CN110834637B - Driving mode switching method and system, vehicle and storage medium - Google Patents
Driving mode switching method and system, vehicle and storage medium Download PDFInfo
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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
- 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
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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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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Abstract
The embodiment of the invention discloses a method and a system for switching driving modes, a vehicle and a storage medium. The method comprises the following steps: the method comprises the steps of obtaining radar data information sent by an on-board radar on a current vehicle and road images collected by an on-board camera, determining the traffic condition of the current road according to the radar data information and the road images, and controlling the driving mode switching of the current vehicle according to the traffic condition by combining a first current state of a high-level driving subsystem on the current vehicle and a second current state of a congested driving subsystem. Compared with the prior art, the embodiment of the invention automatically controls the switching of the driving modes of the current vehicle according to the traffic condition of the current road, the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congested driving subsystem, thereby realizing smooth switching among different driving modes and meeting the driving requirements.
Description
Technical Field
The embodiment of the invention relates to the technical field of automatic driving, in particular to a method and a system for switching driving modes, a vehicle and a storage medium.
Background
At present, the related technologies of automatic driving are rapidly developed, but the differences are also large, and according to the difference of automatic driving functions, the automatic driving systems can be classified into a level L1, a level L2, a level L3 and the like, wherein the automatic driving systems of the level L1 and the level L2 are driving assistance systems, and a driver is required to monitor the conditions of roads, vehicles, traffic and the like in real time. The automatic driving system of the L3 level does not need a driver to monitor the conditions of roads, vehicles, traffic and the like in real time.
Taking a vehicle equipped with an automatic driving system of level L3 as an example, an automatic driving system of level L3 provides two driving modes, High Way Pilot (HWP) and congestion Pilot (TJP). In the prior art, the two modes are switched manually by a driver, and the smoothness of the switching cannot be ensured, so that the driving of the driver is influenced.
Disclosure of Invention
The embodiment of the invention provides a method and a system for switching driving modes, a vehicle and a storage medium, which are used for realizing smooth switching of different driving modes and meeting driving requirements.
In a first aspect, an embodiment of the present invention provides a method for switching a driving mode, including:
acquiring radar data information sent by a vehicle-mounted radar on a current vehicle and a road image acquired by a vehicle-mounted camera;
determining the traffic condition of the current road according to the radar data information and the road image;
and controlling the driving mode switching of the current vehicle according to the traffic condition by combining the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congestion driving subsystem.
In a second aspect, an embodiment of the present invention further provides a device for switching a driving mode, where the device includes:
the information acquisition module is used for acquiring radar data information sent by a vehicle-mounted radar on a current vehicle and a road image acquired by a vehicle-mounted camera;
the traffic condition determining module is used for determining the traffic condition of the current road according to the radar data information and the road image;
and the control module is used for controlling the switching of the driving mode of the current vehicle according to the traffic condition by combining the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congestion driving subsystem.
In a third aspect, an embodiment of the present invention further provides a vehicle, including:
one or more controllers;
the vehicle-mounted radar is used for detecting the obstacle information of the road where the current vehicle is located;
the vehicle-mounted camera is used for acquiring a road image of a road where the current vehicle is located;
the high-speed driving subsystem is used for enabling the current vehicle to run in a high-speed automatic driving mode when the road where the current vehicle is located is not congested;
the congestion driving subsystem is used for enabling the current vehicle to run in a congestion automatic driving mode when the road where the current vehicle is located is congested;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more controllers, cause the one or more controllers to implement the method of switching driving modes as described in the first aspect.
In a fourth aspect, an embodiment of the present invention further provides a storage medium, on which a computer program is stored, which when executed by a controller, implements the method for switching the driving mode according to the first aspect.
The embodiment of the invention provides a method and a system for switching driving modes, a vehicle and a storage medium, wherein the method comprises the steps of obtaining radar data information sent by a vehicle-mounted radar on the current vehicle and road images collected by a vehicle-mounted camera, determining the traffic condition of the current road according to the radar data information and the road images, and controlling the switching of the driving modes of the current vehicle according to the traffic condition by combining a first current state of a high-level driving subsystem on the current vehicle and a second current state of a congested driving subsystem. Compared with the prior art, the embodiment of the invention automatically controls the switching of the driving modes of the current vehicle according to the traffic condition of the current road, the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congested driving subsystem, thereby realizing smooth switching among different driving modes and meeting the driving requirements.
Drawings
Fig. 1 is a flowchart of a driving mode switching method according to an embodiment of the present invention;
fig. 2 is a flowchart of a driving mode switching method according to an embodiment of the present invention;
fig. 3 is a flowchart of state switching according to a second embodiment of the present invention;
fig. 4 is a structural diagram of a driving mode switching device according to a third embodiment of the present invention;
fig. 5 is a structural diagram of a vehicle according to a fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures. In addition, the embodiments and features of the embodiments may be combined with each other without conflict.
Example one
Fig. 1 is a flowchart of a driving mode switching method according to an embodiment of the present invention, where the embodiment is applicable to a case of switching a driving mode of a vehicle equipped with an advanced driving subsystem and a congested driving subsystem, and the method may be implemented by a driving mode switching device, which may be implemented by software and/or hardware, and may be integrated in the vehicle. Specifically, the method comprises the following steps:
and S110, acquiring radar data information sent by a vehicle-mounted radar on the current vehicle and a road image acquired by a vehicle-mounted camera.
The vehicle-mounted radar is installed on the current vehicle and used for monitoring information such as the running state of the front vehicle and the distance between the vehicle and the front vehicle, and the vehicle-mounted radar can be a laser radar and/or a millimeter wave radar, and the laser radar and/or the millimeter wave radar are installed in the front of the current vehicle, so that the information of the front vehicle of the current vehicle can be monitored, and the current vehicle can adjust the speed and the position in time according to the monitoring information. The radar data information is echo information which is transmitted by a vehicle-mounted radar to irradiate and receive a target, and a controller of the whole vehicle can determine the distance from the target to an electromagnetic wave transmitting point, the change rate of the distance, the direction, the height and other information according to the echo information, so that the distance between the target and the current vehicle and the running speed of the target can be determined. The vehicle-mounted camera is a device which is arranged on the current vehicle and is used for collecting road images, so that the current vehicle can determine the vehicle on the lane where the current vehicle is located and the vehicles on other lanes according to the road images collected by the vehicle-mounted camera.
And S120, determining the traffic condition of the current road according to the radar data information and the road image.
The traffic condition is the traffic condition of the current road, including congestion and non-congestion, and whether the current road is congested or not can be determined according to the radar data information and the road image. Specifically, the vehicles on each lane in the current vehicle setting range can be determined according to the road image, the running speeds of the vehicles on each lane and the distance between the vehicles and the current vehicle can be determined according to the radar data information, when the running speeds of each lane, each vehicle and the current vehicle meet the setting conditions, the traffic condition of the current road is determined to be congested, otherwise, the traffic condition of the current road is determined to be not congested, wherein the setting conditions can be set according to actual needs.
For example, the set condition may be that there is a vehicle ahead of the lane where the current vehicle is located, the running speed of the vehicle ahead and the following speed of the current vehicle are less than a set threshold value, and there is no passable lane in the adjacent lane, wherein the set threshold value may be set as required, and may be 40km/h, for example. When the running speed of the front vehicle and the following speed per hour of the current vehicle are both smaller than the set values, the fact that the front vehicle and the current vehicle in the lane run slowly is shown. The vehicle can also be arranged in front of the lane where the current vehicle is located, the running speed of the vehicle in front and the following speed of the current vehicle are less than the set threshold value, the passable lane is arranged in the adjacent lane, but the vehicle exists in the passable lane and the running speed of the vehicle is lower, so that the current vehicle can not accelerate even if the current vehicle can enter the adjacent lane because the running speed of the vehicle in front of the lane is lower. When the running speeds of the various lanes, the current vehicle and the vehicles on the other lanes meet the congestion condition, the traffic condition of the current road can be determined to be congested, otherwise, the traffic condition of the current road can be determined to be not congested. Optionally, the traffic condition of the current road may also be determined according to the display result of the navigation map, for example, when the display result of the navigation map is congested, the traffic condition of the current road is determined to be congested, and when the display result of the navigation map is not congested, the traffic condition of the current road is determined to be not congested.
And S130, controlling the driving mode switching of the current vehicle according to the traffic condition by combining the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congestion driving subsystem.
The advanced driving subsystem is installed on the current vehicle, and when the traffic condition of the road where the current vehicle is located is not congested, the current vehicle can be subjected to advanced automatic driving. The congestion driving subsystem is installed on the current vehicle, and can enable the current vehicle to carry out congestion automatic driving when the traffic condition of the road where the current vehicle is located is congestion. The advanced Driving subsystem and the congestion Driving subsystem are integrated in an advanced Automated Driving system (HAD) of the current vehicle.
The first current state is a state corresponding to the advanced driving subsystem at present, and the second current state is a state corresponding to the congestion driving subsystem at present. Optionally, the states of the advanced driving subsystem and the congested driving subsystem both include: the system comprises a standby state, an activatable state, an activated state and a fault state, wherein the first current state and the second current state are respectively one of four states. The standby state is an inactive state, the active state is an active but inactive state, and the fault state is a state when the advanced driving subsystem or the congested driving subsystem has a fault. The first current state and the second current state may be determined by the advanced driving subsystem and the congested driving subsystem, respectively, and when the advanced driving subsystem and the congested driving subsystem receive the traffic condition of the current road sent by the controller of the advanced automatic driving system, the advanced driving subsystem and the congested driving subsystem respectively feed back the first current state and the second current state to the controller of the advanced automatic driving system, so that the controller controls the switching of the current vehicle driving mode according to the first current state and the second current state. It should be noted that when the first current state and the second current state respectively correspond to the activatable state and the activated state or respectively correspond to the activated state and the activatable state, the automatic switching of the current vehicle driving mode may be controlled.
The driving mode is an operation mode corresponding to the current running of the vehicle, and may be, for example, an advanced automatic driving mode corresponding to an advanced driving subsystem, a congestion automatic driving mode corresponding to a congestion driving subsystem, a manual driving mode, and the like, where the advanced automatic driving mode and the congestion automatic driving mode are automatic driving modes. During actual driving, a driver can manually trigger the advanced automatic driving system to realize automatic switching between an advanced automatic driving mode and a congestion automatic driving mode, the automatic driving mode can be switched to a manual driving mode, and specific conditions can be selected according to actual needs. It should be noted that the advanced driving subsystem and the congested driving subsystem do not have a situation of controlling the current vehicle at the same time.
Taking the switching of the automatic driving mode as an example, the switching of the current driving mode of the vehicle may be controlled according to the traffic condition of the current road and the first current state and the second current state. For example, when the traffic condition of the current road is congestion, the first current state is an activated state, and the second current state is an activated state, the current vehicle may be controlled to switch from the advanced automatic driving mode to the congestion automatic driving mode. When the traffic condition of the current road is not congested, the first current state is an activatable state, and the second current state is an activated state, the current vehicle can be controlled to be switched from a congested automatic driving mode to a high-level automatic driving mode.
The embodiment of the invention provides a method for switching driving modes, which comprises the steps of obtaining radar data information sent by a vehicle-mounted radar on a current vehicle and road images collected by a vehicle-mounted camera, determining the traffic condition of the current road according to the radar data information and the road images, and controlling the switching of the driving modes of the current vehicle according to the traffic condition by combining a first current state of a high-level driving subsystem on the current vehicle and a second current state of a congested driving subsystem. Compared with the prior art, the embodiment of the invention automatically controls the switching of the driving modes of the current vehicle according to the traffic condition of the current road, the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congested driving subsystem, thereby realizing smooth switching among different driving modes and meeting the driving requirements.
Example two
Fig. 2 is a flowchart of a method for switching a driving mode according to an embodiment of the present invention, which is embodied on the basis of the above embodiment, and specifically, the method includes the following steps:
s210, radar data information sent by a vehicle-mounted radar on the current vehicle and a road image collected by a vehicle-mounted camera are obtained.
And S220, recognizing the road image, and determining the obstacle recognition result of the current vehicle in the set range of the lane and the passing condition of the adjacent lane.
The obstacle is an object in front of the current vehicle in the lane, mainly comprises pedestrians and other vehicles influencing the running of the current vehicle, the obstacle recognition result comprises that the obstacle exists in the set range in front of the current vehicle and the obstacle does not exist in the set range in front of the current vehicle, wherein the set range mainly depends on the range of the lane shot by the vehicle-mounted camera. The traffic conditions of the adjacent lanes comprise passable and impassable, and the adjacent lanes are considered as passable lanes when the current vehicle can drive into the adjacent lanes, and are impassable lanes otherwise. The embodiment does not limit the specific recognition method and process of the road image.
And S230, judging whether the obstacle identification result is that no obstacle exists, if so, executing S240, otherwise, executing S250.
The traffic condition of the current road can be preliminarily determined according to the obstacle identification result, for example, when the obstacle identification result shows that no obstacle exists, the lane is not congested, and the traffic condition of the current road can also be considered as not congested. When the obstacle recognition result shows that the obstacle exists, the passing condition of the adjacent lane needs to be further determined.
And S240, determining that the traffic condition of the current road is not congested.
In the actual driving process, if the traffic condition of the current lane or the adjacent lane is not congested, the traffic condition of the current road can be determined to be not congested.
And S250, judging whether the running speed of the obstacle and the following speed of the current vehicle are both smaller than a first speed threshold value or not and whether the traffic condition of the adjacent lane meets the congestion condition or not, if so, executing S260, and otherwise, executing S240.
When an obstacle exists in the lane, determining the running speed of the obstacle and the following speed of the current vehicle, and if the running speed of the obstacle and the following speed of the current vehicle are both smaller than a first speed threshold value, determining that the traffic condition of the lane is congestion, wherein the first speed threshold value can be set according to actual needs, and optionally, the first speed threshold value is 40 km/h. In order to prevent the judgment of the traffic condition from being influenced by the sudden change of the vehicle speed, the speed of the obstacle and the current vehicle can be considered in a set time period, and the set time period can be selected according to the actual situation, for example, when the running speed of the obstacle and the following speed of the current vehicle continue for less than 40km/h, the traffic condition of the lane is determined to be congested, wherein the running speed of the obstacle is determined according to the radar data information, and the embodiment does not limit the specific determination process. When the traffic condition of the lane is determined to be congestion, the traffic condition of the adjacent lane is further determined, and if the traffic condition of the adjacent lane meets the congestion condition, the traffic condition of the adjacent lane is also determined to be congestion, namely the traffic condition of the current road is congestion, wherein the congestion condition can be set as required.
Optionally, the congestion condition is: the adjacent lanes are non-passable lanes; alternatively, the adjacent lane is a passable lane and the running speed of the vehicle present in the adjacent lane is less than the second speed threshold. The non-passing state indicates that the traffic condition of the adjacent lane is congestion, the current vehicle cannot drive into the adjacent lane, or the adjacent lane is under construction or has other situations, and the vehicle is prohibited from driving on the lane. Passable means that the vehicle is allowed to travel in this lane, e.g. the current vehicle may travel into the adjacent lane. The second speed threshold may be the same as or different from the first speed threshold, and optionally, the second speed threshold is 50 km/h. That is, while the congestion of the current road is determined, if the adjacent lane is not accessible or the adjacent lane is accessible, but the running speed of the vehicle existing in the adjacent lane is less than the second speed threshold value for one minute, the traffic condition of the adjacent lane is determined to be congestion, so that the traffic condition of the current road can be determined to be congestion. And if the adjacent lane is a passable lane and the running speed of the vehicle in the adjacent lane is continuously greater than the second speed threshold value for one minute, determining that the traffic condition of the adjacent lane is not congested, so that the traffic condition of the current road can be determined to be not congested.
And S260, determining that the traffic condition of the current road is congestion.
And if the running speed of the obstacle and the following speed of the current vehicle are both smaller than the first speed threshold value and the traffic condition of the adjacent lane meets the congestion condition, determining that the traffic condition of the current road is congested.
And S270, when the traffic condition is congestion, the first current state meets a first set condition, and the second current state meets a second set condition, controlling the current vehicle to be switched from the advanced automatic driving mode to the congestion automatic driving mode.
The first setting condition and the second setting condition are conditions which should be met by the first current state and the second current state when the driving modes are switched, and the corresponding driving modes can be switched only if the first current state meets the first setting condition and the second current state meets the second setting condition, otherwise, the driving modes cannot be switched.
Optionally, S270 may include:
when the traffic condition is congestion, the first current state is an activated state, and the second current state is an activated state, generating a first switching instruction for switching from the advanced automatic driving mode to the congestion automatic driving mode;
and respectively sending the first switching instruction to the advanced driving subsystem and the congestion driving subsystem so that the advanced driving subsystem and the congestion driving subsystem realize the switching of the current vehicle from the advanced automatic driving mode to the congestion automatic driving mode according to the first switching instruction.
Specifically, the first current state is an activated state, which indicates that the driving mode of the current vehicle is the advanced automatic driving mode, when it is determined that the traffic condition is congested and the second current state is an activated state, the controller of the advanced automatic driving system generates a first switching instruction for switching the advanced automatic driving mode into the congested automatic driving mode, and sends the first switching instruction to the advanced driving subsystem and the congested driving subsystem respectively, the advanced driving subsystem quits working according to the received first switching instruction, and the congested driving subsystem adjusts the state of the congested driving subsystem and puts the congested driving subsystem into working according to the received first switching instruction, namely, the advanced automatic driving mode of the current vehicle is switched into the congested automatic driving mode. It should be noted that, when both the advanced driving subsystem and the congested driving subsystem are normal, only one of the advanced driving subsystem and the congested driving subsystem can be put into operation.
In addition, when the traffic condition of the current road is not congested, whether the first current state is an activatable state or not is determined, if yes, automatic driving is indicated, when a driver manually triggers the advanced driving subsystem, the current vehicle runs in an advanced automatic driving mode, when the traffic condition of the current road is determined to be congested and the second current state is a standby state in the running process, the current vehicle indicates that the switching from the advanced automatic driving mode to the congested automatic driving mode cannot be realized, at the moment, the advanced driving subsystem can be controlled to quit working, and if the second current state is an activatable state, the switching from the advanced automatic driving mode to the congested automatic driving mode can be realized.
Similarly, when the traffic condition of the current road is congestion, determining whether the second current state is an activatable state, if so, indicating that automatic driving can be performed, when a driver manually triggers the congestion driving subsystem, the current vehicle runs in the congestion automatic driving mode, and when the traffic condition of the current road is determined to be non-congestion and the first current state is a standby state, indicating that switching from the congestion automatic driving mode to the advanced automatic driving mode cannot be realized, at the moment, controlling the congestion driving subsystem to quit working, and if the first current state is the activatable state, switching from the congestion automatic driving mode to the advanced automatic driving mode can be realized. According to the embodiment of the invention, the driving mode of the current vehicle can be determined according to the specific conditions of the first current state and the second current state, various conditions are comprehensively considered, and the driving requirement is met.
It should be noted that, in the embodiment of the present invention, an advanced driving subsystem and a congested driving subsystem are installed in a current vehicle at the same time as an example, in practical application, only one of the subsystems may exist, and when only one subsystem exists, whether the subsystem is put into operation may be controlled according to needs.
Optionally, when only the advanced driving subsystem is installed, if the traffic condition of the current road is not congested and the current state of the advanced driving subsystem is an activatable state, the current vehicle may be driven in the advanced automatic driving mode by activating the advanced driving subsystem, and if the current state of the advanced driving subsystem is a standby state, the current vehicle cannot start the advanced automatic driving mode, that is, cannot perform automatic driving. When only the congestion driving subsystem is installed, if the traffic condition of the current road is congestion and the current state of the congestion driving subsystem is an activatable state, the current vehicle can be driven in the congestion automatic driving mode by activating the congestion driving subsystem, and similarly, if the current state of the congestion driving subsystem is a standby state, the current vehicle cannot start the congestion automatic driving mode, that is, cannot be driven automatically.
And S280, when the traffic condition is not congested, the first current state meets a third set condition and the second current state meets a fourth set condition, controlling the current vehicle to be switched from a congested automatic driving mode to a high-level automatic driving mode.
The third setting condition and the fourth setting condition are conditions that the first current state and the second current state should meet when the driving modes are switched, and the corresponding driving modes can be switched only if the first current state meets the third setting condition and the second current state meets the fourth setting condition, otherwise, the driving modes cannot be switched. Note that the driving mode switching corresponding to the third setting condition and the fourth setting condition switches the driving mode corresponding to the first setting condition and the second setting condition to two kinds of switching.
Optionally, S280 may include:
when the traffic condition is not congested, the first current state is an activatable state and the second current state is an activated state, generating a second switching instruction for switching from a congested automatic driving mode to a high-level automatic driving mode;
and respectively sending the second switching instruction to the advanced driving subsystem and the congestion driving subsystem so that the advanced driving subsystem and the congestion driving subsystem can realize the switching of the current vehicle from the congestion automatic driving mode to the advanced automatic driving mode according to the second switching instruction.
Optionally, the third setting condition is an activatable state, the fourth setting condition is an activated state, when the traffic condition of the current road is not congested, the first current state is the activatable state, and the second current state is the activated state, the controller of the advanced automatic driving system generates a second switching instruction for switching from the congested automatic driving mode to the advanced automatic driving mode, and sends the second switching instruction to the advanced driving subsystem and the congested driving subsystem respectively, the congested driving subsystem quits working according to the received second switching instruction, and the advanced driving subsystem starts working according to the received second switching instruction, so as to complete switching from the congested automatic driving mode to the advanced automatic driving mode. The specific switching process is similar to the switching process from the advanced automatic driving mode to the congestion automatic driving mode, and is not described herein again.
Next, a control situation of the current vehicle when the advanced driving subsystem and the congested driving subsystem correspond to different states is described through a specific state table. Illustratively, referring to table 1, table 1 is a control table for different states of the advanced driving subsystem and the congested driving subsystem. The HWP is a high-grade driving subsystem, and the TJP is a congestion driving subsystem.
TABLE 1 control tables for different states of advanced driving subsystem and congested driving subsystem
When the traffic condition of the current road is congestion, the first current state of the HWP is an active state, and the second current state of the TJP is an active state, the HWP may be switched from the state 2 to the state 1. When the traffic condition of the current road is not congested, the first current state of the HWP is an activated state, and the second current state of the TJP is an activated state, the state 1 may be switched to the state 2. The driving mode of the current vehicle corresponding to the state 1 is a congestion automatic driving mode, and the driving mode of the current vehicle corresponding to the state 2 is an advanced automatic driving mode. When both HWP and TJP are in the standby state, indicating that the advanced autopilot system is not activated, HWP and TJP are not currently available, state 9. When the high-level automatic driving system is activated, if TJP is in an activatable state and HWP is in a standby state, state 7 is entered, and automatic control is not currently performed, but TJP is in an activatable state. State 8 is similar to state 7. State 5 is similar to state 3. "X" indicates that this does not occur.
Exemplarily, referring to fig. 3, fig. 3 is a flowchart of a state switching according to a second embodiment of the present invention. If the current road traffic condition is not congested, it is determined whether the HWP can be activated, if so, it enters state 8, and if not, it enters state 9. After entering the state 8, if the driver manually triggers the advanced driving sub-driving system, and then entering the state 5, the current vehicle can run in the advanced automatic driving mode. And then judging whether TJP can be activated or not, if not, keeping in a state 5, and if so, entering a state 2. If the configuration switch of the high-level automatic driving system is closed by the driver in the driving process, namely the high-level automatic driving system quits working, the state 9 is returned, if the configuration switch is not closed, whether the switching condition is met or not is further determined, if the switching condition is met, the state 1 is switched, and if the switching condition is not met, an alarm is given to remind the driver that the HWP is about to quit working.
And if the traffic condition of the current road is congestion, determining whether TJP can be activated or not, if so, entering a state 7, and if not, entering a state 9. After entering the state 7, if the driver manually triggers the congestion driving sub-driving system, entering the state 3, the current vehicle can run in the congestion automatic driving mode. A determination is then made as to whether the HWP is enabled, and if not, remains in state 3, and if enabled, enters state 1. If the driver turns off the configuration switch of the advanced automatic driving system in the driving process, namely the advanced automatic driving system quits the work, the state 9 is returned, if the configuration switch is not turned off, whether the switching condition is met or not is further determined, if the switching condition is met, the state 2 is switched, and if the switching condition is not met, an alarm is given to remind the driver that TJP is about to quit the work.
In the driving mode switching method provided by the second embodiment of the invention, on the basis of the above embodiment, the traffic condition of the current road, the first current state of the advanced driving subsystem and the second current state of the congested driving subsystem are determined, and when the traffic condition, the first current state and the second current state meet corresponding conditions, the switching of the current driving mode of the vehicle is controlled, so that the smooth switching of the driving mode is realized. And the control condition of the current vehicle under the combination of various states of the advanced driving subsystem and the congestion driving subsystem is provided, the control of different combinations on the current vehicle is fully considered, and the driving requirement is met.
EXAMPLE III
Fig. 4 is a structural diagram of a driving mode switching device according to a third embodiment of the present invention, which can execute the driving mode switching method according to the third embodiment of the present invention, specifically, the device includes:
the information acquisition module 310 is used for acquiring radar data information sent by a vehicle-mounted radar on a current vehicle and a road image acquired by a vehicle-mounted camera;
a traffic condition determining module 320, configured to determine a traffic condition of a current road according to the radar data information and the road image;
and the control module 330 is configured to control the driving mode switching of the current vehicle according to the traffic condition in combination with a first current state of a higher-level driving subsystem on the current vehicle and a second current state of a congested driving subsystem.
The third embodiment of the invention provides a driving mode switching device, which determines the traffic condition of a current road by acquiring radar data information sent by a vehicle-mounted radar on a current vehicle and road images acquired by a vehicle-mounted camera according to the radar data information and the road images, and controls the driving mode switching of the current vehicle according to the traffic condition by combining a first current state of a high-level driving subsystem on the current vehicle and a second current state of a congested driving subsystem. Compared with the prior art, the embodiment of the invention automatically controls the switching of the driving modes of the current vehicle according to the traffic condition of the current road, the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congested driving subsystem, thereby realizing smooth switching among different driving modes and meeting the driving requirements.
On the basis of the above embodiment, the traffic condition determining module 320 includes:
the recognition unit is used for recognizing the road image and determining the obstacle recognition result of the current vehicle in the set range of the lane and the passing condition of the adjacent lane;
a first determining unit, configured to determine that the traffic condition of the current road is not congested if the obstacle identification result indicates that no obstacle exists;
a second determining unit, configured to determine that the traffic condition of the current road is congested when both the running speed of the obstacle and the following speed of the current vehicle are less than a first speed threshold and the traffic condition of the adjacent lane satisfies a congestion condition if the obstacle identification result indicates that an obstacle exists; otherwise, determining that the traffic condition of the current road is not congested;
wherein the operating speed of the obstacle is determined from the radar data information;
the congestion condition is as follows: the adjacent lanes are non-passable lanes; alternatively, the adjacent lane is a passable lane and the running speed of the vehicle existing in the adjacent lane is less than a second speed threshold.
On the basis of the above embodiment, the control module 330 includes:
the first switching unit is used for controlling the current vehicle to be switched from the advanced automatic driving mode to the congestion automatic driving mode when the traffic condition is congestion, the first current state meets a first set condition and the second current state meets a second set condition;
and the second switching unit is used for controlling the current vehicle to be switched from the congestion automatic driving mode to the high-level automatic driving mode when the traffic condition is not congestion, the first current state meets a third set condition and the second current state meets a fourth set condition.
On the basis of the foregoing embodiment, the first switching unit is specifically configured to:
when the traffic condition is congestion, the first current state is an activated state, and the second current state is an activated state, generating a first switching instruction for switching from the advanced automatic driving mode to the congestion automatic driving mode;
and respectively sending the first switching instruction to the advanced driving subsystem and the congestion driving subsystem so that the advanced driving subsystem and the congestion driving subsystem realize the switching of the current vehicle from the advanced automatic driving mode to the congestion automatic driving mode according to the first switching instruction.
On the basis of the foregoing embodiment, the second switching unit is specifically configured to:
when the traffic condition is not congested, the first current state is an activatable state and the second current state is an activated state, generating a second switching instruction for switching from a congested automatic driving mode to a high-level automatic driving mode;
and respectively sending the second switching instruction to the advanced driving subsystem and the congestion driving subsystem so that the advanced driving subsystem and the congestion driving subsystem can realize the switching of the current vehicle from the congestion automatic driving mode to the advanced automatic driving mode according to the second switching instruction.
On the basis of the above embodiment, the first current state and the second current state are determined by the advanced driving subsystem and the congested driving subsystem, respectively;
the first current state and the second current state both include: one of a standby state, an activatable state, an activated state, and a fault state.
The switching device of the driving mode provided by the third embodiment of the invention can execute the switching method of the driving mode described in the above embodiments, and has corresponding functions and beneficial effects.
Example four
Fig. 5 is a structural diagram of a vehicle according to a fourth embodiment of the present invention, and specifically, referring to fig. 5, the vehicle includes: the controller 410, the vehicle-mounted radar 420, the vehicle-mounted camera 430, the high-speed driving subsystem 440, the congestion driving subsystem 450 and the memory 460 are integrated in the vehicle, the high-speed driving subsystem 440 and the congestion driving subsystem 450 are also integrated in the high-level automatic driving system, the vehicle controller 410, the vehicle-mounted radar 420, the vehicle-mounted camera 430, the high-speed driving subsystem 440, the congestion driving subsystem 450 and the memory 460 can be connected through a bus or in other manners, and the bus connection is taken as an example in fig. 5.
And the vehicle-mounted radar 420 is used for detecting the obstacle information of the road where the current vehicle is located. And the vehicle-mounted camera 430 is used for acquiring a road image of the road where the current vehicle is located. And a high-speed driving subsystem 440, configured to enable the current vehicle to run in a high-speed automatic driving mode when a road on which the current vehicle is located is not congested. And the congestion driving subsystem 450 is configured to enable the current vehicle to run in a congestion automatic driving mode when the road where the current vehicle is located is congested.
The memory 460 is a computer-readable storage medium, and can be used for storing software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the driving mode switching method in the embodiment of the present invention. The controller 410 executes various functional applications and data processing of the vehicle, that is, implements the driving mode switching method of the above-described embodiment, by running software programs, instructions, and modules stored in the memory 460.
The memory 460 mainly includes a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory 460 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 460 may further include memory located remotely from the controller 410, which may be connected to the vehicle over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The vehicle according to the fourth embodiment of the present invention is the same as the method for switching the driving mode according to the first embodiment of the present invention, and the technical details that are not described in detail in the present embodiment can be referred to the above embodiments, and the present embodiment has the same advantageous effects as the method for switching the driving mode.
EXAMPLE five
Fifth embodiment of the present invention further provides a storage medium, on which a computer program is stored, where the computer program, when executed by a controller, implements the method for switching the driving mode according to the fifth embodiment of the present invention.
Of course, the storage medium containing the computer-executable instructions provided by the embodiments of the present invention is not limited to the operations in the method for switching the driving mode described above, and may also perform the related operations in the method for switching the driving mode provided by any embodiment of the present invention, and has corresponding functions and advantages.
From the above description of the embodiments, it is obvious for those skilled in the art that the present invention can be implemented by software and necessary general hardware, and certainly, can also be implemented by hardware, but the former is a better embodiment in many cases. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which may be stored in a computer-readable storage medium, such as a floppy disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a FLASH Memory (FLASH), a hard disk or an optical disk of a computer, and includes several instructions for enabling a computer device (which may be a robot, a personal computer, a server, or a network device) to execute the method for switching the driving mode according to the embodiments of the present invention.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of switching a driving mode, comprising:
acquiring radar data information sent by a vehicle-mounted radar on a current vehicle and a road image acquired by a vehicle-mounted camera;
determining the traffic condition of the current road according to the radar data information and the road image;
controlling the driving mode switching of the current vehicle according to the traffic condition by combining a first current state of a high-level driving subsystem on the current vehicle and a second current state of a congestion driving subsystem, wherein the high-level driving subsystem and the congestion driving subsystem cannot control the current vehicle at the same time;
the controlling the switching of the driving modes of the current vehicle according to the traffic condition by combining the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congestion driving subsystem comprises the following steps:
and the advanced driving subsystem and the congestion driving subsystem respectively feed back the first current state and the second current state according to the traffic condition, and when the first current state and the second current state respectively correspond to the activatable state and the activated state or respectively correspond to the activated state and the activatable state, the advanced driving subsystem and the congestion driving subsystem control the current vehicle to automatically switch between the high-speed automatic driving mode and the congestion automatic driving mode.
2. The method of claim 1, wherein determining the traffic condition of the current road based on the radar data information and the road image comprises:
recognizing the road image, and determining the obstacle recognition result of the current vehicle in the set range of the lane and the passing condition of the adjacent lane;
if the obstacle identification result indicates that no obstacle exists, determining that the traffic condition of the current road is not congested;
if the obstacle identification result indicates that an obstacle exists, determining that the traffic condition of the current road is congested when the running speed of the obstacle and the following speed of the current vehicle are both smaller than a first speed threshold value and the traffic condition of the adjacent lane meets the congestion condition; otherwise, determining that the traffic condition of the current road is not congested;
wherein the operating speed of the obstacle is determined from the radar data information;
the congestion condition is as follows: the adjacent lanes are non-passable lanes; alternatively, the adjacent lane is a passable lane and the running speed of the vehicle existing in the adjacent lane is less than a second speed threshold.
3. The method of claim 1, wherein said controlling the switching of the driving mode of the current vehicle in accordance with the traffic condition in combination with a first current state of a higher-level driving subsystem and a second current state of a congested driving subsystem on the current vehicle comprises:
when the traffic condition is congestion, the first current state meets a first set condition, and the second current state meets a second set condition, controlling the current vehicle to be switched from an advanced automatic driving mode to a congestion automatic driving mode;
and when the traffic condition is not congested, the first current state meets a third set condition and the second current state meets a fourth set condition, controlling the current vehicle to be switched from a congested automatic driving mode to a high-level automatic driving mode.
4. The method according to claim 3, wherein the controlling the current vehicle to switch from the advanced autonomous driving mode to the congestion autonomous driving mode when the traffic condition is congestion, the first current state satisfies a first set condition, and the second current state satisfies a second set condition comprises:
when the traffic condition is congestion, the first current state is an activated state, and the second current state is an activated state, generating a first switching instruction for switching from the advanced automatic driving mode to the congestion automatic driving mode;
and respectively sending the first switching instruction to the advanced driving subsystem and the congestion driving subsystem so that the advanced driving subsystem and the congestion driving subsystem realize the switching of the current vehicle from the advanced automatic driving mode to the congestion automatic driving mode according to the first switching instruction.
5. The method according to claim 3, wherein the controlling the current vehicle to switch from the congestion automatic driving mode to the high-level automatic driving mode when the traffic condition is not congested, the first current state satisfies a third setting condition, and the second current state satisfies a fourth setting condition comprises:
when the traffic condition is not congested, the first current state is an activatable state and the second current state is an activated state, generating a second switching instruction for switching from a congested automatic driving mode to a high-level automatic driving mode;
and respectively sending the second switching instruction to the advanced driving subsystem and the congestion driving subsystem so that the advanced driving subsystem and the congestion driving subsystem can realize the switching of the current vehicle from the congestion automatic driving mode to the advanced automatic driving mode according to the second switching instruction.
6. The method according to any one of claims 1 to 5,
the first current state and the second current state are respectively determined by the advanced driving subsystem and the congestion driving subsystem;
the first current state and the second current state both include: one of a standby state, an activatable state, an activated state, and a fault state.
7. A switching device of a driving mode, characterized by comprising:
the information acquisition module is used for acquiring radar data information sent by a vehicle-mounted radar on a current vehicle and a road image acquired by a vehicle-mounted camera;
the traffic condition determining module is used for determining the traffic condition of the current road according to the radar data information and the road image;
the control module is used for controlling the switching of the driving mode of the current vehicle according to the traffic condition by combining a first current state of a high-level driving subsystem on the current vehicle and a second current state of a congestion driving subsystem, wherein the high-level driving subsystem and the congestion driving subsystem cannot control the current vehicle at the same time;
the controlling the switching of the driving modes of the current vehicle according to the traffic condition by combining the first current state of the high-level driving subsystem on the current vehicle and the second current state of the congestion driving subsystem comprises the following steps:
and the advanced driving subsystem and the congestion driving subsystem respectively feed back the first current state and the second current state according to the traffic condition, and when the first current state and the second current state respectively correspond to the activatable state and the activated state or respectively correspond to the activated state and the activatable state, the advanced driving subsystem and the congestion driving subsystem control the current vehicle to automatically switch between the high-speed automatic driving mode and the congestion automatic driving mode.
8. The apparatus of claim 7, wherein the traffic condition determination module comprises:
the recognition unit is used for recognizing the road image and determining the obstacle recognition result of the current vehicle in the set range of the lane and the passing condition of the adjacent lane;
a first determining unit, configured to determine that the traffic condition of the current road is not congested if the obstacle identification result indicates that no obstacle exists;
a second determining unit, configured to determine that the traffic condition of the current road is congested when both the running speed of the obstacle and the following speed of the current vehicle are less than a first speed threshold and the traffic condition of the adjacent lane satisfies a congestion condition if the obstacle identification result indicates that an obstacle exists; otherwise, determining that the traffic condition of the current road is not congested;
wherein the operating speed of the obstacle is determined from the radar data information;
the congestion condition is as follows: the adjacent lanes are non-passable lanes; alternatively, the adjacent lane is a passable lane and the running speed of the vehicle existing in the adjacent lane is less than a second speed threshold.
9. A vehicle, characterized by comprising:
one or more controllers;
the vehicle-mounted radar is used for detecting the obstacle information of the road where the current vehicle is located;
the vehicle-mounted camera is used for acquiring a road image of a road where the current vehicle is located;
the high-speed driving subsystem is used for enabling the current vehicle to run in a high-speed automatic driving mode when the road where the current vehicle is located is not congested;
the congestion driving subsystem is used for enabling the current vehicle to run in a congestion automatic driving mode when the road where the current vehicle is located is congested;
a memory for storing one or more programs;
the one or more programs, when executed by the one or more controllers, cause the one or more controllers to implement the switching method of driving modes of any of claims 1-6.
10. A storage medium on which a computer program is stored, characterized in that the program, when executed by a controller, implements a switching method of driving modes according to any one of claims 1-6.
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| CN111752269B (en) * | 2020-06-30 | 2021-11-12 | 东风商用车有限公司 | Interaction system and method for automatic driving controller and vehicle control unit |
| CN111932884A (en) * | 2020-08-13 | 2020-11-13 | 中国第一汽车股份有限公司 | Traffic jam recognition method and device, vehicle and storage medium |
| CN111994076A (en) * | 2020-09-02 | 2020-11-27 | 中国第一汽车股份有限公司 | Control method and device for automatic driving vehicle |
| JP7351283B2 (en) * | 2020-10-19 | 2023-09-27 | トヨタ自動車株式会社 | Driver notification device |
| EP4239615A4 (en) * | 2020-10-29 | 2024-02-21 | Nissan Motor Co., Ltd. | Driving control method and driving control device |
| DE102020007437A1 (en) * | 2020-12-07 | 2022-06-09 | Mercedes-Benz Group AG | Method for controlling an automated driving operation of a vehicle |
| CN113119891A (en) * | 2021-05-20 | 2021-07-16 | 中国第一汽车股份有限公司 | Method and device for controlling passenger mode of vehicle, electronic device and storage medium |
| CN115635973A (en) * | 2021-07-20 | 2023-01-24 | 华为技术有限公司 | Vehicle driving method and device |
| CN113978475A (en) * | 2021-09-22 | 2022-01-28 | 东风汽车集团股份有限公司 | Control method and system for automatic driving intervention during fatigue driving of driver |
| CN115447609A (en) * | 2022-09-16 | 2022-12-09 | 魔门塔(苏州)科技有限公司 | Method and device for switching automatic driving function, storage medium and vehicle |
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| CN107539317A (en) * | 2016-06-28 | 2018-01-05 | 长城汽车股份有限公司 | Control method, system and the vehicle of vehicle |
| CN106218636B (en) * | 2016-07-21 | 2019-07-02 | 浙江吉利汽车研究院有限公司 | A kind of traffic congestion auxiliary system |
| CN107264510B (en) * | 2017-06-16 | 2019-12-27 | 湖南大学 | Vehicle power control system and method based on traffic jam condition |
| CN107742418B (en) * | 2017-09-29 | 2020-04-24 | 东南大学 | Automatic identification method for traffic jam state and jam point position of urban expressway |
| CN107583371B (en) * | 2017-09-29 | 2019-10-11 | 无锡厚发自动化设备有限公司 | A kind of Intelligent purifying method for urban road air |
| CN108001449A (en) * | 2017-10-31 | 2018-05-08 | 上海与德科技有限公司 | A kind of drive manner and online vehicles based on car networking |
| CN108168570A (en) * | 2017-12-13 | 2018-06-15 | 广东欧珀移动通信有限公司 | Control method, device, storage medium and the mobile terminal of locating module |
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