WO2024098393A1 - 一种控制方法、装置、车辆、电子设备及存储介质 - Google Patents
一种控制方法、装置、车辆、电子设备及存储介质 Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Definitions
- the present application relates to the field of intelligent driving technology, and in particular to a control method, device, vehicle, electronic device and storage medium.
- Vehicles with autonomous driving capabilities usually have multiple sensors installed inside and outside the vehicle, such as one or more of the following: camera, light detection and ranging (lidar), radio detection and ranging (radar), ultrasonic sensor (USS), inertial navigation system (INS) or global positioning system (GPS).
- the data collected by these sensors may involve the privacy of people inside and outside the vehicle (such as pictures collected by cameras) or may interfere with the surrounding environment (such as the laser emitted by lidar interfering with the data collection environment of the observatory). Therefore, the working status of these sensors needs to be controlled.
- the present application proposes a control method, a vehicle, an apparatus, an electronic device, a computer-readable storage medium and a computer program product to control the working state of a vehicle sensor.
- the present application provides a control method, which is applied to a vehicle, comprising: obtaining control information, wherein the control information is used to indicate whether all sensing devices within a first range of the vehicle are turned on or off; and according to the control information, controlling all sensing devices within the first range to be turned on or off.
- all the sensing devices within the first range can be controlled to be turned on or off according to the control information, so that the working status of all the sensing devices within the first range can be switched conveniently and quickly; and, when all the sensing devices within the first range are turned off, the functions of other devices (such as human driving, in-cabin entertainment, etc.) are not affected, thereby ensuring that driving safety is not affected when all the sensing devices within the first range are turned off; at the same time, since the data collected by the sensing devices may involve the personal privacy of the driver and people outside the vehicle, or may interfere with the environment surrounding the vehicle, when all the sensing devices within the first range are turned off, privacy protection can be provided for the driver and people outside the vehicle, and the environment surrounding the vehicle can be protected from interference by the sensing devices, thereby meeting the requirements of the driver or relevant regulations.
- the method when the vehicle is in the automatic driving mode, the method further includes: controlling the vehicle to exit the automatic driving mode before controlling all sensing devices within the first range to be turned off.
- the vehicle in autonomous driving mode since a vehicle in autonomous driving mode usually requires the sensing device to be turned on, the driving safety of the autonomous driving vehicle will be affected when the sensing device is turned off. Therefore, before all the sensing devices within the first range are controlled to be turned off, the vehicle can be controlled to exit the autonomous driving mode, for example, it can be switched to human driving mode to ensure driving safety.
- the perception devices within the first range include at least one of a perception device controlled by a cockpit domain controller CDC, a perception device controlled by an intelligent driving domain controller ADC, and a vehicle-mounted wireless gateway.
- turning off all the perception devices controlled by the cockpit domain controller can turn off the in-vehicle cameras and other perception devices to protect the driver's privacy; turning off all the perception devices controlled by the intelligent driving domain controller can turn off the external cameras and perception devices such as lidar, millimeter-wave radar, ultrasonic sensors, inertial navigation systems, etc., thereby protecting the privacy of people outside the vehicle and protecting the vehicle's surrounding environment from interference from perception devices; turning off the on-board wireless gateway can cut off the wireless network connection between the vehicle and the outside world.
- the method further includes: controlling the ADC to enter a sleep state.
- the intelligent driving domain controller since the intelligent driving domain controller is used to control the vehicle to perform autonomous driving, when all the perception devices controlled by the intelligent driving domain controller are turned off, the vehicle usually has exited the autonomous driving mode. At this time, the intelligent driving domain controller can be controlled to enter a sleep state, thereby achieving energy saving of the vehicle.
- the acquiring control information includes: acquiring the control information generated by the vehicle in response to a first operation of the driver.
- all the sensing devices within the first range can be controlled to be turned on or off according to the driver's operation, so that the driver can switch the working status of all the sensing devices within the first range with one click, which is more convenient and quick.
- control information includes vehicle-to-everything (V2X) information; and obtaining the control information includes: receiving the V2X information from a roadside device, wherein the roadside device is located at an edge of a specified area, and the specified area is an area where environmental information collection is not allowed.
- V2X vehicle-to-everything
- all the sensing devices within the first range can be automatically controlled to be turned off according to the V2X information from the roadside device, so that the working state of the sensing devices within the first range can be conveniently switched.
- the obtaining of control information includes: obtaining a first planned path of the vehicle, and generating a second planned path when the first planned path passes through a designated area, wherein the second planned path does not pass through the designated area, and the designated area is an area where environmental information collection is not allowed; issuing a prompt message, wherein the prompt message is used to prompt the driver to update the first planned path to the second planned path; and triggering the control information when the driver does not update the first planned path to the second planned path.
- the path is re-planned in advance, and the driver is automatically prompted whether to choose a new path. If the driver chooses a new path, the area can be avoided. If the driver does not choose a new path, the perception device can be automatically switched to a fully closed state, thereby avoiding violations; as an example, if the driver does not choose a new path, the self-driving downgrade can be automatically triggered to ensure driving safety.
- the designated area includes: an area determined according to a selection operation of the driver in a map or an area selection list, wherein the area selection list includes one or more areas; or an area determined according to the first planned path and a designated area selection rule.
- the designated area can be set according to the driver's input, or the designated area can be automatically determined according to the first planned path and the designated area selection rule, so that the designated area can be flexibly determined.
- the present application provides a control device, which is applied to a vehicle, and the device includes: an acquisition module, used to acquire control information, wherein the control information is used to indicate whether all sensing devices within a first range of the vehicle are turned on or off; a control module, used to control all sensing devices within the first range to be turned on or off according to the control information.
- all the sensing devices within the first range can be controlled to be turned on or off according to the control information, so that the working status of all the sensing devices within the first range can be switched conveniently and quickly; and, when all the sensing devices within the first range are turned off, the functions of other devices (such as human driving, in-cabin entertainment, etc.) are not affected, thereby ensuring that driving safety is not affected when all the sensing devices within the first range are turned off; at the same time, since the data collected by the sensing devices may involve the personal privacy of the driver and people outside the vehicle, or may interfere with the environment surrounding the vehicle, when all the sensing devices within the first range are turned off, privacy protection can be provided for the driver and people outside the vehicle, and the environment surrounding the vehicle can be protected from interference by the sensing devices, thereby meeting the requirements of the driver or relevant regulations.
- control module when the vehicle is in the automatic driving mode, the control module is further used to control the vehicle to exit the automatic driving mode before all sensing devices within the first range are controlled to be turned off.
- the vehicle in autonomous driving mode since a vehicle in autonomous driving mode usually requires the sensing device to be turned on, the driving safety of the autonomous driving vehicle will be affected when the sensing device is turned off. Therefore, before all the sensing devices within the first range are controlled to be turned off, the vehicle can be controlled to exit the autonomous driving mode, for example, it can be switched to human driving mode to ensure driving safety.
- the perception devices within the first range include at least one of a perception device controlled by a cockpit domain controller CDC, a perception device controlled by an intelligent driving domain controller ADC, and a vehicle-mounted wireless gateway.
- turning off all the perception devices controlled by the cockpit domain controller can turn off the in-vehicle camera and other perception devices to protect the driver's privacy; turning off all the perception devices controlled by the intelligent driving domain controller can turn off the external camera and lidar, millimeter-wave radar, ultrasonic sensor, inertial navigation system and other perception devices, thereby protecting the privacy of people outside the vehicle and protecting the vehicle's surrounding environment from interference from perception devices; turning off the on-board wireless gateway can cut off the wireless network connection between the vehicle and the outside world.
- the control module is further used to control the ADC to enter a sleep state.
- the intelligent driving domain controller since the intelligent driving domain controller is used to control the vehicle to perform autonomous driving, when all the perception devices controlled by the intelligent driving domain controller are turned off, the vehicle usually has exited the autonomous driving mode. At this time, the intelligent driving domain controller can be controlled to enter a sleep state, thereby achieving energy saving of the vehicle.
- the acquisition module is specifically used to acquire the control information generated by the vehicle in response to a first operation of the driver.
- all the sensing devices within the first range can be controlled to be turned on or off according to the driver's operation, so that the driver can switch the working status of all the sensing devices within the first range with one click, which is more convenient and quick.
- control information includes V2X information
- the acquisition module is specifically used to: receive the V2X information from a roadside device, the roadside device is located at the edge of a specified area, and the specified area is an area where environmental information collection is not allowed.
- all the sensing devices within the first range can be automatically controlled to be turned off according to the V2X information from the roadside equipment, so that the working status of the sensing devices within the first range can be conveniently switched.
- the acquisition module is specifically used to: acquire a first planned path of the vehicle, and generate a second planned path when the first planned path passes through a designated area, wherein the second planned path does not pass through the designated area, and the designated area is an area where environmental information collection is not allowed; issue a prompt message, wherein the prompt message is used to prompt the driver to update the first planned path to the second planned path; and trigger the control information when the driver does not update the first planned path to the second planned path.
- the path is re-planned in advance, and the driver is automatically prompted whether to choose a new path. If the driver chooses a new path, the area can be avoided. If the driver does not choose a new path, the perception device can be automatically switched to a fully closed state, thereby avoiding violations. As an example, if the driver does not choose a new path, the self-driving downgrade can be automatically triggered to ensure driving safety.
- the designated area includes: an area determined according to a selection operation of the driver in a map or an area selection list, wherein the area selection list includes one or more areas; or an area determined according to the first planned path and a designated area selection rule.
- the designated area can be set according to the driver's input, or the designated area can be automatically determined according to the first planned path and the designated area selection rule, so that the designated area can be flexibly determined.
- the present application provides a vehicle comprising: a sensing device and a processing device; the processing device is used to execute the above-mentioned first aspect or one or more control methods of the first aspect to control the turning on or off of the sensing device.
- the processing device can control all the sensing devices within the first range to be turned on or off, so that the working status of all the sensing devices within the first range can be switched conveniently and quickly; and the processing device can only turn off all the sensing devices within the first range without affecting the functions of other devices (such as driving, entertainment, etc.), thereby ensuring that driving safety is not affected when all the sensing devices within the first range are turned off, so that the working status of all the sensing devices within the first range can be safely switched; at the same time, since the data collected by the sensing devices involves the personal privacy of the driver and people outside the vehicle, and will interfere with the environment surrounding the vehicle, when all the sensing devices within the first range are turned off, privacy protection can be provided for the driver and people outside the vehicle, and the environment surrounding the vehicle can be protected from interference from the sensing devices.
- the vehicle further includes: a control device, configured to control all sensing devices connected to the control device to be turned on or off.
- control device can be used to conveniently control all the sensing devices connected to the control device to be turned on or off, thereby conveniently switching the working state of the sensing devices connected to the control device.
- control device includes: a cockpit domain controller CDC and/or an intelligent driving domain controller ADC; wherein the CDC is used to control all the sensing devices connected to the CDC to be turned on or off, and the ADC is used to control all the sensing devices connected to the ADC to be turned on or off.
- the working status of the perception devices connected to them can be conveniently switched through the cockpit domain controller and the intelligent driving domain controller.
- the present application provides an electronic device comprising: a processor; a memory for storing processor executable instructions; wherein the processor is configured to implement the first aspect or one or more control methods of the first aspect when executing the instructions.
- the present application provides a computer-readable storage medium having computer program instructions stored thereon, which, when executed by a processor, implement the first aspect or one or more control methods of the first aspect.
- the present application provides a computer program product, which, when executed on a computer, enables the computer to execute the above-mentioned first aspect or one or more control methods of the first aspect.
- FIG1 shows a schematic diagram of a vehicle according to an embodiment of the present application.
- FIG. 2 shows a flow chart of a control method according to an embodiment of the present application.
- FIG3 shows a schematic diagram of a partial network group according to an embodiment of the present application.
- FIG. 4 shows a flow chart of another control method according to an embodiment of the present application.
- FIG5 shows a flow chart of a method for controlling all sensing devices within a first range to be turned off according to an embodiment of the present application.
- FIG6 shows a flow chart of a method for controlling all sensing devices within a first range to turn on according to an embodiment of the present application.
- FIG. 7 shows a flow chart of another control method according to an embodiment of the present application.
- FIG. 8 shows a schematic diagram of determining a designated area according to an embodiment of the present application.
- FIG. 9 shows a flow chart of another control method according to an embodiment of the present application.
- FIG10 shows a block diagram of a processing device according to an embodiment of the present application.
- FIG. 11 is a schematic structural diagram of an electronic device according to an embodiment of the present application.
- references to "one embodiment” or “some embodiments” etc. described in this specification mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment.
- the statements “in one embodiment”, “in some embodiments”, “in some other embodiments”, “in some other embodiments”, etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean “one or more but not all embodiments", unless otherwise specifically emphasized in other ways.
- the terms “include”, “comprise”, “have” and their variations all mean “including but not limited to”, unless otherwise specifically emphasized in other ways.
- the special word “exemplary” here means “used as an example, embodiment or illustrative”.
- At least one means one or more
- plural means two or more.
- “And/or” describes the association relationship of associated objects, indicating that three relationships may exist.
- a and/or B can mean: including the existence of A alone, the existence of A and B at the same time, and the existence of B alone, where A and B can be singular or plural.
- the character “/” generally indicates that the previous and next associated objects are in an “or” relationship.
- “At least one of the following” or similar expressions refers to any combination of these items, including any combination of single or plural items.
- At least one of a, b, or c can mean: a, b, c, a-b, a-c, b-c, or a-b-c, where a, b, c can be single or multiple.
- FIG1 shows a schematic diagram of a vehicle according to an embodiment of the present application.
- the vehicle 10 may include a sensing device 101 and a processing device 102; exemplarily, the vehicle 10 is a vehicle with an automatic driving function.
- the sensing device 101 is used to sense the surrounding environment or the interior environment of the vehicle 10.
- the sensing device 101 may include one or more sensors such as a camera, a laser radar, a millimeter-wave radar, an ultrasonic sensor, or an inertial navigation system.
- the number of sensing devices 101 may be one or more, and there is no limitation on this.
- the processing device 102 is used to execute the control method in the embodiment of the present application (detailed description is provided below) to control the on or off of the sensing device 101.
- the processing device 102 can be independently set, integrated in other devices, or implemented by software or a combination of software and hardware.
- the processing device 102 can be a component in the vehicle 10; for example, a vehicle-mounted terminal, a body control module (BCM), a vehicle-mounted computing platform, a vehicle-mounted module, a vehicle-mounted module, a vehicle-mounted chip, a vehicle-mounted unit, a vehicle-mounted sensor, etc.
- the processing device 102 can also be other devices or systems with data processing capabilities other than vehicle components, or components or chips set in these devices or systems.
- the processing device 102 can be a cloud server, a desktop computer, a portable computer, a network server, a PDA, a mobile phone, a tablet computer, a wireless terminal device, an embedded device or other device with data processing capabilities, or a component or chip in these devices.
- the processing device 102 may also be a chip or processor with processing functions, and the processing device 102 may include multiple processors; the processor may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor.
- the vehicle 10 may further include a control device 103, which may be connected to one or more sensing devices 101, and the control device 103 controls all the sensing devices 101 connected thereto to be turned on or off.
- the control device 103 may receive a management message from the processing device 102, and in response to the management message, control all the sensing devices 101 connected thereto to be turned on or off.
- the control device 103 may include: a cockpit domain controller (CDC) and/or an intelligent driving domain controller (ADAS/AD domain controller, ADC); wherein the cockpit domain controller is used to control all the sensing devices 101 (such as an external camera, a laser radar, a millimeter-wave radar, an ultrasonic sensor, and an inertial navigation system) connected to the cockpit domain controller to be turned on or off; and the intelligent driving domain controller is used to control all the sensing devices 101 (such as an in-vehicle camera) connected to the intelligent driving domain controller to be turned on or off.
- the cockpit domain controller and the intelligent driving domain controller may be set separately or integrated in the same domain controller, without limitation.
- the vehicle 10 may further include an interactive device (not shown in the figure), which can be used to send information to the driver and receive the driver's instructions;
- the interactive device may include a steering wheel, a central control screen of the vehicle, etc., and the vehicle 10 can receive the driver's instructions through body buttons or virtual buttons on the central control screen of the vehicle.
- the vehicle 10 may further include a communication device (not shown in the figure); the communication device may be used for the vehicle 10 to communicate with other devices, for example, the vehicle 10 may communicate with a mobile terminal, a cloud device, other vehicles, roadside equipment, etc., and may be implemented through wireless communication connections such as 2G/3G/4G/5G, Bluetooth, frequency modulation (FM), wireless local area networks (WLAN), long-term evolution (LTE) networks, vehicle to everything (V2X), and vehicle to vehicle (V2V); exemplary, the communication device may include a vehicle-mounted gateway (gateway, GW), for example, a telematics processor (e.g., a telematics box, T-Box); as an example, the processing device 102 may control the vehicle-mounted wireless gateway to be turned on or off.
- GW vehicle-mounted gateway
- GW a telematics processor
- T-Box telematics box
- FIG2 shows a flow chart of a control method according to an embodiment of the present application, which may be executed by the processing device 102 and/or the control device 103 in FIG1 . As shown in FIG2 , the method may include the following steps:
- the perception device may be a perception sensor installed in a vehicle, for example, the perception device 101 in FIG. 1 .
- the sensing device within the first range may include at least one of a sensing device controlled by a cockpit domain controller, a sensing device controlled by an intelligent driving domain controller, and an on-board wireless gateway (such as a T-box).
- the sensing device within the first range may be a sensing device controlled by a cockpit domain controller, or a sensing device controlled by an intelligent driving domain controller, or an on-board wireless gateway.
- the sensing device within the first range may be a sensing device controlled by a cockpit domain controller, a sensing device controlled by an intelligent driving domain controller, or an on-board wireless gateway.
- the perception devices within the first range may include sensors of the same type or multiple types.
- the perception devices within the first range may include detection sensors, such as laser radar, millimeter wave radar, ultrasonic sensor, etc.
- the perception devices within the first range may include video sensors, such as in-vehicle cameras, out-of-vehicle cameras, etc.
- the perception devices within the first range may include location sensors, such as inertial navigation systems, global positioning systems, etc.
- the perception devices within the first range may include detection sensors and video sensors.
- the processing device can obtain control information through an interactive device or a communication device, etc.; for example, the control information generated by the vehicle in response to the first operation of the driver can be obtained, and for another example, the vehicle network V2X information (i.e., control information) from the roadside device can be received; for another example, the control information can be triggered according to the planned path of the vehicle and the designated area where environmental information collection is not allowed; for a specific description, please refer to the relevant statements below. It can be understood that at a certain moment, the processing device can obtain control information A, which is used to turn on all the sensing devices within the first range; at another moment, the processing device can control information B, which is used to turn off all the sensing devices within the first range.
- control information A which is used to turn on all the sensing devices within the first range
- control information B which is used to turn off all the sensing devices within the first range.
- control link of the sensing device within the first range can be a controller area network (CAN), Ethernet or hard wire.
- CAN controller area network
- Ethernet or hard wire.
- the sensing devices within the first range can be directly connected to the processing device via a control link, and the processing device can control all the sensing devices within the first range to be turned on or off via the control link.
- the processing device can be the processing device 102 in FIG. 1 above, and the sensing devices within the first range can be all the sensing devices 101 in FIG. 1 above; these sensing devices 101 are directly connected to the processing device 102 via a control link, and after the processing device 102 obtains the control information, it can directly control all the sensing devices 101 to be turned on or off via the control link.
- the sensing devices within the first range can be connected to the corresponding domain controller (such as a cockpit domain controller or an intelligent driving domain controller) through a control link. After the domain controller receives the management message from the processing device, the domain controller responds to the management message and controls all the sensing devices within the first range to be turned on or off through the control link.
- the processing device can be the processing device 102 in FIG. 1 above, and the sensing devices within the first range can be the sensing devices 101 directly connected to the control device 103 in FIG. 1 above; after the processing device 101 obtains the control information, it sends a management message to the control device 103, and the control device 103 responds to the management message and controls all of these sensing devices 101 to be turned on or off through the control link.
- the sensing devices within the first range and/or the domain controllers controlling the sensing devices within the first range can be divided into a partial network (PN) group.
- PN partial network
- the sensing devices within the PN group they will be triggered to be all turned off or all turned on only after receiving the network management message within the PN group.
- the sensing devices within the first range may include sensing devices controlled by a cockpit domain controller, sensing devices controlled by an intelligent driving domain controller, and a telematics processor;
- FIG3 shows a schematic diagram of a partial network group according to an embodiment of the present application.
- the PN group includes: a telematics processor, a cockpit domain controller, and an intelligent driving domain controller; the PN group is connected to a body control module (i.e., a processing device), an electric power steering system (EPS), and an electronic stability program (ESP) in the vehicle through a CAN network.
- a body control module i.e., a processing device
- EPS electric power steering system
- ESP electronic stability program
- the body control module can trigger the cockpit domain controller, the intelligent driving domain controller, and the telematics processor in the PN group to change their states through the CAN network, thereby controlling all the sensing devices within the first range to be turned on or off.
- the perception devices controlled by the cockpit domain controller, the perception devices controlled by the intelligent driving domain controller and the telematics processor can be all turned on or off without affecting other functions of the cockpit domain controller and the intelligent driving domain controller except the perception function (such as human driving, in-cockpit entertainment, etc.), ensuring that driving safety is not affected when all perception devices within the first range are turned off, thereby achieving convenient, fast and safe switching of the working status of all perception devices within the first range.
- the perception function such as human driving, in-cockpit entertainment, etc.
- all sensing devices within the first range being turned off may mean that all sensing devices within the first range are turned off, or that all sensing devices within the first range are powered on but not working. It is understandable that the powered on but not working state may also be referred to as a silent state, in which the sensing devices do not collect data in the environment and can be quickly awakened when needed.
- a millimeter wave radar is powered on but does not emit waves
- a laser radar is powered on but does not emit lasers
- a camera is powered on but does not collect images
- a telematics processor does not establish a link connection with a satellite or base station (such as a wireless base station or a real-time kinematic (RTK) base station).
- the method when the vehicle is in the automatic driving mode, the method further includes: before controlling all the sensing devices within the first range to be turned off, controlling the vehicle to exit the automatic driving mode.
- exiting the automatic driving mode may include switching to the human driving mode, or the driving mode may be downgraded.
- the level corresponding to the automatic driving mode may adopt the automatic driving mode grade standard formulated by the National Highway Traffic Safety Administration (NHTSA) or the Society of Automotive Engineers (SAE), or the level of the automatic driving mode may be formulated according to actual needs, and the embodiment of the present application does not impose any special restrictions.
- L0 no automation (Leve0 No Automation), indicating that the vehicle is fully driven by a human driver
- L1 driver assistance Level1 Driver Assistance
- L2 partial automation (Level2 Partial Automation)
- Level3 Conditional Automation indicating that the vehicle completes most of the driving operations, and the human driver needs to stay focused in case of emergency
- L4 highly automated driving (Level4 High Automation), indicating that the vehicle completes all driving operations, and the human driver does not need to stay focused, but the road and environmental conditions are limited
- L5 fully automated driving (Level5 Full Automation), indicating that the vehicle completes all driving operations, and the human driver does not need to stay focused, and can adapt to any
- the vehicle when the vehicle is in L5 level autonomous driving mode, it can exit the L5 level autonomous driving mode and downgrade to L0 level autonomous driving mode or L1 level autonomous driving mode; as another example, when the vehicle is in L3 level autonomous driving mode, it can exit the L3 level autonomous driving mode and downgrade to L2 level autonomous driving mode to achieve smooth downgrade.
- vehicles in autonomous driving mode usually require the sensing device to be turned on, the driving safety of the autonomous driving vehicle will be affected when the sensing device is turned off. Therefore, before all the sensing devices in the first range are controlled to be turned off, the vehicle can be controlled to exit the autonomous driving mode, for example, it can be switched to the human driving mode to ensure driving safety.
- the domain controller when all the sensing devices controlled by the domain controller are turned off, the domain controller can be controlled to enter a dormant state; as an example, when the sensing devices within the first range are sensing devices controlled by the intelligent driving domain controller, and these sensing devices are all turned off, the method further includes: controlling the intelligent driving domain controller to enter a dormant state.
- the intelligent driving domain controller is used to control the vehicle to perform automatic driving.
- the intelligent driving domain controller can be controlled to enter a dormant state, thereby achieving energy saving of the vehicle.
- all the sensing devices within the first range can be controlled to be turned on or off according to the control information, so that the working state of all the sensing devices within the first range can be switched conveniently and quickly; and, when all the sensing devices within the first range are turned off, the functions of other devices (such as human driving, in-cabin entertainment, etc.) are not affected, thereby ensuring that driving safety is not affected when all the sensing devices within the first range are turned off; at the same time, since the data collected by the sensing devices may involve the personal privacy of the driver and people outside the vehicle, or may interfere with the environment around the vehicle, when all the sensing devices within the first range are turned off, privacy protection can be provided for the driver and people outside the vehicle, and the environment around the vehicle can be protected from
- the in-car camera and other sensing devices can be turned off to protect the driver's privacy; by turning off all the sensing devices controlled by the intelligent driving domain controller, the external camera and sensing devices such as lidar, millimeter-wave radar, ultrasonic sensor, inertial navigation system, etc. can be turned off, thereby protecting the privacy of people outside the vehicle and protecting the vehicle's surrounding environment from interference from sensing devices; turning off the on-board wireless gateway can cut off the wireless network connection between the vehicle and the outside world.
- the detection sensors can be turned on or off individually, or the video sensors can be turned on or off individually, or the position sensors can be turned on or off individually, so that the working status of different types of sensors can be easily switched to meet the needs of different scenarios.
- FIG4 shows a flow chart of another control method according to an embodiment of the present application, which may be executed by the processing device 102 and/or the control device 103 in FIG1 . As shown in FIG4 , the method may include the following steps:
- S401 Acquire control information generated by the vehicle in response to a first operation of the driver; wherein the control information is used to instruct to turn on or off all sensing devices within a first range of the vehicle.
- the first operation may be a pressing operation, a touch operation, a voice operation, a gesture operation, a remote operation, etc.
- the driver may generate control information by pressing a body button, or touching a button on the central control screen of the vehicle, or performing a remote operation through a mobile phone.
- a sensing device off button and a sensing device on button may be respectively set on the vehicle body (for example, on the steering wheel).
- control information may be generated to instruct that all sensing devices within the first range of the vehicle be turned off; when the driver presses the sensing device on button, control information may be generated to instruct that all sensing devices within the first range of the vehicle be turned on.
- a button for controlling the on and off of the sensing device may be set on the vehicle body. When the driver presses the button for the first time, control information may be generated to control all sensing devices within the first range to be turned off; when the driver presses the button again, control information may be generated to control all sensing devices within the first range to be turned on.
- control all sensing devices within the first range to be turned on or off.
- all the sensing devices within the first range can be controlled to be turned on or off according to the driver's operation, so that the driver can switch the working status of all the sensing devices within the first range with one click, which is more convenient and quick.
- the sensing devices within the first range include sensing devices controlled by a cockpit domain controller, sensing devices controlled by an intelligent driving domain controller, and a telematics processor, and the first operation is pressing a body button as an example
- a possible implementation method of controlling all sensing devices within the first range to be turned off in step S402 in FIG. 4 is exemplarily described.
- the cockpit domain controller, the intelligent driving domain controller, and the telematics processor may be divided into the same PN group.
- FIG5 shows a flow chart of a method for controlling all sensing devices within a first range to be turned off according to an embodiment of the present application. As shown in FIG5 , the method may include the following steps:
- the body control module obtains control information.
- a perception device shutdown button may be provided on the vehicle body, and when the driver presses the perception device shutdown button, control information may be generated to instruct to shut down all the perception devices controlled by the cockpit domain controller, the perception devices controlled by the intelligent driving domain controller, and the telematics processor.
- the body control module generates a first negotiation message in response to the control information, where the first negotiation message is used to request the cockpit domain controller, the intelligent driving domain controller and the telematics processor to enter a sleep state.
- the first negotiation message may be a network management message, which is used to conduct network negotiation with the PN group, thereby requesting that all perception devices and telematics processors controlled by the cockpit domain controller and the intelligent driving domain controller within the PN group be shut down.
- the telematics processor enters a sleep state in response to the first negotiation message.
- the telematics processor Since the telematics processor is used for remote control of the vehicle, the telematics processor enters a dormant state in response to the first negotiation message, thereby cutting off the wireless network connection between the vehicle and the outside world; and the telematics processor entering a dormant state can achieve energy saving for the vehicle.
- the cockpit domain controller and the intelligent driving domain controller generate a first request in response to the first negotiation message.
- the cockpit domain controller and the intelligent driving domain controller may generate a first request in response to a negotiation request of the first negotiation message, where the first request is used to request a state management (SM) module to switch the state to a state in which all perception devices are turned off.
- SM state management
- the status management module In response to the first request, notifies the fault management (fault manager, FM) module to turn off the fault reporting function, and notifies the device management module to turn off the sensing devices within the first range.
- fault management fault manager, FM
- the device management module controls all sensing devices within the first range to shut down.
- the device management module may control the sensing devices within the first range to access a service process to go into hibernation, where the service process is used to manage the sensing devices; the service process may trigger all sensing devices within the first range to shut down, and then the service process goes into hibernation.
- the fault management module can notify the vehicle to downgrade the autonomous driving mode or exit the autonomous driving mode.
- the intelligent driving domain controller can be controlled to enter a sleep state, thereby achieving energy saving for the vehicle.
- the fault management module can trigger the microcontroller unit (MCU) to monitor the turned-off sensing devices.
- MCU microcontroller unit
- Monitoring the turned-off sensing devices can timely detect abnormalities of the sensing devices, thereby ensuring the safety of the vehicle.
- the embodiment of the present application can control the driver to press the body button to shut down all the sensing devices controlled by the cockpit domain controller, the sensing devices controlled by the intelligent driving domain controller and the telematics processor with one click, without affecting other functions of the cockpit domain controller and the intelligent driving domain controller except the sensing function, and the functions of other modules of the vehicle (i.e., modules other than the PN group), thereby achieving the situation that the driver can conveniently and quickly shut down all the sensing devices within the first range with one click without affecting the normal functions of the vehicle such as driving and entertainment; when all the sensing devices are turned off, privacy protection can be provided for the driver and people outside the vehicle, and the surrounding environment of the vehicle can be protected from interference from the sensing devices; and the telematics processor and the intelligent driving domain controller entering a sleep state can bring about energy saving effects.
- the sensing devices within the first range include sensing devices controlled by the cockpit domain controller, sensing devices controlled by the intelligent driving domain controller, and a telematics processor, and the first operation is pressing a body button as an example
- a possible implementation method of controlling all sensing devices within the first range to be turned on in step S402 in FIG. 4 is exemplarily described.
- the cockpit domain controller, the intelligent driving domain controller, and the telematics processor may be divided into the same PN group.
- FIG6 shows a flow chart of a method for controlling all sensing devices within a first range to be turned on according to an embodiment of the present application. As shown in FIG6 , the method may include the following steps:
- the body control module obtains control information.
- a sensing device start button may be provided on the vehicle body, and control information may be generated when the driver presses the sensing device start button to instruct that the sensing devices controlled by the cockpit domain controller, the sensing devices controlled by the intelligent driving domain controller, and the telematics processor be all turned on; the vehicle body control module obtains the control information.
- the body control module generates a second negotiation message in response to the control information, where the second negotiation message is used to request the cockpit domain controller, the intelligent driving domain controller and the telematics processor to enter a normal working state.
- the body control module generates a second negotiation message in response to the control information.
- the second negotiation message may be a network management message used for network negotiation with the PN group, thereby requesting that the perception devices controlled by the cockpit domain controller, the perception devices controlled by the intelligent driving domain controller, and the telematics processor be all turned on.
- the vehicle telematics processor responds to the second negotiation message and enters a normal working state.
- the cockpit domain controller and the intelligent driving domain controller generate a second request in response to the second negotiation message.
- the cockpit domain controller and the intelligent driving domain controller may generate a second request in response to the negotiation request of the second negotiation message, and the second request is used to request the state management module to switch the state and exit the state where all perception devices are turned off.
- the state management module In response to the second request, the state management module notifies the fault management module to enable the fault reporting function, and notifies the device management module to enable the sensing devices within the first range.
- the device management module triggers all sensing devices within the first range to turn on.
- the device management module can control the sensing devices within the first range to access the business process for wake-up; the business process can wake up the sensing devices within the first range; after all the sensing devices within the first range are successfully awakened (i.e., after all the sensing devices within the first range are turned on), the business process can enter a normal working state.
- the fault management module can trigger the MCU to monitor the turned-on sensing devices.
- the embodiment of the present application can enable all the sensing devices controlled by the cockpit domain controller, the sensing devices controlled by the intelligent driving domain controller, and the remote information processor to be turned on with one click by the driver pressing a button on the vehicle body, thereby realizing convenient and quick one-click turning on of all the sensing devices within the first range.
- FIG7 shows a flow chart of another control method according to an embodiment of the present application, which may be executed by the processing device 102 and/or the control device 103 in FIG1 . As shown in FIG7 , the method may include the following steps:
- the first planned path is a planned path from the current position of the vehicle to the destination.
- the first planned path can be automatically set by the navigation system.
- the second planned path does not pass through the designated area, and the designated area is an area where environmental information collection is not allowed, such as an observatory, a military base, etc., or an area pre-designated by the driver.
- the designated area may include: an area determined according to a selection operation of the driver in a map or an area selection list, wherein the area selection list includes one or more areas.
- the driver may perform a selection operation in advance through the vehicle computer central control screen to determine the designated area.
- the driver may input a single point location through the vehicle computer central control screen, and the vehicle computer central control screen may pop up an area selection list, and the driver may select the number of kilometers around the single point location through the area selection list to determine the designated area.
- FIG8 shows a schematic diagram of determining a designated area according to an embodiment of the present application.
- the driver inputs "XX observatory" through the vehicle computer central control screen, and the vehicle computer central control screen pops up an area selection list, and the driver may select the number of kilometers around the XX observatory, such as 3 kilometers, 5 kilometers, and 10 kilometers; if the driver selects 3 kilometers, the designated area is 3 kilometers around the XX observatory; if the driver selects 5 kilometers, the designated area is 5 kilometers around the observatory; if the driver selects 10 kilometers, the designated area is 10 kilometers around the observatory.
- a map can be displayed on the central control screen of the vehicle, and the driver can determine the designated area by swiping on the map; for example, the driver can draw a circle on the map, and the area within the circle is the designated area.
- the areas where environmental information collection is not allowed as required by current laws and regulations can be obtained in advance through the network as designated areas, and these areas can be automatically imported into the vehicle for storage; for example, the areas where environmental information collection is not allowed can be obtained from the "Interim Provisions on the Management of Automobile Radar Radio" as designated areas.
- the vehicle can update the designated areas according to the areas where environmental information collection is not allowed as stipulated in the latest laws and regulations.
- the information of the determined designated areas can be recorded, and the recorded information of the designated areas can be saved in the ROM memory space of the intelligent driving control domain as structured data, which can ensure that the data in the designated areas will not be lost when the vehicle is turned off.
- the designated area may include: an area determined according to the first planned path and a designated area selection rule.
- the designated area selection rule may be: the first planned path passes through an area where environmental information collection is not allowed; and there is an intersection between the first planned path and the area where a U-turn or a turn can be made, then the area is determined as the designated area; thus, since the first planned path passes through the designated area, a new path is planned in advance, so that the vehicle can avoid the designated area by making a U-turn or a turn.
- the inertial navigation system can be used to obtain driving information such as the vehicle's position, speed, and driving direction. Based on the driving information, the first planned path, and the location information of the designated area, it can be predicted whether the vehicle will enter the designated area. If it is predicted that the vehicle will enter the designated area, the path can be replanned before the vehicle drives to the designated area to generate a second planned path that can avoid the designated area.
- S702 Issue a prompt message, where the prompt message is used to prompt the driver to update the first planned path to a second planned path.
- a prompt message may be sent to the driver.
- the prompt message may be a voice message or a text message, for example, the prompt message may be a voice message to the driver saying "You are about to enter a designated area, do you want to choose a new route?"
- S703 When the driver fails to update the first planned path to the second planned path, trigger control information; wherein the control information is used to instruct to turn off all sensing devices within the first range of the vehicle.
- the driver can choose whether to update the first planned path to the second planned path; if the driver chooses to update the first planned path to the second planned path, the vehicle can travel along the second planned path to avoid the designated area; exemplarily, if the vehicle is in automatic driving mode, the automatic driving mode can continue to be maintained without triggering self-driving downgrade.
- control information may be triggered when the driver does not update the first planned path to the second planned path.
- self-driving downgrade can be automatically triggered.
- the vehicle can be controlled to exit the automatic driving mode, and the driver can be notified to take over the driving and enter the human driving mode to ensure driving safety.
- the driver can manually trigger the control information as needed, thereby controlling the sensing devices to switch the working state from the off state to the on state. For example, the driver can manually exit the state where all the sensing devices are off by pressing a button on the vehicle body. As an example, if the vehicle is still in the designated area, the driver can be prompted that the working state switching of the sensing devices has failed. As another example, if the current vehicle has left the designated area, the sensing devices can be switched to the state where all are on.
- the path is re-planned in advance, and the driver is automatically prompted whether to choose a new path. If the driver chooses a new path, the area can be avoided. If the driver does not choose a new path, the perception device can be automatically switched to a fully closed state, thereby avoiding violations. As an example, if the driver does not choose a new path, the self-driving downgrade can be automatically triggered to ensure driving safety.
- FIG9 shows a flow chart of another control method according to an embodiment of the present application, which may be executed by the processing device 102 and/or the control device 103 in FIG1 . As shown in FIG9 , the method may include the following steps:
- V2X information i.e., control information
- the roadside device is located at an edge of a specified area, and the specified area is an area where environmental information collection is not allowed.
- the designated area may be an area where environmental information collection is not allowed as publicly required by current laws and regulations; for example, it may be an area where environmental information collection is not allowed as specified in the Interim Provisions on the Management of Automobile Radar Radio.
- the roadside equipment can be a traffic facility such as a utility pole or a traffic light that can broadcast V2X information.
- the manager of a designated area can build traffic facilities at the edge of the designated area and broadcast information to vehicles passing through the area through V2X, indicating that the area is not allowed to collect environmental information.
- the processing device may receive V2X information from a roadside device via a telematics processor.
- S902 According to the V2X information, control all sensing devices within the first range to be turned off.
- a vehicle when a vehicle is about to enter a designated area, it can receive V2X information broadcast by a roadside device, and according to the V2X information, all sensing devices within the first range can be controlled to be turned off.
- the process of controlling all sensing devices within the first range to be turned off can refer to the relevant description in step S202 in FIG. 2 above.
- all the sensing devices within the first range can be automatically controlled to be turned off according to the V2X information from the roadside device, so that the working status of the sensing devices within the first range can be conveniently switched.
- the vehicle after the vehicle enters the automatic driving mode, when the vehicle is about to enter the area where the environmental information collection is not allowed, it can receive V2X information from the roadside device, automatically control all the sensing devices within the first range to be turned off, and notify the vehicle to exit the automatic driving mode, and notify the driver to take over the driving and enter the human driving mode; after all the sensing devices within the first range are turned off, the driver can manually control all the sensing devices to be turned on by pressing the body button, etc.
- all the sensing devices within the first range can be controlled to be turned on. In this way, through the vehicle-road collaboration method, all the sensing devices within the first range can be automatically controlled to be turned off according to the V2X information from the roadside device, so that the working state of the sensing devices can be conveniently switched; and when all the sensing devices are turned off, the automatic driving mode can be exited and the driver can be notified to enter the human driving mode to ensure driving safety.
- the preset area can be a road or area that supports autonomous driving.
- the vehicle When the vehicle enters or leaves these roads or areas, it can remind or trigger the vehicle to upgrade or downgrade its autonomous driving; for example, when the vehicle enters a road that only allows L2 autonomous driving mode from a road that allows L3 autonomous driving mode, V2X information can be received at the junction of the two roads, which can remind the driver to reduce the autonomous driving level from L3 to L2, or the vehicle automatically reduces the autonomous driving level from L3 to L2.
- the embodiment of the present application further provides a processing device, which can be used to execute the technical solution described in the above method embodiment.
- a processing device which can be used to execute the technical solution described in the above method embodiment.
- each step of the control method shown in any of Figures 2, 4, 5, 6, 7 or 9 can be executed.
- FIG10 shows a block diagram of a processing device according to an embodiment of the present application.
- the device may include:
- An acquisition module 1001 is used to acquire control information, wherein the control information is used to instruct to turn on or off all sensing devices within a first range of the vehicle;
- the control module 1002 is used to control all the sensing devices within the first range to be turned on or off according to the control information.
- all the sensing devices within the first range can be controlled to be turned on or off according to the control information, so that the working status of all the sensing devices within the first range can be switched conveniently and quickly; and, when all the sensing devices within the first range are turned off, the functions of other devices (such as human driving, in-cabin entertainment, etc.) are not affected, thereby ensuring that driving safety is not affected when all the sensing devices within the first range are turned off; at the same time, since the data collected by the sensing devices may involve the personal privacy of the driver and people outside the vehicle, or may interfere with the environment surrounding the vehicle, when all the sensing devices within the first range are turned off, privacy protection can be provided for the driver and people outside the vehicle, and the environment surrounding the vehicle can be protected from interference by the sensing devices, thereby meeting the requirements of the driver or relevant regulations.
- control module 1002 when the vehicle is in the automatic driving mode, the control module 1002 is further used to control the vehicle to exit the automatic driving mode before all sensing devices within the first range are controlled to be turned off.
- the perception device within the first range includes at least one of a perception device controlled by a cockpit domain controller, a perception device controlled by an intelligent driving domain controller, and a vehicle-mounted wireless gateway.
- the control module 1002 is also used to control the intelligent driving domain controller to enter a sleep state.
- the acquisition module 1001 is specifically configured to acquire the control information generated by the vehicle in response to a first operation of the driver.
- control information includes V2X information
- the acquisition module 1001 is specifically used to: receive the V2X information from a roadside device, the roadside device is located at the edge of a specified area, and the specified area is an area where environmental information collection is not allowed.
- the acquisition module 1001 is specifically used to acquire a first planned path of the vehicle, and generate a second planned path when the first planned path passes through a designated area, wherein the second planned path does not pass through the designated area, and the designated area is an area where environmental information collection is not allowed; issue a prompt message, wherein the prompt message is used to prompt the driver to update the first planned path to the second planned path; and trigger the control information when the driver does not update the first planned path to the second planned path.
- the designated area includes: an area determined based on a selection operation of a driver in a map or an area selection list, wherein the area selection list includes one or more areas; or an area determined based on the first planned path and a designated area selection rule.
- control device shown in FIG. 10 The technical effects and specific descriptions of the control device shown in FIG. 10 and its various possible implementation methods can be found in the above-mentioned control method, which will not be repeated here.
- the division of the modules in the above device is only a division of logical functions. In actual implementation, they can be fully or partially integrated into one physical entity, or they can be physically separated.
- the modules in the device can be implemented in the form of a processor calling software; for example, the device includes a processor, the processor is connected to a memory, and instructions are stored in the memory.
- the processor calls the instructions stored in the memory to implement any of the above methods or realize the functions of the modules of the device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory inside the device or a memory outside the device.
- CPU central processing unit
- microprocessor a microprocessor
- the modules in the device may be implemented in the form of hardware circuits, and the functions of some or all modules may be implemented by designing the hardware circuits, which may be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all modules above are implemented by designing the logical relationship of components within the circuit; for another example, in another implementation, the hardware circuit may be implemented by a programmable logic device (PLD), and a field programmable gate array (FPGA) may be used as an example, which may include a large number of logic gate circuits, and the connection relationship between the logic gate circuits may be configured by a configuration file, thereby implementing the functions of some or all modules above. All modules of the above device may be implemented in the form of a processor calling software, or in the form of hardware circuits, or in part by a processor calling software, and the rest by hardware circuits.
- All modules of the above device may be implemented in the form of a processor calling software, or in the form of hardware circuit
- the processor is a circuit with the ability to process signals.
- the processor may be a circuit with the ability to read and run instructions, such as a CPU, a microprocessor, a graphics processing unit (GPU), a digital signal processor (DSP), a neural-network processing unit (NPU), a tensor processing unit (TPU), etc.; in another implementation, the processor may implement certain functions through the logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable, such as a hardware circuit implemented by an ASIC or PLD, such as an FPGA.
- the process of the processor loading a configuration document to implement the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above modules.
- each module in the above device can be one or more processors (or processing circuits) configured to implement the above embodiment method, such as: CPU, GPU, NPU, TPU, microprocessor, DSP, ASIC, FPGA, or a combination of at least two of these processor forms.
- processors or processing circuits
- each module in the above device can be fully or partially integrated together, or can be implemented independently, which is not limited.
- the embodiment of the present application also provides an electronic device, comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to implement the method of the above embodiment when executing the instructions.
- a processor comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to implement the method of the above embodiment when executing the instructions.
- each step of the control method shown in any of Figures 2, 4, 5, 6, 7 or 9 above can be executed.
- FIG11 shows a schematic diagram of the structure of an electronic device according to an embodiment of the present application.
- the electronic device may include: at least one processor 1101 , a communication line 1102 , a memory 1103 and at least one communication interface 1104 .
- Processor 1101 can be a general-purpose central processing unit, a microprocessor, a specific application integrated circuit, or one or more integrated circuits for controlling the execution of the program of the present application; processor 1101 can also include a heterogeneous computing architecture of multiple general-purpose processors, for example, it can be a combination of at least two of CPU, GPU, microprocessor, DSP, ASIC, FPGA; as an example, processor 1101 can be CPU+GPU or CPU+ASIC or CPU+FPGA.
- the communication link 1102 may include a pathway to transmit information between the above-mentioned components.
- the communication interface 1104 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, RAN, wireless local area networks (WLAN), etc.
- Ethernet Ethernet
- RAN wireless local area networks
- WLAN wireless local area networks
- the memory 1103 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto.
- the memory may be independent and connected to the processor via a communication line 1102.
- the memory may also be integrated with the processor.
- the memory provided in the embodiment of the present application may generally have non-volatility.
- the memory 1103 is used to store computer-executable instructions for executing the solution of the present application, and the execution is controlled by the processor 1101.
- the processor 1101 is used to execute the computer-executable instructions stored in the memory 1103, so as to implement the method provided in the above-mentioned embodiment of the present application; illustratively, each step of the control method shown in any of the above-mentioned Figures 2, 4, 5, 6, 7 or 9 can be implemented.
- the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.
- the processor 1101 may include one or more CPUs, for example, CPU0 in FIG11 ; the processor 1101 may also include a CPU and any one of a GPU, an ASIC, and an FPGA, for example, CPU0+GPU0 or CPU 0+ASIC0 or CPU0+FPGA0 in FIG11 .
- the electronic device may include multiple processors, such as processor 1101 and processor 1107 in FIG. 11.
- processors may be a single-core (single-CPU) processor, a multi-core (multi-CPU) processor, or a heterogeneous computing architecture including multiple general-purpose processors.
- the processor here may refer to one or more devices, circuits, and/or processing cores for processing data (e.g., computer program instructions).
- the embodiments of the present application provide a computer program product, which may include, for example, a computer-readable code or a non-volatile computer-readable storage medium carrying the computer-readable code; when the computer program product is run on a computer, the computer executes the method in the above embodiment. Exemplarily, each step of the control method shown in any of Figures 2, 4, 5, 6, 7 or 9 may be executed.
- a computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device.
- a computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the above.
- Computer-readable storage media include: a portable computer disk, 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 disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the above.
- RAM random access memory
- ROM read-only memory
- EPROM or flash memory erasable programmable read-only memory
- SRAM static random access memory
- CD-ROM compact disk read-only memory
- DVD digital versatile disk
- memory stick a floppy disk
- mechanical encoding device such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the above.
- a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.
- the computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing/processing device, or downloaded 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 can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and/or edge servers.
- the network adapter card or network interface in each computing/processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing/processing device.
- the remote computer can 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 can be connected to an external computer (for example, using an Internet service provider to connect through the Internet).
- LAN local area network
- WAN wide area network
- an Internet service provider for example, using an Internet service provider to connect through the Internet.
- the electronic circuits can execute computer-readable program instructions, thereby realizing various aspects of the present application.
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Abstract
一种控制方法、装置、车辆(10)、电子设备及存储介质。其中,控制方法包括:获取控制信息,控制信息用于指示将车辆(10)的第一范围内的感知设备(101)全部开启或全部关闭;根据控制信息,控制第一范围内的感知设备(101)全部开启或全部关闭。
Description
本申请涉及智能驾驶技术领域,尤其涉及一种控制方法、装置、车辆、电子设备和存储介质。
具备自动驾驶能力的车辆,在车内、车外通常安装了多个传感器,例如摄像头(camera)、激光雷达(light detection and ranging,lidar)、毫米波雷达(radio detection and ranging,radar)、超声波传感器(ultrasonic sensor,USS)、惯性导航***(inertial navigation system,INS)或全球定位***(global positioning system,GPS)中的一项或多个。这些传感器所采集的数据可能涉及到车内车外人员的隐私(如摄像头采集的图片)或者可能会干扰周围环境(如激光雷达发出的激光干扰天文台的数据采集环境),因此,需要控制这些传感器的工作状态。
发明内容
本申请提出了一种控制方法、车辆、装置、电子设备、计算机可读存储介质和计算机程序产品,以控制车辆传感器的工作状态。
第一方面,本申请提供了一种控制方法,所述方法应用于车辆,包括:获取控制信息,其中,所述控制信息用于指示将所述车辆的第一范围内的感知设备全部开启或全部关闭;根据所述控制信息,控制所述第一范围内的感知设备全部开启或全部关闭。
基于上述技术方案,可以根据控制信息,控制第一范围内的感知设备全部开启或全部关闭,从而可以方便、快速地切换第一范围内的所有感知设备的工作状态;并且,在将第一范围内的感知设备全部关闭的情况下,不影响其他设备的功能(例如人驾、座舱内娱乐等功能),保证了在第一范围内的所有感知设备全部关闭的情况下行车安全不受影响;同时,由于感知设备采集的数据可能涉及到驾驶员及车外人员的个人隐私,或者可能会干扰车辆周围环境,在第一范围内的感知设备全部关闭的情况下,可以为驾驶员及车外人员提供隐私保护,还可以保护车辆周围环境不受感知设备的干扰,从而满足驾驶员或相关规定的要求。
在所述第一方面的一种可能的实现方式中,所述车辆处于自动驾驶模式时,所述方法还包括:在控制所述第一范围内的感知设备全部关闭之前,控制所述车辆退出所述自动驾驶模式。
基于上述技术方案,由于处于自动驾驶模式的车辆通常需要感知设备处于开启状态,在感知设备关闭的情况下,自动驾驶车辆的行车安全将受到影响,因此在控制第一范围内的感知设备全部关闭之前,可以控制车辆退出自动驾驶模式,例如,可以切换到人驾模式,以保证行车安全。
在所述第一方面的一种可能的实现方式中,所述第一范围内的感知设备包括座舱 域控制器CDC控制的感知设备、智能驾驶域控制器ADC控制的感知设备、和车载无线网关中的至少一种。
作为一个示例,控制座舱域控制器控制的感知设备全部关闭可以关闭车内摄像头等感知设备,保护驾驶员的隐私;控制智能驾驶域控制器控制的感知设备全部关闭可以关闭车外摄像头及激光雷达、毫米波雷达、超声波传感器、惯性导航***等感知设备,从而可以保护车外人员的隐私并可以保护车辆周围环境不受感知设备的干扰;控制车载无线网关关闭可以切断车辆与外界的无线网络连接。
在所述第一方面的一种可能的实现方式中,当所述第一范围内的感知设备为ADC控制的感知设备,且所述感知设备全部关闭时,所述方法还包括:控制所述ADC进入休眠状态。
基于上述技术方案,由于智能驾驶域控制器用于控制车辆进行自动驾驶,在智能驾驶域控制器控制的感知设备全部关闭的情况下,车辆通常已退出自动驾驶模式,此时可以控制智能驾驶域控制器进入休眠状态,从而实现车辆的节能。
在所述第一方面的一种可能的实现方式中,所述获取控制信息,包括:获取所述车辆响应于驾驶员的第一操作生成的所述控制信息。
基于上述技术方案,可以根据驾驶员的操作,控制第一范围内的感知设备全部开启或全部关闭,从而实现驾驶员一键式对第一范围内的所有感知设备的工作状态进行切换,更加方便、快速。
在所述第一方面的一种可能的实现方式中,所述控制信息包括车联网V2X信息;所述获取控制信息,包括:接收来自路侧设备的所述V2X信息,所述路侧设备位于指定区域的边缘,所述指定区域为不允许采集环境信息的区域。
基于上述技术方案,可以根据来自路侧设备的V2X信息,自动控制第一范围内的感知设备全部关闭,从而可以方便地切换第一范围内的感知设备的工作状态。。
在所述第一方面的一种可能的实现方式中,所述获取控制信息包括:获取所述车辆的第一规划路径,在所述第一规划路径经过指定区域的情况下,生成第二规划路径,所述第二规划路径不经过所述指定区域,所述指定区域为不允许采集环境信息的区域;发出提示信息,所述提示信息用于提示驾驶员将所述第一规划路径更新为所述第二规划路径;在驾驶员未将所述第一规划路径更新为所述第二规划路径的情况下,触发所述控制信息。
基于上述技术方案,基于设定的不允许采集环境信息的区域(即指定区域),在预判车辆的规划路径经过该不允许采集环境信息的区域的情况下,提前重新规划路径,并自动提示驾驶员是否选择新路径,若驾驶员选择新路径的情况,则可以避开该区域,在驾驶员未选择新路径的情况下可以自动将感知设备切换为全部关闭的状态,从而可以避免违规;作为一个示例,在驾驶员未选择新路径的情况下,可以自动触发自驾降级,从而保证行车安全。
在所述第一方面的一种可能的实现方式中,所述指定区域包括:根据驾驶员在地图或区域选择列表中的选取操作确定的区域,其中,所述区域选择列表包括一个或多个区域;或根据所述第一规划路径以及指定区域选择规则确定的区域。
基于上述技术方案,可以根据驾驶员的输入设定指定区域,或根据第一规划路径 以及指定区域选择规则自动确定指定区域,从而可以灵活地确定指定区域。
第二方面,本申请提供了一种控制装置,所述装置应用于车辆,所述装置包括:获取模块,用于获取控制信息,其中,所述控制信息用于指示将所述车辆的第一范围内的感知设备全部开启或全部关闭;控制模块,用于根据所述控制信息,控制所述第一范围内的感知设备全部开启或全部关闭。
基于上述技术方案,可以根据控制信息,控制第一范围内的感知设备全部开启或全部关闭,从而可以方便、快速地切换第一范围内的所有感知设备的工作状态;并且,在将第一范围内的感知设备全部关闭的情况下,不影响其他设备的功能(例如人驾、座舱内娱乐等功能),保证了在第一范围内的所有感知设备全部关闭的情况下行车安全不受影响;同时,由于感知设备采集的数据可能涉及到驾驶员及车外人员的个人隐私,或者可能会干扰车辆周围环境,在第一范围内的感知设备全部关闭的情况下,可以为驾驶员及车外人员提供隐私保护,还可以保护车辆周围环境不受感知设备的干扰,从而满足驾驶员或相关规定的要求。
在所述第二方面的一种可能的实现方式中,所述车辆处于自动驾驶模式时,所述控制模块,还用于在控制所述第一范围内的感知设备全部关闭之前,控制所述车辆退出所述自动驾驶模式。
基于上述技术方案,由于处于自动驾驶模式的车辆通常需要感知设备处于开启状态,在感知设备关闭的情况下,自动驾驶车辆的行车安全将受到影响,因此在控制第一范围内的感知设备全部关闭之前,可以控制车辆退出自动驾驶模式,例如,可以切换到人驾模式,以保证行车安全。
在所述第一方面的一种可能的实现方式中,所述第一范围内的感知设备包括座舱域控制器CDC控制的感知设备、智能驾驶域控制器ADC控制的感知设备、和车载无线网关中的至少一种。
基于上述技术方案,控制座舱域控制器控制的感知设备全部关闭可以关闭车内摄像头等感知设备,保护驾驶员的隐私;控制智能驾驶域控制器控制的感知设备全部关闭可以关闭车外摄像头及激光雷达、毫米波雷达、超声波传感器、惯性导航***等感知设备,从而可以保护车外人员的隐私并可以保护车辆周围环境不受感知设备的干扰;控制车载无线网关关闭可以切断车辆与外界的无线网络连接。
在所述第二方面的一种可能的实现方式中,当所述第一范围内的感知设备为ADC控制的感知设备,且所述感知设备全部关闭时,所述控制模块,还用于控制所述ADC进入休眠状态。
基于上述技术方案,由于智能驾驶域控制器用于控制车辆进行自动驾驶,在智能驾驶域控制器控制的感知设备全部关闭的情况下,车辆通常已退出自动驾驶模式,此时可以控制智能驾驶域控制器进入休眠状态,从而实现车辆的节能。
在所述第二方面的一种可能的实现方式中,所述获取模块具体用于获取所述车辆响应于驾驶员的第一操作生成的所述控制信息。
基于上述技术方案,可以根据驾驶员的操作,控制第一范围内的感知设备全部开启或全部关闭,从而实现驾驶员一键式对第一范围内的所有感知设备的工作状态进行切换,更加方便、快速。
在所述第二方面的一种可能的实现方式中,所述控制信息包括V2X信息;所述获取模块具体用于:接收来自路侧设备的所述V2X信息,所述路侧设备位于指定区域的边缘,所述指定区域为不允许采集环境信息的区域。
基于上述技术方案,可以根据来自路侧设备的V2X信息,自动控制第一范围内的感知设备全部关闭,从而可以方便地切换第一范围内的感知设备的工作状态。
在所述第二方面的一种可能的实现方式中,所述获取模块具体用于:获取所述车辆的第一规划路径,在所述第一规划路径经过指定区域的情况下,生成第二规划路径,所述第二规划路径不经过所述指定区域,所述指定区域为不允许采集环境信息的区域;发出提示信息,所述提示信息用于提示驾驶员将所述第一规划路径更新为所述第二规划路径;在驾驶员未将所述第一规划路径更新为所述第二规划路径的情况下,触发所述控制信息。
基于上述技术方案,基于设定的不允许采集环境信息的区域(即指定区域),在预判车辆的规划路径经过该不允许采集环境信息的区域的情况下,提前重新规划路径,并自动提示驾驶员是否选择新路径,若驾驶员选择新路径的情况,则可以避开该区域,在驾驶员未选择新路径的情况下可以自动将感知设备切换为全部关闭的状态,从而可以避免违规;作为一个示例,在驾驶员未选择新路径的情况下,可以自动触发自驾降级,从而保证行车安全。
在所述第二方面的一种可能的实现方式中,所述指定区域包括:根据驾驶员在地图或区域选择列表中的选取操作确定的区域,其中,所述区域选择列表包括一个或多个区域;或根据所述第一规划路径以及指定区域选择规则确定的区域。
基于上述技术方案,可以根据驾驶员的输入设定指定区域,或根据第一规划路径以及指定区域选择规则自动确定指定区域,从而可以灵活地确定指定区域。
第三方面,本申请提供了一种车辆,该车辆包括:感知设备和处理装置;该处理装置用于执行上述第一方面或第一方面的一种或几种的控制方法,以控制所述感知设备的开启或关闭。
基于上述技术方案,可以通过处理装置控制第一范围内的感知设备全部开启或全部关闭,从而可以方便、快速地切换第一范围内的所有感知设备的工作状态;并且,处理装置可以仅将第一范围内的感知设备全部关闭,不影响其他设备的功能(例如人驾、娱乐等功能),保证了在第一范围内的所有感知设备全部关闭的情况下行车安全不受影响,从而可以安全地切换第一范围内的所有感知设备的工作状态;同时,由于感知设备采集的数据涉及到驾驶员及车外人员的个人隐私,以及会干扰车辆周围环境,在第一范围内的感知设备全部关闭的情况下,可以为驾驶员及车外人员提供隐私保护,并可以保护车辆周围环境不受感知设备的干扰。
在所述第三方面的一种可能的实现方式中,该车辆还包括:控制装置,用于控制与所述控制装置连接的感知设备全部开启或全部关闭。
基于上述技术方案,可以通过控制装置方便地控制与该控制装置连接的感知设备全部开启或全部关闭,从而可以方便地切换与该控制装置连接的感知设备的工作状态。
在所述第三方面的一种可能的实现方式中,所述控制装置包括:座舱域控制器CDC和/或智能驾驶域控制器ADC;其中,所述CDC用于控制与所述CDC连接的感 知设备全部开启或全部关闭,所述ADC用于控制与所述ADC连接的感知设备全部开启或全部关闭。
基于上述技术方案,可以通过座舱域控制器和智能驾驶域控制器方便地切换与其连接的感知设备的工作状态。
第四方面,本申请提供了一种电子设备,包括:处理器;用于存储处理器可执行指令的存储器;其中,所述处理器被配置为执行所述指令时实现第一方面或第一方面的一种或几种的控制方法。
第五方面,本申请提供了一种计算机可读存储介质,其上存储有计算机程序指令,所述计算机程序指令被处理器执行时实现第一方面或第一方面的一种或几种的控制方法。
第六方面,本申请提供了一种计算机程序产品,当所述计算机程序产品在计算机上运行时,使得所述计算机执行上述第一方面或第一方面的一种或几种的控制方法。
上述第四方面至第六方面的技术效果,参见上述第一方面或第二方面或第三方面。
根据下面参考附图对示例性实施例的详细说明,本申请的其它特征及方面将变得清楚。
包含在说明书中并且构成说明书的一部分的附图与说明书一起示出了本申请的示例性实施例、特征和方面,并且用于解释本申请的原理。
图1示出根据本申请一实施例的一种车辆的示意图。
图2示出根据本申请一实施例的一种控制方法的流程图。
图3示出根据本申请一实施例的一个部分网络组的示意图。
图4示出根据本申请一实施例的另一种控制方法的流程图。
图5示出根据本申请一实施例的一种控制第一范围内的感知设备全部关闭的方法流程图。
图6示出根据本申请一实施例的一种控制第一范围内的感知设备全部开启的方法流程图。
图7示出根据本申请一实施例的另一种控制方法的流程图。
图8示出根据本申请一实施例的一种确定指定区域的示意图。
图9示出根据本申请一实施例的另一种控制方法的流程图。
图10示出根据本申请一实施例的一种处理装置的框图。
图11示出根据本申请一实施例的一种电子设备的结构示意图。
以下将参考附图详细说明本申请的各种示例性实施例、特征和方面。附图中相同的附图标记表示功能相同或相似的元件。尽管在附图中示出了实施例的各种方面,但是除非特别指出,不必按比例绘制附图。
在本说明书中描述的参考“一个实施例”或“一些实施例”等意味着在本申请的一个或多个实施例中包括结合该实施例描述的特定特征、结构或特点。由此,在本说明 书中的不同之处出现的语句“在一个实施例中”、“在一些实施例中”、“在其他一些实施例中”、“在另外一些实施例中”等不是必然都参考相同的实施例,而是意味着“一个或多个但不是所有的实施例”,除非是以其他方式另外特别强调。术语“包括”、“包含”、“具有”及它们的变形都意味着“包括但不限于”,除非是以其他方式另外特别强调。在这里专用的词“示例性”意为“用作例子、实施例或说明性”。这里作为“示例性”所说明的任何实施例不必解释为优于或好于其它实施例。另外,为了更好的说明本申请,在下文的具体实施方式中给出了众多的具体细节。本领域技术人员应当理解,没有某些具体细节,本申请同样可以实施。
本申请中,“至少一个”是指一个或者多个,“多个”是指两个或两个以上。“和/或”,描述关联对象的关联关系,表示可以存在三种关系,例如,A和/或B,可以表示:包括单独存在A,同时存在A和B,以及单独存在B的情况,其中A,B可以是单数或者复数。字符“/”一般表示前后关联对象是一种“或”的关系。“以下至少一项(个)”或其类似表达,是指的这些项中的任意组合,包括单项(个)或复数项(个)的任意组合。例如,a,b,或c中的至少一项(个),可以表示:a,b,c,a-b,a-c,b-c,或a-b-c,其中a,b,c可以是单个,也可以是多个。
本领域普通技术人员可以意识到,结合本文中所公开的实施例描述的各示例的单元及算法步骤,能够以电子硬件、或者计算机软件和电子硬件的结合来实现。这些功能究竟以硬件还是软件方式来执行,取决于技术方案的特定应用和设计约束条件。专业技术人员可以对每个特定的应用来使用不同方法来实现所描述的功能,但是这种实现不应认为超出本申请的范围。
下面首先对本申请实施例适用的应用场景进行示例性说明。
图1示出根据本申请一实施例的一种车辆的示意图,如图1所示,车辆10可以包括感知设备101和处理装置102;示例性地,该车辆10为具有自动驾驶功能的车辆。其中,感知设备101用于感知车辆10周围环境或车内环境,示例性地,感知设备101可以包括摄像头、激光雷达、毫米波雷达、超声波传感器或惯性导航***等传感器中的一项或多项,感知设备101的数量可以为一个或多个,对此不作限定;处理装置102用于执行本申请实施例中控制方法(详细描述参加下文),以控制感知设备101的开启或关闭。
本申请实施例不限定该处理装置102的类型。示例性地,该处理装置102可以是独立设置,也可以集成在其他装置中,还可以是通过软件或者软件与硬件结合实现。作为一个示例,该处理装置102可以为车辆10中的部件;例如,车载终端、车身控制模块(body control module,BCM)、车载计算平台、车载模块、车载模组、车载芯片、车载单元、车载传感器等等。作为另一个示例,该处理装置102还可以为除车辆部件之外的其他具有数据处理能力的设备或***,或设置在这些设备或***中的部件或者芯片。例如,该处理装置102可以是云端服务器、台式机、便携式电脑、网络服务器、掌上电脑、移动手机、平板电脑、无线终端设备、嵌入式设备或其他具有数据处理功能的设备,或者为这些设备内的部件或者芯片。作为另一个示例,该处理装置102还可以是具有处理功能的芯片或处理器,该处理装置102可以包括多个处理器;处理器可以是一个单核(single-CPU)处理器,也可以是一个多核(multi-CPU)处理 器。
示例性地,如图1所示,该车辆10还可以包括控制装置103,该控制装置103可以与一个或多个感知设备101相连,控制装置103控制这些与其连接的感知设备101全部开启或全部关闭。例如,控制装置103可以接收处理装置102的管理报文,响应于该管理报文,控制与其连接的感知设备101全部开启或全部关闭。作为一个示例,该控制装置103可以包括:座舱域控制器(cockpit domain controller,CDC)和/或智能驾驶域控制器(ADAS/AD domain controller,ADC);其中,座舱域控制器用于控制与座舱域控制器连接的感知设备101(如车外摄像头、激光雷达、毫米波雷达、超声波传感器以及惯性导航***)全部开启或全部关闭;智能驾驶域控制器用于控制与智能驾驶域控制器连接的感知设备101(如车内摄像头)全部开启或全部关闭。可以理解的是,座舱域控制器和智能驾驶域控制器可以分别设置,也可以集成在同一域控制器,对此不作限定。
示例性地,该车辆10还可以包括交互设备(图中未示出),该交互设备可以用于向驾驶员发出信息及接收驾驶员的指令;例如,交互设备可以包括方向盘、车机中控屏幕等等,车辆10可以通过车身按键或车机中控屏幕的虚拟按钮等接收驾驶员的指令。
示例性地,该车辆10还可以包括通信设备(图中未示出);该通信设备可以用于车辆10与其他设备通信,例如,可以用于车辆10与移动终端、云端设备、其他车辆、路侧设备等等通信,可以通过2G/3G/4G/5G、蓝牙、调频(frequency modulation,FM)、无线局域网(wireless local area networks,WLAN)、长期演进(long time evolution,LTE)网络、车联网(vehicle to everything,V2X)、车与车通信(vehicle to vehicle,V2V)等无线通信连接来实现;示例性地,通信设备可以包括车载网关(gateway,GW),例如,远程信息处理器(例如,telematics box,T-Box);作为一个示例,处理装置102可以控制该车载无线网关开启或关闭。
需要说明的是,本申请实施例描述的上述应用场景是为了更加清楚的说明本申请实施例的技术方案,并不构成对于本申请实施例提供的技术方案的限定,本领域普通技术人员可知,针对其他相似的或新的场景的出现,本申请实施例提供的技术方案对于类似的技术问题,同样适用。
下面对本申请实施例提供的控制方法进行详细说明。
图2示出根据本申请一实施例的一种控制方法的流程图,该方法可以由上述图1中处理装置102和/或控制装置103执行。如图2所示,该方法可以包括以下步骤:
S201、获取控制信息,其中,所述控制信息用于指示将车辆的第一范围内的感知设备全部开启或全部关闭。
示例性地,感知设备可以是安装在车辆的感知传感器。例如,可以为上述图1中感知设备101。
在一种可能的实现方式中,第一范围内的感知设备可以包括座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备、和车载无线网关(如T-box)中的至少一种。作为一个示例,第一范围内的感知设备可以是座舱域控制器控制的感知设备,或者智能驾驶域控制器控制的感知设备,或者车载无线网关。作为另一个示例,第一 范围内的感知设备可以是座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备或车载无线网关。
在一种可能的实现方式中,第一范围内的感知设备可以包括同一类型或多个类型的传感器,作为一个示例,第一范围内的感知设备可以包括探测类传感器,例如激光雷达、毫米波雷达、超声波传感器等。作为另一个示例,第一范围内的感知设备可以包括视频类传感器,例如,车内摄像头、车外摄像头等。作为另一个示例,第一范围内的感知设备可以包括位置类传感器,例如惯性导航***、全球定位***等。作为另一个示例,第一范围内的感知设备可以包括探测类传感器和视频类传感器。
示例性地,处理装置可以通过交互设备或通信设备等获取控制信息;例如,可以获取车辆响应于驾驶员的第一操作生成的控制信息,再例如,接收来自路侧设备的车联网V2X信息(即控制信息);再例如,可以根据车辆的规划路径及不允许采集环境信息的指定区域,触发控制信息;其具体描述可参见下文相关表述。可以理解的是,在某一时刻,处理设备可以获取控制信息A,该控制信息A用于将第一范围内的感知设备全部开启;在另一时刻,处理设备可以控制信息B,该控制信息B用于将第一范围内的感知设备全部关闭。
S202、根据控制信息,控制第一范围内的感知设备全部开启或全部关闭。
示例性地,第一范围内的感知设备的控制链路可以为控制器域网(controller area network,CAN)、以太网或硬线等方式。
作为一个示例,第一范围内的感知设备可以通过控制链路与处理装置直接相连,处理装置可以通过该控制链路控制第一范围内的感知设备全部开启或全部关闭。例如,处理装置可以为上述图1中处理装置102,第一范围内的感知设备可以为上述图1中所有的感知设备101;这些感知设备101通过控制链路与处理装置102直接相连,处理装置102获取到控制信息后,可以通过控制链路直接控制这些感知设备101全部开启或全部关闭。
作为另一个示例,第一范围内的感知设备可以通过控制链路与相应的域控制器(例如座舱域控制器或智能驾驶域控制器)相连,域控制器接收到处理装置的管理报文后,域控制器响应于该管理报文,通过控制链路控制第一范围内的感知设备全部开启或全部关闭。例如,处理装置可以为上述图1中处理装置102,第一范围内的感知设备可以为上述图1中与控制装置103直接相连的感知设备101;处理装置101获取到控制信息后,向控制装置103发出管理报文,控制装置103响应于该管理报文,通过控制链路控制这些感知设备101全部开启或全部关闭。
在一种可能的实现方式中,可以将第一范围内的感知设备和/或控制第一范围内的感知设备的域控制器划分在一个部分网络(partial network,PN)组中,对于PN组内的感知设备,在收到该PN组内的网络管理报文才会被触发全部关闭或全部开启。这样,通过将第一范围内的感知设备和/或控制第一范围内的感知设备的域控制器划分在一个PN组中,可以实现控制第一范围内的感知设备全部开启或全部关闭,从而可以方便、快速地切换第一范围内的所有感知设备的工作状态,即由开启切换为关闭或由关闭切换为开启。
举例来说,以第一范围内的感知设备可以包括座舱域控制器控制的感知设备、智 能驾驶域控制器控制的感知设备和远程信息处理器为例;图3示出根据本申请一实施例的一个部分网络组的示意图,如图3所示,PN组包括:远程信息处理器、座舱域控制器、智能驾驶域控制器;该PN组通过CAN网络与车辆中车身控制模块(即处理装置)、电动助力转向***(electric power steering,EPS)和车身电子平稳自动控制***(electronic stability program,ESP)相连。车身控制模块在收到控制信息后,通过CAN网络可以触发该PN组内的座舱域控制器、智能驾驶域控制器及远程信息处理器进行状态变化,从而可以控制第一范围内的感知设备全部开启或全部关闭。这样,通过将座舱域控制器、智能驾驶域控制器及车载远程信息处理器划分为一个PN组,可以实现座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备和远程信息处理器全部开启或全部关闭,并且不影响座舱域控制器和智能驾驶域控制器除感知功能外的其他功能(例如人驾、座舱内娱乐等功能),保证了在第一范围内的所有感知设备全部关闭的情况下行车安全不受影响,从而实现方便、快速、安全地切换第一范围内的所有感知设备的工作状态。
示例性地,第一范围内的感知设备全部关闭可以是第一范围内的感知设备全部关机,也可以是第一范围内的感知设备全部处于开机但不工作的状态,可以理解的是,该开机但不工作状态也可以被称为静默状态,处于该状态的感知设备不采集环境中的数据,同时可以在需要时快速唤醒。例如,毫米波雷达开机但不进行发波、激光雷达开机但不发激光,摄像头开机但不采集图像,远程信息处理器不与卫星、基站(如无线基站、实时动态载波相位差分(real-time kinematic,RTK)基站)建立链路连接。
在一种可能的实现方式中,在车辆处于自动驾驶模式时,所述方法还包括:在控制第一范围内的感知设备全部关闭之前,控制车辆退出自动驾驶模式。示例性地,退出自动驾驶模式可以包括切换到人驾模式,或者可以对驾驶模式进行降级,例如,自动驾驶模式对应的级别可以采用美国国家交通安全管理局(National Highway Traffic Safety Administration,NHTSA)或美国汽车工程师学会(Society of Automotive Engineers,SAE)制定的自动驾驶模式等级标准,也可以根据实际需求制定自动驾驶模式的级别,本申请实施例不作特别限制。例如,美国机动车工程师协会将自动驾驶模式分为六个级别:L0无驾驶自动化(Leve0 No Automation),表示由人类驾驶者全权驾驶车辆;L1驾驶辅助(Level1 Driver Assistance),表示车辆对方向盘和加减速中的一项操作提供驾驶,人类驾驶员负责其余的驾驶操作;L2部分自动驾驶(Level2 Partial Automation),表示车辆对方向盘和加减速中的多项操作提供驾驶,人类驾驶员负责其余的驾驶动作;L3有条件自动驾驶(Level3 Conditional Automation),表示由车辆完成绝大部分驾驶操作,人类驾驶员需保持注意力集中以备不时之需;L4高度自动驾驶(Level4 High Automation),表示由车辆完成所有驾驶操作,人类驾驶员无需保持注意力,但限定道路和环境条件;L5完全自动驾驶(Level5 Full Automation),表示由车辆完成所有驾驶操作,人类驾驶员无需保持注意力,适应任何驾驶场景。作为一个示例,在车辆处于L5等级的自动驾驶模式,则可以退出L5等级的自动驾驶模式,降为L0等级的自动驾驶模式或L1等级的自动驾驶模式;作为另一个示例,在车辆处于L3等级的自动驾驶模式,则可以退出L3等级的自动驾驶模式,降为L2等级的自动驾驶模式,实现平滑降级。由于处于自动驾驶模式的车辆通常需要感知设备处于开启状 态,在感知设备关闭的情况下,自动驾驶车辆的行车安全将受到影响,因此在控制第一范围内的感知设备全部关闭之前,可以控制车辆退出自动驾驶模式,例如,可以切换到人驾模式,以保证行车安全。
在一种可能的实现方式中,在域控制器所控制的感知设备全部关闭时,可以控制域控制器进入休眠状态;作为一个示例,当第一范围内的感知设备为智能驾驶域控制器控制的感知设备,且这些感知设备全部关闭时,所述方法还包括:控制智能驾驶域控制器进入休眠状态。智能驾驶域控制器用于控制车辆进行自动驾驶,在智能驾驶域控制器控制的感知设备全部关闭的情况下,车辆通常已退出自动驾驶模式,此时可以控制智能驾驶域控制器进入休眠状态,从而实现车辆的节能。
这样,不同于通过整车休眠唤醒,或单个传感器休眠唤醒,或整个域控制器一起休眠唤醒以切换传感器工作状态的方式,本申请实施例中,通过上述步骤S201-S202,可以根据控制信息,控制第一范围内的感知设备全部开启或全部关闭,从而可以方便、快速地切换第一范围内的所有感知设备的工作状态;并且,在将第一范围内的感知设备全部关闭的情况下,不影响其他设备的功能(例如人驾、座舱内娱乐等功能),保证了在第一范围内的所有感知设备全部关闭的情况下行车安全不受影响;同时,由于感知设备采集的数据可能涉及到驾驶员及车外人员的个人隐私,或者可能会干扰车辆周围环境,在第一范围内的感知设备全部关闭的情况下,可以为驾驶员及车外人员提供隐私保护,还可以保护车辆周围环境不受感知设备的干扰,从而满足驾驶员或相关规定的要求。
作为一个示例,通过控制座舱域控制器控制的感知设备全部关闭可以关闭车内摄像头等感知设备,保护驾驶员的隐私;控制智能驾驶域控制器控制的感知设备全部关闭可以关闭车外摄像头及激光雷达、毫米波雷达、超声波传感器、惯性导航***等感知设备,从而可以保护车外人员的隐私并可以保护车辆周围环境不受感知设备的干扰;控制车载无线网关关闭可以切断车辆与外界的无线网络连接。作为另一个示例,可以单独控制探测类传感器全部开启或全部关闭,或者单独控制视频类传感器全部开启或全部关闭,或者单独控制位置类传感器全部开启或全部关闭,从而可以方便地切换不同类型传感器的工作状态,以满足不同场景下的需求。
图4示出根据本申请一实施例的另一种控制方法的流程图,该方法可以由上述图1中处理装置102和/或控制装置103执行。如图4所示,该方法可以包括以下步骤:
S401、获取车辆响应于驾驶员的第一操作生成的控制信息;其中,所述控制信息用于指示将车辆的第一范围内的感知设备全部开启或全部关闭。
示例性地,第一操作可以是按压操作、触控操作、语音操作、手势操作、远程操作等。例如,驾驶员可以通过按压车身按键,或者触摸车机中控屏幕的按键,或者通过手机进行远程操作,从而生成控制信息。
作为一个示例,可以在车身(例如,方向盘上)分别设置感知设备关闭按键和感知设备开启按键,驾驶员按压感知设备关闭按键时可以生成控制信息,用于指示将车辆的第一范围内的感知设备全部关闭;驾驶员按压感知设备开启按键时可以生成控制信息,用于指示将车辆的第一范围内的感知设备全部开启。作为另一个示例,可以在车身设置控制感知设备的开启和关闭的一个按键,驾驶员第一次按压按键可以生成控 制信息控制第一范围内的感知设备全部关闭,驾驶员再次按压按键可以生成控制信息控制第一范围内的感知设备全部开启。
S402、根据控制信息,控制第一范围内的感知设备全部开启或全部关闭。
该步骤的具体实现方式可参照上述图2中步骤S202中相关表述。
本申请实施例中,可以根据驾驶员的操作,控制第一范围内的感知设备全部开启或全部关闭,从而实现驾驶员一键式对第一范围内的所有感知设备的工作状态进行切换,更加方便、快速。
作为一个示例,以第一范围内的感知设备包括座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备和远程信息处理器,第一操作为按压车身按键为例,对上述图4中步骤S402中控制第一范围内的感知设备全部关闭的可能实现方式进行示例性说明。示例性地,可以将座舱域控制器、智能驾驶域控制器及远程信息处理器划分为同一PN组。
图5示出根据本申请一实施例的一种控制第一范围内的感知设备全部关闭的方法流程图,如图5所示,可以包括以下步骤:
S500、车身控制模块获取控制信息。
示例性地,可以在车身设置感知设备关闭按键,驾驶员按压感知设备关闭按键时可以生成控制信息,用于指示将座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备和远程信息处理器全部关闭。
S501、车身控制模块响应于控制信息,生成第一协商报文,所述第一协商报文用于请求座舱域控制器、智能驾驶域控制器及远程信息处理器进入休眠状态。
示例性地,第一协商报文可以是网络管理报文,用于与PN组之间进行网络协商,从而请求该PN组内的座舱域控制器及智能驾驶域控制器所控制的感知设备、远程信息处理器全部关闭。
S502、远程信息处理器响应于第一协商报文,进入休眠状态。
由于远程信息处理器用于车辆的远程控制,远程信息处理器响应于第一协商报文进入休眠状态,从而切断车辆与外界的无线网络连接;并且,远程信息处理器进入休眠状态可以实现车辆的节能。
S503、座舱域控制器、智能驾驶域控制器响应于第一协商报文,生成第一请求。
示例性地,座舱域控制器、智能驾驶域控制器可以响应于第一协商报文的协商请求,生成第一请求,第一请求用于请求状态管理(state manager,SM)模块将状态切换到感知设备全部关闭的状态。
S504、状态管理模块响应于第一请求,通知故障管理(fault manager,FM)模块关闭故障上报功能,并通知设备管理模块关闭第一范围内的感知设备。
S505、设备管理模块控制第一范围内的感知设备全部关闭。
示例性地,设备管理模块可以控制第一范围内的感知设备接入业务进程进行休眠,该业务进程用于管理感知设备;业务进程可以触发第一范围内的感知设备全部关闭,然后业务进程进行休眠。
示例性地,当车辆处于自动驾驶模式时,在第一范围内的感知设备全部关闭之前,故障管理模块可以通知车辆进行自动驾驶降级或退出自动驾驶模式。
示例性地,当智能驾驶域控制器控制的感知设备全部关闭时,可以控制智能驾驶域控制器进入休眠状态,从而实现车辆的节能。
示例性地,在第一范围内的感知设备全部关闭后,故障管理模块可以触发微控制器(micro controller unit,MCU)监控关闭的感知设备。监控关闭的感知设备可以及时发现感知设备的异常,从而保证车辆的安全。
这样,本申请实施例可以通过驾驶员按压车身按键的操作,一键式控制座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备和远程信息处理器全部关闭,并且不影响座舱域控制器、智能驾驶域控制器内除感知功能外的其他功能,以及车辆其他模块(即PN组以外的模块)的功能,从而实现在不影响车辆人驾、娱乐等正常功能的情况下,由驾驶员方便、快速地一键关闭第一范围内的所有感知设备;在感知设备全部关闭的情况下,可以为驾驶员及车外人员提供隐私保护,并可以保护车辆周围环境不受感知设备的干扰;并且,远程信息处理器和智能驾驶域控制器进入休眠状态可以带来节能的效果。
作为另一个示例,以第一范围内的感知设备包括座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备和远程信息处理器,第一操作为按压车身按键为例,对上述图4中步骤S402中控制第一范围内的感知设备全部开启的可能实现方式进行示例性说明。示例性地,可以将座舱域控制器、智能驾驶域控制器及远程信息处理器划分为同一PN组。
图6示出根据本申请一实施例的一种控制第一范围内的感知设备全部开启的方法流程图,如图6所示,可以包括以下步骤:
S600、车身控制模块获取控制信息。
示例性地,可以在车身设置感知设备开启按键,驾驶员按压感知设备开启按键时可以生成控制信息,用于指示将座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备和远程信息处理器全部开启;车身控制模块获取该控制信息。
S601、车身控制模块响应于所述控制信息,生成第二协商报文,所述第二协商报文用于请求所述座舱域控制器、所述智能驾驶域控制器及远程信息处理器进入正常工作状态。
车身控制模块响应于该控制信息,生成第二协商报文,示例性地,第二协商报文可以是网络管理报文,用于与PN组之间进行网络协商,从而请求座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备和远程信息处理器全部开启。
S602、车载远程信息处理器响应于第二协商报文,进入正常工作状态。
S603、座舱域控制器、智能驾驶域控制器响应于第二协商报文,生成第二请求。
示例性地,座舱域控制器、智能驾驶域控制器可以响应于第二协商报文的协商请求,生成第二请求,第二请求用于请求状态管理模块进行状态切换,退出感知设备全部关闭的状态。
S604、状态管理模块响应于第二请求,通知故障管理模块打开故障上报功能,并通知设备管理模块开启第一范围内的感知设备。
S605、设备管理模块触发第一范围内的感知设备全部开启。
示例性地,设备管理模块可以控制第一范围内的感知设备接入业务进程进行唤醒; 业务进程可以唤醒第一范围内的感知设备;第一范围内的感知设备全部唤醒成功后(即第一范围内的感知设备全部开启后),业务进程可以进入正常工作状态。
示例性地,在第一范围内的感知设备全部开启后,故障管理模块可以触发MCU监控开启的感知设备。
这样,本申请实施例可以通过驾驶员按压车身按键的操作,一键式控制座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备和远程信息处理器全部开启,从而实现方便、快速地一键开启第一范围内的所有感知设备。
图7示出根据本申请一实施例的另一种控制方法的流程图,该方法可以由上述图1中处理装置102和/或控制装置103执行。如图7所示,该方法可以包括以下步骤:
S701、获取车辆的第一规划路径,在所述第一规划路径经过指定区域的情况下,生成第二规划路径。
其中,所述第一规划路径为从车辆当前位置到目的地的规划路径。示例性地,第一规划路径可以由导航***自动进行设置。
其中,所述第二规划路径不经过所述指定区域,所述指定区域为不允许采集环境信息的区域,如天文台、军事基地等区域,或者驾驶员预先指定的区域。
在一种可能的实现方式中,所述指定区域可以包括:根据驾驶员在地图或区域选择列表中的选取操作确定的区域,其中,所述区域选择列表包括一个或多个区域。示例性地,驾驶员可以预先通过车机中控屏幕进行选取操作,确定指定区域。作为一个示例,驾驶员可以通过车机中控屏幕输入单点位置,车机中控屏幕可以弹出区域选择列表,驾驶员可以通过区域选择列表选择以该单点位置为中心的方圆公里数,从而确定指定区域。图8示出根据本申请一实施例的一种确定指定区域的示意图,如图8所示,驾驶员通过车机中控屏输入“XX天文台”,车机中控屏弹出区域选择列表,驾驶员可以选择以XX天文台为中心的方圆公里数,例如3公里、5公里、10公里;若驾驶员选择3公里,则指定区域为以XX天文台为中心的方圆3公里;若驾驶员选择5公里,则指定区域为以天文台为中心的方圆5公里;若驾驶员选择10公里,则指定区域为以天文台为中心的方圆10公里。作为另一个示例,车机中控屏上可以显示地图,驾驶员可以通过在地图上进行划取确定指定区域;例如,驾驶员可以在地图上画圈,圈内的区域即为指定区域。
示例性地,可以预先通过网络获取当前法律法规公开要求的不允许采集环境信息的区域,作为指定区域,并可以将这些区域自动导入到车辆中进行保存;例如可以从《汽车雷达无线电管理暂行规定》中获取不允许采集环境信息的区域作为指定区域。示例性地,车辆可以根据最新的法律法规中规定的不允许采集环境信息的区域更新指定区域。示例性地,可以记录确定好的指定区域的信息,并将记录的指定区域的信息形成结构化数据后保存在智能驾驶控制域的ROM内存空间中,可以保证在车辆熄火的状态下指定区域的数据也不会丢失。
在一种可能的实现方式中,所述指定区域可以包括:根据第一规划路径以及指定区域选择规则确定的区域。示例性地,指定区域选择规则可以为:第一规划路径经过某一不允许采集环境信息的区域;且第一规划路径与该区域之间存在可以调头或者转弯的路口,则将该区域确定为指定区域;这样,由于第一规划路径经过指定区域,提 前规划新的路径,使得车辆可以通过调头或者转弯避开该指定区域。
示例性地,当车辆处于自动驾驶模式时,可以通过惯性导航***得到车辆的位置、车速、行驶方向等行驶信息,根据行驶信息、第一规划路径以及指定区域的位置信息,可以预判是否将要进入指定区域,在预判将要进入指定区域的情况下,可以在车辆行驶至指定区域前,重新规划路径,生成第二规划路径,第二规划路径可以避开指定区域。
S702、发出提示信息,所述提示信息用于提示驾驶员将第一规划路径更新为第二规划路径。
示例性地,在预判车辆将要进入指定区域的情况下,可以向驾驶员发出提示信息。作为一个示例,提示信息可以是语音信息或文字信息等,例如,提示信息可以是向驾驶员发出语音“您即将进入指定区域,是否选择新路径”。
S703、在驾驶员未将第一规划路径更新为第二规划路径的情况下,触发控制信息;其中,所述控制信息用于指示将车辆的第一范围内的感知设备全部关闭。
示例性地,驾驶员接收到提示信息后,可以选择是否将第一规划路径更新为第二规划路径;在驾驶员选择将第一规划路径更新为第二规划路径的情况下,车辆可以按照第二规划路径行驶,避开指定区域;示例性地,若车辆为自动驾驶模式,则可以继续保持自动驾驶模式,无需触发自驾降级。
示例性地,在驾驶员未将第一规划路径更新为第二规划路径的情况下,可以触发控制信息。
示例性地,在驾驶员未将第一规划路径更新为第二规划路径的情况下,可以自动触发自驾降级,例如,可以控制车辆退出自动驾驶模式,还可以通知驾驶员接管驾驶,进入人驾模式,保证行车安全。
S704、根据所述控制信息,控制所述第一范围内的感知设备全部关闭。
该步骤的具体实现方式可参照上述图2中步骤S202中相关表述。
进一步地,在第一范围内的感知设备全部处于关闭状态的情况下,驾驶员可以根据需求,手动触发控制信息,从而控制感知设备切换工作状态,由关闭状态变更为开启状态,例如,驾驶员可以通过按压车身按键等方式手动退出感知设备全部关闭的状态。作为一个示例,在车辆仍旧处于指定区域的情况下,则可以提示驾驶员感知设备工作状态切换失败。作为另一个示例,若当前车辆已经离开指定区域,则可以切换感知设备为全部开启的状态。
本申请实施例中,基于设定的不允许采集环境信息的区域(即指定区域),在预判车辆的规划路径经过该不允许采集环境信息的区域的情况下,提前重新规划路径,并自动提示驾驶员是否选择新路径,若驾驶员选择新路径的情况,则可以避开该区域,在驾驶员未选择新路径的情况下可以自动将感知设备切换为全部关闭的状态,从而可以避免违规;作为一个示例,在驾驶员未选择新路径的情况下,可以自动触发自驾降级,从而保证行车安全。
图9示出根据本申请一实施例的另一种控制方法的流程图,该方法可以由上述图1中处理装置102和/或控制装置103执行。如图9所示,该方法可以包括以下步骤:
S901、接收来自路侧设备的车联网V2X信息(即控制信息),所述路侧设备位于 指定区域的边缘,所述指定区域为不允许采集环境信息的区域。
示例性地,指定区域可以为当前法律法规公开要求的不允许采集环境信息的区域;例如,可以是《汽车雷达无线电管理暂行规定》中规定的不允许采集环境信息的区域。
示例性地,路侧设备可以是电线杆、交通信号灯等可以广播V2X信息的交通设施。示例性地,指定区域的管理者可以在指定区域的边缘建造交通设施,通过V2X向经过该区域的车辆广播信息,提示该区域不允许采集环境信息。
示例性地,处理装置可以通过远程信息处理器接收来自路侧设备的V2X信息。
S902、根据所述V2X信息,控制所述第一范围内的感知设备全部关闭。
示例性地,当车辆即将进入指定区域,可以接收到路侧设备广播的V2X信息,根据该V2X信息,可以控制第一范围内的感知设备全部关闭。其中,控制第一范围内的感知设备全部关闭的流程可以参照上述图2中步骤S202中相关表述。
本申请实施例中,可以根据来自路侧设备的V2X信息,自动控制第一范围内的感知设备全部关闭,从而可以方便地切换第一范围内的感知设备的工作状态。
作为一个示例,在车辆进入自动驾驶模式后,在车辆即将进入不允许采集环境信息的区域时,可以接收到来自路侧设备的V2X信息,自动控制第一范围内的感知设备全部关闭,并可以通知车辆退出自动驾驶模式,同时通知驾驶员接管驾驶,进入人驾模式;在第一范围内的感知设备全部关闭后,驾驶员可以通过按压车身按键等方式手动控制感知设备全部开启,若当前车辆仍位于不允许采集环境信息的区域内,则提示驾驶员感知设备工作状态切换失败;若当前车辆已经离开不允许采集环境信息的区域,则可以控制第一范围内的感知设备全部开启。这样,通过车路协同的方式,可以根据来自路侧设备的V2X信息动控制第一范围内的感知设备全部关闭,从而可以方便地切换感知设备的工作状态;并且,在感知设备全部关闭的状态的情况下,可以退出自动驾驶模式并通知驾驶员进入人驾模式,保证行车安全。
作为另一个示例,预设区域可以为支持自动驾驶的道路或区域。当车辆进入或离开这些道路或区域时,可以提醒或触发车辆进行自动驾驶的升级或降级;例如,车辆从允许L3等级的自动驾驶模式的道路进入仅允许L2等级的自动驾驶模式的道路时,在两段道路的交界处可以接收到V2X信息,可以提醒驾驶员将自动驾驶等级由L3等级降低到L2等级,或车辆自动将自动驾驶等级由L3等级降低到L2等级。
基于上述方法实施例的同一发明构思,本申请的实施例还提供了一种处理装置,该处理装置可以用于执行上述方法实施例所描述的技术方案。例如,可以执行上述图2、图4、图5、图6、图7或图9中任一所示控制方法的各步骤。
图10示出根据本申请一实施例的一种处理装置的框图。如图10所示,该装置可以包括:
获取模块1001,用于获取控制信息,其中,所述控制信息用于指示将所述车辆的第一范围内的感知设备全部开启或全部关闭;
控制模块1002,用于根据所述控制信息,控制所述第一范围内的感知设备全部开启或全部关闭。
本申请实施例中,可以根据控制信息,控制第一范围内的感知设备全部开启或全部关闭,从而可以方便、快速地切换第一范围内的所有感知设备的工作状态;并且, 在将第一范围内的感知设备全部关闭的情况下,不影响其他设备的功能(例如人驾、座舱内娱乐等功能),保证了在第一范围内的所有感知设备全部关闭的情况下行车安全不受影响;同时,由于感知设备采集的数据可能涉及到驾驶员及车外人员的个人隐私,或者可能会干扰车辆周围环境,在第一范围内的感知设备全部关闭的情况下,可以为驾驶员及车外人员提供隐私保护,还可以保护车辆周围环境不受感知设备的干扰,从而满足驾驶员或相关规定的要求。
在一种可能的实现方式中,所述车辆处于自动驾驶模式时,所述控制模块1002,还用于在控制所述第一范围内的感知设备全部关闭之前,控制所述车辆退出所述自动驾驶模式。
在一种可能的实现方式中,所述第一范围内的感知设备包括座舱域控制器控制的感知设备、智能驾驶域控制器控制的感知设备、和车载无线网关中的至少一种。
在一种可能的实现方式中,当所述第一范围内的感知设备为智能驾驶域控制器控制的感知设备,且所述感知设备全部关闭时,所述控制模块1002,还用于控制所述智能驾驶域控制器进入休眠状态。
在一种可能的实现方式中,所述获取模块1001,具体用于获取所述车辆响应于驾驶员的第一操作生成的所述控制信息。
在一种可能的实现方式中,所述控制信息包括V2X信息;所述获取模块1001,具体用于:接收来自路侧设备的所述V2X信息,所述路侧设备位于指定区域的边缘,所述指定区域为不允许采集环境信息的区域。
在一种可能的实现方式中,所述获取模块1001,具体用于获取所述车辆的第一规划路径,在所述第一规划路径经过指定区域的情况下,生成第二规划路径,所述第二规划路径不经过所述指定区域,所述指定区域为不允许采集环境信息的区域;发出提示信息,所述提示信息用于提示驾驶员将所述第一规划路径更新为所述第二规划路径;在驾驶员未将所述第一规划路径更新为所述第二规划路径的情况下,触发所述控制信息。
在一种可能的实现方式中,所述指定区域包括:根据驾驶员在地图或区域选择列表中的选取操作确定的区域,其中,所述区域选择列表包括一个或多个区域;或根据所述第一规划路径以及指定区域选择规则确定的区域。
上述图10所示的控制装置及其各种可能的实现方式的技术效果及具体描述可参见上述控制方法,此处不再赘述。
应理解以上装置中各模块的划分仅是一种逻辑功能的划分,实际实现时可以全部或部分集成到一个物理实体上,也可以物理上分开。此外,装置中的模块可以以处理器调用软件的形式实现;例如装置包括处理器,处理器与存储器连接,存储器中存储有指令,处理器调用存储器中存储的指令,以实现以上任一种方法或实现该装置各模块的功能,其中处理器例如为通用处理器,例如中央处理单元(central processing unit,CPU)或微处理器,存储器为装置内的存储器或装置外的存储器。或者,装置中的模块可以以硬件电路的形式实现,可以通过对硬件电路的设计实现部分或全部模块的功能,该硬件电路可以理解为一个或多个处理器;例如,在一种实现中,该硬件电路为专用集成电路(application-specific integrated circuit,ASIC),通过对电路内元件逻辑 关系的设计,实现以上部分或全部模块的功能;再如,在另一种实现中,该硬件电路为可以通过可编程逻辑器件(programmable logic device,PLD)实现,以现场可编程门阵列(field programmable gate array,FPGA)为例,其可以包括大量逻辑门电路,通过配置文件来配置逻辑门电路之间的连接关系,从而实现以上部分或全部模块的功能。以上装置的所有模块可以全部通过处理器调用软件的形式实现,或全部通过硬件电路的形式实现,或部分通过处理器调用软件的形式实现,剩余部分通过硬件电路的形式实现。
在本申请实施例中,处理器是一种具有信号的处理能力的电路,在一种实现中,处理器可以是具有指令读取与运行能力的电路,例如CPU、微处理器、图形处理器(graphics processing unit,GPU)、数字信号处理器(digital signal processor,DSP)、神经网络处理器(neural-network processing unit,NPU)、张量处理器(tensor processing unit,TPU)等;在另一种实现中,处理器可以通过硬件电路的逻辑关系实现一定功能,该硬件电路的逻辑关系是固定的或可以重构的,例如处理器为ASIC或PLD实现的硬件电路,例如FPGA。在可重构的硬件电路中,处理器加载配置文档,实现硬件电路配置的过程,可以理解为处理器加载指令,以实现以上部分或全部模块的功能的过程。
可见,以上装置中的各模块可以是被配置成实施以上实施例方法的一个或多个处理器(或处理电路),例如:CPU、GPU、NPU、TPU、微处理器、DSP、ASIC、FPGA,或这些处理器形式中至少两种的组合。此外,以上装置中的各模块可以全部或部分可以集成在一起,或者可以独立实现,对此不作限定。
本申请的实施例还提供了一种电子设备,包括:处理器;用于存储处理器可执行指令的存储器;其中,所述处理器被配置为执行所述指令时实现上述实施例的方法。示例性地,可以执行上述图2、图4、图5、图6、图7或图9中任一所示控制方法的各步骤。
图11示出根据本申请一实施例的一种电子设备的结构示意图,如图11所示,该电子设备可以包括:至少一个处理器1101,通信线路1102,存储器1103以及至少一个通信接口1104。
处理器1101可以是一个通用中央处理器,微处理器,特定应用集成电路,或一个或多个用于控制本申请方案程序执行的集成电路;处理器1101也可以包括多个通用处理器的异构运算架构,例如,可以是CPU、GPU、微处理器、DSP、ASIC、FPGA中至少两种的组合;作为一个示例,处理器1101可以是CPU+GPU或者CPU+ASIC或者CPU+FPGA。
通信线路1102可包括一通路,在上述组件之间传送信息。
通信接口1104,使用任何收发器一类的装置,用于与其他设备或通信网络通信,如以太网,RAN,无线局域网(wireless local area networks,WLAN)等。
存储器1103可以是只读存储器(read-only memory,ROM)或可存储静态信息和指令的其他类型的静态存储设备,随机存取存储器(random access memory,RAM)或者可存储信息和指令的其他类型的动态存储设备,也可以是电可擦可编程只读存储器(electrically erasable programmable read-only memory,EEPROM)、只读光盘(compact disc read-only memory,CD-ROM)或其他光盘存储、光碟存储(包括压缩光碟、激光 碟、光碟、数字通用光碟、蓝光光碟等)、磁盘存储介质或者其他磁存储设备、或者能够用于携带或存储具有指令或数据结构形式的期望的程序代码并能够由计算机存取的任何其他介质,但不限于此。存储器可以是独立存在,通过通信线路1102与处理器相连接。存储器也可以和处理器集成在一起。本申请实施例提供的存储器通常可以具有非易失性。其中,存储器1103用于存储执行本申请方案的计算机执行指令,并由处理器1101来控制执行。处理器1101用于执行存储器1103中存储的计算机执行指令,从而实现本申请上述实施例中提供的方法;示例性地,可以实现上述图2、图4、图5、图6、图7或图9中任一所示控制方法的各步骤。
可选的,本申请实施例中的计算机执行指令也可以称之为应用程序代码,本申请实施例对此不作具体限定。
示例性地,处理器1101可以包括一个或多个CPU,例如,图11中的CPU0;处理器1101也可以包括一个CPU,及GPU、ASIC、FPGA中任一个,例如,图11中的CPU0+GPU0或者CPU 0+ASIC0或者CPU0+FPGA0。
示例性地,该电子设备可以包括多个处理器,例如图11中的处理器1101和处理器1107。这些处理器中的每一个可以是一个单核(single-CPU)处理器,也可以是一个多核(multi-CPU)处理器,或者是包括多个通用处理器的异构运算架构。这里的处理器可以指一个或多个设备、电路、和/或用于处理数据(例如计算机程序指令)的处理核。
在具体实现中,作为一种实施例,该电子设备还可以包括输出设备1105和输入设备1106。输出设备1105和处理器1101通信,可以以多种方式来显示信息。例如,输出设备1105可以是液晶显示器(liquid crystal display,LCD),发光二级管(light emitting diode,LED)显示设备,阴极射线管(cathode ray tube,CRT)显示设备,或投影仪(projector)等,例如,可以为车载HUD、AR-HUD、显示器等显示设备。输入设备1106和处理器1101通信,可以以多种方式接收用户的输入。例如,输入设备1106可以是鼠标、键盘、触摸屏设备或传感设备等。
本申请的实施例提供了一种计算机程序产品,例如,可以包括计算机可读代码,或者承载有计算机可读代码的非易失性计算机可读存储介质;当所述计算机程序产品在计算机上运行时,使得所述计算机执行上述实施例中的方法。示例性地,可以执行上述图2、图4、图5、图6、图7或图9中任一所示控制方法的各步骤。
计算机可读存储介质可以是可以保持和存储由指令执行设备使用的指令的有形设备。计算机可读存储介质例如可以是――但不限于――电存储设备、磁存储设备、光存储设备、电磁存储设备、半导体存储设备或者上述的任意合适的组合。计算机可读存储介质的更具体的例子(非穷举的列表)包括:便携式计算机盘、硬盘、随机存取存储器(RAM)、只读存储器(ROM)、可擦式可编程只读存储器(EPROM或闪存)、静态随机存取存储器(SRAM)、便携式压缩盘只读存储器(CD-ROM)、数字多功能盘(DVD)、记忆棒、软盘、机械编码设备、例如其上存储有指令的打孔卡或凹槽内凸起结构、以及上述的任意合适的组合。这里所使用的计算机可读存储介质不被解释为瞬时信号本身,诸如无线电波或者其他自由传播的电磁波、通过波导或其他传输媒介传播的电磁波(例如,通过光纤电缆的光脉冲)、或者通过电线传输的电信号。
这里所描述的计算机可读程序指令可以从计算机可读存储介质下载到各个计算/处理设备,或者通过网络、例如因特网、局域网、广域网和/或无线网下载到外部计算机或外部存储设备。网络可以包括铜传输电缆、光纤传输、无线传输、路由器、防火墙、交换机、网关计算机和/或边缘服务器。每个计算/处理设备中的网络适配卡或者网络接口从网络接收计算机可读程序指令,并转发该计算机可读程序指令,以供存储在各个计算/处理设备中的计算机可读存储介质中。
用于执行本申请操作的计算机程序指令可以是汇编指令、指令集架构(ISA)指令、机器指令、机器相关指令、微代码、固件指令、状态设置数据、或者以一种或多种编程语言的任意组合编写的源代码或目标代码,所述编程语言包括面向对象的编程语言—诸如Smalltalk、C++等,以及常规的过程式编程语言—诸如“C”语言或类似的编程语言。计算机可读程序指令可以完全地在用户计算机上执行、部分地在用户计算机上执行、作为一个独立的软件包执行、部分在用户计算机上部分在远程计算机上执行、或者完全在远程计算机或服务器上执行。在涉及远程计算机的情形中,远程计算机可以通过任意种类的网络—包括局域网(LAN)或广域网(WAN)—连接到用户计算机,或者,可以连接到外部计算机(例如利用因特网服务提供商来通过因特网连接)。在一些实施例中,通过利用计算机可读程序指令的状态信息来个性化定制电子电路,例如可编程逻辑电路、现场可编程门阵列(FPGA)或可编程逻辑阵列(PLA),该电子电路可以执行计算机可读程序指令,从而实现本申请的各个方面。
以上已经描述了本申请的各实施例,上述说明是示例性的,并非穷尽性的,并且也不限于所披露的各实施例。在不偏离所说明的各实施例的范围和精神的情况下,对于本技术领域的普通技术人员来说许多修改和变更都是显而易见的。本文中所用术语的选择,旨在最好地解释各实施例的原理、实际应用或对市场中的技术改进,或者使本技术领域的其它普通技术人员能理解本文披露的各实施例。
Claims (21)
- 一种控制方法,其特征在于,所述方法应用于车辆,所述方法包括:获取控制信息,其中,所述控制信息用于指示将所述车辆的第一范围内的感知设备全部开启或全部关闭;根据所述控制信息,控制所述第一范围内的感知设备全部开启或全部关闭。
- 根据权利要求1所述的方法,其特征在于,所述车辆处于自动驾驶模式时,所述方法还包括:在控制所述第一范围内的感知设备全部关闭之前,控制所述车辆退出所述自动驾驶模式。
- 根据权利要求1或2所述的方法,其特征在于,所述第一范围内的感知设备包括座舱域控制器CDC控制的感知设备、智能驾驶域控制器ADC控制的感知设备、和车载无线网关中的至少一种。
- 根据权利要求3所述的方法,其特征在于,当所述第一范围内的感知设备为ADC控制的感知设备,且所述感知设备全部关闭时,所述方法还包括:控制所述ADC进入休眠状态。
- 根据权利要求1-4中任意一项所述的方法,其特征在于,所述获取控制信息,包括:获取所述车辆响应于驾驶员的第一操作生成的所述控制信息。
- 根据权利要求1-4中任意一项所述的方法,其特征在于,所述控制信息包括车联网V2X信息;所述获取控制信息,包括:接收来自路侧设备的所述V2X信息,所述路侧设备位于指定区域的边缘,所述指定区域为不允许采集环境信息的区域。
- 根据权利要求1-4中任意一项所述的方法,其特征在于,所述获取控制信息包括:获取所述车辆的第一规划路径,在所述第一规划路径经过指定区域的情况下,生成第二规划路径,所述第二规划路径不经过所述指定区域,所述指定区域为不允许采集环境信息的区域;发出提示信息,所述提示信息用于提示驾驶员将所述第一规划路径更新为所述第二规划路径;在驾驶员未将所述第一规划路径更新为所述第二规划路径的情况下,触发所述控制信息。
- 根据权利要求6或7所述的方法,其特征在于,所述指定区域包括:根据驾驶员在地图或区域选择列表中的选取操作确定的区域,其中,所述区域选 择列表包括一个或多个区域;或根据所述第一规划路径以及指定区域选择规则确定的区域。
- 一种控制装置,其特征在于,所述装置应用于车辆,所述装置包括:获取模块,用于获取控制信息,其中,所述控制信息用于指示将所述车辆的第一范围内的感知设备全部开启或全部关闭;控制模块,用于根据所述控制信息,控制所述第一范围内的感知设备全部开启或全部关闭。
- 根据权利要求9所述的装置,其特征在于,所述车辆处于自动驾驶模式时,所述控制模块,还用于在控制所述第一范围内的感知设备全部关闭之前,控制所述车辆退出所述自动驾驶模式。
- 根据权利要求9或10所述的装置,其特征在于,所述第一范围内的感知设备包括座舱域控制器CDC控制的感知设备、智能驾驶域控制器ADC控制的感知设备、和车载无线网关中的至少一种。
- 根据权利要求11所述的装置,其特征在于,当所述第一范围内的感知设备为ADC控制的感知设备,且所述感知设备全部关闭时,所述控制模块,还用于控制所述ADC进入休眠状态。
- 根据权利要求9-12中任意一项所述的装置,其特征在于,所述获取模块具体用于获取所述车辆响应于驾驶员的第一操作生成的所述控制信息。
- 根据权利要求9-12中任意一项所述的装置,其特征在于,所述控制信息包括V2X信息;所述获取模块,具体用于:接收来自路侧设备的所述V2X信息,所述路侧设备位于指定区域的边缘,所述指定区域为不允许采集环境信息的区域。
- 根据权利要求9-12中任意一项所述的装置,其特征在于,所述获取模块具体用于:获取所述车辆的第一规划路径,在所述第一规划路径经过指定区域的情况下,生成第二规划路径,所述第二规划路径不经过所述指定区域,所述指定区域为不允许采集环境信息的区域;发出提示信息,所述提示信息用于提示驾驶员将所述第一规划路径更新为所述第二规划路径;在驾驶员未将所述第一规划路径更新为所述第二规划路径的情况下,触发所述控制信息。
- 根据权利要求14或15所述的装置,其特征在于,所述指定区域包括:根据驾驶员在地图或区域选择列表中的选取操作确定的区域,其中,所述区域选择列表包括一个或多个区域;或,根据所述第一规划路径以及指定区域选择规则确定的区域。
- 一种车辆,其特征在于,包括:感知设备;处理装置,用于执行上述权利要求1-8中任意一项所述的方法,以控制所述感知设备的开启或关闭。
- 根据权利要求17所述的车辆,其特征在于,还包括:控制装置,用于控制与所述控制装置连接的感知设备全部开启或全部关闭。
- 根据权利要求18所述的车辆,其特征在于,所述控制装置包括:座舱域控制器CDC和/或智能驾驶域控制器ADC;其中,所述CDC用于控制与所述CDC连接的感知设备全部开启或全部关闭,所述ADC用于控制与所述ADC连接的感知设备全部开启或全部关闭。
- 一种电子设备,其特征在于,包括:处理器;用于存储处理器可执行指令的存储器;其中,所述处理器被配置为执行所述指令时实现权利要求1-8中任意一项所述的方法。
- 一种计算机可读存储介质,其上存储有计算机程序指令,其特征在于,所述计算机程序指令被处理器执行时实现权利要求1-8中任意一项所述的方法。
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