WO2023001068A1 - 一种车辆驾驶方法及装置 - Google Patents

一种车辆驾驶方法及装置 Download PDF

Info

Publication number
WO2023001068A1
WO2023001068A1 PCT/CN2022/105954 CN2022105954W WO2023001068A1 WO 2023001068 A1 WO2023001068 A1 WO 2023001068A1 CN 2022105954 W CN2022105954 W CN 2022105954W WO 2023001068 A1 WO2023001068 A1 WO 2023001068A1
Authority
WO
WIPO (PCT)
Prior art keywords
vehicle
information
tja
control information
tja system
Prior art date
Application number
PCT/CN2022/105954
Other languages
English (en)
French (fr)
Inventor
刘荣
Original Assignee
华为技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 华为技术有限公司 filed Critical 华为技术有限公司
Publication of WO2023001068A1 publication Critical patent/WO2023001068A1/zh

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the present application relates to the technical field of vehicle intelligent control, in particular to a vehicle driving method and device.
  • the Traffic Jam Assistant (TJA) system is a system that can provide assistance to drivers in traffic jams.
  • the driver can activate the TJA system, and then the braking, acceleration, and steering operations can be assisted by the TJA system to relieve driver fatigue.
  • the driver's control operation will affect the realization of the TJA function, and there are many potential safety risks, resulting in increased driving pressure for the driver and poor driving experience. It is contrary to the application purpose of the TJA system.
  • Embodiments of the present application provide a vehicle driving method and device, which help to reduce the driving pressure of the driver when the TJA function is expected to be applied to the vehicle, and at the same time improve the driving experience and driving safety.
  • the embodiment of the present application provides a method for driving a vehicle.
  • the method can be applied to a vehicle driving device.
  • the vehicle driving device can be an independent device, a chip or a component in the device, or a software module. It can be deployed on a vehicle, or in an on-board device or an intelligent device on the vehicle, and the embodiment of the present application does not limit the product form of the vehicle driving device.
  • the method includes: when the vehicle is located on a traffic jam road section, activating the traffic jam assistance TJA system of the vehicle; outputting reminder information, the reminder information being used to indicate that the TJA system has been activated; receiving a message from the vehicle
  • the control information of the driver the control information is used to control the state switching of the TJA system, and the control information is associated with the reminder information.
  • the vehicle driving device can automatically activate the TJA system of the vehicle according to the traffic conditions, and switch the state of the activated TJA system according to the control information from the driver on the vehicle, so as to flexibly implement the TJA system.
  • the state control of the system enables the driver to concentrate on driving without being distracted to control the state switching of the TJA system, which helps to reduce the driving pressure of the driver and improve driving experience and driving safety.
  • control information includes first instruction information
  • first instruction information is used to indicate the activation duration of the TJA system.
  • the method further includes: according to the control information, deactivating the TJA system after the activation time of the TJA system reaches the activation duration.
  • the vehicle driving device can control the TJA system to perform state switching according to the activation duration carried in the control information, so as to provide more flexible control measures.
  • the method further includes: deactivating the TJA system according to the control information.
  • the vehicle driving device can directly control the TJA system to perform state switching according to the control information, providing more flexible control measures.
  • the automatic activation function of the TJA system is in a dormant state.
  • the vehicle driving device can keep the TJA function in a dormant state after the driver deactivates the TJA system, thereby preventing the vehicle driving device from reactivating the TJA system.
  • the method further includes: determining that the vehicle is located on a traffic jam section through at least two pieces of information: navigation status information, roadside equipment status information, and status information of the vehicle , and status information of other vehicles within a predetermined range around the vehicle.
  • the vehicle driving device can comprehensively utilize multiple data to check whether the vehicle is located in a traffic jam section, so as to ensure the reliability and robustness of the automatic activation function, and avoid false activation and automatic activation of dangerous road conditions as much as possible.
  • the embodiment of the present application provides a vehicle driving device, including: a control unit, configured to activate the traffic jam assist TJA system of the vehicle when the vehicle is located on a traffic jam section; an output unit configured to For outputting reminder information, the reminder information is used to indicate that the TJA system has been activated; the receiving unit is used to receive control information from the driver of the vehicle, and the control information is used to control the state switching of the TJA system , the control information is associated with the reminded information.
  • control information includes first indication information
  • the first indication information is used to indicate the activation duration of the TJA system
  • control unit is further configured to: After the receiving unit receives the control information from the driver of the vehicle, according to the control information, after the activation time of the TJA system reaches the activation duration, the TJA system is deactivated.
  • control unit is further configured to: after receiving control information from a driver of the vehicle, deactivate the TJA system according to the control information.
  • the automatic activation function of the TJA system is in a dormant state.
  • control unit is configured to: determine that the vehicle is located on a traffic jam section through at least two of the following pieces of information: navigation state information, roadside equipment state information, state of the vehicle information, and status information of other vehicles within a predetermined range around the vehicle.
  • an embodiment of the present application provides a vehicle driving device, including: a processor and a memory; the memory is used to store programs; the processor is used to execute the programs stored in the memory, so that the device Realize the above first aspect and a possible design method of the first aspect.
  • an embodiment of the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is run on a computer, the computer executes the above-mentioned first aspect and A possible design method of the first aspect above.
  • the embodiment of the present application provides a computer program product, which, when the computer program product is run on a computer, causes the computer to execute the above first aspect and the possible design method of the above first aspect.
  • an embodiment of the present application provides a chip system, the chip system includes a processor, configured to call a computer program or a computer instruction stored in a memory, so that the processor executes the above-mentioned first aspect and the above-mentioned first aspect possible design methods.
  • the processor is coupled to the memory through an interface.
  • the chip system further includes a memory, where computer programs or computer instructions are stored.
  • an embodiment of the present application provides a processor, the processor is configured to call a computer program or a computer instruction stored in a memory, so that the processor executes the above first aspect and the possible design method of the above first aspect.
  • the embodiment of the present application provides a vehicle, including: a processor and a memory; the memory is used to store programs; the processor is used to execute the programs stored in the memory, so that the vehicle realizes the above The first aspect and possible design methods of the first aspect.
  • FIG. 1 shows a schematic diagram of an application scenario applicable to an embodiment of the present application
  • FIG. 2 shows a schematic diagram of the principle of a vehicle driving method in an embodiment of the present application
  • FIG. 3 shows a schematic flow chart of a vehicle driving method according to an embodiment of the present application
  • Fig. 4a-Fig. 4d show the state diagram of the TJA system of the embodiment of the present application
  • FIG. 5 shows a schematic flow chart of a vehicle driving method according to an embodiment of the present application
  • Figures 6a-6d show an example of determining whether there is a traffic jam in the embodiment of the present application
  • Fig. 7a-Fig. 7c show the schematic diagram of the HMI interface of the embodiment of the present application.
  • FIG. 8 shows a schematic diagram of a vehicle driving device according to an embodiment of the present application.
  • Fig. 9 shows a schematic diagram of a vehicle driving device according to an embodiment of the present application.
  • L0 level (emergency assistance), L1 level (partial driving assistance), L2 level (combined driving assistance), There are different levels such as L3 level (conditional automatic driving), L4 level (highly automatic driving), L5 level (full automatic driving).
  • L1 level and L2 level are generally called Advanced Driving Assistance System (Advanced Driving Assistance System, ADAS).
  • ADAS Advanced Driving Assistance System
  • Various levels of intelligent driving assistance technologies can be used to assist drivers in driving intelligently, improving driving experience and driving safety.
  • L1-level auxiliary driving systems are generally: Adaptive Cruise Control (Adaptive Cruise Control, ACC) or Lane Keeping Assist (Lane Keeping Assist , LKA) or automatic emergency braking (Autonomous Emergency Braking, AEB) system;
  • L2-level assisted driving systems are generally: Traffic Jam Assistant (Traffic Jam Assistant, TJA) system, etc.
  • the TJA system is an intelligent assisted driving system that can assist the driver in traffic jams.
  • the driver can activate the TJA system, and then operations such as braking, acceleration, and steering can be controlled by the TJA system to relieve driver fatigue.
  • the TJA system is designed to be manually controlled by the driver to switch states, the driver's control operation will affect the realization of the TJA function, and there are many potential safety risks.
  • the driver may forget to activate the TJA system, at this time the TJA system will not be able to provide assistance to the driver.
  • the driver operates the man-machine interface to activate the TJA system, he will be distracted and unable to focus on the road conditions, which may bring safety risks.
  • the time for the driver to activate the TJA system is not timely, the TJA function will not be realized at the right time, which may bring safety risks.
  • the TJA system will increase the driving pressure of the driver and reduce the driving experience, which is contrary to the application purpose of the TJA system. Therefore, how to reduce the driving pressure of the driver when the TJA system is applied to the vehicle is still an important problem that needs to be solved urgently.
  • the embodiment of the present application provides a vehicle driving method and device.
  • the vehicle driving device can have the function of controlling the TJA system of the vehicle to automatically perform state switching. By automatically activating the TJA system, deactivating the TJA system, etc., the driver's operations are reduced. Thereby reducing the driving pressure of the driver, improving the driving experience and driving safety.
  • the method and the device are based on the same technical conception. Since the principle of solving the problem of the method and the device is similar, the implementation of the device and the method can be referred to each other, and the repetition will not be repeated.
  • the vehicle driving scheme in the embodiment of the present application can be applied to the Internet of Vehicles, such as vehicle-to-everything (V2X), long-term evolution-vehicle (LTE-V), vehicle - Vehicles (vehicle to vehicle, V2V), etc.
  • V2X vehicle-to-everything
  • LTE-V long-term evolution-vehicle
  • V2V vehicle - Vehicles
  • the other devices include but are not limited to: vehicle-mounted terminals, vehicle-mounted controllers, vehicle-mounted modules, vehicle-mounted modules, vehicle-mounted components, vehicle-mounted chips, vehicle-mounted units, vehicle-mounted radars, or vehicle-mounted cameras.
  • a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted component, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted radar, or a vehicle-mounted camera implement the vehicle driving method provided in the embodiment of the present application.
  • the control scheme in the embodiment of the present application can also be used in other intelligent terminals with mobile control functions other than vehicles, or be set in other intelligent terminals with mobile control functions other than vehicles, or set in the Among the components of the smart terminal.
  • the smart terminal may be a smart transportation device, a smart home device, a robot, and the like.
  • it includes but is not limited to smart terminals or controllers, chips, radars or cameras and other sensors in the smart terminals, and other components.
  • At least one refers to one or more, and “multiple” refers to two or more.
  • And/or describes the association relationship of associated objects, indicating that there may be three types of relationships, for example, A and/or B, which can mean: A exists alone, A and B exist simultaneously, and B exists alone, where A, B can be singular or plural.
  • the character “/” generally indicates that the contextual objects are an “or” relationship.
  • At least one of the following” or similar expressions refer to any combination of these items, including any combination of single or plural items.
  • At least one item (piece) of a, b, or c can represent: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, c can be single or multiple.
  • ordinal numerals such as “first” and “second” mentioned in the embodiments of the present application are used to distinguish multiple objects, and are not used to limit the priority or importance of multiple objects.
  • first indication information and the second indication information are only for distinguishing different indication information, rather than representing the difference in priority or importance of these two indication information.
  • FIG. 1 shows a schematic diagram of an application scenario to which this embodiment of the present application applies.
  • the vehicle 100 and the cloud server 200 may be included, and the vehicle 100 and the cloud server 200 may communicate through a network.
  • the cloud server 200 can also be realized by a virtual machine.
  • Computing platform 150 may include at least one processor 151 that may execute instructions 153 stored in a non-transitory computer-readable medium such as memory 152 .
  • computing platform 150 may also be a plurality of computing devices that control individual components or subsystems of vehicle 100 in a distributed manner.
  • the processor 151 may be any conventional processor, such as a central processing unit (central processing unit, CPU).
  • the processor 151 may also include, for example, an image processor (graphic process unit, GPU), a field programmable gate array (field programmable gate array, FPGA), a system on chip (system on chip, SOC), an ASIC ( application specific integrated circuit, ASIC) or their combination.
  • the above vehicle 100 may be a car, truck, motorcycle, bus, boat, plane, helicopter, lawn mower, recreational vehicle, playground vehicle, construction equipment, tram, golf cart, train, etc.
  • the embodiments of the present application do not make special limitations.
  • the vehicle driving method in the embodiment of the present application can be realized by a vehicle driving device, which can be an independent device, or can be a chip or a component in the vehicle 100 shown in FIG.
  • the vehicle driving device can also be deployed in the cloud server, and the embodiment of the present application does not limit the product form and deployment method of the vehicle driving device.
  • the vehicle driving solution of the embodiment of the present application will be introduced by taking the TJA processor of the computing platform 150 integrated in the aforementioned vehicle 100 as the vehicle driving device as an example.
  • the TJA processor can interact with other modules in the vehicle to implement the vehicle driving scheme.
  • the TJA processor can receive perception information from cameras, other sensors, gateways (including wireless communication systems, not shown in the figure), and also receive perception information from millimeter-wave radars, lidars, etc. Environmental monitoring.
  • the TJA processor can integrate data obtained by millimeter-wave radar, lidar, camera, other sensors, gateways, etc., to obtain information about the vehicle itself and other traffic participants around it, which can be used by the TJA processor to make vehicle driving decisions.
  • the TJA processor can issue control commands to the brake unit, steering unit, throttle valve, etc. through the gateway, so that the brake unit, steering unit, throttle valve, etc. , to assist in controlling the safe driving of the vehicle, thereby reducing the driving pressure of the driver and improving the driving experience.
  • the steering unit may be an electronic power steering (Electronic Power Steering, EPS) system, etc.
  • the braking unit may be an electronic stability program (Electronic Stability Program, ESP) or an anti-lock braking system (Anti-lock Break System, ABS) ), etc.
  • the throttle can be connected to the engine management system (Engine Management System, EMS).
  • the TJA processor can (or through the gateway) output reminder information to peripheral devices such as touch screens and speakers to indicate the status of the TJA system to the driver, so that the driver can learn the TJA The state of the system changes.
  • the TJA processor can also receive control information from the vehicle driver through (or through the gateway) peripheral devices such as touch screens and microphones.
  • the control information can be associated with the aforementioned reminder information and can be used to control the state switching of the TJA system.
  • the bidirectional arrows between different modules are only used to indicate that the modules can communicate with each other, and do not limit any communication methods and information formats.
  • the TJA processor can use different communication methods or information formats to communicate with different modules, and the TJA processor can also have a protocol conversion or format conversion function, which is not limited in this embodiment of the present application.
  • the other modules in the vehicle shown in Figure 2 are just examples, and the dashed boxes only indicate that the corresponding modules are optional modules, and the vehicle may not contain some modules shown in Figure 2, or may include parts other than those shown in Figure 2 Modules other than modules, or some modules in FIG. 2 are replaced by other modules not shown, which will not be repeated here.
  • the vehicle driving method may include the following steps:
  • the vehicle driving device (such as a TJA processor) activates a traffic jam assisting TJA system of the vehicle when the vehicle is located on a traffic jam section.
  • the vehicle driving device can synthesize various sensory information obtained through the sensor system of the vehicle, keep monitoring the surrounding environment at all times, and judge whether the vehicle is located in a traffic jam section, so as to In the case of a traffic jam, the TJA system of the vehicle is automatically activated.
  • At least one congested road condition judging condition can be preset in the vehicle driving device, and then, during the driving process of the vehicle, the vehicle driving device can check whether the various sense information collected comprehensively conform to the at least one congested road condition condition.
  • the judging condition is used to judge whether the location of the vehicle is in a traffic jam section.
  • the at least one congested road condition judging condition may be, for example, a condition that the congested road condition should meet, which is respectively configured for the perception information obtained through various ways, for example, navigation status information, or roadside equipment status Information, or state information of the vehicle, or state information of other vehicles within a predetermined range around the vehicle, etc. should meet the conditions.
  • the vehicle driving device can comprehensively collect whether various sense information conforms to the navigation state information, or roadside equipment state information, or the state information of the vehicle, or the state of other vehicles within a predetermined range around the vehicle The conditions that should be satisfied by the information, etc., determine whether the vehicle is located in a traffic jam section.
  • the at least one preset condition for judging the traffic congestion condition can be manually configured, or obtained through automatic tools or big data statistical calculation, which is specifically implemented in the embodiment of the present application
  • the method is not limited. Moreover, this is only an example and not a limitation of the way of judging the traffic congestion condition. In other embodiments, other conditions for judging the traffic congestion condition may also be set, which will not be repeated here.
  • the above-mentioned navigation status information can be directly obtained or processed from the perception information obtained from the navigation module (installed on the vehicle or in other equipment on the vehicle), and the roadside equipment status information can be obtained from the perception information obtained from the roadside equipment. Obtained or processed directly, the state information of the vehicle and the state information of other vehicles within a predetermined range around the vehicle can be obtained directly or processed from the sensory information obtained from the sensor system of the vehicle itself. The method of obtaining information is not limited. The navigation status information, roadside equipment status information, status information of the vehicle, or status information of other vehicles within a predetermined range around the vehicle can all be used to indicate whether there is a traffic jam at the current location of the vehicle.
  • the vehicle driving device may determine when the above at least two pieces of information meet the relevant judging conditions The vehicle is in a traffic jam section, and the TJA system of the vehicle is automatically activated.
  • the judging step will be described in detail below in conjunction with the drawings and embodiments, and details will not be repeated here.
  • S320 The vehicle driving device outputs reminder information, where the reminder information is used to indicate that the TJA system has been activated.
  • the vehicle driving device may output the reminder information through the peripheral device 140 on the vehicle to indicate to the driver that the TJA system has been activated.
  • the reminder information may have at least one form of expression, for example, when the vehicle driving device uses a human-computer interaction interface to output the reminder information, the The reminder information may be video, image, text, characters, etc. displayed on the human-computer interaction interface; when the vehicle driving device uses a loudspeaker to output the reminder information, the reminder information may be audio.
  • the vehicle driving device receives control information from the driver of the vehicle, the control information is used to control the state switching of the TJA system, and the control information is associated with the reminder information. Further, the vehicle driving device may control the state switching of the TJA system according to the control information.
  • the reminder information can be received by the driver on the vehicle, and in response to the reminder information, the driver can send control information to the vehicle driving device, and accordingly, the vehicle driving device can receiving the control information, and controlling the state switching of the TJA system according to the control information.
  • the TJA system may include but not limited to the following states: off state, on state, standby state (also called intermediate state), and active state.
  • the closed state represents that the TJA system is closed
  • the open state represents that the TJA system is turned on
  • the standby state represents that the TJA system is waiting for activation
  • the activated state represents that the TJA system has been activated
  • the deactivated state represents that the TJA system has been deactivated.
  • the TJA system can enter into a closed state, an open state or a standby state.
  • the TJA system may also have a dormant state, which means that the TJA function of the TJA system has been dormant.
  • FIG. 4a is only an exemplary description of the possible states of the TJA system without limitation, and the arrows only schematically represent possible switching relationships between different states.
  • the state of the TJA system may include an off state, an on state, and an active state, and the TJA system may directly enter the active state from the on state when relevant conditions are met.
  • the state of the TJA system may include an off state, an on state, an active state, and a dormant state.
  • the TJA system can also switch from the dormant state to the active state, or the on state or the off state according to the control information.
  • the TJA system can be turned from an off state to an on state after the vehicle is running.
  • the vehicle driving device may control the TJA system from an off state to an on state according to the running state of the vehicle.
  • the vehicle driving device may control the TJA system from the off state to the on state according to the control information from the driver, and the embodiment of the present application does not limit the way to turn on the TJA system.
  • the vehicle driving device judges whether the vehicle is located in a traffic jam section at S310, if various sensory information of the vehicle conforms to the at least one congested road condition judgment One of the conditions, the vehicle driving device can control the TJA system to switch from the on state to the standby state, further, when the various sensory information of the vehicle meets the at least one congested road condition judging condition When all conditions are met, the vehicle driving device controls the TJA system to switch from the standby state to the active state. Or, taking what is shown in FIG.
  • the vehicle driving device controls the TJA system to switch from the on state to the active state.
  • the vehicle driving device may deactivate the TJA system according to control information from the driver.
  • the TJA system can be switched from the activated state to other states shown in Fig. 4a, Fig. 4b or Fig. 4c.
  • deactivation of the TJA system may be triggered in the following manner:
  • Way 1 The control information from the driver may be used to instruct deactivation of the TJA system, and the vehicle driving device may deactivate the TJA system according to the control information. In this manner, the TJA system switches from the active state to the dormant state.
  • the automatic activation function of the TJA system is in a dormant state, and the vehicle driving device can still synthesize various information obtained through the sensor system of the vehicle.
  • This sensory information keeps monitoring the surrounding environment at all times, and judges whether the vehicle is located in a traffic jam section, but at this time, the vehicle driving device cannot automatically activate the TJA system of the vehicle.
  • the control information may include first instruction information, the first instruction information is used to indicate the activation duration of the TJA system, and the vehicle driving device may, after receiving the control information from the driver, according to The control information is to deactivate the TJA system after the activation time of the TJA system reaches the activation duration. In this manner, the TJA system switches from the active state to the dormant state.
  • the control information may include first indication information and second indication information, the second indication information may be used to indicate deactivation of the TJA system, and the first indication Information may be used to indicate the activation duration of the TJA system.
  • the automatic activation function of the TJA system is in a dormant state, and the vehicle driving device can still comprehensively pass through the vehicle's
  • the various sensory information obtained by the sensor system keeps monitoring the surrounding environment at all times, and judges whether the vehicle is located in a traffic jam section, but at this time, the vehicle driving device cannot automatically activate the TJA system of the vehicle.
  • the vehicle driving device can restore the automatic activation function of the TJA system. Further, the vehicle driving device can realize the state switching control of the TJA system according to the vehicle driving method of the embodiment of the present application.
  • the preset time can be preset, for example, it can be 15 minutes, or 30 minutes, or any time between 15-30 minutes, or a shorter time than 15 minutes.
  • the preset time can be manually configured, or calculated based on experience, automated tools, or big data statistics.
  • the preset time may also be carried in the control information from the driver, which is not limited in this embodiment of the present application.
  • the preset time may also be configured to change dynamically according to the actual location information of the vehicle. For example, according to the information displayed on the navigation map, when the actual location of the vehicle is an urban road where traffic jams are more likely to occur, the preset time can be adjusted to a shorter time, such as from 30 minutes to 15 minutes; or , when the actual location of the vehicle is an urban road where traffic jams are difficult to occur, the preset time can be adjusted to a longer time, for example, adjusted from 30 minutes to 1 hour.
  • Whether urban roads are easier or less prone to traffic jams can be determined according to the current operating scene of the vehicle (such as operating time period or operating location, etc.), and the dynamic adjustment of the preset time can be manual adjustment by the driver, or voice adjustment, or The vehicle driving device automatically adjusts, and any information used for making vehicle driving decisions can be preset in the vehicle driving device, which is not limited in this embodiment of the present application.
  • the control information may be used to instruct the vehicle driving device to autonomously control the TJA system to perform state switching.
  • the vehicle driving device may, for example, determine that the vehicle is not in a traffic jam Deactivate the TJA system in case of road sections. In this way, the TJA system switches from the active state to the standby state.
  • the vehicle driving device can still synthesize various sensory information obtained through the vehicle's sensor system, keep monitoring the surrounding environment at all times, and automatically activate the vehicle when it is determined that the vehicle is located in a traffic jam. the TJA system to switch the TJA system from the standby state to the active state.
  • the control information may be used to instruct the vehicle driving device to autonomously control the TJA system to perform state switching, and the vehicle driving device may determine that the activation time of the TJA system reaches a preset time according to the control information. Deactivate the TJA system without the activation duration. In this manner, the TJA system switches from the active state to the standby state.
  • the vehicle driving device can still synthesize various sensory information obtained through the vehicle's sensor system, keep monitoring the surrounding environment at all times, and when it is determined that the vehicle is located in a traffic jam section, automatically activating a TJA system of the vehicle to switch the TJA system from the standby state to an active state.
  • the vehicle driving device can autonomously realize the state switching control of the TJA system after obtaining the authorization of the driver.
  • the driver can concentrate on Traffic conditions without being distracted to control the state of the TJA system, thereby reducing the driver's driving pressure and improving driving experience and driving safety.
  • the activation duration indicated by the first instruction information carried in the control information in the above-mentioned method 2, or the activation duration preset in the vehicle driving device in the above-mentioned method 4 It can be any length of time, and it can also be dynamically adjusted by the vehicle driving device according to the actual scene where the vehicle is located, which will not be repeated here.
  • the vehicle driving method may include the following steps:
  • the vehicle driving device acquires state information of the vehicle.
  • the state information of the vehicle may include but not limited to the position information, running speed, or heading angle of the vehicle, and the vehicle driving device may use but not limited to the vehicle's navigation module, speed sensor, steering A unit and the like acquire state information of the vehicle.
  • S520 The vehicle driving device judges whether the current running state of the vehicle belongs to an Operational Design Domain (ODD) of the TJA function according to the state information of the vehicle. For example, whether the vehicle is on a highway or an urban road with a good road environment, or whether the running speed of the vehicle is below 60km/h, etc. If the judgment result is yes, go to S530; if the judgment result is no, go back to S510.
  • ODD Operational Design Domain
  • the vehicle driving device integrates various perception information, and determines whether the at least one congested road condition judging condition is met.
  • the S530 may include the following situations:
  • the vehicle can be equipped with navigation applications, GPS, cameras, millimeter-wave radars, and laser radars, etc., and the navigation applications can be updated through the perception information obtained by the GPS, cameras, millimeter-wave radars, and laser radars.
  • the navigation application can provide the navigation status information to the vehicle driving device (ie TJA processor) through the network communication device (or gateway), the navigation Status information may be used to indicate whether there is congestion at the vehicle's current location.
  • the navigation state information meets the corresponding congested road condition judgment conditions; when the navigation state information indicates that there is no congestion at the current location of the vehicle In this case, the navigation state information does not meet the corresponding judging conditions of traffic congestion.
  • the dotted line box indicates that the corresponding module is an optional module, that is, the manner in which the navigation application obtains the perception information of the vehicle is not limited.
  • cameras will be installed on relevant road sections of urban roads and expressways to monitor traffic flow information, and the traffic department can use the monitored traffic flow information to calculate the traffic flow information of the current road section in real time.
  • This application implements
  • roadside equipment can be configured on these road sections, and the roadside equipment can send roadside equipment status information (including traffic flow information of the current road section) to vehicles passing through the roadside equipment.
  • the vehicle driving device can receive the roadside equipment status information from the roadside equipment through the network communication equipment, and then compare the traffic flow information indicated by the roadside equipment status information with the congestion definition stipulated by the traffic department, if the If the traffic flow information conforms to the congestion definition stipulated by the traffic department, it is determined that the current road section is congested, that is, the vehicle is currently located in a traffic jam road section.
  • the congestion definition specified by the traffic department can be preset in the vehicle driving device, and can also be obtained in real time by the vehicle driving device, wherein the congestion definition specified by the traffic department can indicate the traffic flow rate when the traffic congestion is satisfied.
  • the lower limit threshold may also indicate the ranges of traffic flow corresponding to different traffic congestion levels (such as mild congestion, moderate congestion, severe congestion, etc.), which is not limited in this embodiment of the present application.
  • the vehicle driving device may be configured with an evaluation model, which may be used to evaluate the current road condition type corresponding to the vehicle according to the state information of the vehicle, so as to determine whether there is a traffic jam.
  • the evaluation model may be obtained through pre-training using behavioral data samples.
  • the road conditions can be divided into the following five types of road conditions with different levels of congestion according to the auxiliary coefficient of traffic congestion: smooth, basically smooth, mild congestion, moderate congestion, and severe congestion, and then collected from real vehicles or from traffic department vehicles Collect n longitudinal velocity and longitudinal acceleration data samples under road condition types with different degrees of congestion. Further, according to the n longitudinal velocity and longitudinal acceleration data samples under each road condition type, an evaluation model corresponding to the longitudinal velocity state and longitudinal acceleration state of the vehicle and the above-mentioned different road condition types is trained by using a supervised learning method. This embodiment of the present application does not limit it.
  • the vehicle can be equipped with wheel speed sensors, acceleration sensors, etc. to obtain state information of the vehicle, for example, the acceleration sensor can be used to obtain the acceleration information of the vehicle in real time, and the wheel speed sensor can be used to obtain all wheel speed information of the vehicle.
  • the vehicle driving device may acquire state information of the vehicle from the wheel speed sensor, acceleration sensor and the like. And input the obtained state information of the vehicle into evaluation models corresponding to different road condition types respectively, and obtain the probability that the state information of the vehicle matches different road condition types. If the evaluation model that obtains the maximum matching probability is an evaluation model corresponding to a mildly congested road condition, a moderately congested road condition, or a severe congested road condition, it is determined that the vehicle is currently in a traffic congested road condition. If the evaluation model that obtains the maximum matching probability is an evaluation model corresponding to a smooth road condition or a basic smooth road condition, it is determined that the vehicle is currently in a non-traffic-jammed road condition.
  • the above evaluation model can be trained using common supervised learning methods, for example, the baum-welch algorithm is used to train the hidden Markov model (Hidden Markov Model, HMM), and the embodiment of the present application evaluates this
  • HMM Hidden Markov Model
  • the vehicle may be equipped with sensors such as cameras, lidars, or millimeter-wave radars, which can identify other vehicles within a predetermined range around the vehicle and obtain status information of other vehicles.
  • the vehicle driving device may perform fusion according to the status information of other vehicles obtained from sensors such as the camera, laser radar, or millimeter-wave radar, to determine the number of other vehicles within a predetermined range around the vehicle, so as to The number of other vehicles determines whether there is a traffic jam.
  • the camera can, for example, continuously collect a plurality of image frames, and analyze and process the plurality of image frames through a preset image processing method to identify state information such as position, speed, and acceleration of other vehicles (as targets), Count the number of targets.
  • the state information of other vehicles provided by the camera to the vehicle driving device may include the number of objects. Due to mutual occlusion between vehicles in traffic jams, the number of targets calculated by the camera will be less than the number of targets in the real situation.
  • the vehicle driving device can also receive the state of other vehicles from the lidar and/or millimeter wave radar Information is fused with the status information of other vehicles from the camera, and finally the number of other vehicles around the vehicle is obtained.
  • the quantity threshold such as 15
  • the dotted box in FIG. 6 d indicates that the corresponding module is an optional module, that is, the method for fusion to obtain a more accurate number of target vehicles is not limited.
  • the TJA system is in an on state before implementing S530.
  • the vehicle driving device may control the TJA system to switch from the on state to the standby state.
  • Fig. 5 a schematic illustration is given only by taking a certain situation in S531-S534 to indicate traffic congestion and the vehicle driving device controlling the TJA system to switch from the on state to the standby state as an example, and it does not limit the implementation of the TJA system in this S530. State transitions in process.
  • S531-S534 may be performed simultaneously or sequentially (for example, according to the order of task priority of each item of information), which is not limited in this embodiment of the present application.
  • S540 The vehicle driving device determines whether corresponding judging conditions of traffic congestion are met at the same time according to at least two pieces of information in the above-mentioned situation 1 to situation 4. If the judgment result is yes, enter S550, if the judgment result is no, keep the TJA system in the standby state, or switch the TJA system from the standby state back to the on state.
  • the judgment process of the above-mentioned cases 1 to 4 is related to the actual configuration details. If the vehicle driving device is only configured to judge any two or any three of the above-mentioned cases, or When more judging situations are configured, the vehicle driving device only needs to complete corresponding judging decisions according to the configuration details when implementing S530 , which will not be repeated here.
  • the vehicle driving device determines that the vehicle is located in a traffic jam section, and automatically activates the TJA system.
  • S560 The vehicle driving device outputs reminder information.
  • reminder information can be output in real time on the HMI, and the reminder information is used to indicate that the TJA system has been automatically activated.
  • the solid line box indicates that the corresponding information (such as "TJA automatic activation”) is lit and operable
  • the dotted line box can indicate that the corresponding information (such as "TJA manual activation”) is grayed out and inoperable.
  • the driver can manually click on the "TJA automatic activation” option to send control information to the vehicle driving device, and the control information is used to control the state switching of the TJA system.
  • the HMI can also output the "deactivate TJA" option at the same time. It is on and can be operated, and the "TJA manual activation” is grayed out and cannot be operated. The driver can manually click on the "deactivate TJA" option to send control information to the vehicle driving device, and the control information is used to control the state switching of the TJA system.
  • the HMI can also output at least one activation duration option (not shown in the figure), for the driver to select the first indication information that needs to be carried in the control information, and the first indication information is used to indicate The activation time of the TJA system shown will not be repeated here.
  • the vehicle driving device receives control information from the vehicle driver, and determines whether the control information indicates deactivation of the TJA system. If yes, go to S580. If not, the automatic activation process ends.
  • S580 The vehicle driving device deactivates the TJA system according to the control information (for example, the aforementioned mode 1 and mode 2), and within a preset time after the deactivation of the TJA system according to the control information, the TJA system
  • the auto-activation feature for is dormant.
  • the vehicle driving device may control the TJA system to switch from the dormant state to the on state, and restart the steps of S510-S580, so as to automatically realize the state switching control of the TJA system.
  • the HMI can also display the relevant information of S510-S550 in real time, as shown in Figure 7c, such as whether the running state of the vehicle belongs to the ODD of the TJA system, or the situation Whether each piece of information in situations 1 to 4 indicates traffic congestion, etc.
  • a dotted line box indicates that the corresponding information has not yet been judged, or does not meet the corresponding judgment condition
  • a solid line box indicates that the corresponding information meets the corresponding judgment condition.
  • the information shown in Fig. 7a, Fig. 7b or Fig. 7c can be displayed as a floating display on the HMI interface, or directly displayed, and can be presented in the same interface or in different interfaces. This specific presentation manner is not limited.
  • HMI interface is used as an example to introduce the output method of the reminder information, and the output method of the reminder information is not limited.
  • the trigger and transmission method of the control information is not limited, so details are not repeated here.
  • the function of automatically activating the TJA system according to traffic conditions is added to the vehicle driving device to reduce driving.
  • the safety risks brought by the manual activation of the TJA system by the driver can improve the driving experience and driving safety.
  • the vehicle driving device automatically detects and automatically activates the function of the TJA system, and the function of the driver manually activating the TJA system can coexist, that is, the function of allowing the driver to manually activate the TJA system is still supported.
  • the manual activation scheme is used as an alternative to flexibly realize the state control of the TJA system. Furthermore, before automatic activation, the method determines whether the vehicle enters the ODD of TJA according to the state information of the vehicle, and on this basis, uses multiple data to check whether the vehicle is located in a traffic jam section, so as to ensure the reliability and robustness of the automatic activation function To avoid accidental activation and automatic activation in dangerous road conditions as much as possible.
  • the above-mentioned vehicle driving method can be realized by using common equipment on the vehicle without additional expensive equipment. Through any combination of sensory information collected by different equipment, it can be judged whether the vehicle is located in a traffic jam section, which is the embodiment of the present application.
  • the implementation of the vehicle driving method provides more options. Yes, the HMI interface is modified to highlight the reminder information on the HMI interface, which can facilitate the driver to know the status change of the TJA system at any time, and reduce the driver's panic caused by the sudden change of the TJA system status.
  • the driver After the vehicle driving device automatically activates the TJA system, the driver is allowed to manually deactivate the TJA system, and the TJA function will be in a dormant state within a preset time, reducing the number of repeated automatic activations after the driver deactivates the TJA system, and improving the driver's driving experience Experience and drive safely.
  • the embodiment of the present application also provides a vehicle driving device, which is used to execute the method executed by the vehicle driving device in the above-mentioned embodiments.
  • a vehicle driving device which is used to execute the method executed by the vehicle driving device in the above-mentioned embodiments.
  • the device 800 may include: a control unit 801, configured to activate the traffic jam assist TJA system of the vehicle when the vehicle is located in a traffic jam section; an output unit 802, configured to output reminder information , the reminder information is used to indicate that the TJA system has been activated; the receiving unit 803 is used to receive control information from the driver of the vehicle, the control information is used to control the state switching of the TJA system, the Control information associated with the reminded information.
  • control information includes first indication information
  • the first indication information is used to indicate the activation duration of the TJA system
  • control unit 801 is further configured to: After receiving the control information of the driver of the vehicle, according to the control information, after the activation time of the TJA system reaches the activation duration, deactivate the TJA system.
  • control unit 801 is further configured to: after receiving the control information from the driver of the vehicle, deactivate the TJA system according to the control information.
  • the automatic activation function of the TJA system is in a dormant state.
  • control unit 801 is configured to: determine that the vehicle is located on a road section with traffic congestion through at least two pieces of information: navigation status information, roadside equipment status information, status information of the vehicle, and predetermined information around the vehicle. Status information of other vehicles within range.
  • each functional unit in the embodiment of the present application may be integrated into one processing unit, each unit may exist separately physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.
  • the integrated unit is realized in the form of a software function unit and sold or used as an independent product, it can be stored in a computer-readable storage medium.
  • the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage
  • several instructions are included to make a computer device (which may be a personal computer, server, or network device, etc.) or a processor (processor) execute all or part of the steps of the methods described in the various embodiments of the present application.
  • the aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disc, etc., which can store program codes. .
  • the apparatus 900 shown in FIG. 9 includes at least one processor 910 and a memory 920 , and optionally, may further include a communication interface 930 .
  • the memory 920 can be a volatile memory, such as a random access memory; the memory can also be a nonvolatile memory, such as a read-only memory, a flash memory, a hard disk (hard disk drive, HDD) or a solid-state drive (solid-state drive, SSD), or memory 920 is any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.
  • the memory 920 may be a combination of the above-mentioned memories.
  • connection medium between the processor 910 and the memory 920 is not limited in this embodiment of the present application.
  • a communication interface 930 is also included, and the processor 910 can perform data transmission through the communication interface 930 when communicating with other devices.
  • the processor 910 in FIG. 9 can call the computer stored in the memory 920 to execute instructions, so that the device 900 can execute the method performed by the communication device in any of the above method embodiments.
  • the embodiment of the present application also relates to a chip system, the chip system includes a processor, which is used to call the computer program or computer instruction stored in the memory, so that the processor executes any one of the embodiments shown in Figure 3 or Figure 5. method.
  • the processor is coupled to the memory through an interface.
  • the chip system further includes a memory, where computer programs or computer instructions are stored.
  • the embodiment of the present application also relates to a processor, the processor is configured to invoke a computer program or a computer instruction stored in a memory, so that the processor executes the method as described in any one of the embodiments in FIG. 3 or FIG. 5 .
  • the processor mentioned in any of the above can be a general-purpose central processing unit, a microprocessor, a specific application integrated circuit (application-specific integrated circuit, ASIC), or one or more for controlling the above-mentioned Fig. 3 or An integrated circuit for executing the program of the method in any embodiment shown in FIG. 5 .
  • the memory mentioned in any of the above can be read-only memory (read-only memory, ROM) or other types of static storage devices that can store static information and instructions, random access memory (random access memory, RAM), etc.
  • embodiments of the present application may be provided as methods, systems, or computer program products. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including but not limited to disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to operate in a specific manner, such that the instructions stored in the computer-readable memory produce an article of manufacture comprising instruction means, the instructions
  • the device realizes the function specified in one or more procedures of the flowchart and/or one or more blocks of the block diagram.

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种车辆驾驶方法及装置，车辆驾驶方法包括：在车辆位于交通拥堵路段的情况下，激活车辆的交通拥堵辅助TJA系统；输出提醒信息，提醒信息用于指示TJA系统已激活；接收来自车辆的驾驶员的控制信息，控制信息用于控制TJA系统的状态切换，控制信息关联提醒信息。

Description

一种车辆驾驶方法及装置
相关申请的交叉引用
本申请要求在2021年07月20日提交中华人民共和国知识产权局、申请号为202110819075.2、申请名称为“一种车辆驾驶方法及装置”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本申请涉及车辆智能控制技术领域，特别涉及一种车辆驾驶方法及装置。
背景技术
交通拥堵辅助(Traffic Jam Assistant，TJA)系统是一种可以在交通拥堵时为驾驶员提供辅助的系统。一般地，当车速低于60km/h时，驾驶员可以激活TJA系统，之后，制动、加速以及转向等操作可以由TJA系统辅助控制，从而缓解驾驶员疲劳。然而，由于TJA系统设计为由驾驶员手动控制来进行状态切换，驾驶员的控制操作将会影响TJA功能的实现、且潜存多种安全风险，导致驾驶员的行车压力增大，驾驶体验感降低，有悖于TJA系统的应用目的。
因此，在期望车辆应用TJA功能时，如何减轻驾驶员的行车压力，仍为亟需解决的重要问题。
发明内容
本申请实施例提供一种车辆驾驶方法及装置，有助于在期望车辆应用TJA功能时，减轻驾驶员的行车压力，同时也提升驾驶体验和驾驶安全。
第一方面，本申请实施例提供了一种车辆驾驶方法，该方法可以应用于车辆驾驶装置，该车辆驾驶装置可以是独立设备，也可以是设备中的芯片或部件，还可以是软件模块，可以部署在车辆上，或所述车辆上的车载设备或智能设备中，本申请实施例对该车辆驾驶装置的产品形态不做限定。
该方法包括：在所述车辆位于交通拥堵路段的情况下，激活所述车辆的交通拥堵辅助TJA系统；输出提醒信息，所述提醒信息用于指示所述TJA系统已激活；接收来自所述车辆的驾驶员的控制信息，所述控制信息用于控制所述TJA系统的状态切换，所述控制信息关联所述提醒信息。
通过上述方法，所述车辆驾驶装置可以根据交通路况自动地激活车辆的TJA系统，并根据来自车辆上的驾驶员的控制信息对处于激活状态的TJA系统进行状态切换，灵活地实现对所述TJA系统的状态控制，使得驾驶员可以专注行车，无需分心控制所述TJA系统的状态切换，有助于减轻驾驶员的行车压力，提升驾驶体验和驾驶安全。
结合第一方面，在一种可能的设计中，所述控制信息中包含第一指示信息，所述第一 指示信息用于指示所述TJA系统的激活时长，在接收来自所述车辆的驾驶员的控制信息之后，所述方法还包括：根据所述控制信息，在所述TJA系统的激活时间达到所述激活时长后，取消激活所述TJA系统。
通过上述方法，所述车辆驾驶装置可以根据携带在所述控制信息中的激活时长，控制所述TJA系统进行状态切换，提供更灵活的控制措施。
结合第一方面，在一种可能的设计中，在接收来自所述车辆的驾驶员的控制信息之后，所述方法还包括：根据所述控制信息，取消激活所述TJA系统。
通过上述方法，所述车辆驾驶装置可以根据所述控制信息直接控制所述TJA系统进行状态切换，提供更灵活的控制措施。
结合第一方面，在一种可能的设计中，在根据所述控制信息取消激活所述TJA系统后的预设时间内，所述TJA系统的自动激活功能处于休眠状态。
通过上述方法，所述车辆驾驶装置可以在驾驶员控制取消激活所述TJA系统后，使所述TJA功能处于休眠状态，从而避免车辆驾驶装置重新激活所述TJA系统。
结合第一方面，在一种可能的设计中，所述方法还包括：通过以下至少两项信息确定所述车辆位于交通拥堵路段：导航状态信息、路侧设备状态信息、所述车辆的状态信息、和所述车辆周围预定范围内的其它车辆的状态信息。
通过上述方法，所述车辆驾驶装置可以综合利用多重数据检验车辆是否位于交通拥堵路段，以保障自动激活功能的可靠性和鲁棒性，尽可能地避免误激活和危险路况自动激活等。
第二方面，本申请实施例提供了一种车辆驾驶装置，包括：控制单元，用于在所述车辆位于交通拥堵路段的情况下，激活所述车辆的交通拥堵辅助TJA系统；输出单元，用于输出提醒信息，所述提醒信息用于指示所述TJA系统已激活；接收单元，用于接收来自所述车辆的驾驶员的控制信息，所述控制信息用于控制所述TJA系统的状态切换，所述控制信息关联所提醒信息。
结合第二方面，在一种可能的设计中，所述控制信息中包含第一指示信息，所述第一指示信息用于指示所述TJA系统的激活时长，所述控制单元还用于：在通过所述接收单元接收来自所述车辆的驾驶员的控制信息之后，根据所述控制信息，在所述TJA系统的激活时间达到所述激活时长后，取消激活所述TJA系统。
结合第二方面，在一种可能的设计中，所述控制单元还用于：在接收来自所述车辆的驾驶员的控制信息之后，根据所述控制信息，取消激活所述TJA系统。
结合第二方面，在一种可能的设计中，在根据所述控制信息取消激活所述TJA系统后的预设时间内，所述TJA系统的自动激活功能处于休眠状态。
结合第二方面，在一种可能的设计中，所述控制单元用于：通过以下至少两项信息确定所述车辆位于交通拥堵路段：导航状态信息、路侧设备状态信息、所述车辆的状态信息、和所述车辆周围预定范围内的其它车辆的状态信息。
第三方面，本申请实施例提供了一种车辆驾驶装置，包括：处理器和存储器；所述存储器用于存储程序；所述处理器用于执行所述存储器所存储的程序，以使所述装置实现如上第一方面以及第一方面可能的设计方法。
第四方面，本申请实施例提供了一种计算机可读存储介质，所述计算机可读存储介质中存储有计算机程序，当所述计算机程序在计算机上运行时，使得计算机执行上述第一方 面以及上述第一方面可能的设计方法。
第五方面，本申请实施例提供了一种计算机程序产品，当所述计算机程序产品在计算机上运行时，使得所述计算机执行上述第一方面以及上述第一方面可能的设计方法。
第六方面，本申请实施例提供了一种芯片系统，该芯片系统包括处理器，用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述第一方面以及上述第一方面可能的设计方法。
结合第六方面，在一种可能的实现方式中，该处理器通过接口与存储器耦合。
结合第六方面，在一种可能的实现方式中，该芯片系统还包括存储器，该存储器中存储有计算机程序或计算机指令。
第七方面，本申请实施例提供了一种处理器，该处理器用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行上述第一方面以及上述第一面可能的设计方法。
第八方面，本申请实施例提供了一种车辆，包括：处理器和存储器；所述存储器用于存储程序；所述处理器用于执行所述存储器所存储的程序，以使所述车辆实现如上第一方面以及第一方面可能的设计方法。
本申请实施例在上述各方面提供的实现的基础上，还可以进行进一步组合以提供更多实现。
附图说明
图1示出了本申请实施例适用的应用场景的示意图；
图2示出了本申请实施例的车辆驾驶方法的原理示意图；
图3示出了本申请实施例的车辆驾驶方法的流程示意图；
图4a-图4d示出了本申请实施例的TJA系统的状态示意图；
图5示出了本申请实施例的车辆驾驶方法的流程示意图；
图6a-图6d示出了本申请实施例的确定是否交通拥堵的示例；
图7a-图7c示出了本申请实施例的HMI界面的示意图；
图8示出了本申请实施例的车辆驾驶装置的示意图；
图9示出了本申请实施例的车辆驾驶装置的示意图。
具体实施方式
随着智能网联技术的快速发展，逐渐出现了多个级别的智能驾驶辅助技术，包括但不限于，L0级(应急辅助)、L1级(部分驾驶辅助)、L2级(组合驾驶辅助)、L3级(有条件自动驾驶)、L4级(高度自动驾驶)、L5级(完全自动驾驶)等不同的等级。其中，L1级和L2级一般称为高级驾驶辅助系统(Advanced Driving Assistance System，ADAS)。各个级别的智能驾驶辅助技术可用于辅助驾驶员智能行车，提升驾驶体验和驾驶安全。
目前在整车厂商实现装车的智能驾驶辅助系统一般多采用较低级别技术，例如，L1级辅助驾驶系统一般为：自适应巡航控制(Adaptive Cruise Control，ACC)或车道保持辅助(Lane Keeping Assist，LKA)或自动紧急制动(Autonomous Emergency Braking，AEB)系统；L2级辅助驾驶系统一般为：交通拥堵辅助(Traffic Jam Assistant，TJA)系统等。
其中，TJA系统是一种可以在交通拥堵时为驾驶员提供辅助的智能辅助驾驶系统。一般地，当车速低于60km/h时驾驶员可以激活TJA系统，之后制动、加速以及转向等操作可以由TJA系统辅助控制，从而缓解驾驶员疲劳。然而，由于TJA系统设计为由驾驶员手动控制来进行状态切换，驾驶员的控制操作将会影响TJA功能的实现、且潜存多种安全风险。
例如，在拥堵路况下，驾驶员可能会忘记激活TJA系统，此时TJA系统将无法为驾驶员提供辅助。又例如，驾驶员操作人机交互界面激活TJA系统时，将会分心而无法专注于路况，可能会带来安全风险。再例如，若驾驶员操作激活TJA系统的时间不及时，TJA功能将无法在恰当的时机实现，可能会带来安全风险。
由此可知，在一些场景中，TJA系统将导致驾驶员的行车压力增大，驾驶体验感降低，有悖于TJA系统的应用目的。因此，如何在车辆应用TJA系统时减轻驾驶员的行车压力，仍为亟需解决的重要问题。
本申请实施例提供了一种车辆驾驶方法及装置，车辆驾驶装置可以具有控制车辆的TJA系统自动进行状态切换的功能，通过自动地激活TJA系统、取消激活TJA系统等，减少驾驶员的操作，从而减轻驾驶员的行车压力，提升驾驶体验和驾驶安全。其中，方法和装置是基于同一技术构思的，由于方法及装置解决问题的原理相似，因此装置与方法的实施可以相互参见，重复之处不再赘述。
需要说明的是，本申请实施例中的车辆驾驶方案可以应用于车联网，如车-万物(vehicle to everything，V2X)、车间通信长期演进技术(long term evolution-vehicle，LTE-V)、车辆-车辆(vehicle to vehicle，V2V)等。例如可以应用于具有驾驶移动功能的车辆，或者车辆中具有驾驶移动功能的其它装置。该其它装置包括但不限于：车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头等其他传感器，车辆可通过该车载终端、车载控制器、车载模块、车载模组、车载部件、车载芯片、车载单元、车载雷达或车载摄像头，实施本申请实施例提供的车辆驾驶方法。当然，本申请实施例中的控制方案还可以用于除了车辆之外的其它具有移动控制功能的智能终端，或设置在除了车辆之外的其它具有移动控制功能的智能终端中，或设置于该智能终端的部件中。该智能终端可以为智能运输设备、智能家居设备、机器人等。例如包括但不限于智能终端或智能终端内的控制器、芯片、雷达或摄像头等其它传感器、以及其它部件等。
需要说明的是，本申请实施例中“至少一个”是指一个或者多个，“多个”是指两个或两个以上。“和/或”，描述关联对象的关联关系，表示可以存在三种关系，例如，A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B的情况，其中A，B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达，是指的这些项中的任意组合，包括单项(个)或复数项(个)的任意组合。例如，a,b,或c中的至少一项(个)，可以表示：a,b,c,a和b,a和c,b和c,或a和b和c，其中a,b,c可以是单个，也可以是多个。
以及，除非有特别说明，本申请实施例提及“第一”、“第二”等序数词是用于对多个对象进行区分，不用于限定多个对象的优先级或者重要程度。例如，第一指示信息、第二指示信息，只是为了区分不同的指示信息，而不是表示这两项指示信息的优先级或者重要程度等的不同。
为了便于理解，下面结合附图，对本申请实施例进行介绍。
图1示出了本申请实施例适用的应用场景的示意图。在该应用场景中，可以包括车辆100和云端服务器200，车辆100和云端服务器200可以通过网络通信。在一个实施例中，该云端服务器200还可以通过虚拟机来实现。
车辆100的部分或所有功能受计算平台150(或称为计算机系统)控制。计算平台150可包括至少一个处理器151，处理器151可以执行存储在例如存储器152这样的非暂态计算机可读介质中的指令153。在一些实施例中，计算平台150还可以是采用分布式方式控制车辆100的个体组件或子系统的多个计算设备。处理器151可以是任何常规的处理器，诸如中央处理单元(central processing unit，CPU)。替选地，处理器151还可以包括诸如图像处理器(graphic process unit，GPU)，现场可编程门阵列(field programmable gate array，FPGA)、片上系统(system on chip，SOC)、专用集成芯片(application specific integrated circuit，ASIC)或它们的组合。
可选地，上述车辆100可以为轿车、卡车、摩托车、公共汽车、船、飞机、直升飞机、割草机、娱乐车、游乐场车辆、施工设备、电车、高尔夫球车、火车等，本申请实施例不做特别的限定。
应理解，图1中车辆的结构不应理解为对本申请实施例的限制。
本申请实施例的车辆驾驶方法可由车辆驾驶装置实现，该车辆驾驶装置可以为独立装置，也可以为图1所示的车辆100中的芯片或部件，还可以是软件模块，可以部署车辆100的相关车载设备上，可选地，该车辆驾驶装置也可以部署在云端服务器中，本申请实施例对该车辆驾驶装置的产品形态以及部署方式不做限定。下文中，为了便于理解和描述，将以车辆驾驶装置为集成在前述车辆100中的计算平台150的TJA处理器为例对本申请实施例的车辆驾驶方案进行介绍。
下面介绍本申请实施例的实现原理。
参阅图2所示，该TJA处理器可以与车辆中的其它模块交互，来实现该车辆驾驶方案。例如，该TJA处理器可以通过接收摄像头以及其它传感器、网关(包括无线通信系统，图中未示出)等的感知信息，也可以接收毫米波雷达、激光雷达等的感知信息，时刻保持对周围环境的监测。该TJA处理器可以综合毫米波雷达、激光雷达、摄像头、其它传感器、网关等获得的数据，获取车辆自身及其周围其它交通参与者的信息，这些信息可供TJA处理器进行车辆驾驶决策。例如确定车辆是否位于交通拥堵路段、是否自动激活车辆的TJA系统来为车辆提供TJA系统等，以便在拥堵路况下自动地为车辆上的驾驶员提供TJA功能，减轻驾驶员行车压力，提升驾驶体验和驾驶安全。
在TJA系统已激活的情况下，TJA处理器可以通过网关向制动单元、转向单元、节气门等下发控制指令，以便制动单元、转向单元、节气门等根据来自TJA处理器的控制指令，辅助控制车辆安全行车，从而减轻驾驶员的行车压力，提升驾驶体验。示例的，转向单元可以是电子助力转向(Electronic Power Steering，EPS)系统等，制动单元可以是电子行驶稳定系统(Electronic Stability Program，ESP)或防抱死刹车系统(Anti－lock Break System，ABS)等，节气门可连接发动机管理系统(Engine Management System，EMS)。
在激活TJA系统的过程中以及激活该TJA系统之后，TJA处理器可以(或通过网关)向触摸屏、扬声器等外围设备输出提醒信息，以向驾驶员指示TJA系统的状态，从而便于驾驶员获知TJA系统的状态变化。TJA处理器还可以通过(或通过网关)触摸屏、麦克风 等外围设备接收来自车辆驾驶员的控制信息，该控制信息可以关联于前述提醒信息，并可用于控制TJA系统的状态切换。
需要说明的是，在图2中，不同模块之间的双向箭头仅用于表示模块之间可以通信，并不限定任何通信方式和信息格式等。所述TJA处理器可以采用不同的通信方式或信息格式，与不同的模块进行通信，TJA处理器还可以具有协议转换或格式转换功能，本申请实施例对此不做限定。图2中示出的车辆中的其它模块仅是示例，虚线框仅表示相应模块是可选模块，该车辆中可以不包含图2所示的部分模块，也可以包括除图2所示的部分模块以外的其它模块，或将图2中的部分模块替换为未示出的其它模块，在此不再赘述。
实施时，参阅图3所示，该车辆驾驶方法可以包括以下步骤：
S310：车辆驾驶装置(例如TJA处理器)在车辆位于交通拥堵路段的情况下，激活所述车辆的交通拥堵辅助TJA系统。
本申请实施例中，车辆驾驶装置可以综合通过所述车辆的传感器系统获得的各种感知信息，时刻保持对周围环境的监测，并判断所述车辆是否位于交通拥堵路段，以在所述车辆位于交通拥堵路段的情况下，自动激活所述车辆的TJA系统。
实施时，车辆驾驶装置中可以预置至少一项拥堵路况判断条件，进而，在车辆行车过程之中，车辆驾驶装置即可通过综合采集到的各种感知信息是否符合所述至少一项拥堵路况判断条件，来判断所述车辆所处的位置是否在交通拥堵路段。
示例的，根据监测需求，所述至少一项拥堵路况判断条件例如可以是为通过各种途径获得的感知信息分别配置的、拥堵路况应满足的条件，例如，导航状态信息、或路侧设备状态信息、或所述车辆的状态信息、或所述车辆周围预定范围内的其它车辆的状态信息等应满足的条件。所述车辆驾驶装置可以综合采集到的各种感知信息是否符合所述导航状态信息、或路侧设备状态信息、或所述车辆的状态信息、或所述车辆周围预定范围内的其它车辆的状态信息等应满足的条件，确定所述车辆是否位于交通拥堵路段。需要说明的是，本申请实施例中，预置的所述至少一项拥堵路况判断条件可以是人工配置的，或是通过自动化工具或大数据统计计算得到的，本申请实施例对此具体实现方式不做限定。并且，此处仅是对拥堵路况的判断方式的举例而非限定，在其它实施例中，还可以设置其它拥路况判断条件，在此不再赘述。
应理解，上述导航状态信息可以由从导航模块(安装在车辆上或车辆上的其他设备中)得到的感知信息直接得到或处理得到，路侧设备状态信息可以由从路侧设备得到的感知信息直接得到或处理得到，车辆的状态信息以及所述车辆周围预定范围内的其它车辆的状态信息可以由从所述车辆自身的传感器系统得到的感知信息直接得到或处理得到，本申请实施例对上述信息的获得方式不做限定。该导航状态信息、路侧设备状态信息、所述车辆的状态信息、或所述车辆周围预定范围内的其它车辆的状态信息，均可用于指示所述车辆的当前位置处是否交通拥堵。为保障对拥堵路况的判断的准确性，一种可能的实现方式中，根据预置的至少一项拥堵路况判断条件，所述车辆驾驶装置可以在上述至少两项信息符合相关判断条件时，确定所述车辆处于交通拥堵路段，并自动激活所述车辆的TJA系统。下文中将结合附图及实施例详细说明该判断步骤，在此暂不赘述。
S320：车辆驾驶装置输出提醒信息，所述提醒信息用于指示所述TJA系统已激活。
本申请实施例中，所述车辆驾驶装置可以通过车辆上的外围设备140输出所述提醒信息，以向驾驶员指示所述TJA系统已激活。
根据所述车辆驾驶装置与具体使用的外围设备140的交互方式不同，该提醒信息可以有至少一种表现形式，例如所述车辆驾驶装置使用人机交互界面输出所述提醒信息的情况下，所述提醒信息可以为在所述人机交互界面上显示的视频、图像、文字、字符等；所述车辆驾驶装置使用扬声器输出所述提醒信息的情况下，所述提醒信息可以为音频。
S330：车辆驾驶装置接收来自所述车辆的驾驶员的控制信息，所述控制信息用于控制所述TJA系统的状态切换，所述控制信息关联所述提醒信息。进一步地，车辆驾驶装置可以根据所述控制信息控制所述TJA系统的状态切换。
本申请实施例中，所述提醒信息可以被车辆上的驾驶员接收到，响应于所述提醒信息，驾驶员可以向所述车辆驾驶装置下发控制信息，相应地，所述车辆驾驶装置可以接收所述控制信息，并根据所述控制信息控制所述TJA系统的状态切换。
参阅图4a所示，本申请实施例中，所述TJA系统可以包括但不限于以下状态：关闭状态、开启状态、待机状态(也称为中间态)、激活状态。其中，关闭状态表示该TJA系统已关闭，开启状态表示该TJA系统已开启，待机状态表示该TJA系统等待激活，激活状态表示该TJA系统已激活，取消激活状态表示该TJA系统已取消激活。其中，取消激活后，该TJA系统可以进入关闭状态、开启状态或待机状态。可选地，该TJA系统还可以具有休眠状态，休眠状态表示该TJA系统的TJA功能已休眠。
应理解，图4a中仅是对TJA系统可能包括的状态的示例性说明而非限定，箭头仅示意性地表示不同状态之间的可能切换关系，在其它实施例中，参阅图4b所示，该TJA系统的状态可以包括关闭状态、开启状态、激活状态，TJA系统可以在符合相关条件时，从开启状态直接进入激活状态。或者，参阅图4c所示，该TJA系统的状态可以包括关闭状态、开启状态、激活状态、休眠状态，TJA系统处于激活状态且被取消激活时，该TJA系统可根据控制信息从所述激活状态切换至休眠状态、开启状态或关闭状态，TJA系统处于休眠状态时，该TJA系统也可以根据控制信息从休眠状态切换至激活状态、或开启状态或关闭状态。
一般地，在车辆运行后，该TJA系统即可从关闭状态进入开启状态。或者，所述车辆驾驶装置可以根据所述车辆的运行状态控制所述TJA系统从关闭状态进入开启状态。或者，所述车辆驾驶装置可以根据来自驾驶员的控制信息，控制所述TJA系统从关闭状态进入开启状态，本申请实施例对该TJA系统的开启方式不做限定。
以图4a所示为例，在所述TJA系统处于开启状态后，车辆驾驶装置在S310判断所述车辆是否位于交通拥堵路段时，若车辆的各种感知信息符合所述至少一项拥堵路况判断条件中的某一个条件，该车辆驾驶装置可以控制所述TJA系统从所述开启状态切换至待机状态，进一步地，在所述车辆的各种感知信息符合所述至少一项拥堵路况判断条件中的全部条件时，所述车辆驾驶装置控制所述TJA系统从所述待机状态切换至激活状态。或者，以图4b或图4c所示为例，在所述TJA系统处于开启状态后，车辆驾驶装置在S310判断所述车辆是否位于交通拥堵路段时，在所述车辆的各种感知信息符合所述至少一项拥堵路况判断条件中的全部条件时，所述车辆驾驶装置控制所述TJA系统从所述开启状态切换至激活状态。
在所述TJA系统已激活的情况下，车辆驾驶装置可以根据来自所述驾驶员的控制信息取消激活所述TJA系统。其中，根据触发取消激活所述TJA系统的方式不同，该TJA系统可以从激活状态切换至图4a、图4b或图4c所示的其它状态。
本申请实施例中，为了实现所述车辆驾驶装置对所述TJA系统的灵活控制，可以通过以下方式触发取消激活所述TJA系统：
方式一：来自驾驶员的控制信息可以用于指示取消激活所述TJA系统，所述车辆驾驶装置可以根据所述控制信息取消激活所述TJA系统。在此方式下，该TJA系统从所述激活状态切换至休眠状态。
相应地，在根据所述控制信息取消激活所述TJA系统后的预设时间内，所述TJA系统的自动激活功能处于休眠状态，车辆驾驶装置仍可以综合通过所述车辆的传感器系统获得的各种感知信息，时刻保持对周围环境的监测，并判断所述车辆是否位于交通拥堵路段，但此时，所述车辆驾驶装置无法自动激活所述车辆的TJA系统。
方式二：所述控制信息中可以包含第一指示信息，所述第一指示信息用于指示所述TJA系统的激活时长，所述车辆驾驶装置可以在接收到来自驾驶员的控制信息之后，根据所述控制信息，在所述TJA系统的激活时间达到所述激活时长后，取消激活所述TJA系统。在此方式下，该TJA系统从所述激活状态切换至休眠状态。其中，为便于区分，参阅图4d所示，所述控制信息可以包括第一指示信息和第二指示信息，所述第二指示信息可以用于指示取消激活所述TJA系统，所述第一指示信息可以用于指示所述TJA系统的激活时长。
相应地，与方式一相似，在根据所述控制信息取消激活所述TJA系统后的预设时间内，所述TJA系统的自动激活功能处于休眠状态，车辆驾驶装置仍可以综合通过所述车辆的传感器系统获得的各种感知信息，时刻保持对周围环境的监测，并判断所述车辆是否位于交通拥堵路段，但此时，所述车辆驾驶装置无法自动激活所述车辆的TJA系统。在该预设时间后，车辆驾驶装置可以恢复TJA系统的自动激活功能，进一步地，车辆驾驶装置可以根据本申请实施例的车辆驾驶方法实现对TJA系统的状态切换控制。
由此，在上述方式一和方式二中，通过设置所述TJA系统在所述预设时间内处于休眠状态，以避免车辆驾驶装置再次自动激活所述TJA系统，降低驾驶员取消激活所述TJA系统后带来的重复激活问题。
需要说明的是，在上述方式一和方式二中，预设时间可以是预置的，例如可以是15分钟、或30分钟、或15-30分钟之间的任意时间、或小于15分钟的较短时间、或大于15分钟的较长时间，该预设时间可以是人工配置的，也可以是根据经验或自动化工具或大数据统计计算得到的。可选地，所述预设时间也可以携带在来自驾驶员的控制信息中，本申请实施例对此不做限定。
应理解，该预设时间还可以被配置为，根据车辆实际所处的位置信息动态变化。例如，根据导航地图上显示的信息，当车辆实际所处的位置为较易发生交通拥堵的城市道路时，该预设时间可以调整为一个较短时间，例如从30分钟调整至15分钟；或者，当车辆实际所处的位置为较难发生交通拥堵的城市道路时，该预设时间可以调整为一个较长的时间，例如从30分钟调整至1小时。城市道路是否较易或较难发生交通拥堵，则可以根据车辆当前运行场景(例如运行时间段或运行地段等)确定，对预设时间的动态调整可以是驾驶员手动调整，或语音调整，或车辆驾驶装置自动调整，用于进行车辆驾驶决策的任何信息均可以预置在所述车辆驾驶装置中，本申请实施例对此均不做限定。
方式三：所述控制信息可以用于指示所述车辆驾驶装置自主控制所述TJA系统进行状态切换，相应地，该车辆驾驶装置例如可以根据所述控制信息，在确定所述车辆处于非交通拥堵路段的情况下取消激活所述TJA系统。此方式下，该TJA系统从所述激活状态切换 至待机状态。
相应地，车辆驾驶装置仍可以综合通过所述车辆的传感器系统获得的各种感知信息，时刻保持对周围环境的监测，并在确定所述车辆位于交通拥堵路段的情况下，自动激活所述车辆的TJA系统，以使所述TJA系统从所述待机状态切换至激活状态。
方式四：所述控制信息可以用于指示所述车辆驾驶装置自主控制所述TJA系统进行状态切换，所述车辆驾驶装置可以根据所述控制信息，在确定所述TJA系统的激活时间达到预置的激活时长的情况下取消激活所述TJA系统。此方式下，该TJA系统从所述激活状态切换至待机状态。
相应地，与方式三相似，车辆驾驶装置仍可以综合通过所述车辆的传感器系统获得的各种感知信息，时刻保持对周围环境的监测，并在确定所述车辆位于交通拥堵路段的情况下，自动激活所述车辆的TJA系统，以使所述TJA系统从所述待机状态切换至激活状态。
由此，在上述方式三和方式四中，所述车辆驾驶装置在获得驾驶员的授权后，可以自主实现对所述TJA系统的状态切换控制，在这种情形下，驾驶员可以全心关注交通路况，而无需分心对该TJA系统的状态控制，从而减轻驾驶员的行车压力，提升驾驶体验和驾驶安全。
需要说明的是，与前述的预设时间相似，在上述方式二中携带在控制信息中的第一指示信息指示的激活时长，或在上述方式四中在所述车辆驾驶装置预置的激活时长可以为任何时长，也可以由所述车辆驾驶装置根据车辆实际所处的场景动态调整，在此不再赘述。
下面介绍本申请实施例的车辆驾驶方法。
参阅图5所示，该车辆驾驶方法可以包括以下步骤：
S510：车辆驾驶装置获取车辆的状态信息。
示例的，所述车辆的状态信息可以包括但不限于所述车辆的位置信息、运行速度、或航向角等，所述车辆驾驶装置可以利用但不限于所述车辆的导航模块、速度传感器、转向单元等获取所述车辆的状态信息。
S520：车辆驾驶装置根据所述车辆的状态信息，判断所述车辆当前的运行状态是否属于TJA功能的设计运行区域(Operational Design Domain，ODD)。例如，车辆是否处于高速公路或者道路环境良好的城市道路，或车辆的运行速度是否在60km/h以下等。若判断结果为是，则进入S530；若判断结果为否，则返回S510。
S530：车辆驾驶装置综合各种感知信息，确定是否符合所述至少一项拥堵路况判断条件。
以所述至少一项拥堵路况判断条件包括前述的导航状态信息、路侧设备状态信息、所述车辆的状态信息、和所述车辆周围预定范围内的其它车辆的状态信息应满足的条件为例，实施时，该S530可以包括以下情形：
情形一：S531：判断导航状态信息是否指示交通拥堵。
参阅图6a所示，车辆上可以装备有导航应用、GPS、摄像头、毫米波雷达、以及激光雷达等，该导航应用可以通过所述GPS、摄像头、毫米波雷达、激光雷达等获得的感知信息更新所述车辆的位置信息，并实时地获取车辆当前位置处的路况信息，导航应用可以通过网络通信设备(或网关)向所述车辆驾驶装置(即TJA处理器)提供导航状态信息，所述导航状态信息可以用于指示所述车辆的当前位置处是否拥堵。其中，在所述导航状态指 示所述车辆当前位置处交通拥堵的情况下，所述导航状态信息符合相应的拥堵路况判断条件；在所述导航状态信息指示所述车辆当前位置处不拥堵的情况下，所述导航状态信息不符合相应的拥堵路况判断条件。需要说明的是，图6a中以虚线框表示相应模块是可选模块，即不限定导航应用获得车辆的感知信息的方式。
情形二：S532：判断路侧设备状态信息是否指示交通拥堵。
参阅图6b所示，一般地，在城市道路和高速公路的相关路段会配置有摄像头，来监控车流信息，交通部门可以利用监控到的车流信息实时地计算当前路段的车流量信息，本申请实施例中，在这些路段上可以配置路侧设备，该路侧设备可以向途径所述路侧设备的车辆发送路侧设备状态信息(包含当前路段的车流量信息)。
相应地，车辆驾驶装置可以通过网络通信设备接收来自路侧设备的路侧设备状态信息，然后将所述路侧设备状态信息指示的车流量信息与交通部门规定的拥堵定义进行比较，若所述车流量信息符合所述交通部门规定的拥堵定义，则判定当前路段拥堵，即所述车辆当前位于交通拥堵路段。
应理解，所述交通部门规定的拥堵定义可以预置在所述车辆驾驶装置中，也可由所述车辆驾驶装置实时获取，其中，该交通部门规定的拥堵定义可以指示符合交通拥堵时的车流量下限阈值，也可以指示不同交通拥堵等级(例如轻度拥堵、中度拥堵、重度拥堵等)分别对应的车流量范围，本申请实施例对此不做限定。
情形三：S533：判断所述车辆的状态信息是否指示交通拥堵。
参阅图6c所示，所述车辆驾驶装置中可以配置有评估模型，该评估模型可用于根据车辆的状态信息评估所述车辆当前对应的路况类型，从而确定是否交通拥堵。
本申请实施例中，所述评估模型可以是预先利用行为数据样本训练得到的。模型训练时，可以将路况按照交通拥堵辅助系数分为以下五种不同程度拥堵的路况类型：畅通、基本畅通、轻度拥堵、中度拥堵、重度拥堵，然后通过实车采集或从交通部门车辆采集在不同程度拥堵的路况类型下的n个纵向速度和纵向加速度数据样本。进一步地，根据各个路况类型下的n个纵向速度和纵向加速度数据样本，利用监督学习的方法，训练出车辆的纵向速度状态、纵向加速度状态与上述不同路况类型对应的评估模型。本申请实施例对此不作限定。
车辆上可以装备有轮速传感器、加速度传感器等，以获取所述车辆的状态信息，例如所述加速度传感器可用于实时地获取所述车辆的加速度信息，所述轮速传感器可用于实时地获取所述车辆的轮速信息。所述车辆驾驶装置可以从所述轮速传感器、加速度传感器等获取所述车辆的状态信息。并将所获得的车辆的状态信息分别输入不同路况类型对应的评估模型，得到该车辆的状态信息与不同路况类型匹配的概率。若得到匹配概率最大值的评估模型为与轻度拥堵路况、中度拥堵路况、重度拥堵路况对应的评估模型，则确定所述车辆当前处于交通拥堵路况。若得到匹配概率最大值的评估模型为与畅通路况或基本畅通路况对应的评估模型，则确定所述车辆当前处于非交通拥堵路况。
需要说明的是，本申请实施例中，可以采用常见的监督学习方法训练上述评估模型，例如采用baum-welch算法训练隐马尔可夫模型(Hidden Markov Model，HMM)，本申请实施例对此评估模型的具体实现方式不做限定。
情形四：S534：判断所述车辆周围预定范围内的其它车辆的状态信息是否指示交通拥堵。
参阅图6d所示，所述车辆上可以装备有摄像头、激光雷达、或毫米波雷达等传感器，这些传感器可以对所述车辆周围预定范围内的其它车辆进行识别并获得其它车辆的状态信息。所述车辆驾驶装置可以根据从所述摄像头、激光雷达、或毫米波雷达等传感器获得的其它车辆的状态信息进行融合，以确定所述车辆周围预定范围内的其它车辆的数量，从而根据所述其它车辆的数量确定是否交通拥堵。
其中，所述摄像头例如可以连续采集多个图像帧，并通过预置的图像处理方法对所述多个图像帧进行分析处理，识别其它车辆(作为目标)的位置、速度、加速度等状态信息，计算目标的数量。摄像头向所述车辆驾驶装置提供的其它车辆的状态信息可以包含目标的数量。由于在交通拥堵路况下，车辆之间相互遮挡，会导致摄像头计算得到的目标的数量少于真实情况中的目标数量，车辆驾驶装置还可以接收激光雷达和/或毫米波雷达的其它车辆的状态信息，和来自摄像头的其它车辆的状态信息进行融合，最终得到所述车辆周围的其它车辆的数量。其中，若所述车辆周围半径R(例如R＝20米)范围内的其它车辆的数量大于等于数量阈值(例如15辆)，则确定交通拥堵；若所述车辆周围半径R(例如R＝20米)范围内的其它车辆的数量小于数量阈值(例如15辆)，则确定非交通拥堵。
需要说明的是，图6d中以虚线框表示相应模块是可选模块，即不限定用于融合以获得更为精准的目标车辆的数量的方式。
需要说明的是，在实施S530之前所述TJA系统处于开启状态。在实施S530的过程中，在上述情形一至情形四中存在某一种情形指示交通拥堵，则车辆驾驶装置可以控制所述TJA系统从开启状态切换至待机状态。图5中仅以S531-S534中存在某一种情形指示交通拥堵、以及车辆驾驶装置控制所述TJA系统从开启状态切换至待机状态为例进行示意说明，并非限定所述TJA系统在该S530实施过程中的状态切换。应理解，上述S531-S534可以同时进行，也可以按序(例如根据各项信息的任务优先级的高低顺序)进行，本申请实施例对此不做限定。S540：车辆驾驶装置根据上述情形一至情形四中的至少两项信息，确定是否同时符合相应的拥堵路况判断条件。若判断结果是，则进入S550，若判断结果为否，则保持所述TJA系统为待机状态，或将所述TJA系统从所述待机状态切换回开启状态。
需要说明的是，在实际应用中，上述情形一至情形四的判断过程与实际的配置详情相关，若车辆驾驶装置仅配置有对上述情形中的任意两项或任意三项进行判断决策时，或配置有更多判断情形时，则车辆驾驶装置实施S530时只需根据配置详情，完成相应的判断决策，在此不再赘述。
S550：车辆驾驶装置确定所述车辆位于交通拥堵路段，自动激活所述TJA系统。
S560：车辆驾驶装置输出提醒信息。
参阅图7a所示，以人机交互界面(Human Machine interaction，HMI)为例，在该HMI上可以实时地输出提醒信息，所述提醒信息用于指示所述TJA系统已自动激活。其中，为便于理解，以实线框表示相应信息(例如“TJA自动激活”)已点亮、可操作，虚线框可以表示相应信息(例如“TJA手动激活”)置灰、不可操作。驾驶员可以手动点击该“TJA自动激活”选项，以向所述车辆驾驶装置下发控制信息，所述控制信息用于控制所述TJA系统的状态切换。
或者，参阅图7b所示，在该HMI上还可以同时输出“取消激活TJA”选项，该“TJA自动激活”已点亮、不可操作(采用灰色实现框区分)，该“取消激活TJA”已点亮、可操作，该“TJA手动激活”置灰、不可操作。驾驶员可以手动点击该“取消激活TJA”选项，来向所 述车辆驾驶装置下发控制信息，所述控制信息用于控制所述TJA系统的状态切换。可选地，该HMI上还可以输出至少一个激活时长选项(图中未示出)，以供驾驶员从中选择需要携带在所述控制信息中第一指示信息，该第一指示信息用于指示所示TJA系统的激活时长，在此不再赘述。
S570：车辆驾驶装置接收来自所述车辆驾驶员的控制信息，确定所述控制信息是否指示取消激活所述TJA系统。若是，则进入S580。若否，则结束自动激活流程。
S580：车辆驾驶装置根据所述控制信息取消激活所述TJA系统(例如前述的方式一和方式二)，在根据所述控制信息取消激活所述TJA系统后的预设时间内，所述TJA系统的自动激活功能处于休眠状态。
在预设时间后，所述车辆驾驶装置可以控制所述TJA系统从休眠状态切换至开启状态，并重新开始上述S510-S580的步骤，以自动地实现对所述TJA系统的状态切换控制。
需要说明的是，在上述实施S510-S550的过程中，该HMI上还可以实时地显示S510-S550的相关信息，如图7c所示，例如车辆的运行状态是否属于TJA系统的ODD、或情形一至情形四中的各项信息是否指示交通拥堵等。其中，为便于理解，以虚线框表示相应信息还未进行相应判断，或者未符合相应判断条件，以实线框表示相应信息符合相应的判断条件。应理解，实际应用中，图7a、图7b或图7c所示信息可以为HMI界面上悬浮显示，或直接显示，可以呈现在同一界面中，也可以呈现在不同界面中，本申请实施例对此具体呈现方式不做限定。
应理解，在此仅以HMI界面为例对提醒信息的输出方式进行介绍，并非限定提醒信息的输出方式，相应地，也不限定控制信息的触发与传输方式，在此不再赘述。
至此，已经结合上述附图和实施例详细介绍了本申请实施例的车辆驾驶方法的具体实现过程，根据上述车辆驾驶方法，通过车辆驾驶装置增加根据交通路况自动激活TJA系统的功能，以减少驾驶员手动激活所述TJA系统带来的安全风险、提升驾驶体验和驾驶安全。应理解，本申请实施例中，车辆驾驶装置自动检测以自动激活TJA系统的功能，与驾驶员手动激活TJA系统的功能可以并存，即仍支持允许驾驶员手动激活所述TJA系统的功能，以在自动激活TJA系统的功能故障时，以手动激活方案作为备选，灵活地实现对所述TJA系统的状态控制。进一步地，该方法在自动激活之前，根据车辆的状态信息确定是否车辆是否进入TJA的ODD，在此基础上利用多重数据检验车辆是否位于交通拥堵路段，以保障自动激活功能的可靠性和鲁棒性，尽可能地避免误激活和危险路况自动激活等。
此外，上述车辆驾驶方法可以利用车辆上的常见设备实现，不需要额外增加昂贵设备，通过对不同设备采集到的感知信息的任意组合，可以判断车辆是否位于交通拥堵路段，为本申请实施例的车辆驾驶方法的实施提供了更多的选择性。对，HMI界面进行修改，以在HMI界面上突出显示各提醒信息，可以方便驾驶员随时获知TJA系统的状态变化，减少TJA系统状态突变时引发驾驶员恐慌。在车辆驾驶装置自动激活TJA系统后，允许驾驶员手动取消激活TJA系统，并在预设时间内使TJA功能处于休眠状态，减少驾驶员取消激活TJA系统后又重复自动激活，提升驾驶员的驾驶体验和驾驶安全。
本申请实施例还提供了一种车辆驾驶装置，用于执行上述实施例中车辆驾驶装置所执行的方法，相关特征可参见上述方法实施例，在此不再赘述。
如图8所示，该装置800可以包括：控制单元801，用于在所述车辆位于交通拥堵路 段的情况下，激活所述车辆的交通拥堵辅助TJA系统；输出单元802，用于输出提醒信息，所述提醒信息用于指示所述TJA系统已激活；接收单元803，用于接收来自所述车辆的驾驶员的控制信息，所述控制信息用于控制所述TJA系统的状态切换，所述控制信息关联所提醒信息。
可选地，所述控制信息中包含第一指示信息，所述第一指示信息用于指示所述TJA系统的激活时长，所述控制单元801还用于：在通过所述接收单元接收来自所述车辆的驾驶员的控制信息之后，根据所述控制信息，在所述TJA系统的激活时间达到所述激活时长后，取消激活所述TJA系统。
可选地，所述控制单元801还用于：在接收来自所述车辆的驾驶员的控制信息之后，根据所述控制信息，取消激活所述TJA系统。
可选地，在根据所述控制信息取消激活所述TJA系统后的预设时间内，所述TJA系统的自动激活功能处于休眠状态。
可选地，所述控制单元801用于：通过以下至少两项信息确定所述车辆位于交通拥堵路段：导航状态信息、路侧设备状态信息、所述车辆的状态信息、和所述车辆周围预定范围内的其它车辆的状态信息。
需要说明的是，本申请实施例中对单元的划分是示意性的，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式。在本申请的实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用软件功能单元的形式实现。
所述集成的单元如果以软件功能单元的形式实现并作为独立的产品销售或使用时，可以存储在一个计算机可读取存储介质中。基于这样的理解，本申请实施例的技术方案本质上或者说对现有技术做出贡献的部分或者该技术方案的全部或部分可以以软件产品的形式体现出来，该计算机软件产品存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本申请各个实施例所述方法的全部或部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(ROM，Read-Only Memory)、随机存取存储器(RAM，Random Access Memory)、磁碟或者光盘等各种可以存储程序代码的介质。
在一个简单的实施例中，本领域的技术人员可以想到上述实施例中的通信装置均可采用图9所示的形式。
如图9所示的装置900，包括至少一个处理器910、存储器920，可选的，还可以包括通信接口930。
存储器920可以是易失性存储器，例如随机存取存储器；存储器也可以是非易失性存储器，例如只读存储器，快闪存储器，硬盘(hard disk drive，HDD)或固态硬盘(solid-state drive，SSD)、或者存储器920是能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质，但不限于此。存储器920可以是上述存储器的组合。
本申请实施例中不限定上述处理器910以及存储器920之间的具体连接介质。
在如图9的装置中，还包括通信接口930，处理器910在与其他设备进行通信时，可以通过通信接口930进行数据传输。
当通信装置采用图9所示的形式时，图9中的处理器910可以通过调用存储器920中 存储的计算机执行指令，使得装置900可以执行上述任一方法实施例中通信装置执行的方法。
本申请实施例还涉及一种芯片系统，该芯片系统包括处理器，用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行如图3或图5所示任一实施例的方法。
在一种可能的实现方式中，该处理器通过接口与存储器耦合。
在一种可能的实现方式中，该芯片系统还包括存储器，该存储器中存储有计算机程序或计算机指令。
本申请实施例还涉及一种处理器，该处理器用于调用存储器中存储的计算机程序或计算机指令，以使得该处理器执行如图3或图5任一实施例所述的方法。
其中，上述任一处提到的处理器，可以是一个通用中央处理器，微处理器，特定应用集成电路(application-specific integrated circuit，ASIC)，或一个或多个用于控制上述图3或图5所示的任一实施例中的方法的程序执行的集成电路。上述任一处提到的存储器可以为只读存储器(read-only memory，ROM)或可存储静态信息和指令的其他类型的静态存储设备，随机存取存储器(random access memory，RAM)等。
应明白，本申请的实施例可提供为方法、系统、或计算机程序产品。因此，本申请可采用完全硬件实施例、完全软件实施例、或结合软件和硬件方面的实施例的形式。而且，本申请可采用在一个或多个其中包含有计算机可用程序代码的计算机可用存储介质(包括但不限于磁盘存储器、CD-ROM、光学存储器等)上实施的计算机程序产品的形式。
这些计算机程序指令也可存储在能引导计算机或其他可编程数据处理设备以特定方式工作的计算机可读存储器中，使得存储在该计算机可读存储器中的指令产生包括指令装置的制造品，该指令装置实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能。
这些计算机程序指令也可装载到计算机或其他可编程数据处理设备上，使得在计算机或其他可编程设备上执行一系列操作步骤以产生计算机实现的处理，从而在计算机或其他可编程设备上执行的指令提供用于实现在流程图一个流程或多个流程和/或方框图一个方框或多个方框中指定的功能的步骤。
显然，本领域的技术人员可以对本申请实施例进行各种改动和变型而不脱离本申请实施例范围。这样，倘若本申请实施例的这些修改和变型属于本申请权利要求及其等同技术的范围之内，则本申请也意图包含这些改动和变型在内。

Claims (12)

  1. 一种车辆驾驶方法，其特征在于，包括：
    在所述车辆位于交通拥堵路段的情况下，激活所述车辆的交通拥堵辅助TJA系统；
    输出提醒信息，所述提醒信息用于指示所述TJA系统已激活；
    接收来自所述车辆的驾驶员的控制信息，所述控制信息用于控制所述TJA系统的状态切换，所述控制信息关联所述提醒信息。
  2. 根据权利要求1所述的方法，其特征在于，所述控制信息中包含第一指示信息，所述第一指示信息用于指示所述TJA系统的激活时长，在接收来自所述车辆的驾驶员的控制信息之后，所述方法还包括：
    根据所述控制信息，在所述TJA系统的激活时间达到所述激活时长后，取消激活所述TJA系统。
  3. 根据权利要求1所述的方法，其特征在于，在接收来自所述车辆的驾驶员的控制信息之后，所述方法还包括：
    根据所述控制信息，取消激活所述TJA系统。
  4. 根据权利要求2或3所述的方法，其特征在于，在根据所述控制信息取消激活所述TJA系统后的预设时间内，所述TJA系统的自动激活功能处于休眠状态。
  5. 根据权利要求1-4中任一项所述的方法，其特征在于，所述方法还包括：
    通过以下至少两项信息确定所述车辆位于交通拥堵路段：
    导航状态信息、路侧设备状态信息、所述车辆的状态信息、和所述车辆周围预定范围内的其它车辆的状态信息。
  6. 一种车辆驾驶装置，其特征在于，包括：
    控制单元，用于在所述车辆位于交通拥堵路段的情况下，激活所述车辆的交通拥堵辅助TJA系统；
    输出单元，用于输出提醒信息，所述提醒信息用于指示所述TJA系统已激活；
    接收单元，用于接收来自所述车辆的驾驶员的控制信息，所述控制信息用于控制所述TJA系统的状态切换，所述控制信息关联所提醒信息。
  7. 根据权利要求6所述的装置，其特征在于，所述控制信息中包含第一指示信息，所述第一指示信息用于指示所述TJA系统的激活时长，所述控制单元还用于：
    在通过所述接收单元接收来自所述车辆的驾驶员的控制信息之后，根据所述控制信息，在所述TJA系统的激活时间达到所述激活时长后，取消激活所述TJA系统。
  8. 根据权利要求6所述的装置，其特征在于，所述控制单元还用于：
    在接收来自所述车辆的驾驶员的控制信息之后，根据所述控制信息，取消激活所述TJA系统。
  9. 根据权利要求7或8所述的装置，其特征在于，在根据所述控制信息取消激活所述TJA系统后的预设时间内，所述TJA系统的自动激活功能处于休眠状态。
  10. 根据权利要求6-9中任一项所述的装置，其特征在于，所述控制单元用于：
    通过以下至少两项信息确定所述车辆位于交通拥堵路段：
    导航状态信息、路侧设备状态信息、所述车辆的状态信息、和所述车辆周围预定范围内的其它车辆的状态信息。
  11. 一种装置，其特征在于，包括：处理器和存储器；
    所述存储器用于存储程序；
    所述处理器用于执行所述存储器所存储的程序，以使所述装置实现如所述权利要求1-5任一项所述的方法。
  12. 一种计算机可读存储介质，其特征在于，包括计算机可读指令，当所述计算机可读指令被执行时，实现如权利要求1-5任一项所述的方法。
PCT/CN2022/105954 2021-07-20 2022-07-15 一种车辆驾驶方法及装置 WO2023001068A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202110819075.2A CN115635973A (zh) 2021-07-20 2021-07-20 一种车辆驾驶方法及装置
CN202110819075.2 2021-07-20

Publications (1)

Publication Number Publication Date
WO2023001068A1 true WO2023001068A1 (zh) 2023-01-26

Family

ID=84940033

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/105954 WO2023001068A1 (zh) 2021-07-20 2022-07-15 一种车辆驾驶方法及装置

Country Status (2)

Country Link
CN (1) CN115635973A (zh)
WO (1) WO2023001068A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10205367A (ja) * 1997-01-22 1998-08-04 Fujitsu Ten Ltd 渋滞追従制御装置
CN108665720A (zh) * 2018-06-01 2018-10-16 江苏中安环能新能源科技有限公司 一种智能辅助驾驶方法、系统及装置
CN110834637A (zh) * 2019-07-29 2020-02-25 中国第一汽车股份有限公司 一种驾驶模式的切换方法、系统、车辆及存储介质
JP2021089720A (ja) * 2019-11-27 2021-06-10 株式会社デンソー Ｈｍｉ制御装置、ｈｍｉ制御方法、ｈｍｉ制御プログラム、および運転制御装置
WO2021166509A1 (ja) * 2020-02-18 2021-08-26 株式会社デンソー 運転制御装置およびｈｍｉ制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH10205367A (ja) * 1997-01-22 1998-08-04 Fujitsu Ten Ltd 渋滞追従制御装置
CN108665720A (zh) * 2018-06-01 2018-10-16 江苏中安环能新能源科技有限公司 一种智能辅助驾驶方法、系统及装置
CN110834637A (zh) * 2019-07-29 2020-02-25 中国第一汽车股份有限公司 一种驾驶模式的切换方法、系统、车辆及存储介质
JP2021089720A (ja) * 2019-11-27 2021-06-10 株式会社デンソー Ｈｍｉ制御装置、ｈｍｉ制御方法、ｈｍｉ制御プログラム、および運転制御装置
WO2021166509A1 (ja) * 2020-02-18 2021-08-26 株式会社デンソー 運転制御装置およびｈｍｉ制御装置

Also Published As

Publication number Publication date
CN115635973A (zh) 2023-01-24

Similar Documents

Publication Publication Date Title
US11338813B2 (en) System and method for merge assist using vehicular communication
US11312378B2 (en) System and method for vehicle control using vehicular communication
US11040726B2 (en) Alarm system of autonomous driving vehicles (ADVs)
US10625742B2 (en) System and method for vehicle control in tailgating situations
US10737667B2 (en) System and method for vehicle control in tailgating situations
CN108269424B (zh) 用于车辆拥堵估计的系统和方法
US10915101B2 (en) Context-dependent alertness monitor in an autonomous vehicle
CN109895696B (zh) 驾驶员警报系统和方法
CN109690657B (zh) 用于在车辆中操作智能教程的方法和装置
US11242040B2 (en) Emergency braking for autonomous vehicles
JP6693354B2 (ja) 車両用情報提示装置
JP2019043495A (ja) 自動運転調整装置、自動運転調整システム、及び自動運転調整方法
WO2020259705A1 (en) Autonomous driving handoff systems and methods
CN106292432B (zh) 信息处理方法、装置和电子设备
US11285966B2 (en) Method and system for controlling an autonomous vehicle response to a fault condition
US11780466B1 (en) Vehicle fleet remote ride comfort tuning management system
US20220161819A1 (en) Automatic motor-vehicle driving speed control based on driver's driving behaviour
US20220324490A1 (en) System and method for providing an rnn-based human trust model
WO2023001068A1 (zh) 一种车辆驾驶方法及装置
KR20230132022A (ko) 자율 주행 차량 제어 장치 및 방법
CN113393687A (zh) 驾驶辅助装置、驾驶辅助方法、车辆和介质
TWI831488B (zh) 應用在車輛駕駛輔助的先進緊急剎車制動系統及其控制方法
US11938966B1 (en) Vehicle perception system validation
US11926259B1 (en) Alert modality selection for alerting a driver
US11899697B2 (en) Information processing server, processing method for information processing server, and non-transitory storage medium

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22845233

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE