CN114454895A

CN114454895A - Method, equipment and system for automatically taking over vehicle

Info

Publication number: CN114454895A
Application number: CN202011244520.9A
Authority: CN
Inventors: 唐帅
Original assignee: Audi AG
Current assignee: Audi AG
Priority date: 2020-11-10
Filing date: 2020-11-10
Publication date: 2022-05-10

Abstract

The present disclosure relates to a method, apparatus and vehicle for autonomous vehicle take-over. The method comprises the following steps: determining a driver's mobile device connected with a vehicle; sending a take-over request to the mobile device in an autonomous driving mode, wherein the take-over request is for requesting a driver to take over driving of the vehicle; receiving an operation instruction from a driver; and entering a driving mode in which the driver takes over the vehicle based on the operation instruction.

Description

Method, equipment and system for automatically taking over vehicle

Technical Field

The disclosed embodiments relate to the technical field of vehicle control, and more particularly, to a method, device and system for taking over by an autonomous vehicle.

Background

Generally, autopilot has five levels of hierarchy, the first to fifth levels being: driving assistance, partial automation, conditional automation, high automation and complete automation.

When the autonomous vehicle sends a take-over request to the driver, the driver may be paying attention to his/her mobile device (e.g., cell phone, tablet, etc.), and they may even be wearing headphones. In this case, the warning displayed on the meter cluster or the warning played back by the speaker does not function to warn the driver, which is very dangerous. Since autonomous vehicles cannot independently make the safest decision in some emergency situations, it is necessary for the driver to take over driving the vehicle and make the optimal decision again. However, if the situation encountered by the autonomous vehicle during the driving process is urgent, and the driver fails to find the takeover request of the autonomous vehicle in time due to the distraction of attention, and thus misses the optimal vehicle takeover time, the autonomous vehicle may suffer from unnecessary energy loss and consume more commuting time, and may even collide with objects outside the vehicle, thereby causing casualties and property loss. In order to ensure that the driver can timely notice the takeover request sent by the automatic driving vehicle to the driver and timely make the most safe, efficient and cost-effective decision, a new method, a new device and a new system for the takeover of the automatic driving vehicle are needed; therefore, the safety risk is reduced in the process that the automatic driving vehicle sends the takeover request to the driver to request the driver to take over the vehicle, and at least one technical problem in the prior art is solved.

It should be noted that the present invention is applicable to the automatic driving systems of the aforementioned first to third stages, i.e., driving assistance, partial automation, conditional automation.

Disclosure of Invention

It is an object of embodiments of the present disclosure to provide a new solution for an autonomous vehicle take-over.

According to a first aspect of embodiments of the present disclosure, there is provided a method for an autonomous vehicle to take over, the method comprising: determining a driver's mobile device connected with a vehicle; sending a take-over request to the mobile device in an autonomous driving mode, wherein the take-over request is for requesting a driver to take over driving of the vehicle; receiving an operation instruction from a driver; and entering a driving mode in which the driver takes over the vehicle based on the operation instruction.

Optionally, in the case that the operation instruction is not received within a predetermined time, predicting possible processing that the vehicle can take next; and sending information about the possible processes to the mobile device.

Optionally, receiving possible treatments selected by the driver; and executing a corresponding automatic driving process based on the selected possible process.

Optionally, the possible processes selected by the driver include at least one of the following processes: skipping over the high-speed outlet; parking; turning; lane changing; and brake deceleration.

Optionally, determining the driver's mobile device connected to the vehicle comprises: outputting a prompt for the driver to confirm that the connected mobile device is the driver's mobile device if the mobile device connected to the vehicle is detected; and receiving an indication from a driver to determine a mobile device of the driver.

Optionally, determining the driver's mobile device connected to the vehicle comprises: detecting a mobile device connected to a vehicle; detecting that only the driver seat is occupied; and automatically determining the mobile device as the driver's mobile device.

Optionally, timing information associated with the takeover request is sent to the mobile device.

Optionally, the automatic driving vehicle takeover method is executed on a mobile device, and includes: receiving a take-over request from a vehicle, wherein the take-over request is for requesting a driver to take over driving of the vehicle; presenting the take over request to a driver; receiving a take-over indication from a driver regarding the take-over request; and sending the take-over indication to the vehicle to enter a driving mode in which the vehicle is taken over by the driver.

Optionally, presenting the take over request to the driver comprises at least one of: displaying the takeover request on a display screen of a mobile device; playing the takeover request through a loudspeaker of the mobile equipment or an external audio playing device; and activating a vibration unit of the mobile device.

Optionally, the mobile device receives timing information related to a takeover request; presenting, based on the timing information, a remaining time for the driver to accept the take over request.

Optionally, the mobile device receives possible processing that the vehicle can take next; and presenting the possible treatment to the driver in case the driver does not accept the take over request.

Optionally, the mobile device receives a driver selection of the possible treatment; and sending the selected possible treatments to the vehicle.

According to a second aspect of the present disclosure, there is also provided an apparatus for autonomous vehicle take-over, characterized in that the apparatus for autonomous vehicle take-over comprises means for performing the steps in the method of any one of the first aspects of the present disclosure.

In accordance with a third aspect of the present disclosure, there is also provided a system for an autonomous vehicle take over,

comprising an autonomous vehicle take-over device according to the second aspect of the present disclosure provided in a vehicle and an autonomous vehicle take-over device according to the second aspect of the present disclosure provided in a mobile device.

One beneficial effect of the disclosed embodiments is that with the automatic driving vehicle takeover device, the takeover request of the vehicle is reminded to the driver in a more obvious manner in the automatic driving mode, and the driver is presented with the possible treatment in case the driver does not accept the takeover request; or transmitting the possible treatment selected by the driver to the vehicle and executing the corresponding automatic driving treatment; so as to ensure that the driver can timely notice the takeover request sent by the automatic driving vehicle to the driver and make the most safe and efficient decision with the highest cost performance as soon as possible.

Other features of the present invention and advantages thereof will become apparent from the following detailed description of exemplary embodiments thereof, which proceeds with reference to the accompanying drawings.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description, serve to explain the principles of the invention.

FIG. 1 is a block diagram of an example of one implementation environment and hardware configuration for an autonomous vehicle takeover method that can implement embodiments of the present invention;

FIG. 2 is a schematic flow diagram of a method of autonomous vehicle takeover according to an embodiment of the present disclosure;

FIG. 3 is a schematic flow diagram of a method of autonomous vehicle take-over according to another embodiment of the present disclosure;

FIG. 4 is a schematic flow chart diagram of a method of autonomous vehicle take-over according to another embodiment of the present disclosure;

FIG. 5 is a schematic flow chart diagram of a method of autonomous vehicle take-over according to another embodiment of the present disclosure;

FIG. 6 is a block diagram of an autonomous vehicle takeover apparatus according to one embodiment;

FIG. 7 is a schematic diagram of a vehicle takeover system according to one embodiment.

Detailed Description

Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that: the relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise.

The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate.

In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

< hardware configuration >

FIG. 1 is a schematic diagram of an electrical control architecture of a vehicle that may be used to implement an embodiment of the present disclosure.

The vehicle shown in fig. 1 is any motor vehicle, and is not limited herein. It includes a processor 1100, a memory 1200.

The processor 1100 is a main component of an Electronic Control Unit (ECU) of a vehicle, and is used to execute a computer program, which may be written using an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, or the like.

The memory 1200 includes, for example, a ROM (read only memory), a RAM (random access memory), a nonvolatile memory such as a hard disk, and the like, for storing the above computer programs and the like.

In this embodiment, the memory 1200 is used for storing a computer program for controlling the processor 1100 to operate so as to execute the disclosed embodiment. The skilled person can design the computer program according to the disclosed solution. How the computer program controls the processor to operate is well known in the art and will not be described in detail here.

Although a plurality of devices of the vehicle are shown in fig. 1, the vehicle according to the embodiment of the present disclosure may relate to only some of the devices, and may further have other devices, which are not limited herein.

< method examples >

Fig. 2 shows a method for taking over an autonomous vehicle according to an embodiment, and the vehicle in fig. 2 is taken as an example to illustrate steps of the method for taking over an autonomous vehicle according to the embodiment when the vehicle determines that a request for taking over needs to be sent to a driver at any time.

As shown in fig. 2, the autonomous vehicle takeover method of the embodiment may include the following steps S201 to S204:

in step S201, the autonomous vehicle determines a mobile device of a driver connected to the vehicle.

In step S202, the vehicle in the autonomous driving mode sends a take-over request to the mobile device.

When the automatic driving vehicle reaches a preset condition in the driving process, for example, a high-speed exit exists in front of the automatic driving vehicle at a certain distance; a new route is available for selection in front; some obstacle appears suddenly in front of the vehicle, and the obstacle may be other motor vehicles, non-motor vehicles, pedestrians, vehicle piles, fences and the like outside the vehicle. In an autonomous driving mode, the vehicle sends a take-over request to the mobile device, the take-over request requesting that the driver take over driving of the vehicle.

In one embodiment, presenting the manner of sending the takeover request to the driver may include at least one of: firstly, the takeover request is displayed on a display screen of the mobile device, that is, the takeover request can be popped up on a current interface of the mobile phone of the driver, such as a movie interface, a game interface, a shopping interface and the like, in the form of text, icons or images; secondly, playing the takeover request through a loudspeaker of the mobile equipment or an external audio playing device, namely playing the takeover request in a voice mode; thirdly, a vibration unit of the mobile device is activated.

In step S203, an operation instruction from the driver is received.

The mode of the operation instruction made by the driver may include at least one of the following operations: firstly, on a display screen of the mobile device, selection is made for a takeover request; and secondly, confirming take-over in a voice mode. And thirdly, directly closing the automatic driving mode and manually taking over the vehicle. In addition, the confirmation of taking over in the form of voice requires the use of the existing technologies such as microphone of the mobile device and voice recognition, which are not described herein again.

And step S204, based on the operation instruction, entering a driving mode of taking over the vehicle by the driver.

As can be seen from the above steps S201 to S203, the processor 1100, 2100, or 3100 determines the mobile device of the driver connected to the vehicle; during the driving of the vehicle, if the preset conditions are met, for example: when there is a high-speed exit at a certain distance in front of the vehicle, a new alternative route appears in front of the vehicle, an obstacle suddenly appears at a certain distance in front of the vehicle, etc., the processor 1100 or 2100 or 3100 determines that the automatic driving vehicle needs to take over, and at this time, the vehicle in the automatic driving mode sends a take-over request to the mobile device for requesting the driver to take over the driving of the vehicle. Receiving an operation instruction from a driver; then, the vehicle enters a driving mode in which the driver takes over the vehicle based on the operation instruction. Therefore, the driver can be ensured to be capable of timely paying attention to the takeover request sent by the automatic driving vehicle to the driver, and making the safest and efficient decision in time, so that the time is saved, the energy consumption is reduced, and the personnel casualties and property loss caused by collision with objects outside the vehicle are avoided.

Optionally, the foregoing mobile device for determining the driver connected to the vehicle, and the specific operation steps, can be understood with reference to fig. 4.

Among them, the first method of determining the mobile device of the driver connected to the vehicle can be seen in S411 to S413. In step S411, the vehicle outputs a prompt when detecting a mobile device connected to the vehicle. The form and method of the prompt are not limited herein, and may be to provide options to the driver in the form of numbers, graphs or graphs on the human-computer interaction interface, for example, to display the detected model number of the mobile device (such as a mobile phone), display a mark representing the mobile device, and the like; step S412, the driver confirms that the connected mobile device is the driver' S mobile device. At least, the optional manner includes displaying optional choices in the human-computer interaction interface, such as "is the mobile device of the model? "and provide" yes "and" no "option buttons for selection by the driver. Step S413, receiving an instruction from a driver to determine a mobile device of the driver. When the driver confirms a certain model of mobile equipment through selection, the automatic driving vehicle locks the equipment and performs subsequent operations on the equipment.

Furthermore, a second method of determining a driver' S mobile device connected to a vehicle can be seen in S421-S423. In step S421, a mobile device connected to the vehicle is detected. This step is the same as S411, and is not described herein again. In step S422, it is detected that only the driver seat is occupied. Methods of detecting that the seat is occupied are well known in the art and may include pressure sensors, infrared detection, image recognition, and the like. Step S423, automatically determining the mobile device as the mobile device of the driver. In this case, the vehicle can automatically confirm and lock the smart device and perform subsequent operations on the device without the driver making a selection, as compared with the first method described above.

Optionally, when the vehicle sends the takeover request to the mobile device in the automatic driving mode, in order to ensure that the driver can make a selection within a valid time, the vehicle may send timing information related to the takeover request to the mobile device together.

The function of the timing information at least comprises that the optimal time for the driver to make an operation instruction is displayed on the display screen of the mobile equipment based on the timing information, namely, the driver can think and make a decision in the specific time range without influencing the timely taking over of the vehicle; however, if the specified time is exceeded, the operation instruction by the driver is not necessarily able to be executed.

The embodiment of the disclosure can conveniently determine the mobile device of the driver, thereby greatly improving the problem that the driver is not aware of the takeover request of the automatic driving vehicle in time and misses the optimal time for taking over the vehicle because the attention of the driver is focused on the mobile device of the driver or the driver wears earphones.

It should be noted that even if the vehicle sends a take-over request to the mobile device in the autonomous driving mode, requesting the driver to take over driving of the vehicle, the driver may still miss the optimal take-over vehicle time. In order to ensure safe driving of the vehicle, it is necessary to predict possible processes that the vehicle can take next, in the case where the operation instruction is not received within a predetermined time. Fig. 3 shows an embodiment.

As shown in fig. 3, steps S301-S306 are included.

The steps of S301-S302 are identical to those of S201-S202, and are not described again.

In step S303, when the vehicle does not receive the operation instruction of the driver within the predetermined time, it is necessary to predict possible processing that can be taken by the vehicle next time. Wherein the possible processing includes at least one of: first, skip over the high-speed exit; secondly, parking; thirdly, turning; fourthly, changing lanes; fifthly, braking deceleration. In the process, the automatic control braking system, the power assembly system and the steering system of the vehicle can play different roles respectively.

Step S304, sending the information about the possible processing to the mobile device. The possible processing is the content in S303. The manner of sending to the mobile device may include at least one of: firstly, the possible processes are displayed on the display screen of the mobile device, that is, the possible processes can be popped up on the current interface of the mobile phone of the driver, such as a movie interface, a game interface, a shopping interface and the like, in the form of texts, icons or images; secondly, the possible processing is played through a loudspeaker of the mobile device or an external audio playing device, namely the possible processing is played in a voice mode.

In step S305, possible processing selected by the driver is received. The driver selecting a way of possible treatment may include at least one of the following: first, on the display screen of the mobile device, a selection is made for possible treatments; secondly, the selection is made in the form of speech.

In step S306, based on the selected possible process, a corresponding automatic driving process is executed.

As mentioned above, the driver may choose between skipping over the high speed exit; secondly, parking; thirdly, steering is automatically controlled; fourthly, controlling the power assembly system to change the lane and drive on a new route; fifthly, braking deceleration. When the driver selects one of the modes, the vehicle executes corresponding automatic driving processing.

As can be seen from the above steps S301-S306, in the automatic driving vehicle takeover method of the present embodiment,

the processor 1100 or 2100 or 3100 determines a driver's mobile device connected to the vehicle; during the driving of the vehicle, if the preset conditions are met, for example: a high speed exit is located some distance in front of the vehicle, a new route is available for selection in front of the vehicle, an obstacle suddenly appears some distance in front of the vehicle, etc., and processor 1100 or 2100 or 3100 determines that an autonomous vehicle take-over needs to be performed. At this time, the vehicle in the automatic driving mode may send a take-over request to the mobile device for requesting the driver to take over driving of the vehicle, and receive an operation instruction from the driver. In the event that the processor 1100 or 2100 or 3100 does not receive an operating instruction within a predetermined time, predicting possible treatments that the vehicle can take next, sending to the mobile device the information regarding the possible treatments, receiving the possible treatments selected by the driver; and executing a corresponding automatic driving process based on the possible process selected by the driver. The possible processes include at least one of the following processes: first, skip over the high-speed exit; secondly, parking; thirdly, turning; fourthly, changing lanes; fifthly, braking deceleration. When the driver selects one of the modes, the vehicle executes corresponding automatic driving processing. The automatic driving vehicle taking-over method can avoid dangers caused by the fact that a driver does not notice the taking-over request due to negligence in the taking-over process of the automatic driving vehicle to the maximum extent. The method provides a remedy opportunity for the driver to miss the first decision opportunity due to negligence and further fail to make an operation instruction in time. The vehicle predicts the possible treatment which can be taken by the vehicle in the next step according to the acquired data, and provides the possible treatment for the driver to select in time, and the mode is efficient, so that the time can be saved, the energy consumption can be reduced, the safety of automatic driving of the vehicle can be ensured to the maximum extent, and the technical effect of taking over the vehicle by automatic driving is further optimized.

Further, it is specifically noted that the present invention is implemented on a mobile device. The foregoing embodiments have focused on vehicles, and have analyzed specific steps in the respective embodiments. In the following, it will be analyzed how the technical effects of the present invention are achieved by a mobile device, with the mobile device as an object of interest. Fig. 5 shows two different embodiments.

The first embodiment includes steps S511-S514. This step can be understood in conjunction with steps S201-S204 in fig. 2.

In step S511, a take-over request from the vehicle is received.

This step corresponds to S202, sending a take-over request to the mobile device in the autonomous driving mode. The details are not repeated.

Step S512, the take over request is presented to the driver.

As mentioned above, presenting the driver with the manner in which the take over request is sent may include at least one of: firstly, the takeover request is displayed on a display screen of the mobile device, that is, the takeover request can be popped up on a current interface of the mobile phone of the driver, such as a movie interface, a game interface, a shopping interface and the like, in the form of text, icons or images; secondly, playing the takeover request through a loudspeaker of the mobile equipment or an external audio playing device, namely playing the takeover request in a voice mode; thirdly, a vibration unit of the mobile device is activated.

Step S513, receiving a take-over instruction from the driver regarding the take-over request.

This step corresponds to S203, and receives an operation instruction from the driver. The details are not repeated.

And step S514, sending the takeover instruction to the vehicle so as to enter a driving mode of taking over the vehicle by the driver.

This step corresponds to S204, and the driving mode in which the driver takes over the vehicle is entered based on the operation instruction. The detailed description is omitted.

Optionally, the mobile device receives timing information related to the takeover request; and presenting, based on the timing information, a remaining time for the driver to accept the takeover request. The function of the timing information at least comprises, based on the timing information, displaying on the display screen of the mobile device the optimal time for the driver to make an operating instruction, i.e. the driver can think within this specific time range without affecting the timely take over of the vehicle. However, if the specified time is exceeded, the operation instruction made by the driver is not necessarily able to be executed.

From the above steps S511-S514, an automatic driving vehicle takeover method, executed on a mobile device, includes: receiving a take-over request from a vehicle, wherein the take-over request is for requesting a driver to take over driving of the vehicle; presenting the take over request to a driver; receiving a take-over indication from a driver regarding the take-over request; and sending the take-over indication to the vehicle to enter a driving mode in which the vehicle is taken over by the driver. The technical scheme is executed on the mobile equipment, so that the driver can be ensured to be capable of noticing the takeover request sent by the automatic driving vehicle to the driver to the maximum extent, and making the safest and most efficient decision as soon as possible, thereby saving time, reducing energy consumption, and avoiding the occurrence of collision with objects outside the vehicle, and causing casualties and property loss.

The second embodiment includes steps S521-S526. This step can be understood in conjunction with steps S301-S306 in fig. 3.

The steps of S521-S522 are the same as S511-S512 and are not described herein.

Step S523, receives possible processing that the vehicle can take next.

This step corresponds to S303 and S304. The step of S303 is: and in the case that the operation instruction is not received within the preset time, predicting possible treatment which can be taken by the vehicle in the next step. The step of S304 is: sending information regarding the possible treatments to the mobile device. For the detailed analysis, see the above, it is not repeated here.

Step S524, in case the driver does not accept the take over request, presenting the driver with the possible processing.

As described earlier, the possible processing is the content in S303. The manner of sending to the mobile device may include at least one of: firstly, the possible processes are displayed on the display screen of the mobile device, that is, the possible processes can be popped up on the current interface of the mobile phone of the driver, such as a movie interface, a game interface, a shopping interface and the like, in the form of texts, icons or images; secondly, the possible processing is played through a loudspeaker of the mobile device or an external audio playing device, namely the possible processing is played in a voice mode.

Step S525, receiving a driver selection of the possible treatment.

In this step, the driver makes a selection for a possible treatment by means of the mobile device. For example, one of the following possibilities is selected: first, skip over the high-speed exit; secondly, parking; thirdly, turning; fourthly, changing lanes; fifthly, braking deceleration. In the process, the automatic control braking system, the power assembly system and the steering system of the vehicle can play different roles respectively. Step S526, the selected possible processes are sent to the vehicle.

This step corresponds to S305. The driver makes a selection for a possible treatment by means of a mobile device, by means of which the vehicle has acquired the aforementioned selection of the driver. That is, when the driver selects one of the modes, the vehicle performs the corresponding automatic driving process.

According to the steps S521-S526, when the vehicle presents the takeover request to the driver through the mobile device, if the vehicle does not receive the operation instruction within the predetermined time, the possible processing that can be taken next is predicted, and at this time, the mobile device receives the possible processing that can be taken next by the vehicle; and presenting the possible treatment to the driver in case the driver does not accept the take over request. And receiving a driver selection of the possible treatment; and sending the selected possible treatments to the vehicle. The automatic driving vehicle taking-over method can avoid dangers caused by the fact that a driver does not notice taking-over request due to negligence in the automatic driving vehicle taking-over process to the maximum extent. The method further optimizes the technical effect of taking over the automatic driving vehicle, and provides a remedy opportunity for the situation that the driver fails to make an operation instruction in time due to negligence. The automatic driving vehicle predicts the possible treatment which can be taken by the vehicle in the next step, and provides the possible treatment for the driver to select in time, so that the time can be saved, the energy consumption can be reduced, the safety of automatic driving of the vehicle can be ensured to the maximum extent, and the technical effect of taking over the automatic driving vehicle is greatly improved.

< apparatus embodiment >

FIG. 6 shows an apparatus for autonomous vehicle takeover, according to one embodiment, comprising: a determination module 601 for determining a mobile device of a driver connected to a vehicle; a sending module 602, configured to send a take-over request to the mobile device in an autonomous driving mode; a receiving module 603, configured to receive an operation instruction from a driver; and an operation module 604, configured to enter a driving mode in which the driver takes over the vehicle based on the operation instruction.

The determining module 601 is configured to determine a mobile device of a driver connected to a vehicle.

A sending module 602, configured to send a take-over request to the mobile device in the autonomous driving mode. The option of the takeover request can be set according to the road condition and other factors, and timing information related to the takeover request can be sent to the mobile equipment of the driver.

The receiving module 603 is configured to receive an operation instruction from a driver. The driver can make an operation instruction for deciding take-over with respect to the take-over request.

And an operation module 604, configured to enter a driving mode in which the driver takes over the vehicle based on an operation instruction of the driver.

< vehicle embodiment >

Fig. 7 illustrates an autonomous vehicle takeover system that may be used to implement an autonomous vehicle takeover method of an embodiment of the present disclosure, including an autonomous vehicle takeover apparatus according to the second aspect of the present disclosure disposed in a vehicle and an autonomous vehicle takeover apparatus according to the second aspect of the present disclosure disposed in a mobile device.

Embodiments of the present invention further provide a vehicle 700, where the vehicle 700 may be the vehicle 2000 or the vehicle 3000 shown in fig. 1.

In one embodiment, as shown in fig. 7, the vehicle 700 may include an autonomous vehicle takeover device 710 disposed in the vehicle, an autonomous vehicle takeover device 720 disposed in the mobile device.

The autonomous vehicle take-over device 710 provided in the vehicle, the autonomous vehicle take-over device 720 provided in the mobile device are configured to execute the autonomous vehicle take-over method disclosed according to any of the embodiments under the control of computer instructions.

The vehicle may have other hardware structures similar to the vehicle in fig. 1, and is not limited thereto.

The vehicle may have the autonomous vehicle take-over device of fig. 6, which is not limited herein.

The present invention may be a system, method and/or computer program product. The computer program product may include a computer-readable storage medium having computer-readable program instructions embodied therewith for causing a processor to implement various aspects of the present invention.

The computer readable storage medium may be a tangible device that can hold and store the instructions for use by the instruction execution device. The computer readable storage medium may be, for example, but not limited to, an electronic memory device, a magnetic memory device, an optical memory device, an electromagnetic memory device, a semiconductor memory device, or any suitable combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a Static Random Access Memory (SRAM), a portable compact disc read-only memory (CD-ROM), a Digital Versatile Disc (DVD), a memory stick, a floppy disk, a mechanical coding device, such as punch cards or in-groove projection structures having instructions stored thereon, and any suitable combination of the foregoing. Computer-readable storage media as used herein is not to be construed as transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission medium (e.g., optical pulses through a fiber optic cable), or electrical signals transmitted through electrical wires.

The computer-readable program instructions described herein may be downloaded from a computer-readable storage medium to a respective computing/processing device, or to an external computer or external storage device via a network, such as the internet, a local area network, a wide area network, and/or a wireless network. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. The network adapter card or network interface in each computing/processing device receives computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in a computer-readable storage medium in the respective computing/processing device.

The computer program instructions for carrying out operations of the present invention may be assembler instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The computer-readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider). In some embodiments, aspects of the present invention are implemented by personalizing an electronic circuit, such as a programmable logic circuit, a Field Programmable Gate Array (FPGA), or a Programmable Logic Array (PLA), with state information of computer-readable program instructions, which can execute the computer-readable program instructions.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer-readable program instructions.

These computer-readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer-readable program instructions may also be stored in a computer-readable storage medium that can direct a computer, programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer-readable medium storing the instructions comprises an article of manufacture including instructions which implement the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer, other programmable apparatus or other devices implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions. It is well known to those skilled in the art that implementation by hardware, implementation by software, and implementation by a combination of software and hardware are equivalent.

Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terminology used herein is chosen in order to best explain the principles of the embodiments, the practical application, or improvements made to the technology in the marketplace, or to enable others of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the invention is defined by the appended claims.

Claims

1. An autonomous vehicle takeover method comprising:

determining a driver's mobile device connected with a vehicle;

sending a take-over request to the mobile device in an autonomous driving mode, wherein the take-over request is for requesting a driver to take over driving of the vehicle;

receiving an operation instruction from a driver; and

and entering a driving mode for taking over the vehicle by the driver based on the operation instruction.

2. The method of claim 1, further comprising:

predicting possible treatments that can be taken by the vehicle next step in the case that the operating instruction is not received within a predetermined time; and

sending information regarding the possible treatments to the mobile device.

3. The method of claim 2, further comprising:

receiving possible treatments selected by the driver; and

based on the selected possible processes, corresponding automatic driving processes are executed.

4. A method according to claim 2 or 3, wherein the possible treatments comprise at least one of:

-skipping over the high speed outlet;

-parking;

-turning a corner;

-lane change; and

-braking deceleration.

5. The method of claim 1, wherein determining a driver's mobile device connected with a vehicle comprises:

outputting a prompt for the driver to confirm that the connected mobile device is the driver's mobile device if the mobile device connected to the vehicle is detected; and

an indication from a driver is received to determine a mobile device of the driver.

6. The method of claim 1, wherein determining a driver's mobile device connected with a vehicle comprises:

detecting a mobile device connected to a vehicle;

detecting that only the driver seat is occupied; and

automatically determining the mobile device as the driver's mobile device.

7. The method of claim 1, further comprising:

timing information associated with the takeover request is sent to the mobile device.

8. An autonomous vehicle takeover method, performed on a mobile device, comprising:

receiving a take-over request from a vehicle, wherein the take-over request is for requesting a driver to take over driving of the vehicle;

presenting the take over request to a driver;

receiving a take-over indication from a driver regarding the take-over request; and

sending the take-over indication to the vehicle to enter a driving mode in which the vehicle is taken over by the driver.

9. The method of claim 8, wherein presenting the take over request to the driver comprises at least one of:

displaying the takeover request on a display screen of a mobile device;

playing the takeover request through a loudspeaker of the mobile equipment or an external audio playing device; and

activating a shock unit of the mobile device.

10. The method of claim 8, further comprising:

receiving timing information associated with the takeover request; and

presenting, based on the timing information, a remaining time for the driver to accept the take over request.

11. The method of claim 9, further comprising:

receiving possible processing that the vehicle can take next; and

in the event that the driver does not accept the take over request, the driver is presented with the possible treatment.

12. The method of claim 11, further comprising:

receiving a driver selection of the possible treatment; and

transmitting the selected possible treatments to the vehicle.

13. An autonomous vehicle take-over device comprising means for performing the steps in the method according to any of claims 1-7.

14. An autonomous vehicle take-over device comprising means for performing the steps in the method according to any of claims 8-12.

15. An autonomous vehicle takeover system comprising an autonomous vehicle takeover apparatus according to claim 13 disposed in a vehicle and an autonomous vehicle takeover apparatus according to claim 14 disposed in a mobile device.