WO2024055368A1 - Procédé et appareil de commutation de fonction de conduite automatique, support de stockage et véhicule - Google Patents

Procédé et appareil de commutation de fonction de conduite automatique, support de stockage et véhicule Download PDF

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Publication number
WO2024055368A1
WO2024055368A1 PCT/CN2022/122689 CN2022122689W WO2024055368A1 WO 2024055368 A1 WO2024055368 A1 WO 2024055368A1 CN 2022122689 W CN2022122689 W CN 2022122689W WO 2024055368 A1 WO2024055368 A1 WO 2024055368A1
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WIPO (PCT)
Prior art keywords
automatic driving
vehicle
driving mode
automatic
mode
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PCT/CN2022/122689
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English (en)
Chinese (zh)
Inventor
刘亚锋
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魔门塔(苏州)科技有限公司
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Publication of WO2024055368A1 publication Critical patent/WO2024055368A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • 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
    • B60W50/06—Improving the dynamic response of the control system, e.g. improving the speed of regulation or avoiding hunting or overshoot
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles

Definitions

  • the present application relates to the field of automatic driving technology, and in particular, to a method, device, storage medium and vehicle for switching automatic driving functions.
  • HNP Highway Navigation Pilot
  • CP Chip Pilot
  • this application provides a method, device, storage medium and vehicle for switching the automatic driving function, which helps to realize rapid adaptive switching of the vehicle's automatic driving function.
  • a method for switching an automatic driving function includes:
  • the driving mode performs automatic driving planning on the vehicle to obtain second automatic driving data
  • the vehicle When it is recognized that the vehicle monitoring information of the vehicle meets the preset automatic driving mode switching conditions, the vehicle is controlled to enter the second automatic driving mode, and the vehicle is controlled to enter the second automatic driving mode according to the second automatic driving data. 2. Carry out automatic driving in automatic driving mode.
  • the second automatic driving mode is cruise assisted driving
  • the preset automatic driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving conditions. And meet the cruise assisted driving conditions
  • the second automatic driving mode is highway navigation driving
  • the preset automatic driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving conditions.
  • the method further includes:
  • performing automatic driving planning on the vehicle in the second automatic driving mode to obtain second automatic driving data includes:
  • the vehicle when it is recognized that the vehicle monitoring information of the vehicle meets the preset automatic driving mode switching conditions, the vehicle is controlled to enter the second automatic driving mode, and all controls are controlled according to the second automatic driving data.
  • the method further includes:
  • the highway navigation driving conditions include the vehicle's first steering wheel offset angle range, first starting speed range, first longitudinal acceleration range, vehicle not crossing the line, navigation path calculation successful and in navigation state, and The vehicle is within the map range that meets the preset conditions;
  • the cruise assist driving conditions include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane line meets the preset lane line conditions, the vehicle is not crossing the lane, and the vehicle's current driving direction is consistent with the cruise-based driving direction.
  • the relative angle range between the reference driving directions for assisted driving mode planning include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane line meets the preset lane line conditions, the vehicle is not crossing the lane, and the vehicle's current driving direction is consistent with the cruise-based driving direction.
  • the method also includes:
  • the vehicle When the received user operation data on the vehicle matches the preset automatic deactivation operation data, the vehicle enters the automatic function standby state or enters the manual control state of the vehicle.
  • the method before the vehicle is in the first autonomous driving mode, the method further includes:
  • control the vehicle If the user's automatic driving instruction is received and the vehicle is recognized to meet the preset automatic driving mode conditions, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle; or,
  • the second prompt information for entering the automatic driving mode is output, and after receiving the confirmation feedback information for the second prompt information or when no rejection feedback information is received within a preset time period, control the vehicle to enter an autonomous driving preparation state and configure the vehicle for autonomous driving;
  • the vehicle When the vehicle completes the automatic driving configuration, the vehicle enters the automatic driving mode.
  • the preset automatic driving conditions include highway navigation driving conditions and cruise assisted driving conditions;
  • the automatic driving configuration of the vehicle includes:
  • the vehicle If the vehicle satisfies the cruise-assisted driving condition and does not satisfy the highway navigation driving condition, the vehicle is configured for cruise-assisted driving.
  • a switching device for automatic driving functions includes:
  • An automatic driving control module configured to perform automatic driving planning for the vehicle based on the first automatic driving mode and perform automatic driving according to the planned first automatic driving data when the vehicle is in the automatic driving state of the first automatic driving mode. Control, and perform automatic driving planning on the vehicle in the second automatic driving mode to obtain the second automatic driving data;
  • a mode switching module configured to control the vehicle to enter the second automatic driving mode when it is recognized that the vehicle monitoring information of the vehicle satisfies the preset automatic driving mode switching conditions, and to control the vehicle according to the second automatic driving data.
  • the vehicle performs automatic driving in the second automatic driving mode.
  • the second automatic driving mode is cruise assisted driving
  • the preset automatic driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving conditions. And meet the cruise assisted driving conditions
  • the second automatic driving mode is highway navigation driving
  • the preset automatic driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving condition.
  • the automatic driving control module is also used to:
  • automatic driving planning is performed on the vehicle in the first automatic driving mode to obtain third automatic driving data.
  • the automatic driving control module is also used to:
  • the automatic driving control module is further used to:
  • the highway navigation driving conditions include the vehicle's first steering wheel offset angle range, first starting speed range, first longitudinal acceleration range, vehicle not crossing the line, navigation path calculation successful and in navigation state, and The vehicle is within the map range that meets the preset conditions;
  • the cruise assist driving conditions include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane line meets the preset lane line conditions, the vehicle is not crossing the lane, and the vehicle's current driving direction is consistent with the cruise-based driving direction.
  • the relative angle range between the reference driving directions for assisted driving mode planning include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane line meets the preset lane line conditions, the vehicle is not crossing the lane, and the vehicle's current driving direction is consistent with the cruise-based driving direction.
  • the device further includes: a state switching module, used for:
  • the vehicle When the received user operation data on the vehicle matches the preset automatic deactivation operation data, the vehicle enters the automatic function standby state or enters the manual control state of the vehicle.
  • the state switching module is also used to:
  • control the vehicle If the user's automatic driving instruction is received and the vehicle is recognized to meet the preset automatic driving mode conditions, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle; or,
  • the second prompt information for entering the automatic driving mode is output, and after receiving the confirmation feedback information for the second prompt information or when no rejection feedback information is received within a preset time period, control the vehicle to enter an autonomous driving preparation state and configure the vehicle for autonomous driving;
  • the vehicle When the vehicle completes the automatic driving configuration, the vehicle enters the automatic driving mode.
  • the preset automatic driving conditions include highway navigation driving conditions and cruise assisted driving conditions;
  • the state switching module is also used to:
  • the vehicle If the vehicle satisfies the cruise-assisted driving condition and does not satisfy the highway navigation driving condition, the vehicle is configured for cruise-assisted driving.
  • a storage medium on which a computer program is stored.
  • the program is executed by a processor, the above-mentioned switching method of the automatic driving function is implemented.
  • a vehicle including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor.
  • the processor executes the program, it implements the above-mentioned automatic driving function. switching method.
  • this application provides a method, device, storage medium and vehicle for switching automatic driving functions.
  • the vehicle When the vehicle is in the automatic driving state of the first automatic driving mode, the vehicle automatically performs automatic driving based on the first automatic driving mode.
  • Driving planning and automatic driving control based on the planned first automatic driving data, and automatic driving planning for the vehicle in the second automatic driving mode to obtain the second automatic driving data, when the vehicle monitoring information of the vehicle is recognized to meet the preset automatic driving
  • the vehicle is controlled to enter the second automatic driving mode, and the vehicle is controlled to perform automatic driving in the second automatic driving mode based on the second automatic driving data, which improves the efficiency of the vehicle in completing automatic driving function switching.
  • Figure 1 shows a schematic flowchart of a method for switching an automatic driving function provided by an embodiment of the present application
  • Figure 2 shows a schematic diagram of mode downgrade and mode upgrade provided by the embodiment of the present application
  • FIG. 3 shows a schematic flowchart of another automatic driving function switching method provided by an embodiment of the present application.
  • Figure 4 shows a schematic flow chart of a vehicle entering an autonomous driving mode according to an embodiment of the present application
  • Figure 5 shows a schematic diagram of the state transition relationship of the vehicle provided by the embodiment of the present application.
  • Figure 6 shows a schematic flowchart of vehicle configuration in the preprocessing state provided by the embodiment of the present application
  • Figure 7 shows a schematic diagram of the automatic function standby state of the vehicle provided by the embodiment of the present application.
  • FIG. 8 shows a schematic structural diagram of an automatic driving function switching device provided by an embodiment of the present application.
  • a method for switching the automatic driving function includes:
  • Step 101 When the vehicle is in the autonomous driving state of the first autonomous driving mode, perform automatic driving planning on the vehicle based on the first automatic driving mode and perform automatic driving control according to the planned first automatic driving data, and The second automatic driving mode performs automatic driving planning on the vehicle to obtain second automatic driving data.
  • autonomous driving planning is performed on the vehicle based on the second autonomous driving mode. Specifically, perform automatic driving planning on the vehicle based on the first automatic driving mode to obtain the first automatic driving data, and perform automatic driving control according to the planned first automatic driving data. At the same time, the vehicle is automatically driven in the second automatic driving mode. Plan to obtain the second automatic driving data. In the first automatic driving mode of the vehicle, automatic driving control of the vehicle is only based on the first automatic driving data. The second automatic driving data does not participate in the automatic driving control of the vehicle.
  • the second self-driving data calculated at the same time is to enable the vehicle to quickly respond to the switch of self-driving modes.
  • the first automatic driving mode can be one of HNP (Highway Navigation Pilot) or CP (Cruise CP, cruise assisted driving), while the second automatic driving mode can be the other one of HNP or CP.
  • the vehicle can switch between HNP and CP autonomous driving modes according to specific driving conditions, achieving reasonable and flexible scheduling of different autonomous driving modes for different vehicle driving scenarios, so that The vehicle always maintains the best autonomous driving status while driving safely and stably.
  • Step 102 When it is recognized that the vehicle monitoring information of the vehicle meets the preset automatic driving mode switching conditions, control the vehicle to enter the second automatic driving mode, and control the vehicle in the second automatic driving mode according to the second automatic driving data. Automatic driving is performed in the second automatic driving mode.
  • the vehicle information is monitored in real time through the vehicle's sensors and other equipment to obtain the vehicle monitoring information.
  • the vehicle is controlled to enter second automatic driving mode, and control the vehicle to perform automatic driving in the second automatic driving mode according to the second automatic driving data obtained in step 101.
  • the vehicle monitoring information meets the preset automatic driving mode switching conditions, based on the second automatic driving data corresponding to the second automatic driving mode calculated when the vehicle is controlled in the first automatic driving mode, it can be quickly
  • the currently running first automatic driving mode is switched to the second automatic driving mode. That is, when the vehicle is in the first automatic driving mode, the automatic driving planning of the vehicle has been carried out in advance according to the second automatic driving mode, thereby obtaining the second automatic driving data. Therefore, when the vehicle needs to switch to the second automatic driving mode, The vehicle can then be controlled to perform automatic driving in the second automatic driving mode according to the obtained second automatic driving data, so that when the vehicle switches to the automatic driving mode, it does not need to wait for the preliminary planning calculation time of the second automatic driving mode.
  • Switching to automatic driving in the second automatic driving mode realizes rapid switching between the two automatic driving modes and does not require manual operation by the user.
  • the adaptive switching of the automatic driving mode can be realized without the user's perception, which avoids The current vehicle driving conditions do not meet the requirements of the user-selected autonomous driving mode, which helps to improve driving efficiency and driving stability.
  • step 102 further includes: performing automatic driving planning on the vehicle in the first automatic driving mode, and obtaining third automatic driving data.
  • the first autonomous driving mode performs autonomous driving planning on the vehicle to obtain the third autonomous driving data. So that when the preset automatic driving mode switching conditions are met again, the current second automatic driving mode can be quickly switched to the first automatic driving mode based on the obtained third automatic driving data, which improves the efficiency of the vehicle in completing automatic driving function switching. .
  • the vehicle when the vehicle is in the autonomous driving state of the first autonomous driving mode, the vehicle is planned and controlled for autonomous driving based on the first autonomous driving mode, and at the same time, the vehicle is automatically driven in the second autonomous driving mode. Plan to obtain the second automatic driving data.
  • the vehicle monitoring information meets the preset automatic driving mode switching conditions, control the vehicle to enter the second automatic driving mode, and control the vehicle to operate in the second automatic driving mode based on the second automatic driving data.
  • Autopilot This application automatically determines whether the preset automatic driving mode switching conditions are met based on the vehicle's vehicle monitoring information, and automatically switches to the second automatic driving mode when the switching conditions are met, achieving reasonable and flexible scheduling of different vehicles for different driving scenarios.
  • the automatic driving mode enables the vehicle to always maintain the best automatic driving state under safe and stable driving conditions, improves the efficiency of the vehicle in completing automatic driving function switching, and also controls the vehicle in the first automatic driving mode. Calculate the automatic driving data corresponding to the second automatic driving mode, thereby enabling rapid switching of the automatic driving mode.
  • the second automatic driving mode is a cruise assisted driving mode
  • the preset automatic driving mode switching condition is the current
  • the vehicle monitoring information does not meet the highway navigation driving conditions and meets the cruise assisted driving conditions
  • the first automatic driving mode is cruise assisted driving
  • the second automatic driving mode is highway navigation driving
  • the preset automatic driving mode switches The condition is that the current vehicle monitoring information meets the highway navigation driving conditions.
  • the automatic driving mode of the vehicle includes the highway navigation driving mode HNP and the cruise assisted driving mode CP.
  • the automatic driving state of the vehicle can be between the highway navigation driving mode HNP and the cruise assisted driving mode CP.
  • Adaptive switching, among which, cruise assisted driving CP can include ACC (Adaptive Cruise Control, adaptive cruise control), LCC (Lane Centering Control, lane centering control), ILC (Interactive Lane Change, interactive lane change).
  • ACC Adaptive Cruise Control, adaptive cruise control
  • LCC Lane Centering Control
  • ILC Interactive Lane Change, interactive lane change.
  • the vehicle trajectory planned according to the activated automatic driving mode is immediately output at the normal frequency, while the other automatic driving mode is in a dormant state, and frequency reduction planning is performed in the dormant state.
  • the automatic driving state can realize the related processing of vehicle acceleration, deceleration and vehicle lane change.
  • the vehicle switches from the HNP mode to the CP mode to the automatic driving mode for mode degradation, and the vehicle switches from the CP mode to the HNP mode to the automatic driving mode for mode upgrade, as shown in Figure 2.
  • Mode downgrade may include map ODD failure, vehicle positioning not on the map road, and meeting the preset automatic driving mode switching conditions and satisfying the conditions for entering CP.
  • Mode upgrade may include meeting the conditions for entering HNP and meeting the preset automatic driving mode switching conditions, in a
  • the preset automatic driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving conditions and meets the cruise assisted driving.
  • Driving conditions when the first automatic driving mode is cruise assisted driving and the second automatic driving mode is highway navigation driving, the preset automatic driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving conditions.
  • the highway navigation driving conditions include the vehicle's first steering wheel offset angle range, first starting speed range, first longitudinal acceleration range, vehicle not crossing the line, navigation path calculation successful and in navigation state, and The vehicle is within the map range that meets the preset conditions;
  • the cruise assisted driving conditions include the second steering wheel offset angle range, the second starting speed range, the second longitudinal acceleration range, the lane line meets the preset lane line conditions, and the vehicle is not pressure line, and the relative angle range between the vehicle's current driving direction and the reference driving direction planned based on the cruise assist driving mode.
  • the highway navigation driving conditions include the first steering wheel deflection angle range of the vehicle, for example, the steering wheel deflection angle is less than 30 degrees, the first starting speed range, for example, the starting speed range of 30km/h ⁇ 130km/h, the first longitudinal direction
  • the acceleration range is, for example, the longitudinal acceleration is less than 0.3*g, the vehicle is not crossing the line, the navigation path calculation is successful and in the navigation state, and the vehicle is within the map range that meets the preset conditions.
  • the width of the road where the vehicle is driving meets the preset width standard. Included in meeting highway navigation driving conditions.
  • the cruise assist driving conditions include a second steering wheel deflection angle range such as a steering wheel deflection angle less than 15 degrees, a second starting speed range such as a starting speed range of 30 km/h to 120 km/h, and a second longitudinal acceleration range such as a longitudinal acceleration less than 0.3 *g, the lane line meets the preset lane line conditions, the vehicle does not cross the line, and the relative angle range between the vehicle's current driving direction and the reference driving direction planned based on the cruise assist driving mode, etc.
  • a second steering wheel deflection angle range such as a steering wheel deflection angle less than 15 degrees
  • a second starting speed range such as a starting speed range of 30 km/h to 120 km/h
  • a second longitudinal acceleration range such as a longitudinal acceleration less than 0.3 *g
  • the method includes:
  • Step 201 When the vehicle is in the automatic driving state of the first automatic driving mode, perform automatic driving planning for the first automatic driving mode on the vehicle based on the preset first planning frequency corresponding to the first automatic driving mode, And perform automatic driving control based on the latest planned automatic driving data.
  • Step 202 Based on the preset second frequency reduction frequency corresponding to the second automatic driving mode, perform automatic driving planning for the second automatic driving mode on the vehicle to obtain second automatic driving data.
  • the preset second planning frequency is greater than the preset second frequency reduction frequency.
  • the autonomous driving planning of the first autonomous driving mode is performed on the vehicle based on the preset first planning frequency corresponding to the first autonomous driving mode, and based on The latest and first autonomous driving data planned are used for autonomous driving control.
  • automatic driving planning of the first automatic driving mode is performed on the vehicle by presetting the first planning frequency, thereby realizing automatic driving control of the vehicle.
  • Step 203 When it is recognized that the vehicle monitoring information of the vehicle satisfies the preset automatic driving mode switching condition, control the vehicle to enter the second automatic driving mode, and control the vehicle to enter the second automatic driving mode based on the preset third automatic driving mode corresponding to the second automatic driving mode.
  • the second planning frequency performs automatic driving planning for the second automatic driving mode on the vehicle, and performs automatic driving control based on the latest planned second automatic driving data.
  • the vehicle when the vehicle monitoring information of the vehicle is recognized to meet the preset automatic driving mode switching conditions, the vehicle is controlled to enter the second automatic driving mode.
  • the vehicle In order to ensure quick mode switching, the vehicle is first planned according to the last plan before the automatic driving mode switching. Carry out vehicle control based on the second automatic driving data, and then perform automatic driving control on the vehicle at the normal frequency (that is, the preset second planned frequency) in the second automatic driving mode of the vehicle. After each second automatic driving data planning, the vehicle is controlled according to the normal frequency (that is, the preset second planned frequency).
  • the latest second autonomous driving data is used for real-time autonomous driving correction, allowing the vehicle to achieve autonomous driving in the second autonomous driving mode.
  • Step 204 Based on the preset first frequency reduction frequency corresponding to the first automatic driving mode, perform automatic driving planning for the first automatic driving mode on the vehicle to obtain third automatic driving data.
  • the preset first planning frequency is greater than the preset first frequency reduction frequency.
  • the vehicle in order to ensure rapid switching of the next automatic driving mode, in the second automatic driving mode of the vehicle, the vehicle performs the first automatic driving based on the preset first frequency reduction frequency corresponding to the first automatic driving mode. Autonomous driving planning of the mode to obtain the third autonomous driving data. Therefore, after the vehicle switches from the initial first automatic driving mode to the second automatic driving mode, automatic driving planning is performed for the first automatic driving mode before the mode switch by presetting the first frequency reduction frequency, and then the second automatic driving mode is obtained.
  • Three automatic driving data are used to quickly switch to the first automatic driving mode when the vehicle's vehicle monitoring information once again meets the preset automatic driving mode switching conditions, which improves the efficiency of the vehicle in completing automatic driving function switching.
  • the automatic driving state of the vehicle optionally, it also includes: when it is recognized that the vehicle monitoring information of the vehicle does not meet the preset automatic driving conditions, outputting a first prompt to exit the automatic driving mode. information, and enter the automatic function standby state of the vehicle; when the user's operation data for the vehicle is received and the preset automatic operation data matches, the vehicle enters the automatic function standby state or enters the manual mode of the vehicle. control status.
  • the vehicle monitoring information of the vehicle does not meet the preset automatic driving conditions
  • the first prompt information to exit the automatic driving mode is output, and the vehicle enters the automatic function standby state.
  • the operation data matches the preset automatic operation data
  • the vehicle enters the vehicle's automatic function standby state or enters the vehicle's manual control state.
  • the preset automatic operation data can include the software switch being turned off, the user taking over the steering wheel, the user stepping on the brakes, the vehicle detecting a line crossing operation when the vehicle is in a non-lane changing scenario, the road the vehicle is driving on is too narrow, etc.
  • the autonomous driving planning of the first autonomous driving mode is performed on the vehicle by presetting the first planning frequency and then the autonomous driving control is performed. Preset the second frequency reduction frequency to perform automatic driving planning for the second automatic driving mode and obtain the second automatic driving data.
  • the vehicle meets the preset automatic driving mode switching conditions and enters the second automatic driving mode, the vehicle performs automatic driving planning for the second automatic driving mode through the preset second planning frequency and performs automatic driving based on the planned latest second automatic driving data.
  • Driving control while performing automatic driving planning for the first automatic driving mode of the vehicle according to the preset first frequency reduction frequency, and obtaining third automatic driving data. It achieves reasonable and flexible scheduling of different automatic driving modes for different driving scenarios, improving the efficiency of the vehicle in completing automatic driving function switching.
  • the autonomous driving mode of the vehicle is entered through the following methods, as shown in Figure 4, including:
  • Step 301 In response to a vehicle start signal, control the vehicle to enter a manual control state.
  • the vehicle status includes a manual control status and an automatic function status. After the driver starts the vehicle, he immediately controls the vehicle to enter the manual control state in response to the vehicle start signal.
  • the automatic function state includes the automatic driving state.
  • the driver can initiate a trigger to enter the automatic driving state by moving the vehicle's shift lever, clicking on the screen button or key, and take over the steering wheel, apply the brakes or Other preset ways to exit the autopilot state.
  • Step 302 Receive an automatic function entry instruction and control the vehicle to enter an automatic function standby state.
  • the automatic function entry instruction is executed when the received user biometric information matches the preset biometric information and/or when the received user biometric information matches the preset biometric information. Generated when the user operation data matches the preset automatic operation data.
  • the automatic function state also includes an automatic function standby state.
  • the vehicle After receiving the automatic function entry instruction, the vehicle is first controlled to enter the automatic function standby state.
  • the automatic function entry instruction matches the received user biometric information with the preset biometric information. And/or generated when the received user operation data matches the preset automatic operation data.
  • the user can indicate the automatic function status through voice input, fingerprint input, lever operation, etc.
  • the default initial state when the vehicle enters the automatic function state from the manual state is the automatic function standby state.
  • the automatic function state includes automatic function standby state, preprocessing state and automatic driving state.
  • the automatic driving state includes the CP state and the HNP state.
  • the vehicle performs automatic driving in the CP mode in the CP state, and performs automatic driving in the HNP mode in the HNP state.
  • the automatic function standby state is switched to any automatic driving state through the preprocessing state, and the preprocessing state is also used when switching between different automatic driving states.
  • the preprocessing state the vehicle configuration to the automatic driving state is completed. For example, when preparing to switch to the CP state, the vehicle configuration in the CP state is performed in the preprocessing state.
  • the preprocessing state functional message interaction with the relevant algorithm modules of the vehicle system can be realized to complete a series of preparations before entering the autonomous driving state. Through the preparation and judgment of the system state, the stability of the vehicle system and driving safety can be ensured. .
  • the functions implemented by the preprocessing state can include: setting the operating mode, switching planning output, setting the functional mode and setting the automatic enable, etc., as shown in Figure 6.
  • the operating mode is set, for example: notifying map, positioning, sensing, prediction, planning, control and other algorithm modules to start running (usually the mode is set to HIGHWAY).
  • the operating mode includes HIGHWAY, PARKING, etc., that is, high speed and parking.
  • Setting functional modes for example: frequency control operation in the planning algorithm, controlling the vehicle to be set to driving mode (used to distinguish driving mode and parking mode), positioning operation to record status, prediction operation to switch models, functional modes include HNP and CP, mode switching corresponds to the switching between HNP and CP in functional mode.
  • setting automatic enablement is used to start controlling the vehicle based on the planned output, perform related operations on the wire-controlled chassis in the vehicle system, set the driving speed, set the time interval, and set the driving style (including aggressive, conventional, conservative, etc.), and the above settings are all Need to wait for the status to return.
  • the user can send a driving style setting request to the vehicle, and the vehicle can then set the time interval and then set the driving style.
  • the automatic function standby state includes empty standby state, CP standby state and HNP standby state that can be switched arbitrarily among each other.
  • the empty standby state is the default state for entering the automatic function state. After detecting that HNP automatic driving has been satisfied, It enters the HNP standby state when the conditions are met, and enters the CP standby state when it is detected that the HNP automatic driving conditions are not met but the CP automatic driving conditions are met.
  • Step 303 If the user's automatic driving instruction is received and the vehicle is recognized to meet the preset automatic driving mode conditions, the vehicle is controlled to enter an automatic driving preparation state and the vehicle is configured for automatic driving.
  • the vehicle is controlled to enter the automatic driving preparation state, and Configure the vehicle for autonomous driving.
  • Step 304 If it is recognized that the vehicle meets the preset automatic driving conditions and does not receive the user's automatic driving instruction, output the second prompt information to enter the automatic driving mode, and after receiving the second prompt information, When the feedback information is confirmed or when the rejection feedback information is not received within a preset time period, the vehicle is controlled to enter an automatic driving preparation state and the vehicle is configured for automatic driving.
  • the vehicle is controlled to enter the autonomous driving preparation state and the vehicle is configured for autonomous driving.
  • the driver when the driver is driving the vehicle, if the vehicle meets the preset automatic driving conditions, but the driver is not aware of the current road conditions, it can perform automatic driving. That is, the vehicle does not receive any information at this time.
  • the vehicle can output a second prompt message to enter the automatic driving mode to prompt the user whether to turn on the automatic driving mode. If the user clicks to confirm or does not click to reject within a preset time period, such as 5 minutes, then The vehicle is then controlled to enter the autonomous driving preparation state. In this application scenario, it can prevent the user from neglecting to turn on the autonomous driving mode due to focusing on traffic driving.
  • the preset automatic driving conditions include highway navigation driving conditions and cruise assisted driving conditions.
  • the vehicle for automatic driving in step 304 optionally, if the vehicle meets the highway navigation driving conditions , then perform highway navigation driving configuration on the vehicle; if the vehicle meets the cruise assisted driving condition and does not meet the highway navigation driving condition, perform cruise assisted driving configuration on the vehicle.
  • the preset automatic driving conditions include highway navigation driving conditions and cruise assisted driving conditions.
  • the vehicle When configuring the vehicle for automatic driving, if the vehicle satisfies the highway navigation driving conditions, then perform highway navigation driving configuration on the vehicle. If the vehicle satisfies the highway navigation driving conditions, If the cruise-assisted driving conditions are met and the highway navigation driving conditions are not met, the vehicle will be configured with cruise-assisted driving.
  • Step 305 When the vehicle completes the automatic driving configuration, the vehicle enters the automatic driving mode.
  • the vehicle completes the autonomous driving configuration, it enters the vehicle's autonomous driving mode.
  • the vehicle in response to the vehicle start signal, the vehicle is controlled to enter the manual control state and the vehicle is controlled to enter the automatic function standby state according to the automatic function entry instruction. If the user's automatic driving instruction is received and the vehicle is recognized to meet the predetermined Assuming the conditions of the automatic driving mode, the vehicle is controlled to enter the automatic driving preparation state and the vehicle is configured for automatic driving. If it is recognized that the vehicle meets the preset automatic driving conditions and does not receive the user's automatic driving instruction, then the second prompt information for entering the automatic driving mode is output, and when the confirmation feedback information for the second prompt information is received or the predetermined When no rejection feedback information is received within the set time, the vehicle is controlled to enter the autonomous driving preparation state and the vehicle is configured for autonomous driving. When the vehicle completes the automatic driving configuration, entering the automatic driving mode of the vehicle can prevent the user from neglecting to turn on the automatic driving mode due to focusing on traffic driving.
  • an embodiment of the present application provides an automatic driving function switching device, as shown in Figure 8.
  • the device includes:
  • An automatic driving control module configured to perform automatic driving planning for the vehicle based on the first automatic driving mode and perform automatic driving according to the planned first automatic driving data when the vehicle is in the automatic driving state of the first automatic driving mode. Control, and perform automatic driving planning on the vehicle in the second automatic driving mode to obtain the second automatic driving data;
  • a mode switching module configured to control the vehicle to enter the second automatic driving mode when it is recognized that the vehicle monitoring information of the vehicle satisfies the preset automatic driving mode switching conditions, and to control the vehicle according to the second automatic driving data.
  • the vehicle performs automatic driving in the second automatic driving mode.
  • the second automatic driving mode is cruise assisted driving
  • the preset automatic driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving conditions. And meet the cruise assisted driving conditions
  • the second automatic driving mode is highway navigation driving
  • the preset automatic driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving conditions.
  • the automatic driving control module is also used to:
  • the automatic driving control module is also used to:
  • the automatic driving control module is also used to:
  • the highway navigation driving conditions include the vehicle's first steering wheel offset angle range, first starting speed range, first longitudinal acceleration range, vehicle not crossing the line, navigation path calculation successful and in the navigation state, and The vehicle is within the map range that meets the preset conditions;
  • the cruise assist driving conditions include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane line meets the preset lane line conditions, the vehicle is not crossing the lane, and the vehicle's current driving direction is consistent with the cruise-based driving direction.
  • the relative angle range between the reference driving directions for assisted driving mode planning include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane line meets the preset lane line conditions, the vehicle is not crossing the lane, and the vehicle's current driving direction is consistent with the cruise-based driving direction.
  • the device further includes: a state switching module, used for:
  • the vehicle When the received user operation data on the vehicle matches the preset automatic deactivation operation data, the vehicle enters the automatic function standby state or enters the manual control state of the vehicle.
  • the state switching module is also used to:
  • control the vehicle If the user's automatic driving instruction is received and the vehicle is recognized to meet the preset automatic driving mode conditions, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle; or,
  • the second prompt information for entering the automatic driving mode is output, and the confirmation feedback information for the second prompt information is received. or when no rejection feedback information is received within a preset time period, control the vehicle to enter an autonomous driving preparation state, and configure the vehicle for autonomous driving;
  • the vehicle When the vehicle completes the automatic driving configuration, the vehicle enters the automatic driving mode.
  • the preset automatic driving conditions include highway navigation driving conditions and cruise assisted driving conditions;
  • the state switching module is also used to:
  • the vehicle If the vehicle satisfies the cruise-assisted driving condition and does not satisfy the highway navigation driving condition, the vehicle is configured for cruise-assisted driving.
  • embodiments of the present application also provide a storage medium on which a computer program is stored.
  • the computer program is executed by the processor, the above described Figure 1 is implemented. , the switching method of the automatic driving function shown in Figure 3 and Figure 4.
  • the technical solution of this application can be embodied in the form of a software product.
  • the software product can be stored in a non-volatile storage medium (can be a CD-ROM, U disk, mobile hard disk, etc.), including several
  • the instructions are used to cause a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the method described in each implementation scenario of this application.
  • embodiments of the present application also provide a computer device, which can be a personal computer, Servers, network equipment, etc.
  • the computer equipment includes storage media and a processor; the storage medium is used to store computer programs; the processor is used to execute the computer program to realize the above-mentioned automatic driving as shown in Figure 1, Figure 3 and Figure 4 Function switching method.
  • the computer device may also include a user interface, a network interface, a camera, a radio frequency (Radio Frequency, RF) circuit, a sensor, an audio circuit, a WI-FI module, etc.
  • the user interface may include a display screen (Display), an input unit such as a keyboard (Keyboard), etc.
  • the optional user interface may also include a USB interface, a card reader interface, etc.
  • Optional network interfaces may include standard wired interfaces, wireless interfaces (such as Bluetooth interfaces, WI-FI interfaces), etc.
  • embodiments of the present application provide a vehicle, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor.
  • the processor executes the program, the above-mentioned automatic driving is realized. Function switching method.
  • a computer device does not constitute a limitation on the computer device, and may include more or less components, or combine certain components, or arrange different components.
  • the storage medium may also include an operating system and a network communication module.
  • An operating system is a program that manages and saves the hardware and software resources of a computer device and supports the operation of information processing programs and other software and/or programs.
  • the network communication module is used to implement communication between components within the storage medium, as well as communication with other hardware and software in the physical device.
  • the present application can be implemented with the help of software plus the necessary general hardware platform, or can also be implemented through hardware.
  • the vehicle In the driving state, perform automatic driving planning on the vehicle based on the first automatic driving mode and perform automatic driving control according to the planned first automatic driving data, and perform automatic driving planning on the vehicle in the second automatic driving mode to obtain the second automatic driving data
  • the vehicle is controlled to enter the second automatic driving mode, and the vehicle is controlled to perform automatic driving in the second automatic driving mode based on the second automatic driving data.
  • the driving mode enables the vehicle to always maintain the best automatic driving state under safe and stable driving conditions, and improves the efficiency of the vehicle in completing automatic driving function switching.
  • the accompanying drawing is only a schematic diagram of a preferred implementation scenario, and the modules or processes in the accompanying drawing are not necessarily necessary for implementing the present application.
  • the modules in the devices in the implementation scenario can be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or can be correspondingly changed and located in one or more devices different from the implementation scenario.
  • the modules of the above implementation scenarios can be combined into one module or further split into multiple sub-modules.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Sont divulgués un procédé et un appareil de commutation de fonction de conduite automatique, un support de stockage et un véhicule. Le procédé comprend les étapes suivantes : lorsqu'un véhicule est dans un état de conduite automatique d'un premier mode de conduite automatique, effectuer une planification de conduite automatique sur le véhicule sur la base du premier mode de conduite automatique, effectuer une commande de conduite automatique en fonction de premières données de conduite automatique planifiée, et effectuer une planification de conduite automatique sur le véhicule dans un second mode de conduite automatique pour obtenir des secondes données de conduite automatique (101) ; et lorsqu'il est identifié que des informations de surveillance de véhicule du véhicule satisfont une condition de commutation de mode de conduite automatique prédéfinie, commander le véhicule pour entrer dans le second mode de conduite automatique, et selon les secondes données de conduite automatique, commander le véhicule pour effectuer une conduite automatique dans le second mode de conduite automatique (102). Le procédé améliore l'efficacité de commutation de fonction de conduite automatique de véhicules.
PCT/CN2022/122689 2022-09-16 2022-09-29 Procédé et appareil de commutation de fonction de conduite automatique, support de stockage et véhicule WO2024055368A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190092341A1 (en) * 2017-09-27 2019-03-28 Waymo Llc Multiple driving modes for autonomous vehicles
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
CN112654549A (zh) * 2020-07-23 2021-04-13 华为技术有限公司 控制车辆驾驶模式切换的方法和装置
CN114056346A (zh) * 2020-07-31 2022-02-18 华为技术有限公司 一种自动驾驶行车控制方法及装置
CN114212109A (zh) * 2021-12-31 2022-03-22 广州小鹏自动驾驶科技有限公司 一种自动驾驶控制方法、装置、车辆和存储介质

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190092341A1 (en) * 2017-09-27 2019-03-28 Waymo Llc Multiple driving modes for autonomous vehicles
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
CN112654549A (zh) * 2020-07-23 2021-04-13 华为技术有限公司 控制车辆驾驶模式切换的方法和装置
CN114056346A (zh) * 2020-07-31 2022-02-18 华为技术有限公司 一种自动驾驶行车控制方法及装置
CN114212109A (zh) * 2021-12-31 2022-03-22 广州小鹏自动驾驶科技有限公司 一种自动驾驶控制方法、装置、车辆和存储介质

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