A method, device and system for taking over an autonomous driving vehicle

Abstract

The present disclosure relates to a method, device and vehicle for taking over an autonomous driving vehicle. The method comprises: determining a mobile device of a driver connected to the vehicle; sending a takeover request to the mobile device in an autonomous driving mode, wherein the takeover request is used to request the driver to take over the driving of the vehicle; receiving an operation instruction from the driver; and entering a driving mode in which the driver takes over the vehicle based on the operation instruction.

Description

Technical Field

[0001] The embodiments of the present disclosure relate to the field of vehicle control technology, and more specifically, to a method, device, and system for taking over an autonomous driving vehicle. Background Art

[0002] Generally speaking, autonomous driving is classified into five levels, from level one to level five: driving assistance, partial automation, conditional automation, high automation and full automation.

[0003] When the autonomous vehicle sends a takeover request to the driver, the driver may be paying attention to his / her mobile device (such as a mobile phone, tablet, etc.), and they may even be wearing headphones. At this time, the warning displayed on the instrument cluster or the warning played by the speaker will not serve to alert the driver, which is very dangerous. Because in some emergency situations, the autonomous vehicle cannot make the safest decision independently, which requires the driver to take over the driving of the vehicle and make the best decision again. However, if the situation encountered by the autonomous vehicle during driving is more urgent, and the driver fails to discover the takeover request of the autonomous vehicle in time due to distraction, and thus misses the best time to take over the vehicle, the vehicle may suffer unnecessary energy loss, consume more commuting time, and the autonomous vehicle may even collide with objects outside the vehicle, causing casualties and property losses. In order to ensure that the driver can promptly notice the takeover request sent by the autonomous vehicle to the driver, and make the safest, most efficient, and most cost-effective decision in time, it is necessary to provide a new method, device and system for autonomous vehicle takeover; so that in the process of the autonomous vehicle sending a takeover request to the driver and requesting the driver to take over the vehicle, it plays a role in reducing safety risks, so as to solve at least one technical problem in the prior art.

[0004] It should be noted that the present invention is applicable to the aforementioned first to third level autonomous driving systems, namely driving assistance, partial automation, and conditional automation. Summary of the invention

[0005] One purpose of the presently disclosed embodiments is to provide a new technical solution for autonomous vehicle takeover.

[0006] According to a first aspect of an embodiment of the present disclosure, a method for taking over an autonomous driving vehicle is provided, the method comprising: determining a mobile device of a driver connected to the vehicle; sending a takeover request to the mobile device in an autonomous driving mode, wherein the takeover request is used to request the driver to take over driving of the vehicle; receiving an operating instruction from the driver; and based on the operating instruction, entering a driving mode in which the driver takes over the vehicle.

[0007] Optionally, when the operation instruction is not received within a predetermined time, a possible treatment that the vehicle can take next is predicted; and information about the possible treatment is sent to the mobile device.

[0008] Optionally, receiving a possible process selected by a driver; and executing a corresponding automatic driving process based on the selected possible process.

[0009] Optionally, the possible processing selected by the driver includes at least one of the following processing: skipping a highway exit; stopping; turning; changing lanes; and braking to slow down.

[0010] Optionally, determining the driver's mobile device connected to the vehicle includes: outputting a prompt for the driver to confirm that the connected mobile device is the driver's mobile device when the mobile device connected to the vehicle is detected; and receiving an instruction from the driver to determine the driver's mobile device.

[0011] Optionally, determining the driver's mobile device connected to the vehicle includes: detecting the mobile device connected to the vehicle; detecting that only the driver's seat is occupied; and automatically determining the mobile device as the driver's mobile device.

[0012] Optionally, timing information associated with the takeover request is sent to the mobile device.

[0013] Optionally, the aforementioned autonomous driving vehicle takeover method is executed on a mobile device, including: receiving a takeover request from a vehicle, wherein the takeover request is used to request a driver to take over driving of the vehicle; presenting the takeover request to the driver; receiving a takeover instruction from the driver regarding the takeover request; and sending the takeover instruction to the vehicle to enter a driving mode in which the driver takes over the vehicle.

[0014] Optionally, presenting the takeover request to the driver includes at least one of the following operations: displaying the takeover request on a display screen of the mobile device; playing the takeover request through a speaker of the mobile device or an external audio playback device; and activating a vibration unit of the mobile device.

[0015] Optionally, the mobile device receives timing information related to the takeover request; and based on the timing information, presents the remaining time for the driver to accept the takeover request.

[0016] Optionally, the mobile device receives possible actions that the vehicle can take next; and presents the possible actions to the driver if the driver does not accept the takeover request.

[0017] Optionally, the mobile device receives a driver's selection of the possible treatment; and sends the selected possible treatment to the vehicle.

[0018] According to the second aspect of the present disclosure, a device for taking over an autonomous vehicle is also provided, characterized in that the device for taking over an autonomous vehicle includes a device for executing the steps in any one of the methods described in the first aspect of the present disclosure.

[0019] According to a third aspect of the present disclosure, a system for taking over an autonomous driving vehicle is also provided.

[0020] It includes an autonomous driving vehicle takeover device according to the second aspect of the present disclosure set in a vehicle and an autonomous driving vehicle takeover device according to the second aspect of the present disclosure set in a mobile device.

[0021] One beneficial effect of the disclosed embodiments is that, by utilizing the autonomous driving vehicle takeover device, the driver's attention is alerted to the takeover request of the vehicle in a relatively obvious manner in the autonomous driving mode, and if the driver does not accept the takeover request, the possible processing is presented to the driver; or the possible processing selected by the driver is transmitted to the vehicle to execute the corresponding autonomous driving processing; to ensure that the driver can promptly notice the takeover request sent to the driver by the autonomous driving vehicle, and make the safest, most efficient, and most cost-effective decision as soon as possible.

[0022] Further features and advantages of the present invention will become apparent from the following detailed description of exemplary embodiments of the present invention with reference to the attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

[0024] Figure 1 is a block diagram of an example of an implementation environment and hardware configuration capable of implementing the autonomous driving vehicle takeover method of an embodiment of the present invention;

[0025] Figure 2 is a flowchart of a method for taking over an autonomous driving vehicle according to an embodiment of the present disclosure;

[0026] Figure 3 is a flowchart of a method for taking over an autonomous driving vehicle according to another embodiment of the present disclosure;

[0027] Figure 4 is a flowchart of a method for taking over an autonomous driving vehicle according to another embodiment of the present disclosure;

[0028] Figure 5 is a flowchart of a method for taking over an autonomous driving vehicle according to another embodiment of the present disclosure;

[0029] Figure 6 is a block diagram of an autonomous vehicle takeover apparatus according to one embodiment;

[0030] Figure 7 is a schematic diagram of a vehicle takeover system according to one embodiment. DETAILED DESCRIPTION

[0031] Various exemplary embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be noted that the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present invention unless otherwise specifically stated.

[0032] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the invention, its application, or uses.

[0033] Technologies, methods and equipment known to persons of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods and equipment should be considered part of the specification.

[0034] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0035] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0036] <Hardware Configuration>

[0037] Figure 1 It is a schematic diagram of the electric control structure of a vehicle that can be used to implement the embodiment of the present disclosure.

[0038] Figure 1 The vehicle shown is any motor vehicle, which is not limited here. It includes a processor 1100 and a memory 1200.

[0039] The processor 1100 is a main component of the electronic control unit (ECU) of the vehicle, and is used to execute a computer program, which can be written in an instruction set of an architecture such as x86, Arm, RISC, MIPS, SSE, etc.

[0040] The memory 1200 includes, for example, a ROM (Read Only Memory), a RAM (Random Access Memory), a nonvolatile memory such as a hard disk, and the like, and is used to store the above computer programs and the like.

[0041] In this embodiment, the memory 1200 is used to store a computer program, and the computer program is used to control the processor 1100 to operate to execute the embodiment of the present disclosure. A technician can design the computer program according to the scheme disclosed in the present invention. How the computer program controls the processor to operate is well known in the art, so it will not be described in detail here.

[0042] Despite Figure 1 Multiple devices of a vehicle are shown in the figure, but the vehicle of the embodiment of the present disclosure may only involve some of the devices and may also have other devices, which is not limited here.

[0043] <Method Example>

[0044] Figure 2 An automatic driving vehicle takeover method according to an embodiment is shown. Figure 2 Taking the vehicle in as an example, the steps of implementing the automatic driving vehicle takeover method of this embodiment when the vehicle determines that a takeover request needs to be sent to the driver at any time are explained.

[0045] like Figure 2 As shown, the automatic driving vehicle takeover method of this embodiment may include the following steps S201 to S204:

[0046] Step S201 : The autonomous driving vehicle determines a driver's mobile device connected to the vehicle.

[0047] Step S202: The vehicle in the automatic driving mode sends a takeover request to the mobile device.

[0048] When the autonomous driving vehicle reaches a preset situation during driving, such as a highway exit at a certain distance ahead; a new route available ahead; an obstacle suddenly appears at a certain distance ahead, and the obstacle can be other motor vehicles, non-motor vehicles, pedestrians, parking posts, fences, etc. outside the vehicle. The vehicle in the autonomous driving mode sends a takeover request to the mobile device, and the takeover request is used to request the driver to take over the driving of the vehicle.

[0049] In one embodiment, the method of presenting the takeover request to the driver may include at least one of the following operations: first, displaying the takeover request on the display screen of the mobile device, that is, the takeover request may pop up in the form of text, icon or image on the current interface of the driver's mobile phone, such as a movie interface, game interface, shopping interface, etc.; second, playing the takeover request through the speaker of the mobile device or an external audio playback device, that is, playing the takeover request in the form of voice; third, activating the vibration unit of the mobile device.

[0050] Step S203, receiving an operation instruction from the driver.

[0051] The way in which the driver makes an operation instruction may include at least one of the following operations: first, making a selection for the takeover request on the display screen of the mobile device; second, confirming the takeover in the form of voice. Third, directly turning off the automatic driving mode and manually taking over the vehicle. In addition, confirming the takeover in the form of voice requires the use of existing technologies such as the microphone / voice recognition of the mobile device, which will not be repeated here.

[0052] Step S204: Based on the operation instruction, the vehicle enters a driving mode in which the driver takes over the vehicle.

[0053] According to the above steps S201 to S203, the processor 1100 or 2100 or 3100 determines the driver's mobile device connected to the vehicle; during the vehicle driving process, under the preset conditions, such as: there is a high-speed exit at a certain distance in front of the vehicle, a new route available in front of the vehicle, an obstacle suddenly appears at a certain distance in front of the vehicle, etc., the processor 1100 or 2100 or 3100 determines that the automatic driving vehicle needs to take over. At this time, the vehicle in the automatic driving mode will send a takeover request to the mobile device to request the driver to take over the driving of the vehicle. And receive the operation instruction from the driver; then, based on the operation instruction, the vehicle enters the driving mode where the driver takes over the vehicle. In this way, it can be ensured that the driver can promptly notice the takeover request sent by the automatic driving vehicle to the driver, and make the safest and most efficient decision in time, saving time, reducing energy consumption, and avoiding collisions with objects outside the vehicle, causing casualties and property losses.

[0054] Optionally, the specific operation steps for determining the driver's mobile device connected to the vehicle may be combined with Figure 4 To understand.

[0055] Among them, the first method for determining the driver's mobile device connected to the vehicle can be referred to S411-S413. Step S411, the vehicle outputs a prompt when a mobile device connected to the vehicle is detected. The form and method of this prompt are not limited here, and it can be to provide options to the driver in the form of numbers, charts or graphics on the human-computer interaction interface, such as displaying the model of the detected mobile device (such as a mobile phone), displaying an identification representing the mobile device, etc.; Step S412, for the driver to confirm that the connected mobile device is the driver's mobile device. The optional method at least includes, in the human-computer interaction interface, displaying optional options, such as "Is this mobile device of model *** the driver's?" and providing "yes" and "no" option buttons for the driver to choose. Step S413, receiving instructions from the driver to determine the driver's mobile device. When the driver confirms a certain model of mobile device by selecting, the autonomous driving vehicle locks the device and will perform subsequent operations on the device.

[0056] In addition, the second method for determining the driver's mobile device connected to the vehicle can refer to S421-S423. Step S421, detecting the mobile device connected to the vehicle. This step is the same as the aforementioned S411 and will not be repeated here. Step S422, detecting that only the driver's seat is occupied. Methods for detecting that a seat is occupied are common knowledge in the art and may include pressure sensors, infrared detection, image recognition and other methods. Step S423, automatically determining the mobile device as the driver's mobile device. Compared with the first method mentioned above, in this case, the driver does not need to make a selection, the vehicle can automatically confirm and lock the smart device, and perform subsequent operations on the device.

[0057] Optionally, when the vehicle sends a takeover request to a mobile device in autonomous driving mode, in order to ensure that the driver can make a choice within a valid time, the vehicle will also send timing information related to the takeover request to the mobile device.

[0058] The function of the timing information at least includes, based on the timing information, displaying the best time for the driver to make an operation instruction on the display screen of the mobile device, that is, the driver can think and make decisions within this specific time frame without affecting the timely takeover of the vehicle; but if the specific time is exceeded, the operation instruction made by the driver may not be executed.

[0059] The disclosed embodiments can conveniently determine the driver's mobile device, thereby greatly improving the problem of the driver not noticing the takeover request of the autonomous driving vehicle in time due to the driver's concentration on his or her mobile device or the driver wearing headphones, thereby missing the best time to take over the vehicle.

[0060] It should be noted that even if the vehicle sends a takeover request to the mobile device in the automatic driving mode, requesting the driver to take over the driving of the vehicle, the driver may still miss the best time to take over the vehicle. In order to ensure the safe driving of the vehicle, it is necessary to predict the possible actions that the vehicle can take next if the operation instruction is not received within the predetermined time. Figure 3 An embodiment is shown.

[0061] like Figure 3 As shown, steps S301-S306 are included.

[0062] The contents of steps S301-S302 are consistent with those of steps S201-S202 and will not be repeated here.

[0063] Step S303: If the vehicle does not receive the driver's operation instruction within the predetermined time, it is necessary to predict the possible treatment that the vehicle can take next. The possible treatment includes at least one of the following treatments: first, skipping the highway exit; second, parking; third, turning; fourth, changing lanes; fifth, braking and deceleration. In this process, the vehicle's automatic control braking system, powertrain system, and steering system will play different roles.

[0064] Step S304, sending the possible processing to the mobile device. The possible processing is the content in S303. The sending method to the mobile device may include at least one of the following operations: first, displaying the possible processing on the display screen of the mobile device, that is, the possible processing may pop up in the form of text, icon or image on the current interface of the driver's mobile phone, such as a movie interface, game interface, shopping interface, etc.; second, playing the possible processing through the speaker of the mobile device or an external audio playback device, that is, playing the possible processing in the form of voice.

[0065] Step S305, receiving the possible treatment selected by the driver. The driver may select the possible treatment in at least one of the following ways: first, selecting the possible treatment on the display screen of the mobile device; second, selecting in the form of voice.

[0066] Step S306: Execute corresponding autonomous driving processing based on the selected possible processing.

[0067] As mentioned above, the driver can choose from the following options: first, skip the highway exit; second, stop the car; third, automatically control the steering; fourth, control the powertrain system to change lanes and drive on a new route; fifth, brake to slow down. When the driver selects one of the options, the vehicle performs the corresponding automatic driving process.

[0068] According to the above steps S301-S306, in the automatic driving vehicle takeover method of this embodiment,

[0069] The processor 1100 or 2100 or 3100 determines the driver's mobile device connected to the vehicle; during the driving process of the vehicle, under the conditions that meet the preset conditions, such as: there is a highway exit at a certain distance in front of the vehicle, a new route available in front of the vehicle, an obstacle suddenly appears at a certain distance in front of the vehicle, etc., the processor 1100 or 2100 or 3100 determines that it is necessary to perform the automatic driving vehicle takeover. At this time, the vehicle in the automatic driving mode will send a takeover request to the mobile device to request the driver to take over the driving of the vehicle and receive the operation instructions from the driver. When the processor 1100 or 2100 or 3100 does not receive the operation instruction within the predetermined time, it predicts the possible processing that the vehicle can take next, sends the possible processing to the mobile device, receives the possible processing selected by the driver; and based on the possible processing selected by the driver, performs the corresponding automatic driving processing. The possible processing includes at least one of the following processing: one is to skip the highway exit; two is to stop; three is to turn; four is to change lanes; five is to brake and slow down. When the driver selects one of the methods, the vehicle performs the corresponding automatic driving processing. This method of taking over an autonomous vehicle can avoid danger to the greatest extent possible during the process of taking over an autonomous vehicle due to the driver's negligence and failure to notice the takeover request. This method provides a remedy for the driver who misses the first decision-making opportunity due to negligence and fails to make an operation instruction in time. The vehicle predicts the possible treatment that the vehicle can take next based on the acquired data, and promptly provides the possible treatment to the driver for selection. This method is efficient and can save time and reduce energy consumption, while ensuring the safety of the vehicle's autonomous driving to the greatest extent, further optimizing the technical effect of taking over an autonomous vehicle.

[0070] In addition, it should be particularly pointed out that the present invention is executed on a mobile device. The previous embodiments focus on vehicles and analyze the specific steps in each embodiment. Next, the mobile device will be taken as the focus to analyze how the technical effect of the present invention is achieved through the mobile device. Figure 5 Two different embodiments are shown.

[0071] The first embodiment includes steps S511-S514. This step can be combined with Figure 2 For understanding, refer to steps S201-S204 in FIG.

[0072] Step S511, receiving a takeover request from the vehicle.

[0073] This step corresponds to S202, in which a takeover request is sent to the mobile device in the automatic driving mode. The specific contents are not repeated here.

[0074] Step S512: presenting the takeover request to the driver.

[0075] As mentioned above, the method of presenting the takeover request to the driver may include at least one of the following operations: first, displaying the takeover request on the display screen of the mobile device, that is, the takeover request may pop up in the form of text, icon or image on the current interface of the driver's mobile phone, such as a movie interface, game interface, shopping interface, etc.; second, playing the takeover request through the speaker of the mobile device or an external audio playback device, that is, playing the takeover request in the form of voice; third, activating the vibration unit of the mobile device.

[0076] Step S513, receiving a takeover instruction from the driver regarding the takeover request.

[0077] This step corresponds to S203, receiving an operation instruction from the driver. The specific content will not be repeated.

[0078] Step S514, sending the takeover instruction to the vehicle to enter a driving mode in which the driver takes over the vehicle.

[0079] This step corresponds to S204, and based on the operation instruction, the vehicle enters a driving mode where the driver takes over the vehicle. The specific content will not be repeated.

[0080] Optionally, the mobile device receives timing information related to the takeover request; and based on the timing information, presents the remaining time for the driver to accept the takeover request. The function of the timing information at least includes, based on the timing information, displaying the best time for the driver to make an operation instruction on the display screen of the mobile device, that is, the driver can think within this specific time range without affecting the timely takeover of the vehicle. However, if the specific time is exceeded, the operation instruction made by the driver may not be executed.

[0081] According to the above steps S511-S514, a method for taking over an autonomous driving vehicle is executed on a mobile device, including: receiving a takeover request from a vehicle, wherein the takeover request is used to request the driver to take over the driving of the vehicle; presenting the takeover request to the driver; receiving a takeover instruction from the driver regarding the takeover request; and sending the takeover instruction to the vehicle to enter a driving mode in which the driver takes over the vehicle. This technical solution, by being executed on a mobile device, can maximize the ability to ensure that the driver can promptly notice the takeover request sent by the autonomous driving vehicle to the driver, and make the safest and most efficient decision as soon as possible, thereby saving time, reducing energy consumption, and avoiding collisions with objects outside the vehicle, causing casualties and property losses.

[0082] The second embodiment includes steps S521-S526. This step can be combined with Figure 3 See steps S301-S306 in the figure for understanding.

[0083] The steps of S521-S522 are the same as those of S511-S512 and will not be repeated here.

[0084] Step S523, receiving possible actions that the vehicle can take next.

[0085] This step corresponds to S303 and S304. The step of S303 is: if the operation instruction is not received within a predetermined time, predict the possible treatment that the vehicle can take next. The step of S304 is: send the possible treatment to the mobile device. The specific analysis is as mentioned above, which will not be repeated here.

[0086] Step S524: If the driver does not accept the takeover request, present the possible processing to the driver.

[0087] As mentioned above, the possible processing is the content in S303. The method of sending to the mobile device may include at least one of the following operations: first, displaying the possible processing on the display screen of the mobile device, that is, the possible processing may pop up in the form of text, icon or image on the current interface of the driver's mobile phone, such as a movie interface, game interface, shopping interface, etc.; second, playing the possible processing through the speaker of the mobile device or an external audio playback device, that is, playing the possible processing in the form of voice.

[0088] Step S525, receiving the driver's selection of the possible treatment.

[0089] In this step, the driver makes a choice of possible treatments through the mobile device. For example, he chooses one of the following possibilities: first, skip the highway exit; second, stop; third, turn; fourth, change lanes; fifth, brake and slow down. In this process, the vehicle's automatic control brake system, powertrain system, and steering system will play different roles. Step S526, the selected possible treatment is sent to the vehicle.

[0090] This step corresponds to S305. The driver makes a selection for possible processing through the mobile device, and the vehicle obtains the driver's selection through the mobile device. That is, when the driver selects one of the methods, the vehicle performs the corresponding automatic driving processing.

[0091] Optionally, the mobile device receives timing information related to the takeover request; and based on the timing information, presents the remaining time for the driver to accept the takeover request. The function of the timing information at least includes, based on the timing information, displaying the best time for the driver to make an operation instruction on the display screen of the mobile device, that is, the driver can think within this specific time range without affecting the timely takeover of the vehicle. However, if the specific time is exceeded, the operation instruction made by the driver may not be executed.

[0092] According to the above steps S521-S526, when the vehicle presents a takeover request to the driver through the mobile device, if the vehicle does not receive the operation instruction within the predetermined time, the possible treatment that can be taken in the next step is predicted. At this time, the mobile device receives the possible treatment that the vehicle can take in the next step; and if the driver does not accept the takeover request, the possible treatment is presented to the driver. And the driver's selection of the possible treatment is received; and the selected possible treatment is sent to the vehicle. This method of taking over an autonomous driving vehicle can avoid danger to the greatest extent during the process of taking over the autonomous driving vehicle because the driver still does not notice the takeover request due to negligence. This method further optimizes the technical effect of taking over the autonomous driving vehicle, and provides a remedy opportunity for the driver to make an operation instruction in time due to negligence. The autonomous driving vehicle predicts the possible treatment that the vehicle can take in the next step, and promptly provides the possible treatment to the driver for selection, which can not only save time and reduce energy consumption, but also maximize the safety of the vehicle's autonomous driving, greatly improving the technical effect of taking over the autonomous driving vehicle.

[0093] <Device Example>

[0094] Figure 6 A device for taking over an autonomous driving vehicle according to one embodiment is shown, comprising: a determination module 601, for determining a mobile device of a driver connected to the vehicle; a sending module 602, for sending a takeover request to the mobile device in an autonomous driving mode; a receiving module 603, for receiving an operation instruction from the driver; and an operation module 604, for entering a driving mode in which the driver takes over the vehicle based on the operation instruction.

[0095] The determination module 601 is used to determine the driver's mobile device connected to the vehicle.

[0096] The sending module 602 is used to send a takeover request to the mobile device in the automatic driving mode. The takeover request options can be set according to factors such as road conditions, and the timing information related to the takeover request can be sent to the driver's mobile device.

[0097] The receiving module 603 is used to receive an operation instruction from the driver. The driver can make an operation instruction to decide to take over in response to the takeover request.

[0098] The operation module 604 is used to enter a driving mode in which the driver takes over the vehicle based on the driver's operation instruction.

[0099] <Vehicle Embodiment>

[0100] Figure 7 An autonomous driving vehicle takeover system that can be used to implement the autonomous driving vehicle takeover method of an embodiment of the present disclosure is shown, including an autonomous driving vehicle takeover device according to the second aspect of the present disclosure arranged in a vehicle and an autonomous driving vehicle takeover device according to the second aspect of the present disclosure arranged in a mobile device.

[0101] The embodiment of the present invention further provides a vehicle 700, which can be Figure 1 Vehicle 2000 or vehicle 3000 is shown.

[0102] In one embodiment, Figure 7 As shown, the vehicle 700 may include an autonomous driving vehicle takeover device 710 disposed in the vehicle and an autonomous driving vehicle takeover device 720 disposed in a mobile device.

[0103] The autonomous driving vehicle takeover device 710 disposed in the vehicle and the autonomous driving vehicle takeover device 720 disposed in the mobile device are used to execute the autonomous driving vehicle takeover method disclosed according to any embodiment under the control of computer instructions.

[0104] The vehicle may have Figure 1 Other hardware structures similar to the vehicle in are not limited here.

[0105] The vehicle may have Figure 6 The autonomous driving vehicle takeover device is not limited here.

[0106] The present invention may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present invention.

[0107] 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 foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) 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 foregoing. As used herein, 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.

[0108] 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.

[0109] The computer program instructions for performing the operation of the present invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions may be executed entirely on a user's computer, partially on a user's computer, as an independent software package, partially on a user's computer, partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet). In some embodiments, an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA), or a programmable logic array (PLA), may be personalized by utilizing the state information of the computer-readable program instructions, and the electronic circuit may execute the computer-readable program instructions, thereby realizing various aspects of the present invention.

[0110] Various aspects of the present invention are described herein with reference to the flow charts and / or block diagrams of the methods, devices (systems) and computer program products according to embodiments of the present invention. It should be understood that each box of the flow chart and / or block diagram and the combination of each box in the flow chart and / or block diagram can be implemented by computer-readable program instructions.

[0111] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0112] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0113] The flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the systems, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of an instruction, and a part of the module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or the flowchart, and the combination of the boxes in the block diagram and / or the flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0114] Embodiments of the present invention have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The terms used herein are selected to best explain the principles of the embodiments, practical applications, or technical improvements in the marketplace, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present invention is defined by the appended claims.

Claims

1. A method for taking over an autonomous driving vehicle, comprising: Identifying a driver's mobile device connected to the vehicle; sending a takeover request and timing information related to the takeover request to the mobile device in the automatic driving mode, wherein the takeover request is used to request the driver to take over the driving of the vehicle, and wherein based on the timing information, the mobile device presents a remaining time for the driver to accept the takeover request; receiving operating instructions from the driver; and Based on the operation instruction, the driving mode is entered in which the driver takes over the vehicle, so as to realize the driver's first decision-making opportunity. The method further comprises: If the operation instruction is not received within a predetermined time, thus missing the driver's first decision-making opportunity, predicting the possible next steps that the vehicle can take; sending the possible processing to the mobile device; receiving a possible treatment selected by the operator; and Based on the selected possible process, the corresponding autonomous driving process is performed.

2. The method according to claim 1, wherein: The possible processing includes at least one of the following processing: - Skip the highway exit; -parking; - Turning; - Lane changes; and - Brake to slow down.

3. The method according to claim 1, wherein: The driver's mobile device that is identified as connected to the vehicle includes: outputting a prompt, upon detecting a mobile device connected to the vehicle, for the driver to confirm that the connected mobile device is the driver's mobile device; and An indication is received from a driver to identify a mobile device of the driver.

4. The method according to claim 1, wherein: The driver's mobile device that is identified as connected to the vehicle includes: Detecting a mobile device connected to the vehicle; detecting that only the driver's seat is occupied; and The mobile device is automatically determined to be the driver's mobile device.

5. A method for taking over an autonomous driving vehicle, executed on a mobile device, comprising: receiving a takeover request from a vehicle and timing information associated with the takeover request, wherein the takeover request is used to request a driver to take over driving of the vehicle, and wherein based on the timing information, presenting a remaining time for the driver to accept the takeover request; presenting the takeover request to the driver; receiving a takeover instruction from the driver regarding the takeover request; and Sending the takeover instruction to the vehicle to enter a driving mode in which the driver takes over the vehicle, so as to realize the driver's first decision-making opportunity, The method further comprises: The possible next steps that the receiving vehicle can take; In the case where the driver fails to accept the takeover request and thus misses the driver's first decision-making opportunity, presenting the possible treatment to the driver; receiving a driver's selection of the possible treatment; and The selected possible treatment is sent to the vehicle.

6. The method according to claim 5, wherein: Presenting the takeover request to the driver includes at least one of the following operations: Displaying the takeover request on a display screen of the mobile device; Play the takeover request through a speaker of the mobile device or an external audio playback device; and Activate the vibration unit of the mobile device.

7. An autonomous driving vehicle takeover device, comprising a device for performing the steps in the method according to any one of claims 1-4.

8. An autonomous driving vehicle takeover device, comprising a device for performing the steps in the method according to any one of claims 5-6.

9. An autonomous driving vehicle takeover system, comprising an autonomous driving vehicle takeover device according to claim 7 arranged in a vehicle and an autonomous driving vehicle takeover device according to claim 8 arranged in a mobile device.

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