example, a DVD), or a semiconductor medium (for example, a solid state disk (SSD)).
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Abstract
Description
问题1 | 是否加速? |
问题2 | 是否减速? |
问题3 | 是否靠边停车? |
问题4 | 是否退出跟车模式? |
问题1 | 是否加速? |
问题2 | 是否减速? |
问题3 | 是否向左车道靠拢? |
问题4 | 是否向右车道靠拢? |
问题5 | 是否靠边停车? |
问题6 | 是否退出车道保持模式? |
问题1 | 是否提高切入速度? |
问题2 | 是否减小切入速度? |
问题3 | 是否提高切入距离? |
问题4 | 是否减小切入距离? |
问题5 | 是否同时提高切入距离和切入速度? |
问题6 | 是否减少切入距离,提高切入速度? |
问题7 | 是否提高切入距离,减少切入速度? |
问题8 | 是否同时减少切入距离和切入速度? |
问题9 | 是否靠边停车? |
问题10 | 是否退出主动切入模式? |
Claims (15)
- 一种自适应优化自动驾驶系统的方法,其特征在于,包括:获取目标车辆的驾驶员的驾驶意图,所述目标车辆为在所述自动驾驶系统的控制下自动驾驶的车辆;基于所述驾驶员的驾驶意图,检测到所述目标车辆的在所述自动驾驶系统控制下的驾驶行为与所述驾驶员的驾驶意图存在冲突;更新所述自动驾驶系统,以使得所述目标车辆在更新后的所述自动驾驶系统控制下的驾驶行为匹配所述驾驶员的驾驶意图。
- 根据权利要求1所述的自适应优化自动驾驶系统的方法,其特征在于,所述驾驶意图由所述驾驶员的行为对应的特征参数表征;所述驾驶员的行为包括:所述驾驶员的操作行为、视觉行为、情绪行为、身体姿态行为中的一种或者多种。
- 根据权利要求2所述的自适应优化自动驾驶系统的方法,其特征在于,所述目标车辆的在所述自动驾驶系统控制下的驾驶行为与所述驾驶员的驾驶意图存在冲突,包括:所述驾驶员的行为对应的特征参数超过预设范围,和/或,所述驾驶员的行为对应的特征参数超过预设范围的时间大于或等于第一预设值,和/或,所述驾驶员的行为对应的特征参数超过预设范围的次数大于或等于第二预设值。
- 根据权利要求1-3任一项所述的自适应优化自动驾驶系统的方法,其特征在于,所述更新所述自动驾驶系统,包括:根据所述驾驶员的驾驶意图以及所述目标车辆在所述自动驾驶系统控制下的驾驶行为,得到第一特征参数,所述第一特征参数表征所述驾驶员的驾驶意图以及所述目标车辆在所述自动驾驶系统控制下的驾驶行为对应的驾驶数据;将所述第一特征参数输入预设神经网络模型,得到第一驾驶行为,所述预设神经网络模型用于确定匹配所述驾驶员的驾驶意图的驾驶行为;根据所述第一驾驶行为,更新所述自动驾驶系统。
- 根据权利要求4所述的自适应优化自动驾驶系统的方法,其特征在于,在根据所述第一驾驶行为,更新所述自动驾驶系统之前,所述方法还包括:向所述驾驶员呈现一个或多个问题;接收来自所述驾驶员针对所述一个或多个问题的回答,所述一个或多个问题的回答用于指示是否更新所述自动驾驶系统;所述根据所述第一驾驶行为,更新所述自动驾驶系统包括:当所述一个或多个问题的回答用于指示更新所述自动驾驶系统时,根据所述第一驾驶行为更新所述自动驾驶系统。
- 根据权利要求4或5所述的自适应优化自动驾驶系统的方法,其特征在于,所述根据所述第一驾驶行为更新所述自动驾驶系统,包括:若所述第一驾驶行为符合所述目标车辆的安全驾驶行为,则将所述第一驾驶行为作为所述目标车辆在更新后的所述自动驾驶系统控制下的驾驶行为;若所述第一驾驶行为不符合所述目标车辆的安全驾驶行为,则将所述安全驾驶行为作为所述目标车辆在更新后的所述自动驾驶系统控制下的驾驶行为。
- 一种自适应优化自动驾驶系统的装置,其特征在于,包括:通信单元,用于获取目标车辆的驾驶员的驾驶意图,所述目标车辆为在所述自动驾驶系统的控制下自动驾驶的车辆;处理单元,用于基于所述驾驶员的驾驶意图,检测到所述目标车辆的在所述自动驾驶系统控制下的驾驶行为与所述驾驶员的驾驶意图存在冲突;所述处理单元,还用于更新所述自动驾驶系统,以使得所述目标车辆在更新后的所述自动驾驶系统控制下的驾驶行为匹配所述驾驶员的驾驶意图。
- 根据权利要求7所述的自适应优化自动驾驶系统的装置,其特征在于,所述驾驶意图由所述驾驶员的行为对应的特征参数表征;所述驾驶员的行为包括:所述驾驶员的操作行为、视觉行为、情绪行为、身体姿态行为中的一种或者多种。
- 根据权利要求7所述的自适应优化自动驾驶系统的装置,其特征在于,所述目标车辆的在所述自动驾驶系统控制下的驾驶行为与所述驾驶员的驾驶意图存在冲突,包括:所述驾驶员的行为对应的特征参数超过预设范围,和/或,所述驾驶员的行为对应的特征参数超过预设范围的时间大于或等于第一预设值,和/或,所述驾驶员的行为对应的特征参数超过预设范围的次数大于或等于第二预设值。
- 根据权利要求7-9任一项所述的自适应优化自动驾驶系统的装置,其特征在于,所述处理单元,具体用于:根据所述驾驶员的驾驶意图以及所述目标车辆在所述自动驾驶系统控制下的驾驶行为,得到第一特征参数,所述第一特征参数表征所述驾驶员的驾驶意图以及所述目标车辆在所述自动驾驶系统控制下的驾驶行为对应的驾驶数据;将所述第一特征参数输入预设神经网络模型,得到第一驾驶行为,所述预设神经网络模型用于确定匹配所述驾驶员的驾驶意图的驾驶行为;根据所述第一驾驶行为,更新所述自动驾驶系统。
- 根据权利要求10所述的自适应优化自动驾驶系统的装置,其特征在于,所述通信单元,还用于:向所述驾驶员呈现一个或多个问题;接收来自所述驾驶员针对所述一个或多个问题的回答,所述一个或多个问题的回答用于指示是否更新所述自动驾驶系统;所述处理单元,具体用于:当所述一个或多个问题的回答用于指示更新所述自动驾驶系统时,根据所述第一驾驶行为更新所述自动驾驶系统。
- 根据权利要求10或11所述的自适应优化自动驾驶系统的装置,其特征在于,所述处理单元,还用于:若所述第一驾驶行为符合所述目标车辆的安全驾驶行为,则将所述第一驾驶行为作为所述目标车辆在更新后的所述自动驾驶系统控制下的驾驶行为;若所述第一驾驶行为不符合所述目标车辆的安全驾驶行为,则将所述安全驾驶行为作为所述目标车辆在更新后的所述自动驾驶系统控制下的驾驶行为。
- 一种自动驾驶装置,其特征在于,所述自动驾驶装置包括一个或多个处理器和一个或多个存储器;所述一个或多个存储器与所述一个或多个处理器耦合,所述一个或多个 存储器用于存储计算机程序代码或计算机指令;当所述一个或多个处理器执行计算机指令时,使得所述自动驾驶装置执行如权利要求1-6任一项的自适应优化自动驾驶系统的方法。
- 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存储有计算机指令或程序,当计算机指令或程序在计算机上运行时,使得计算机执行如权利要求1-6任一项的自适应优化自动驾驶系统的方法。
- 一种芯片,其特征在于,包括:处理器和通信接口,所述处理器通过所述通信接口与存储器耦合,当所述处理器执行所述存储器中的计算机程序或指令时,使得如权利要求1-6任一项所述的自适应优化自动驾驶系统的方法被执行。
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JP2022568477A JP2023525088A (ja) | 2020-05-09 | 2020-05-09 | 自動運転システムを適応的に最適化するための方法および装置 |
EP20935690.6A EP4137897A4 (en) | 2020-05-09 | 2020-05-09 | METHOD AND DEVICE FOR THE SELF-ADAPTIVE OPTIMIZATION OF AN AUTOMATIC DRIVING SYSTEM |
CN202080004187.6A CN112654548B (zh) | 2020-05-09 | 2020-05-09 | 一种自适应优化自动驾驶系统的方法及装置 |
PCT/CN2020/089491 WO2021226767A1 (zh) | 2020-05-09 | 2020-05-09 | 一种自适应优化自动驾驶系统的方法及装置 |
US17/982,978 US20230063354A1 (en) | 2020-05-09 | 2022-11-08 | Method and Apparatus for Adaptively Optimizing Autonomous Driving System |
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US20230138610A1 (en) * | 2021-11-02 | 2023-05-04 | Robert Bosch Gmbh | Customizing Operational Design Domain of an Autonomous Driving System for a Vehicle Based on Driver's Behavior |
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