CN114179836B - Automatic driving mode pushing method and device, automobile and medium - Google Patents
Automatic driving mode pushing method and device, automobile and medium Download PDFInfo
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- CN114179836B CN114179836B CN202111666688.3A CN202111666688A CN114179836B CN 114179836 B CN114179836 B CN 114179836B CN 202111666688 A CN202111666688 A CN 202111666688A CN 114179836 B CN114179836 B CN 114179836B
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- 230000036541 health Effects 0.000 claims abstract description 22
- 230000007613 environmental effect Effects 0.000 claims abstract description 15
- 238000004590 computer program Methods 0.000 claims description 6
- 230000008569 process Effects 0.000 description 8
- 238000007405 data analysis Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 5
- 230000003862 health status Effects 0.000 description 5
- 206010039203 Road traffic accident Diseases 0.000 description 4
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0053—Handover processes from vehicle to occupant
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/005—Handover processes
- B60W60/0059—Estimation of the risk associated with autonomous or manual driving, e.g. situation too complex, sensor failure or driver incapacity
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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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
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/10—Longitudinal speed
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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
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/20—Ambient conditions, e.g. wind or rain
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides an automatic driving mode pushing method, an automatic driving mode pushing device, an automobile and a medium, wherein the automatic driving mode pushing method comprises the following steps: acquiring current environmental information and health state information of a target vehicle; determining current positioning information of a target vehicle based on a pre-stored navigation map, and determining a target driving path; when the automatic driving mode is not started by the target vehicle, if the current positioning information, the environment information and the health state information do not meet the preset exit condition, judging whether an exit position meeting the passive exit condition of the automatic driving mode exists on the target driving path; and if the exit position meeting the passive exit condition of the automatic driving mode is not available on the target driving path, pushing information for starting the automatic driving mode to the driver. The invention can detect and remind the safety and the starting time of starting the automatic driving mode, and improve the experience comfort of users.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to an automatic driving mode pushing method, an automatic driving mode pushing device, an automobile and a medium.
Background
With the rapid development of autopilot, some advanced autopilot assistance functions may free both hands of the user. However, because the information of automatic driving is not popular deeply, most users cannot determine whether the current automatic driving function can be started in the driving process, and the safety after the automatic driving mode is started on the current road condition is questioned; and for the situation that some users forget to start the automatic driving mode in driving or need to start again after the automatic driving mode actively exits, the users cannot accurately estimate the time for starting the automatic driving mode.
Disclosure of Invention
In view of the above, the present invention aims to provide an automatic driving mode pushing method, an automatic driving mode pushing device, an automobile and a medium, which can detect and remind the safety and the opening time of opening the automatic driving mode, and improve the experience comfort of users.
In order to achieve the above object, the technical scheme adopted by the embodiment of the invention is as follows:
in a first aspect, an embodiment of the present invention provides an autopilot mode pushing method, including: acquiring current environmental information and health state information of a target vehicle; determining current positioning information of a target vehicle based on a pre-stored navigation map, and determining a target driving path; when the automatic driving mode is not started by the target vehicle, if the current positioning information, the environment information and the health state information do not meet the preset exit condition, judging whether an exit position meeting the passive exit condition of the automatic driving mode exists on the target driving path; and if the exit position meeting the passive exit condition of the automatic driving mode is not available on the target driving path, pushing information for starting the automatic driving mode to the driver.
In one embodiment, the preset exit condition includes: an automatic driving mode active exit condition and an automatic driving mode passive exit condition; the automatic driving mode active exit conditions include at least: the method comprises the following steps of (1) a condition that a vehicle has a hardware fault, a condition that a target driving path needs to be updated due to traffic jam, a condition that the number of pedestrians or vehicles is larger than a preset number, a condition that a road has a traffic accident or a construction area, and a condition that the current weather in environment information meets the preset weather; the automatic driving mode passive exit condition includes at least: the method comprises the steps of determining a condition of a hardware fault of a vehicle, a condition of a vehicle track before the recognition system is lost, a condition of a target path planning failure, a condition of a fault in positioning, a condition that a road state on a target path does not meet a preset road standard state, and a condition that the current weather in environment information meets preset weather.
In one embodiment, after determining whether there is an exit position on the target travel path that satisfies the passive exit condition of the automatic driving mode, the method further includes: if the target driving path has the exit position meeting the passive exit condition of the automatic driving mode, judging whether to push the information of opening the automatic driving mode to the driver or not based on the distance between the exit position and the target vehicle.
In one embodiment, determining whether to push start automatic driving mode information to the driver based on a distance between the exit location and the target vehicle includes: determining the distance between the exit position and the target vehicle, and taking the exit position closest to the target vehicle as a target exit position; and if the distance between the target exit position and the target vehicle is greater than the distance threshold value, pushing the automatic driving mode starting information to a driver.
In one embodiment, pushing open autopilot mode information to a driver includes: and pushing the information for starting the automatic driving mode to the driver in a voice playing or text display mode.
In one embodiment, pushing open autopilot mode information to a driver includes: and pushing the information for starting the automatic driving mode to the driver in the form of voice playing and text displaying.
In one embodiment, determining whether there is an exit position on the target travel path that satisfies the automatic driving mode passive exit condition includes: and comparing the position which is stored in the cloud in advance and meets the passive exit condition of the automatic driving mode with the target driving path, and determining the exit position which meets the passive exit condition of the automatic driving mode on the target driving path.
In one embodiment, before acquiring the current environmental information and the health status information of the target vehicle, the method further includes: and calibrating a sensor installed on the target vehicle and a whole vehicle system.
In a second aspect, an embodiment of the present invention provides an autopilot mode pushing apparatus, including: the data acquisition module is used for acquiring the current environmental information and the health state information of the target vehicle; the path planning module is used for determining the current positioning information of the target vehicle based on a pre-stored navigation map and determining a target driving path; the first judging module is used for judging whether the target driving path has an exit position meeting the passive exit condition of the automatic driving mode or not if the current positioning information, the environment information and the health state information do not meet the preset exit condition when the automatic driving mode is not started by the target vehicle; and the pushing module is used for pushing the information for starting the automatic driving mode to the driver if the exit position of the passive exit condition of the automatic driving mode is not met on the target driving path.
In a third aspect, an embodiment of the present invention provides an automobile comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the steps of the method of any one of the first aspects provided above.
In a fourth aspect, embodiments of the present invention provide a computer readable storage medium having a computer program stored thereon, which when executed by a processor performs the steps of the method of any of the first aspects provided above.
The embodiment of the invention has the following beneficial effects:
the automatic driving mode pushing method, the automatic driving mode pushing device, the automobile and the medium provided by the embodiment of the invention can firstly acquire the current environmental information and the current health state information of the target vehicle; then, determining the current positioning information of the target vehicle based on a pre-stored navigation map, and determining a target driving path; then when the automatic driving mode is not started by the target vehicle, if the current positioning information, the environment information and the health state information do not meet the preset exit condition, judging whether an exit position meeting the passive exit condition of the automatic driving mode exists on the target driving path; and if the exit position meeting the passive exit condition of the automatic driving mode is not available on the target driving path, pushing information for starting the automatic driving mode to the driver.
According to the method, when the automatic driving mode of the target vehicle is not started, whether the automatic driving mode of the target vehicle can be started or not is judged according to the current positioning information, the environment information and the health state information, and the safety of starting the automatic driving mode is detected and reminded; when the automatic driving mode can be started currently, the position which possibly exists on the target driving path and is used for enabling the automatic driving mode to passively exit is further detected, and the time for starting the automatic driving mode is detected and reminded, so that the safety and the time for forgetting to start the automatic driving mode in the driving process or exiting to start again after the automatic driving mode is started are detected and reminded, and the experience comfort of a user is improved.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the above objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
Fig. 1 is a flowchart of an automatic driving mode pushing method provided in an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a pushing system according to an embodiment of the present invention;
FIG. 3 is a flowchart of another method for pushing an autopilot mode according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic driving mode pushing device according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of an automobile according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
At present, as the information of automatic driving is not popular deeply, most users cannot determine whether the current automatic driving function can be started in the driving process, and the safety after the automatic driving mode is started on the current road condition is questioned; and for the situation that some users forget to start the automatic driving mode in driving or need to start again after the automatic driving mode actively exits, the users cannot accurately estimate the time for starting the automatic driving mode.
Based on the above, the method, the device, the automobile and the medium for pushing the automatic driving mode provided by the embodiment of the invention can detect and remind the safety and the starting time of starting the automatic driving mode, and improve the experience comfort of a user.
For the sake of understanding the present embodiment, first, a detailed description will be given of an autopilot mode pushing method disclosed in the present embodiment, which may be executed by a controller of an automobile having an autopilot mode, referring to a flowchart of an autopilot mode pushing method shown in fig. 1, and the method mainly includes steps S101 to S104:
step S101: and acquiring the current environmental information and health state information of the target vehicle.
In one embodiment, a sensor, such as a camera, radar sensor, distance sensor, temperature and humidity sensor, etc., may be mounted on the target vehicle to collect environmental information during vehicle travel, such as: the location of obstacles, distance, road identification, weather information, etc. The health status information includes hardware information, software information, vehicle speed, etc. of the target vehicle, such as: the status of the controller, the status of the positioning system, the status of the identification system, the status of the brakes, etc. According to the embodiment of the invention, the environment information and the health state information at the current moment can be obtained in real time in the running process of the target vehicle.
Step S102: and determining the current positioning information of the target vehicle based on the pre-stored navigation map, and determining the target driving path.
In order to obtain the absolute position of the target vehicle, in the embodiment of the invention, the target vehicle is positioned according to the navigation map to obtain the current positioning information of the target vehicle, and the path planning is performed, and a target driving path is planned based on the driving destination.
Step S103: when the automatic driving mode is not started by the target vehicle, if the current positioning information, the environment information and the health state information do not meet the preset exit condition, judging whether an exit position meeting the passive exit condition of the automatic driving mode exists on the target driving path.
In one embodiment, after the path planning is completed, it is required to determine whether the driver turns on the automatic driving mode, so as to avoid the problem that the driver forgets to turn on the automatic driving. If the driver currently starts the automatic driving mode, pushing service is not needed; if the driver does not currently start the automatic driving mode, analysis can be performed according to the current positioning information, the environment information and the health state information to judge whether the current position of the target vehicle meets the preset exit conditions, wherein the preset exit conditions comprise an automatic driving mode active exit (Active Disengagement, ADE) condition and an automatic driving mode passive exit (Passive Disengagement, PDE) condition. If the analysis result shows that the current position meets the preset exit condition, the information for starting the automatic driving mode is not pushed; if the analysis result shows that the current position does not meet the preset exit condition, further judging whether the exit position meeting the passive exit condition of the automatic driving mode exists on the planned target driving path through big data analysis.
Step S104: and if the exit position meeting the passive exit condition of the automatic driving mode is not available on the target driving path, pushing information for starting the automatic driving mode to the driver.
In order to avoid the situation that the driver exits passively after opening the automatic driving mode in a short time, the experience of the driver is improved. In the embodiment of the invention, the time for starting the automatic driving mode is also judged, and specifically, if the exit position which does not meet the passive exit condition of the automatic driving mode on the target driving path is detected, the information for starting the automatic driving mode is directly pushed to the driver.
According to the automatic driving mode pushing method provided by the embodiment of the invention, when the target vehicle does not start the automatic driving mode, whether the target vehicle can start the automatic driving mode or not can be judged according to the current positioning information, the environment information and the health state information, and the safety of starting the automatic driving mode is detected and reminded; when the automatic driving mode can be started currently, the position which possibly exists on the target driving path and is used for enabling the automatic driving mode to passively exit is further detected, and the time for starting the automatic driving mode is detected and reminded, so that the safety and the time for forgetting to start the automatic driving mode in the driving process or exiting to start again after the automatic driving mode is started are detected and reminded, and the experience comfort of a user is improved.
In one embodiment, the preset exit condition may be obtained by analyzing big data in combination with active exits or passive exits encountered by a plurality of vehicles during automatic driving. The preset exit conditions include: an autopilot mode active exit condition and an autopilot mode passive exit condition. The automatic driving mode active exit is that the driver carries out manual intervention to cause the automatic driving mode to exit, and the automatic driving mode active exit conditions at least comprise: at least one of a condition that a hardware fault occurs in a vehicle, a condition that a traffic jam needs to update a target driving path, a condition that the number of pedestrians or vehicles is larger than a preset number, a condition that a traffic accident occurs in a road or a construction area occurs, and a condition that the current weather in environmental information meets the preset weather. The active exit of the automatic driving mode specifically includes: because the hardware faults of the vehicles need human intervention, the lanes are replaced under the traffic jam, pedestrians and vehicles at the crossroad are difficult to control in a decision-making way, the distance between the automatic driving vehicles and other parked vehicles is too short, emergency vehicles need to be avoided, traffic accidents on the road need to be avoided, construction areas on the road need to be avoided, non-motor vehicles or pedestrians are avoided, and the driver of the vehicle is intervened under the severe weather condition.
The automatic driving mode passive exit is that the automatic driving related technology detects that the fault is forced to exit and disconnect the control connection, and the automatic driving mode passive exit conditions comprise: at least one of a condition that the vehicle has a hardware fault, a condition that other vehicles approach from the side of the target vehicle to be not perceived, a condition that the recognition system loses a track of a front vehicle, a condition that the target path planning fails, a condition that the positioning has a fault, a condition that the road state on the target path does not meet a preset road standard state, and a condition that the current weather in the environment information meets the preset weather. The passive exit of the automatic driving mode specifically includes: the vehicle controller or other hardware equipment breaks down, erroneously identifies obstacles, the approach of the vehicle from the side cannot be perceived, the loss of the front vehicle track of the identification system, the failure of target path planning, the failure of positioning, the failure of traffic signal lamp detection caused by poor lighting conditions, the failure of target detection caused by strong illumination, the low visibility caused by severe weather such as rain, snow, haze and the like, the overheat or supercooled temperature, the existence of holes or bulges on the road, the fading of road marks, the unclear lane lines, the moist road surface, the just paved road surface, the rural road and the like.
In one possible embodiment, in determining whether there is an exit position on the target travel path that satisfies the automatic driving mode passive exit condition, the following means may be employed, including but not limited to: and comparing the position which is stored in the cloud in advance and meets the passive exit condition of the automatic driving mode with the target driving path, and determining the exit position which meets the passive exit condition of the automatic driving mode on the target driving path.
In the specific implementation, the position meeting the passive exit condition of the automatic driving mode can be marked in the cloud in advance according to the position and the reason of the passive exit of the automatic driving mode of the vehicle obtained by big data, in the embodiment, whether the exit position which can generate the passive exit of the automatic driving mode on the currently planned target driving path is in the cloud database can be screened in a comparison mode, and the reason of the PDE of the specific road section is analyzed by big data.
In one possible implementation manner, when determining the timing of starting the automatic driving mode, the embodiment further includes: if the target driving path has the exit position meeting the passive exit condition of the automatic driving mode, judging whether to push the information of opening the automatic driving mode to the driver or not based on the distance between the exit position and the target vehicle. In specific implementation, if the exit position meeting the passive exit condition of the automatic driving mode is detected on the target driving path, the distance between the exit position and the target vehicle can be obtained, whether the automatic driving mode information is pushed to the driver or not is judged according to the distance between the exit position and the target vehicle, and if the distance is too close, the automatic driving mode information is not pushed temporarily.
Further, in determining whether to push the start automatic driving mode information to the driver based on the distance between the exit position and the target vehicle, the following means may be employed, including but not limited to:
firstly, determining the distance between the exit position and the target vehicle, and taking the exit position closest to the target vehicle as a target exit position; then, if the distance between the target exit position and the target vehicle is greater than a distance threshold, the start automatic driving mode information is pushed to the driver.
In specific implementation, the distance threshold may be set to 10km, and when the distance from one exit position closest to the current position of the target vehicle is greater than 10km, the condition of opening the automatic driving mode for big data analysis is determined to be satisfied, and information of opening the automatic driving mode is pushed to the driver.
In one possible implementation, when pushing the on-autopilot mode information to the driver, the following approaches may be employed, including but not limited to:
mode 1: and pushing the information for starting the automatic driving mode to the driver in a voice playing or text display mode.
Mode 2: and pushing the information for starting the automatic driving mode to the driver in the form of voice playing and text displaying.
In the embodiment of the invention, the message pushing can be performed only in a voice playing mode, and a driver can be prompted to start an automatic driving mode by voice playing of starting the automatic driving mode; the message pushing can be performed only in a text display mode, and the automatic driving mode to be started can be specifically displayed on a central control screen or an instrument panel to prompt a driver that the automatic driving mode is to be started; the method can also adopt a mode of combining voice playing and text display to prompt the driver that the automatic driving mode is about to be started. In addition, the driver may be prompted by flashing the center screen or dashboard that an automatic driving mode is about to be turned on, such as: the driver is prompted by flashing green light that the automatic driving mode is about to be turned on.
In one possible embodiment, to improve accuracy of data acquisition, before acquiring the current environmental information and health status information of the target vehicle, the method further includes: and calibrating a sensor installed on the target vehicle and a whole vehicle system.
According to the automatic driving mode pushing method provided by the embodiment of the invention, automatic driving pushing is carried out aiming at various scenes, whether the automatic driving mode can be started by the target vehicle is judged according to the current positioning information, the environment information and the health state information, and the safety of starting the automatic driving mode is detected and reminded; when the automatic driving mode can be started currently, the position which possibly exists on the target driving path and is used for enabling the automatic driving mode to passively exit is further detected, and the time for starting the automatic driving mode is detected and reminded, so that the safety and the time for forgetting to start the automatic driving mode in the driving process or exiting to start again after the automatic driving mode is started are detected and reminded, and the experience comfort of a user is improved.
The embodiment of the invention also provides a pushing system, which is shown in fig. 2, and comprises: the system comprises a system self-checking module, a big data analysis module, a data processing module and a message pushing module. The system self-checking module is mainly used for monitoring the working state of the sensor, the running stability of each part of functional modules of the vehicle system and analyzing the vehicle state; the big data analysis module is used for analyzing conditions and road sections of the vehicle which trigger the automatic driving to actively exit and passively exit under the current driving road in advance according to the navigation map; the data processing module is used for judging whether the automatic driving mode can be pushed and started or not according to the reasoning result of the big data analysis module and the sensor environment data of the vehicle and the state of the system; and the message pushing module is used for pushing and starting the automatic driving mode message in a voice or text display mode.
Further, the embodiment of the present invention further provides a specific example of automatic driving mode pushing, as shown in fig. 3, mainly including the following steps S301 to S309:
step S301: judging whether the sensor is initialized or not; if yes, go to step S302; otherwise, the flow is ended.
Specifically, the whole vehicle and the sensors are calibrated, and more accurate information is provided for positioning, planning, decision making and transverse and longitudinal control.
Step S302: judging whether the automatic driving function is initialized or not; if yes, step S303 is performed; otherwise, the flow is ended.
Step S303: data is acquired.
Specifically, current environmental information and health state information of the target vehicle are obtained.
Step S304: and (5) path planning.
Specifically, it is possible to determine the current positioning information of the vehicle from the navigation map, and determine a planned path (target travel path) based on the destination.
Step S305: judging whether the vehicle starts an automatic driving mode or not; if yes, ending the flow; otherwise, step S306 is performed.
Specifically, whether the automatic driving mode is started or not is judged, if the automatic driving mode is not started, conditions of ADE and PDE are detected, and if the automatic driving mode is started, the push service is not performed.
Step S306: judging whether conditions of ADE and PDE exist; if yes, return to step S305; otherwise, step S307 is performed.
Specifically, whether conditions of ADE and PDE exist can be analyzed according to the current positioning information and the environment information, and if the conditions exist, the condition that the automatic driving mode is started at the current position is not satisfied, and message pushing is not performed.
Step S307: analyzing the planned path through big data, and judging whether the PDE condition exists; if yes, return to step S305; otherwise, step S308 is performed.
Step S308: judging whether the distance from the current position to the first exit point is greater than 10km or not; if yes, go to step S309; otherwise, the process returns to step S305.
And judging whether to push an automatic driving mode to the driver according to the analysis results of the big data and the current data of the vehicle. Specifically, according to the planned route of the destination, the position and the reason that the current planned route can be withdrawn in the automatic driving mode are screened out from the cloud data, the reason that the specific road section PDE is withdrawn is analyzed by big data, the distance between the current position of the vehicle and the nearest withdrawal point is judged, if the distance is more than 10km, the condition that the automatic driving mode is started by big data analysis is met, the follow-up automatic driving mode withdrawal cause counted by the cloud can be optimized, the trigger of some PDE conditions is reduced, and the stability of the automatic driving mode is improved.
Step S309: the push turns on the autopilot mode.
Specifically, the driver may be prompted to start the automatic driving mode by means of voice or text display.
In summary, the method provided by the embodiment of the invention can detect and remind the safety and the starting time of starting the automatic driving mode, and improve the experience comfort of the user.
For the automatic driving mode pushing method provided in the foregoing embodiment, the embodiment of the present invention further provides an automatic driving mode pushing device, referring to a schematic structural diagram of an automatic driving mode pushing device shown in fig. 4, where the device may include the following parts:
the data acquisition module 401 is configured to acquire current environmental information and health status information of the target vehicle.
The path planning module 402 is configured to determine current positioning information of the target vehicle based on a pre-stored navigation map, and determine a target driving path.
The first determining module 403 is configured to determine, when the target vehicle does not start the automatic driving mode, if the current positioning information, the environmental information, and the health status information do not satisfy the preset exit condition, whether there is an exit position on the target driving path that satisfies the passive exit condition of the automatic driving mode.
The pushing module 404 is configured to push information for opening the automatic driving mode to the driver if the exit position on the target driving path does not satisfy the passive exit condition of the automatic driving mode.
According to the automatic driving mode pushing device provided by the embodiment of the invention, when the target vehicle does not start the automatic driving mode, whether the target vehicle can start the automatic driving mode or not can be judged according to the current positioning information, the environment information and the health state information, and the safety of starting the automatic driving mode is detected and reminded; when the automatic driving mode can be started currently, the position which possibly exists on the target driving path and is used for enabling the automatic driving mode to passively exit is further detected, and the time for starting the automatic driving mode is detected and reminded, so that the safety and the time for forgetting to start the automatic driving mode in the driving process or exiting to start again after the automatic driving mode is started are detected and reminded, and the experience comfort of a user is improved.
In one embodiment, the preset exit condition includes: an automatic driving mode active exit condition and an automatic driving mode passive exit condition; the automatic driving mode active exit conditions include: at least one of a condition that a hardware fault occurs in a vehicle, a condition that a target driving path needs to be updated due to traffic jam, a condition that the number of pedestrians or vehicles is larger than a preset number, a condition that a traffic accident occurs on a road or a construction area occurs on the road, and a condition that the current weather in environment information meets the preset weather; the automatic driving mode passive exit conditions include: at least one of a condition that the vehicle has a hardware fault, a condition that other vehicles approach from the side of the target vehicle to be not perceived, a condition that the recognition system loses a track of a front vehicle, a condition that the target path planning fails, a condition that the positioning has a fault, a condition that the road state on the target path does not meet a preset road standard state, and a condition that the current weather in the environment information meets the preset weather.
In one embodiment, the device further includes a second judging module, configured to judge whether to push the information of opening the automatic driving mode to the driver based on a distance between the exit position and the target vehicle if the exit position satisfying the passive exit condition of the automatic driving mode exists on the target driving path.
In one embodiment, the second determining module is specifically further configured to: determining the distance between the exit position and the target vehicle, and taking the exit position closest to the target vehicle as a target exit position; and if the distance between the target exit position and the target vehicle is greater than the distance threshold value, pushing the automatic driving mode starting information to a driver.
In one embodiment, the pushing module 404 is specifically further configured to: and pushing the information for starting the automatic driving mode to the driver in a voice playing or text display mode.
In one embodiment, the pushing module 404 is specifically further configured to: and pushing the information for starting the automatic driving mode to the driver in the form of voice playing and text displaying.
In one embodiment, the first determining module 403 is specifically further configured to: and comparing the position which is stored in the cloud in advance and meets the passive exit condition of the automatic driving mode with the target driving path, and determining the exit position which meets the passive exit condition of the automatic driving mode on the target driving path.
In one embodiment, the device further comprises a calibration module for calibrating the sensor installed on the target vehicle and the whole vehicle system.
The device provided by the embodiment of the present invention has the same implementation principle and technical effects as those of the foregoing method embodiment, and for the sake of brevity, reference may be made to the corresponding content in the foregoing method embodiment where the device embodiment is not mentioned.
The embodiment of the invention also provides an automobile, which specifically comprises a processor and a storage device; the storage means has stored thereon a computer program which, when run by a processor, performs the method according to any of the above embodiments.
Fig. 5 is a schematic structural diagram of an automobile according to an embodiment of the present invention, where the automobile 100 includes: a processor 50, a memory 51, a bus 52 and a communication interface 53, the processor 50, the communication interface 53 and the memory 51 being connected by the bus 52; the processor 50 is arranged to execute executable modules, such as computer programs, stored in the memory 51.
The memory 51 may include a high-speed random access memory (RAM, random Access Memory), and may further include a non-volatile memory (non-volatile memory), such as at least one magnetic disk memory. The communication connection between the system network element and at least one other network element is achieved via at least one communication interface 53 (which may be wired or wireless), and the internet, wide area network, local network, metropolitan area network, etc. may be used.
Bus 52 may be an ISA bus, a PCI bus, an EISA bus, or the like. The buses may be classified as address buses, data buses, control buses, etc. For ease of illustration, only one bi-directional arrow is shown in FIG. 5, but not only one bus or type of bus.
The memory 51 is configured to store a program, and the processor 50 executes the program after receiving an execution instruction, and the method executed by the apparatus for flow defining disclosed in any of the foregoing embodiments of the present invention may be applied to the processor 50 or implemented by the processor 50.
The processor 50 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuitry in hardware in the processor 50 or by instructions in the form of software. The processor 50 may be a general-purpose processor, including a central processing unit (Central Processing Unit, CPU), a network processor (Network Processor, NP), etc.; but may also be a digital signal processor (Digital Signal Processing, DSP for short), application specific integrated circuit (Application Specific Integrated Circuit, ASIC for short), off-the-shelf programmable gate array (Field-Programmable Gate Array, FPGA for short), or other programmable logic device, discrete gate or transistor logic device, discrete hardware components. The disclosed methods, steps, and logic blocks in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of the method disclosed in connection with the embodiments of the present invention may be embodied directly in the execution of a hardware decoding processor, or in the execution of a combination of hardware and software modules in a decoding processor. The software modules may be located in a random access memory, flash memory, read only memory, programmable read only memory, or electrically erasable programmable memory, registers, etc. as well known in the art. The storage medium is located in a memory 51 and the processor 50 reads the information in the memory 51 and in combination with its hardware performs the steps of the above method.
The computer program product of the readable storage medium provided by the embodiment of the present invention includes a computer readable storage medium storing a program code, where the program code includes instructions for executing the method described in the foregoing method embodiment, and the specific implementation may refer to the foregoing method embodiment and will not be described herein.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
Finally, it should be noted that: the above examples are only specific embodiments of the present invention, and are not intended to limit the scope of the present invention, but it should be understood by those skilled in the art that the present invention is not limited thereto, and that the present invention is described in detail with reference to the foregoing examples: any person skilled in the art may modify or easily conceive of the technical solution described in the foregoing embodiments, or perform equivalent substitution of some of the technical features, while remaining within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention, and are intended to be included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. An automatic driving mode pushing method is characterized by comprising the following steps:
acquiring current environmental information and health state information of a target vehicle;
determining current positioning information of the target vehicle based on a pre-stored navigation map, and determining a target driving path;
when the automatic driving mode is not started by the target vehicle, if the current positioning information, the environment information and the health state information do not meet the preset exit condition, judging whether an exit position meeting the passive exit condition of the automatic driving mode exists on the target driving path;
if the exit position of the passive exit condition of the automatic driving mode is not met on the target driving path, pushing information for starting the automatic driving mode to a driver;
after judging whether the target driving path has the exit position meeting the passive exit condition of the automatic driving mode, the method further comprises: if the target driving path has an exit position meeting the passive exit condition of the automatic driving mode, judging whether to push information for starting the automatic driving mode to a driver or not based on the distance between the exit position and the target vehicle;
based on the distance between the exit position and the target vehicle, determining whether to push open automatic driving mode information to a driver includes: determining the distance between the exit position and the target vehicle, and taking the exit position closest to the target vehicle as a target exit position; and pushing information for starting the automatic driving mode to a driver if the distance between the target exit position and the target vehicle is greater than a distance threshold.
2. The method of claim 1, wherein pushing the start-up autopilot mode information to the driver comprises:
and pushing the information for starting the automatic driving mode to the driver in a voice playing or text display mode.
3. The method of claim 1, wherein pushing the start-up autopilot mode information to the driver comprises:
and pushing the information for starting the automatic driving mode to the driver in the form of voice playing and text displaying.
4. The method of claim 1, wherein determining whether there is an exit location on the target travel path that satisfies the autopilot mode passive exit condition comprises:
and comparing the cloud pre-stored position meeting the passive exit condition of the automatic driving mode with the target driving path, and determining the exit position meeting the passive exit condition of the automatic driving mode on the target driving path.
5. The method of claim 1, further comprising, prior to obtaining current environmental information and health information of the target vehicle:
and calibrating a sensor installed on the target vehicle and a whole vehicle system.
6. An autopilot mode pusher comprising:
the data acquisition module is used for acquiring the current environmental information and the health state information of the target vehicle;
the route planning module is used for determining the current positioning information of the target vehicle based on a pre-stored navigation map and determining a target driving route;
the first judging module is used for judging whether the target driving path has an exit position meeting the passive exit condition of the automatic driving mode or not if the current positioning information, the environment information and the health state information do not meet the preset exit condition when the automatic driving mode of the target vehicle is not started;
the pushing module is used for pushing information for starting the automatic driving mode to the driver if the exit position of the passive exit condition of the automatic driving mode is not met on the target driving path;
the device further comprises a second judging module, a first judging module and a second judging module, wherein the second judging module is used for judging whether to push the automatic driving mode starting information to a driver or not based on the distance between the exit position and the target vehicle if the exit position meeting the passive exit condition of the automatic driving mode exists on the target driving path;
the second judging module is specifically further configured to: determining the distance between the exit position and the target vehicle, and taking the exit position closest to the target vehicle as a target exit position; and pushing information for starting the automatic driving mode to a driver if the distance between the target exit position and the target vehicle is greater than a distance threshold.
7. An automobile comprising a processor and a memory, the memory storing computer executable instructions executable by the processor, the processor executing the computer executable instructions to implement the steps of the method of any one of claims 1 to 5.
8. A computer readable storage medium having stored thereon a computer program, characterized in that the computer program when executed by a processor performs the steps of the method of any of the preceding claims 1 to 5.
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| CN114898584A (en) * | 2022-03-31 | 2022-08-12 | 广州汽车集团股份有限公司 | Recommendation method, device and equipment for vehicle driving modes and storage medium |
| CN114756160A (en) * | 2022-04-02 | 2022-07-15 | 浙江吉利控股集团有限公司 | Vehicle-mounted video and audio content pushing method, device, storage medium and device |
| CN115798080B (en) * | 2023-02-02 | 2023-05-02 | 江苏天一航空工业股份有限公司 | Method for testing cooperative exit mechanism of civil aviation airport road |
| CN117492480A (en) * | 2024-01-03 | 2024-02-02 | 安徽中科星驰自动驾驶技术有限公司 | Driving mode switching and controlling method and system for automatic driving vehicle |
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