Vehicle control method and device and computer readable storage medium

Abstract

The embodiment of the invention relates to the technical field of vehicle control, and discloses a vehicle control method and device and a computer readable storage medium, and the method comprises the steps: controlling a target vehicle to run according to a first sub-state machine corresponding to a first auxiliary driving state when a main state machine of the target vehicle is in the first auxiliary driving state; in response to determining that a switching condition is met according to the first sensing information, the state of the main state machine is transferred to a mode switching state, and the first auxiliary driving mode state is switched to a second auxiliary driving state under the control of the mode switching state; wherein the switching condition indicates to be switched to the second auxiliary driving mode; the first auxiliary driving mode and the second auxiliary driving mode are respectively one of a plurality of auxiliary driving modes; and in the second auxiliary driving state, a second sub-state machine corresponding to the second auxiliary driving state is operated, and the target vehicle is controlled to operate according to the second sub-state machine. By applying the technical scheme of the invention, the mode switching efficiency can be improved.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of vehicle control technology, and more particularly to a vehicle control method, device and computer-readable storage medium. Background Art

[0002] A variety of assisted driving functions can be provided for the vehicle, and each assisted driving function can use a corresponding assisted driving function state machine to implement the corresponding assisted driving function.

[0003] In the related art, there is a problem of low switching efficiency when switching between different auxiliary driving functions. Summary of the invention

[0004] In view of the above problems, embodiments of the present invention provide a vehicle control method, device and computer-readable storage medium to solve the problem of low switching efficiency in switching between different auxiliary driving functions existing in the prior art.

[0005] According to one aspect of an embodiment of the present invention, a vehicle control method is provided, the method comprising: when a main state machine of a target vehicle is in a first assisted driving state, controlling the operation of the target vehicle according to a first sub-state machine corresponding to the first assisted driving state; wherein the main state machine comprises assisted driving states and mode switching states corresponding to a plurality of assisted driving modes, respectively, and the first assisted driving state corresponds to the first driving mode; in response to determining that a switching condition is met according to first perception information, determining a second assisted driving state according to the switching condition; migrating the state of the main state machine to a mode switching state, and switching the first assisted driving state to a second assisted driving state under the control of the mode switching state; in the second assisted driving state, running a second sub-state machine corresponding to the second assisted driving state, and controlling the operation of the target vehicle according to the second sub-state machine.

[0006] According to another aspect of an embodiment of the present invention, a vehicle control device is provided, comprising: a first control module, for controlling the operation of the target vehicle according to a first sub-state machine corresponding to the first assisted driving state when the main state machine of the target vehicle is in a first assisted driving state; wherein the main state machine comprises assisted driving states and mode switching states corresponding to a plurality of assisted driving modes, respectively, and the first assisted driving state corresponds to the first driving mode; a switching module, for determining a second assisted driving state according to the switching condition in response to determining that a switching condition is met according to first perception information; migrating the state of the main state machine to the mode switching state, and switching the first assisted driving state to the second assisted driving state under the control of the mode switching state; and a second control block, for running a second sub-state machine corresponding to the second assisted driving state in the second assisted driving state, and controlling the operation of the target vehicle according to the second sub-state machine.

[0007] According to another aspect of an embodiment of the present invention, a vehicle control device is provided, comprising: a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the vehicle control method as described in the first aspect.

[0008] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided, wherein at least one executable instruction is stored in the storage medium, and the executable instruction enables a vehicle control device to perform the following operations: when a main state machine of a target vehicle is in a first assisted driving state, controlling the operation of the target vehicle according to a first sub-state machine corresponding to the first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to a plurality of assisted driving states, respectively; in response to determining that a switching condition is met according to first perception information, migrating the state of the main state machine to a mode switching state, and switching the first assisted driving mode state to a second assisted driving state under the control of the mode switching state; wherein the switching condition indicates switching to a second assisted driving mode; the first assisted driving mode and the second assisted driving mode are respectively one of the plurality of assisted driving modes; in the second assisted driving state, running a second sub-state machine corresponding to the second assisted driving state, and controlling the operation of the target vehicle according to the second sub-state machine.

[0009] The embodiment of the present invention uses a main state machine to set assisted driving states and mode switching states corresponding to multiple assisted driving modes in the main state machine. When the assisted driving state switching is satisfied, the assisted driving state switching is implemented under the control of the mode switching state, so that the main state machine is used to uniformly schedule the switching of different assisted driving modes, which can improve the efficiency of assisted driving mode switching.

[0010] The above description is only an overview of the technical solution of the embodiment of the present invention. In order to more clearly understand the technical means of the embodiment of the present invention, it can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiment of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present invention. In addition, the same reference symbols are used to represent the same components throughout the accompanying drawings. In the accompanying drawings:

[0012] Figure 1 A schematic flow chart of a first embodiment of a vehicle control method provided by the present invention is shown;

[0013] Figure 2 A schematic flow chart of a second embodiment of a vehicle control method provided by the present invention is shown;

[0014] Figure 3 A schematic diagram of the migration of multiple states of the main state machine;

[0015] Figure 4 A schematic diagram of the migration conditions of multiple states of the main state machine;

[0016] Figure 5 A schematic structural diagram of an embodiment of a vehicle control device provided by the present invention is shown;

[0017] Figure 6 A schematic structural diagram of an embodiment of a vehicle control device provided by the present invention is shown. DETAILED DESCRIPTION

[0018] Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0019] Figure 1 FIG. 1 is a flow chart showing a first embodiment of a vehicle control method of the present invention, which is executed by an intelligent driving controller in a vehicle. Figure 1 As shown, the method comprises the following steps:

[0020] S110: When the main state machine of the target vehicle is in the first assisted driving state, the operation of the target vehicle is controlled according to the first sub-state machine corresponding to the first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes, and the first assisted driving state corresponds to the first assisted driving mode.

[0021] The target vehicle here can be various types of vehicles, such as electric vehicles. The target vehicle can be equipped with various sensors to collect perception information, and the perception information can include environmental information and vehicle driving information. Environmental information can include, for example, road information, surrounding vehicle information, etc. Road information can include geometric features of the road (such as road width, curvature and slope, etc.), road signs, traffic signals, obstacles, etc. Surrounding vehicle information can include the speed, direction, position and other driving status of surrounding vehicles. Vehicle driving information includes vehicle speed, acceleration, steering angle, etc.

[0022] The target vehicle may be a vehicle with an assisted driving function. The assisted driving function may include multiple assisted driving modes. The multiple assisted driving modes may include, for example, a first mode, a second mode, and a third mode. Among them, the first mode is a mode for controlling the longitudinal travel of the vehicle; the second mode is a mode for controlling the lateral and longitudinal travel of the vehicle under the premise of clear lane lines; the third mode is a mode for controlling the lateral and longitudinal travel of the vehicle under the premise of clear road structure, positioning and / or high-precision maps.

[0023] The first assisted driving mode may be any one of the multiple assisted driving modes.

[0024] Each assisted driving mode may have a corresponding sub-state machine, which may be a state machine for controlling the operation of the target vehicle. The sub-state machine may generate an operation instruction based on environmental information and the driving information of the target vehicle itself, and control the operation of the vehicle through the operation instruction. The above operation instructions include but are not limited to: operation speed, torque, angle, deceleration and other instructions.

[0025] When it is determined that the first assisted driving mode is met according to the perception information of the target vehicle, the state of the main state machine is transferred to the first assisted driving state. Correspondingly, the first sub-state machine corresponding to the first assisted driving mode is operated, and the first sub-state machine generates an operation instruction that meets the first assisted driving mode to control the operation of the target vehicle.

[0026] The perception information here may include perception information specific to the first assisted driving mode, such as whether there is a high-precision map, whether there are clear lane lines, and other perception information.

[0027] S120: In response to determining that a switching condition is met according to the first perception information, determine a second assisted driving state according to the switching condition; migrate the state of the main state machine to a mode switching state, and switch the first assisted driving state to the second assisted driving state under the control of the mode switching state.

[0028] In order to improve the efficiency of switching between different assisted driving modes, the main state machine can be used to schedule between different assisted driving modes.

[0029] A finite number of states and transition logic between different states may be set in the main state machine. The finite number of states may include assisted driving states corresponding to multiple assisted driving modes, and may also include mode switching states. The above transition logic may include a transition direction and a transition condition.

[0030] The switching condition mentioned above may include an activation condition and / or an inhibition condition.

[0031] Each assisted driving state may correspond to its own activation condition and inhibition condition. Whether the activation condition and inhibition condition are met may be determined based on the first perception information. The activation condition may include, for example: preset environmental conditions and preset vehicle conditions. The above-mentioned first perception information includes the perception information collected when the first sub-state machine corresponding to the first assisted driving state controls the operation of the target vehicle.

[0032] In some examples, if the inhibition condition of the assisted driving mode corresponding to assisted driving state A is met and at the same time the activation condition of the assisted driving mode corresponding to another assisted driving state B is met, then the switching condition for switching from assisted driving state A to assisted driving state B is met.

[0033] In the first assisted driving state, the intelligent driving controller can periodically obtain the first perception information, and determine whether the suppression conditions of the assisted driving mode corresponding to the first assisted driving state are met and whether the activation conditions of other assisted driving modes are met based on the first perception information. If the assisted driving mode corresponding to the first assisted driving state meets the suppression conditions, and there are other assisted driving modes that meet the activation conditions, then the other assisted driving mode is used as the second assisted driving mode. Then the state of the main state machine is migrated from the first assisted driving state to the mode switching state.

[0034] The second assisted driving mode here may be any one of the plurality of assisted driving modes except the first assisted driving mode.

[0035] In some embodiments, in response to determining that the switching condition is met according to the first perception information, determining the second assisted driving state according to the switching condition includes the following steps:

[0036] First, at least two candidate second assisted driving states are determined according to a switching condition.

[0037] Secondly, the second assisted driving state is determined from at least two candidate second assisted driving states according to a preset rule.

[0038] The preset rule here may be a predefined rule for determining the second driving assistance mode from multiple candidate second driving assistance modes when multiple candidate second driving assistance modes conflict. For example, the preset rule includes: when the first mode conflicts with the second mode, the second mode is selected first.

[0039] Furthermore, at least two candidate second assisted driving modes have their own levels, and a candidate second assisted driving mode with the highest level can be selected from the at least two candidate second assisted driving modes as the second assisted driving mode. Since the candidate second assisted driving mode with the highest level is selected as the second assisted driving mode, the driving service provided by the assisted driving mode with the highest level can be preferentially obtained under the same conditions.

[0040] In the mode switching state, it is possible to determine again based on the first perception information whether the second assisted driving mode is the assisted driving mode to be switched to. If it is determined that the second assisted driving mode is the assisted driving mode to be switched to, the state of the main state machine is migrated to the second assisted driving state.

[0041] S130: In the second assisted driving state, running a second sub-state machine corresponding to the second assisted driving state, and controlling the operation of the target vehicle according to the second sub-state machine.

[0042] The second sub-state machine is run in the second assisted driving state, and the second sub-state machine generates an operation instruction matching the second assisted driving mode according to the environmental information and the vehicle driving information. The operation of the target vehicle is controlled by the operation instruction.

[0043] In the related art, after the assisted driving function is activated, the sub-state machines corresponding to the multiple assisted driving modes run simultaneously, and each sub-state machine determines whether its activation condition is met during operation. Different assisted driving modes are set independently, and when the assisted driving mode needs to be switched, it is usually switched by the driver, resulting in low efficiency in switching the assisted driving mode.

[0044] In this embodiment, a main state machine is constructed, which includes assisted driving states and mode switching states corresponding to multiple auxiliary modes. The mode switching state in the main state machine uniformly schedules the switching of different assisted driving modes according to perception information including environmental information and the vehicle's own information to adapt to different driving scenarios, thereby improving the efficiency of assisted driving mode switching.

[0045] Figure 2 FIG. 1 is a flow chart showing a second embodiment of a vehicle control method of the present invention, which is executed by an intelligent driving controller in a vehicle. Figure 2 As shown, the method comprises the following steps:

[0046] Step 210: In response to detecting that the assisted driving function is activated, run the main state machine and enter the general condition judgment state; wherein the main state machine includes the general condition judgment state, the function standby state, the assisted driving states corresponding to the multiple assisted driving modes, and the mode switching state.

[0047] In some application scenarios, the driver can perform an operation to start the assisted driving function in the target vehicle, thereby activating the driving function.

[0048] The intelligent driving controller can run the main state machine when detecting that the assisted driving function is activated. The main state machine can include a limited number of states and the transition logic between states. The limited number of states include a general condition judgment state, a function standby state, assisted driving states corresponding to multiple assisted driving modes, and a mode switching state.

[0049] The above-mentioned general condition judgment state may be the initial state of the main state machine. When the main state machine is run, it enters the initial state, that is, the general condition judgment state.

[0050] S220: In the general condition judgment state, in response to determining that the common startup conditions of multiple assisted driving modes are met according to the second perception information, the state of the main state machine is migrated to the functional standby state.

[0051] A common start condition can be determined from the start conditions required for multiple assisted driving states (the assisted driving states correspond to the assisted driving modes one by one). Then the second perception information is determined based on the common start condition. For example, if multiple assisted driving modes require start conditions D and E, start conditions D and E can be used as common start conditions for multiple assisted driving modes. The perception information corresponding to the above common start conditions D and E is used as the second perception information.

[0052] In the general condition judgment state, the intelligent driving controller can obtain second perception information. The second perception information may include vehicle information and environmental information, for example.

[0053] The vehicle information may include, for example, whether the steering system has a fault, whether the steering system output signal is valid, whether the braking system has a fault, whether the braking system output signal is valid, whether the power system has a fault, whether the power system output signal is valid, etc. The environmental information may include, for example, lighting information and road adhesion coefficient.

[0054] Whether the common start condition is met may be determined based on the second perception information. The common start condition may include: the vehicle information meets the first preset condition, and the environmental information meets the second preset condition. The first preset condition may include, for example: the steering system has no fault, the steering system output signal is valid, the braking system has no fault, the braking system output signal is valid, the power system has no fault, the power system output signal is valid, etc. The second condition may be, for example: the light intensity is greater than the first preset intensity threshold, and the road adhesion coefficient is greater than the preset adhesion coefficient threshold.

[0055] When the common activation condition is satisfied, it can be considered that the transition condition for the general condition determination state to transition to the functional standby state is satisfied, and therefore the state of the main state can be transitioned to the functional standby state.

[0056] S230: In the functional standby state, the target assisted driving mode is determined according to the third perception information, and the state of the main state machine is migrated to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

[0057] In the functional standby state, the above-mentioned intelligent driving controller can periodically obtain third perception information from the sensor or the intelligent driving controller itself.

[0058] The third perception information may include information required to determine the unique activation conditions corresponding to each of the multiple assisted driving modes. For example, the unique activation conditions corresponding to the first mode include: the brake pedal is not depressed, the vehicle speed is greater than the threshold when there is a following target or no following target. The unique activation conditions corresponding to the second mode include: the lane lines on both sides are clear and effective, the lane width is less than the threshold, and the steering torque is less than the threshold. The unique activation conditions corresponding to the third mode include: the vehicle is in navigation state, there is a cloud map for the driving section, and the fusion positioning is effective.

[0059] Correspondingly, the above-mentioned third perception information may include: information on whether the brake pedal is pressed, information on whether there is a following target, vehicle speed information when there is no following target, lane line information on both sides, lane width information, steering torque information, whether the vehicle is in navigation state, information on whether there is a cloud map on the driving section, information on whether the fusion positioning is effective, etc.

[0060] In some application scenarios, different assisted driving modes may have their own activation conditions and inhibition conditions. The target assisted driving mode that meets the activation conditions may be determined based on the third perception information, and then the target assisted driving state may be determined. Then the state of the main state machine is migrated to the target assisted driving state. In the target assisted driving state, the sub-state machine corresponding to the target assisted driving state is run, and the sub-state machine controls the operation of the target vehicle.

[0061] In some implementations, step S230 includes the following sub-steps:

[0062] First, based on the acquired third perception information, multiple candidate assisted driving modes that meet the activation conditions are determined.

[0063] Secondly, a target assisted driving mode is determined from a plurality of candidate assisted driving modes according to preset rules.

[0064] The preset rule here may be a predefined rule for determining a target assisted driving mode from a plurality of candidate assisted driving modes when a plurality of candidate assisted driving modes conflict. For example, the preset rule includes: when a first mode conflicts with a second mode, the second mode is selected first.

[0065] Furthermore, the multiple assisted driving modes each have their own level, and a target assisted driving mode is determined from the multiple candidate assisted driving modes according to a preset rule, including:

[0066] From multiple candidate assisted driving modes, select a candidate assisted driving mode with the highest level as the target assisted driving mode.

[0067] That is, the multiple assisted driving modes have their own levels, and the multiple assisted driving modes correspond to different levels. The above levels may include the highest level, the middle level, the low level, etc.

[0068] Since the highest-level candidate assisted driving mode is used as the target assisted driving mode, the driving service provided by the highest-level assisted driving mode can be given priority under the same conditions.

[0069] S240: When the main state machine of the target vehicle is in the first assisted driving state, controlling the operation of the target vehicle according to the first sub-state machine corresponding to the first assisted driving state.

[0070] The specific implementation of the above step S240 can refer to Figure 1 The relevant parts of step S110 in the illustrated embodiment are not described in detail here.

[0071] S250: In response to determining that a switching condition is met according to the first perception information, determine a second assisted driving state according to the switching condition; migrate the state of the main state machine to the mode switching state, and switch the first assisted driving state to the second assisted driving state under the control of the mode switching state.

[0072] The first perception information here may be updated third perception information, that is, the first perception information may include information corresponding to the unique activation conditions corresponding to the multiple assisted driving states.

[0073] Different assisted driving states also correspond to their own inhibition conditions. For example, the inhibition condition of assisted driving state A is: the unique activation condition of assisted driving state A is not met, or there is currently an assisted driving state corresponding to a higher level assisted driving mode that meets the activation condition.

[0074] The above switching condition may be that the first assisted driving state does not satisfy the activation condition, and the second assisted driving state satisfies the activation condition.

[0075] S260: In the second assisted driving state, run the second sub-state machine corresponding to the second assisted driving state, and control the operation of the target vehicle according to the second sub-state machine.

[0076] The specific implementation of the above step S260 can refer to Figure 1 The relevant parts of step S130 of the illustrated embodiment are not described in detail here.

[0077] In the related art, for different assisted driving modes, it is necessary to independently run the corresponding sub-state machines at the same time to determine whether the activation state of each assisted driving mode is met, resulting in high power consumption.

[0078] In this embodiment, before the first assisted driving state is switched to the second assisted driving state, the second sub-state machine does not run. When switching to the second assisted driving state, the second sub-state machine starts running and the first sub-state machine ends running. That is, since the assisted driving states corresponding to each assisted driving mode are state nodes of the main state mechanism, only one assisted driving state is valid at the same time, and the sub-state machine of the valid assisted driving state runs. The sub-state corresponding to the invalid assisted driving state does not run.

[0079] In this embodiment, it is described that when the assisted driving function is activated, the main state machine is run; the main state machine is also provided with a general condition judgment state and a function standby state, and the common start-up conditions of multiple assisted driving modes are judged by the general condition judgment state. After the common start-up conditions are met, the activation conditions specific to the multiple assisted driving modes are judged. Compared with the scheme in which the state machines of the multiple assisted driving modes respectively judge whether they meet the activation conditions by using the full amount of perception information, this scheme does not need to repeatedly judge the common start-up conditions, thereby reducing the amount of data processing in mode switching and reducing power consumption.

[0080] exist Figure 2 In some optional implementations of the illustrated embodiment, the method further includes:

[0081] In the first assisted driving state or the second assisted driving state, in response to determining that the inhibition conditions of each of the multiple assisted driving modes are met based on the updated third perception information, the state of the main state machine is migrated from the first assisted driving state or the second assisted driving state to the functional standby state.

[0082] Each assisted driving mode may have an inhibition condition. An inhibition condition refers to a condition under which the assisted mode cannot be used at present. For example, for the third mode, the inhibition conditions include that the vehicle navigation status is turned off, and there is no map of the current driving section in the cloud. For the second mode, the inhibition conditions may include, for example: unclear lane lines, steering torque greater than a preset threshold. For the first mode, the inhibition conditions include that the brake pedal is stepped on, there is no following target, etc. When it is determined based on the updated third information that the inhibition conditions of each assisted driving mode are met, the state of the main state machine can be switched from the first assisted driving state or the second assisted driving state to the functional standby state. Thereby avoiding safety issues caused by controlling the operation of the vehicle according to any assisted driving mode. In addition, by migrating the main state machine to the functional standby state, the target assisted driving mode can be re-determined in the functional standby state based on the third perception information subsequently obtained, thereby achieving the continuity of assisted driving.

[0083] exist Figure 2 In some optional implementations of the illustrated embodiment, the method further includes:

[0084] In the functional standby state, in response to determining that the common startup condition is not satisfied according to the updated second perception information, the state of the main state machine is migrated to the general condition judgment state.

[0085] When the main state machine is in the functional standby state, if it is determined that the above-mentioned common start-up condition is not met according to the updated second perception information, the state of the main state machine is migrated to the general condition judgment state. Since the main state machine is migrated to the general condition judgment state, it can be re-determined whether the common start-up condition is met according to the second perception information obtained subsequently in the general condition judgment state. After the subsequent second perception information meets the common start-up condition, the functional standby state is re-entered, which is conducive to the automatic continuation of assisted driving.

[0086] exist Figure 1 and Figure 2 In some optional implementations of the illustrated embodiment, the method further includes the following steps:

[0087] First, the operation instruction output by the first sub-state machine or the operation instruction output by the second sub-state machine is input to the arbitration unit, and the arbitration unit detects whether the operation instruction meets a preset condition.

[0088] Secondly, in response to the preset condition being met, the target vehicle is controlled to run through a control signal; or in response to the preset condition not being met, a fault prompt message is sent.

[0089] The preset condition includes that the running instruction is less than or equal to the corresponding preset threshold; or the preset condition includes that the running instructions received at the same time are from the same sub-state machine.

[0090] The arbitration module can be set in the intelligent driving controller, and the arbitration module can determine whether multiple operation instructions meet the preset conditions. If the preset conditions are met, the operation instructions are sent to the corresponding actuators to control the operation of the target vehicle.

[0091] If the preset conditions are not met, a fault prompt message is sent to prompt the driver to exit the assisted driving function. For example, if the deceleration indicated by the running command is -15m / s 2 , and the deceleration threshold is -9.5m / s 2 If the preset condition is not met, the arbitration module may send a fault prompt message. The above fault prompt message may be specific fault information, such as a deceleration exceeding a threshold value.

[0092] For another example, if the arbitration module receives operation instructions from two sub-state machines at the same time, it can send fault information to prompt the exit of the assisted driving function. The fault prompt information can include, for example, the existence of an assisted driving mode conflict. In addition, when receiving operation instructions from two sub-state machines, the arbitration module can send the operation instruction of the sub-state machine corresponding to the higher-level assisted driving mode to the corresponding actuator.

[0093] By arbitrating operating instructions, the reliability of assisted driving functions can be improved.

[0094] exist Figure 1 and Figure 2 In some optional implementations of the illustrated embodiment, the method further includes: displaying information of the currently used assisted driving mode, or displaying corresponding assisted driving mode switching prompt information according to the switching of the assisted driving state.

[0095] The currently used assisted driving mode can be displayed on the display screen of the target vehicle, or prompt information for switching the assisted driving mode can be displayed, so that the driver of the target vehicle can understand the current target driving mode.

[0096] exist Figure 1 and Figure 2 In some optional implementations of the illustrated embodiment, the method further includes:

[0097] In any state of the main state machine, in response to detecting abnormal information, the main state machine is exited and an instruction for stopping the auxiliary driving function is issued.

[0098] The above abnormality indicates that the assisted driving function has a fault. When abnormal information is detected, the assisted driving function is exited through the above command to ensure the safety of the target vehicle.

[0099] Combine the following Figure 3 and Figure 4 Describe the specific control process of the vehicle control method. Figure 3 This is a schematic diagram of the migration of multiple states of the main state machine. Figure 4 Schematic diagram of the transition conditions of multiple states of the main state machine. Among them, the first mode is a mode for controlling the longitudinal travel of the vehicle; the second mode is a mode for controlling the lateral and longitudinal travel of the vehicle under the premise of clear lane lines; the third mode is a mode for controlling the lateral and longitudinal travel of the vehicle under the premise of clear road structure, positioning and / or high-precision map.

[0100] When the assisted driving function is not started, the assisted driving function is in the off state 31. When the user manually turns on the assisted driving function setting item on the large screen of the vehicle computer or turns on the assisted driving function setting item by voice, the assisted driving function is started, and the intelligent driving controller starts the main state machine at the same time. After the main state machine starts, it enters the general condition judgment state to complete the state transition T1. In addition, when the assisted driving function is turned on, the user manually turns off the assisted driving function setting item on the large screen of the vehicle computer or turns off the assisted driving function setting item by voice, and the assisted driving function enters the off state from the on state, completing the state transition T2.

[0101] After the main state machine is started, it enters the general condition judgment state 32. In the general condition judgment state 32, the intelligent driving controller can determine whether the common starting conditions of multiple assisted driving modes are met based on the second perception information. When the above-mentioned common starting conditions are met, the state of the main state machine is migrated to the functional standby state 33, completing the state transition T3.

[0102] In the functional standby state 33, it is determined whether all activation conditions of the first mode are met (and activation conditions of the second mode and the third mode are not met) according to the third perception information. If the activation conditions of the first mode are met, the functional standby state 33 can be switched to the S1 assisted driving state 35. In the S1 assisted driving state 35, if any activation condition specific to the first mode is not met, the S1 assisted driving state 35 can be switched to the functional standby state 33, completing the state switching T4.

[0103] In the functional standby state 33, it is determined based on the third perception information whether all activation conditions of the second mode are met (and the activation conditions of the first mode are met, but the activation conditions of the third mode are not met). If all activation conditions of the second mode are met, the functional standby state 33 can be switched to the S2 assisted driving state 36. In the S2 assisted driving state 36, if any of the activation conditions specific to the second mode is not met, the S2 assisted driving state 36 can be switched to the functional standby state 33, completing the state switching T5.

[0104] In the functional standby state 33, it is determined based on the perception information whether all activation conditions of the third mode are met (and the activation conditions of the first mode and the activation conditions of the second mode are met). If all activation conditions of the third mode are met, the functional standby state 33 can be switched to the S3 assisted driving state 37. In the S3 assisted driving state 37, if it is determined based on the perception information that any activation condition specific to the third mode is not met, the S3 assisted driving state 37 can be switched to the functional standby state 33, completing the state switching T6.

[0105] If the main state machine is in the S1 assisted driving state 35, if it is determined based on the perception information that the activation conditions of the second mode or the activation conditions of the third mode are met, the state machine switches from the S1 assisted driving state 35 to the mode switching state 34. If the main state machine is in the mode switching state 34, if it is determined based on the perception information that all the activation conditions of the first mode are met, none of the activation conditions of the second mode is met, or none of the activation conditions of the third mode is met, the main state machine migrates from the mode switching state 34 to the S1 assisted driving state 35. The state switching T7 is completed.

[0106] If the main state machine is in the S2 assisted driving state 36, if it is determined based on the perception information that the activation conditions of the third mode are met, or all the activation conditions of the third mode are met, or all the activation conditions of the first mode are met and none of the activation conditions of the second mode are met, the state machine switches from the S2 assisted driving state 36 to the mode switching state 34. If the main state machine is in the mode switching state 34, if it is determined based on the perception information that all the activation conditions of the second mode are met and none of the activation conditions of the third mode are met, the main state machine migrates from the mode switching state 34 to the S2 assisted driving state 36. The state switching T8 is completed.

[0107] If the main state machine is in the S3 assisted driving state 33, if it is determined based on the perception information that the activation conditions of any third mode are not met, and the activation conditions of all first modes are met or the activation conditions of all second modes are met, the state machine switches from the S3 assisted driving state 37 to the mode switching state 34. If the main state machine is in the mode switching state 34, if it is determined based on the perception information that the activation conditions of all third modes are met, the main state machine migrates from the mode switching state 34 to the S3 assisted driving state 37. The state switching T9 is completed.

[0108] When the main state machine is in any state, if any condition of inhibiting the assisted driving function is met or any fault occurs in the assisted driving system, the state of the main machine is transferred to the inhibited or fault state 39. The state switching T10 is completed.

[0109] When the main state machine is in the suppression or fault state 39, the auxiliary driving function suppression conditions are not met, the auxiliary driving function has no faults, and the vehicle computer large screen setting item is turned on, the state of the main state machine is transferred from the suppression or fault state 39 to the open state (general condition judgment state 32). Complete state switching T11.

[0110] When the main state machine is in the suppression or fault state 39, the auxiliary driving function suppression conditions are not met, the auxiliary driving function has no faults, and the vehicle computer large screen setting item is off, the state of the main state machine is transferred from the suppression or fault state 39 to the off state 31. The state switching T12 is completed.

[0111] In addition, the operating instructions generated by the sub-state machine corresponding to the S1 assisted driving state, or the operating instructions generated by the sub-state machine corresponding to the S2 assisted driving state, or the operating instructions generated by the sub-state machine corresponding to the S3 assisted driving state are all input into the arbitration module 38 for arbitration. The operating instructions arbitrated by the arbitration module can be sent to the actuator, and the actuator controls the vehicle operation.

[0112] Figure 5 FIG. 2 is a schematic diagram showing the structure of an embodiment of a vehicle control device provided by the present invention. Figure 5 As shown, the device 500 includes: a first control module 510 , a switching module 520 and a second control module 530 .

[0113] A first control module 510 is used to control the operation of the target vehicle according to a first sub-state machine corresponding to the first assisted driving state when the main state machine of the target vehicle is in the first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to a plurality of assisted driving modes, and the first assisted driving state corresponds to the first assisted driving mode;

[0114] The switching module 520 is used to determine the second assisted driving state according to the switching condition in response to determining that the switching condition is met according to the first perception information; migrate the state of the main state machine to the mode switching state, and switch the first assisted driving state to the second assisted driving state under the control of the mode switching state;

[0115] The second control module 530 is used to run a second sub-state machine corresponding to the second assisted driving state in the second assisted driving state, and control the operation of the target vehicle according to the second sub-state machine.

[0116] In an optional manner, the device 500 further includes an operation module 540, a common condition determination module 550 and a driving mode determination module 560, wherein:

[0117] An operation module 540 is used to operate the main state machine and enter the general condition judgment state in response to detecting that the auxiliary driving function is activated; wherein the main state machine also includes the general condition judgment state and the function standby state;

[0118] a common condition determination module 550, configured to, in the general condition determination state, migrate the state of the main state machine to the functional standby state in response to determining that the common activation conditions of the plurality of assisted driving modes are satisfied according to the second perception information;

[0119] The driving mode determination module 560 is used to determine the target assisted driving mode according to the third perception information in the function standby state, and migrate the state of the main state machine to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

[0120] In an optional manner, the driving mode determination module 560 is specifically used to: determine a plurality of candidate assisted driving modes that meet the activation conditions based on the third perception information; and determine a target assisted driving mode from the plurality of candidate assisted driving modes according to preset rules.

[0121] In an optional manner, the multiple assisted driving modes have their own levels respectively; the driving mode determination module 560 is specifically used to: select a candidate assisted driving mode with the highest level as the target assisted driving mode from the multiple candidate assisted driving modes.

[0122] In an optional manner, the device 500 also includes a second migration module (not shown in the figure), which is used to: in the first assisted driving state or the second assisted driving state, in response to determining that the inhibition conditions of each of the multiple assisted driving modes are met according to the updated third perception information, migrate the state of the main state machine from the first assisted driving state or the second assisted driving state to the functional standby state.

[0123] In an optional manner, the device 500 also includes a third migration module (not shown in the figure), which is used to: in the functional standby state, in response to determining that the common startup condition is not met according to the updated second perception information, migrate the state of the main state machine to the general condition judgment state.

[0124] In an optional manner, the device 500 also includes an arbitration module (not shown in the figure), which is used to: input the operating instruction output by the first sub-state machine or the operating instruction output by the second sub-state machine into the arbitration unit, and the arbitration unit detects whether the operating instruction meets the preset conditions; in response to meeting the preset conditions, controlling the operation of the target vehicle through a control signal; or in response to not meeting the preset conditions, sending a fault prompt message.

[0125] In an optional manner, the device 500 also includes a display module (not shown in the figure), which is used to: display information of the currently used assisted driving mode, or display corresponding assisted driving mode switching prompt information according to the switching of the assisted driving state.

[0126] In an optional manner, the device 500 also includes an exception handling module (not shown in the figure), which is used to: in any state of the main state machine, in response to detecting abnormal information, exit the main state machine and issue an instruction to stop the assisted driving function.

[0127] In this embodiment, a main state machine is constructed, which includes assisted driving states and mode switching states corresponding to multiple auxiliary modes. The mode switching state in the main state machine uniformly schedules the switching of different assisted driving modes according to the environment and the vehicle's own perception information to adapt to different driving scenarios, thereby improving the efficiency of assisted driving mode switching.

[0128] Figure 6 The schematic diagram of the structure of an embodiment of the vehicle control device of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the vehicle control device.

[0129] like Figure 6 As shown, the vehicle control device may include: a processor (processor) 602 , a communication interface (Communications Interface) 604 , a memory (memory) 606 , and a communication bus 608 .

[0130] The processor 602, the communication interface 604, and the memory 606 communicate with each other via a communication bus 608. The communication interface 604 is used to communicate with other devices such as a client or other server network elements. The processor 602 is used to execute a program 610, which can specifically execute the relevant steps in the above-mentioned vehicle control method embodiment.

[0131] Specifically, the program 610 may include program code including computer executable instructions.

[0132] The processor 602 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the vehicle control device may be processors of the same type, such as one or more CPUs; or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0133] The memory 606 is used to store the program 610. The memory 606 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0134] Program 610 may be specifically called by processor 602 to enable the vehicle control device to perform the following operations:

[0135] When the main state machine of the target vehicle is in the first assisted driving state, the target vehicle is controlled to operate according to the first sub-state machine corresponding to the first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to a plurality of assisted driving modes, and the first assisted driving state corresponds to the first assisted driving mode;

[0136] In response to determining that a switching condition is met according to the first perception information, determining a second assisted driving state according to the switching condition; migrating the state of the main state machine to a mode switching state, and switching the first assisted driving state to the second assisted driving state under the control of the mode switching state;

[0137] In the second assisted driving state, a second sub-state machine corresponding to the second assisted driving state is run, and the operation of the target vehicle is controlled according to the second sub-state machine.

[0138] In an optional manner, the program 610 may be specifically called by the processor 602 to enable the vehicle control device to perform the following operations:

[0139] In response to detecting that the auxiliary driving function is activated, running the main state machine and entering the general condition judgment state; wherein the main state machine also includes the general condition judgment state and the function standby state;

[0140] In the general condition judgment state, in response to determining that the common activation conditions of the plurality of assisted driving modes are met according to the second perception information, the state of the main state machine is migrated to the functional standby state;

[0141] In the functional standby state, the target assisted driving mode is determined based on the third perception information, and the state of the main state machine is migrated to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

[0142] In an optional implementation, in a functional standby state, determining a target assisted driving mode according to the third perception information includes:

[0143] Determining, based on the third perception information, a plurality of candidate assisted driving modes that meet activation conditions;

[0144] A target assisted driving mode is determined from a plurality of candidate assisted driving modes according to preset rules.

[0145] In an optional implementation, the plurality of assisted driving modes have respective levels, and a target assisted driving mode is determined from the plurality of candidate assisted driving modes according to a preset rule, including:

[0146] From multiple candidate assisted driving modes, a candidate assisted driving mode with the highest ranking is selected as the target assisted driving mode.

[0147] In an optional manner, the program 610 is called by the processor 602 to enable the vehicle control device to perform the following operations:

[0148] In the first assisted driving state or the second assisted driving state, in response to determining that the inhibition conditions of each of the multiple assisted driving modes are met based on the updated third perception information, the state of the main state machine is migrated from the first assisted driving state or the second assisted driving state to the functional standby state.

[0149] In an optional manner, the program 610 is called by the processor 602 to enable the vehicle control device to perform the following operations:

[0150] In the functional standby state, in response to determining that the common startup condition is not satisfied according to the updated second perception information, the state of the main state machine is migrated to the general condition judgment state.

[0151] In an optional manner, the program 610 is called by the processor 602 to enable the vehicle control device to perform the following operations:

[0152] Inputting the operation instruction output by the first sub-state machine or the operation instruction output by the second sub-state machine into the arbitration unit, and the arbitration unit detects whether the operation instruction meets the preset condition;

[0153] In response to the preset conditions being met, the target vehicle is controlled to run through a control signal; or in response to the preset conditions not being met, a fault prompt message is sent.

[0154] In an optional manner, the program 610 is called by the processor 602 to enable the vehicle control device to perform the following operations:

[0155] Display the information of the assisted driving mode corresponding to the current assisted driving state, or display the corresponding assisted driving mode switching prompt information according to the switching of the assisted driving state.

[0156] In an optional manner, the program 610 is called by the processor 602 to enable the vehicle control device to perform the following operations:

[0157] In any state of the main state machine, in response to detecting abnormal information, the main state machine is exited and an instruction for stopping the auxiliary driving function is issued.

[0158] In this embodiment, a main state machine is constructed, which includes assisted driving states and mode switching states corresponding to multiple auxiliary modes. The mode switching state in the main state machine uniformly schedules the switching of different assisted driving modes according to the environment and the vehicle's own perception information to adapt to different driving scenarios, thereby improving the efficiency of assisted driving mode switching.

[0159] An embodiment of the present invention provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is executed on a vehicle control device / apparatus, the vehicle control device / apparatus executes the vehicle control method in any of the above method embodiments.

[0160] The executable instructions may be specifically used to enable the vehicle control device / apparatus to perform the following operations:

[0161] When the main state machine of the target vehicle is in the first assisted driving state, the target vehicle is controlled to operate according to the first sub-state machine corresponding to the first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to a plurality of assisted driving modes, and the first assisted driving state corresponds to the first assisted driving mode;

[0162] In response to determining that a switching condition is met according to the first perception information, determining a second assisted driving state according to the switching condition; migrating the state of the main state machine to a mode switching state, and switching the first assisted driving state to the second assisted driving state under the control of the mode switching state;

[0163] In the second assisted driving state, a second sub-state machine corresponding to the second assisted driving state is run, and the operation of the target vehicle is controlled according to the second sub-state machine.

[0164] In an optional manner, the executable instructions enable the vehicle control device to perform the following operations:

[0165] In response to detecting that the auxiliary driving function is activated, running the main state machine and entering the general condition judgment state; wherein the main state machine also includes the general condition judgment state and the function standby state;

[0166] In the general condition judgment state, in response to determining that the common activation conditions of the plurality of assisted driving modes are met according to the second perception information, the state of the main state machine is migrated to the functional standby state;

[0167] In the functional standby state, the target assisted driving mode is determined based on the third perception information, and the state of the main state machine is migrated to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

[0168] In an optional implementation, in a functional standby state, determining a target assisted driving mode according to the third perception information includes:

[0169] Determining, based on the third perception information, a plurality of candidate assisted driving modes that meet activation conditions;

[0170] A target assisted driving mode is determined from a plurality of candidate assisted driving modes according to preset rules.

[0171] In an optional implementation, the plurality of assisted driving modes have respective levels, and a target assisted driving mode is determined from the plurality of candidate assisted driving modes according to a preset rule, including:

[0172] From multiple candidate assisted driving modes, a candidate assisted driving mode with the highest ranking is selected as the target assisted driving mode.

[0173] In an optional manner, the executable instructions enable the vehicle control device to perform the following operations:

[0174] In the first assisted driving state or the second assisted driving state, in response to determining that the inhibition conditions of each of the multiple assisted driving modes are met based on the updated third perception information, the state of the main state machine is migrated from the first assisted driving state or the second assisted driving state to the functional standby state.

[0175] In an optional manner, the executable instructions enable the vehicle control device to perform the following operations:

[0176] In the functional standby state, in response to determining that the common startup condition is not satisfied according to the updated second perception information, the state of the main state machine is migrated to the general condition judgment state.

[0177] In an optional manner, the executable instructions enable the vehicle control device to perform the following operations:

[0178] Inputting the operation instruction output by the first sub-state machine or the operation instruction output by the second sub-state machine into the arbitration unit, and the arbitration unit detects whether the operation instruction meets the preset condition;

[0179] In response to the preset conditions being met, the target vehicle is controlled to run through a control signal; or in response to the preset conditions not being met, a fault prompt message is sent.

[0180] In an optional manner, the executable instructions enable the vehicle control device to perform the following operations:

[0181] Display the information of the assisted driving mode corresponding to the current assisted driving state, or display the corresponding assisted driving mode switching prompt information according to the switching of the assisted driving state.

[0182] In an optional manner, the executable instructions enable the vehicle control device to perform the following operations:

[0183] In any state of the main state machine, in response to detecting abnormal information, the main state machine is exited and an instruction for stopping the auxiliary driving function is issued.

[0184] In this embodiment, a main state machine is constructed, which includes assisted driving states and mode switching states corresponding to multiple auxiliary modes. The mode switching state in the main state machine uniformly schedules the switching of different assisted driving modes according to the environment and the vehicle's own perception information to adapt to different driving scenarios, thereby improving the efficiency of assisted driving mode switching.

[0185] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0186] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Wherein, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself is a separate embodiment of the present invention.

[0187] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0188] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

Claims

1. A vehicle control method, characterized in that: include: When the main state machine of the target vehicle is in the first assisted driving state, the target vehicle is controlled to run according to the first sub-state machine corresponding to the first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to a plurality of assisted driving modes, respectively, and the first assisted driving state corresponds to the first assisted driving mode; In response to determining that a switching condition is met according to the first perception information, determining a second assisted driving state according to the switching condition; migrating the state of the main state machine to a mode switching state, and switching the first assisted driving state to the second assisted driving state under the control of the mode switching state; In the second assisted driving state, a second sub-state machine corresponding to the second assisted driving state is run, and the operation of the target vehicle is controlled according to the second sub-state machine.

2. The method according to claim 1, characterized in that The method further comprises: In response to detecting that the auxiliary driving function is activated, the main state machine is run and enters the general condition judgment state; wherein the main state machine also includes the general condition judgment state and the function standby state; In the general condition judgment state, in response to determining that the common activation conditions of the plurality of assisted driving modes are met according to the second perception information, the state of the main state machine is migrated to the functional standby state; In the functional standby state, the target assisted driving mode is determined according to the third perception information, and the state of the main state machine is migrated to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

3. The method according to claim 2, characterized in that In the functional standby state, determining a target assisted driving mode according to the third perception information includes: Determining, according to the third perception information, a plurality of candidate assisted driving modes that meet an activation condition; The target assisted driving mode is determined from a plurality of candidate assisted driving modes according to a preset rule.

4. The method according to claim 3, characterized in that The multiple assisted driving modes each have their own level, and determining a target assisted driving mode from the multiple candidate assisted driving modes according to a preset rule includes: From the multiple candidate assisted driving modes, a candidate assisted driving mode with the highest ranking is selected as the target assisted driving mode.

5. The method according to claim 2, characterized in that: The method further comprises: In the first assisted driving state or the second assisted driving state, in response to determining that the inhibition conditions of each of the multiple assisted driving modes are met based on the updated third perception information, the state of the main state machine is migrated from the first assisted driving state or the second assisted driving state to a functional standby state.

6. The method according to claim 2 or 5, characterized in that: The method further comprises: In the functional standby state, in response to determining that the common startup condition is not satisfied according to the updated second perception information, the state of the main state machine is migrated to the general condition judgment state.

7. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Inputting the operation instruction output by the first sub-state machine or the operation instruction output by the second sub-state machine into the arbitration unit, and the arbitration unit detects whether the operation instruction meets a preset condition; In response to the preset condition being met, the target vehicle is controlled to run through the control signal; or in response to the preset condition not being met, a fault prompt message is sent.

8. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: Display the information of the currently used assisted driving mode, or display the corresponding assisted driving mode switching prompt information according to the switching of the assisted driving state.

9. A vehicle control device, characterized in that: include: A first control module, configured to control the operation of the target vehicle according to a first sub-state machine corresponding to the first assisted driving state when the main state machine of the target vehicle is in a first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to a plurality of assisted driving modes, respectively, and the first assisted driving state corresponds to the first driving mode; A switching module, configured to, in response to determining that a switching condition is met according to the first perception information, determine a second assisted driving state according to the switching condition; migrate the state of the main state machine to a mode switching state, and switch the first assisted driving state to the second assisted driving state under the control of the mode switching state; The second control block is used to run a second sub-state machine corresponding to the second assisted driving state in the second assisted driving state, and control the operation of the target vehicle according to the second sub-state machine.

10. A vehicle control device, characterized in that: include: A processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other via the communication bus; The memory is used to store at least one executable instruction, and the executable instruction enables the processor to perform the operation of the vehicle control method as described in any one of claims 1-8.

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