Autonomous driving method, autonomous driving data processing method, and autonomous driving vehicle

Abstract

The present disclosure provides an autonomous driving method, an autonomous driving data processing method, and an autonomous driving vehicle, and relates to the field of vehicle technology, and in particular to the field of autonomous driving technology. The specific implementation scheme is as follows: when a vehicle is in an autonomous driving mode and there is a preset risk for the vehicle, the vehicle is controlled based on a target control strategy, and the target control strategy is used to control the vehicle to enter a preset safety state; when the preset risk is a target risk and it is detected that the target risk disappears, a confirmation request is sent to a service platform, and the confirmation request is used to request confirmation whether the target risk disappears; when a confirmation indication sent by the service platform is received, the vehicle is controlled to resume the autonomous driving mode, wherein the confirmation indication is used to indicate that the target risk disappears. The present disclosure can improve the safety of autonomous driving.

Description

Technical Field

[0001] The present disclosure relates to the field of vehicle technology, in particular to the field of autonomous driving technology, and specifically to an autonomous driving method, an autonomous driving data processing method, and an autonomous driving vehicle. Background Art

[0002] Existing autonomous vehicles typically include a fault detection system. While in autonomous mode, the system typically monitors the vehicle's operating status. If the system detects a fault, it typically stops the vehicle or switches the vehicle's driving mode to manual control to ensure safe operation. Summary of the Invention

[0003] The present disclosure provides an autonomous driving method, an autonomous driving data processing method, and an autonomous driving vehicle.

[0004] According to a first aspect of the present disclosure, there is provided an autonomous driving method, comprising:

[0005] When a vehicle is in an automatic driving mode and there is a preset risk to the vehicle, controlling the vehicle based on a target control strategy, wherein the target control strategy is used to control the vehicle to enter a preset safe state;

[0006] If the preset risk is a target risk and it is detected that the target risk has disappeared, a confirmation request is sent to the service platform, wherein the confirmation request is used to request confirmation of whether the target risk has disappeared;

[0007] Upon receiving a confirmation indication sent by the service platform, controlling the vehicle to resume the automatic driving mode, wherein the confirmation indication is used to indicate that the target risk disappears.

[0008] According to a second aspect of the present disclosure, a method for processing autonomous driving data is provided, comprising:

[0009] The service platform receives a confirmation request sent by the vehicle, wherein the confirmation request is used to request confirmation of whether a target risk has disappeared, wherein the target risk is a target risk existing when the vehicle is in the autonomous driving mode;

[0010] When it is determined that the target risk disappears, a confirmation indication is sent to the vehicle, where the confirmation indication is used to indicate that the target risk disappears, so that the vehicle resumes the automatic driving mode.

[0011] According to a third aspect of the present disclosure, there is provided an automatic driving device, comprising:

[0012] a control module configured to control the vehicle based on a target control strategy when the vehicle is in an automatic driving mode and there is a preset risk on the vehicle, wherein the target control strategy is configured to control the vehicle to enter a preset safe state;

[0013] A first sending module is configured to, when the preset risk is a target risk and it is detected that the target risk disappears, send a confirmation request to the service platform, wherein the confirmation request is used to request confirmation of whether the target risk disappears;

[0014] The control module is further configured to control the vehicle to resume the automatic driving mode upon receiving a confirmation indication sent by the service platform, wherein the confirmation indication is configured to indicate that the target risk disappears.

[0015] According to a fourth aspect of the present disclosure, an autonomous driving vehicle is provided, comprising: the autonomous driving device described in the first aspect above.

[0016] According to a fifth aspect of the present disclosure, a service platform is provided, including:

[0017] a receiving module, configured to receive a confirmation request sent by a vehicle, wherein the confirmation request is used to request confirmation of whether a target risk has disappeared, the target risk being a target risk existing when the vehicle is in an automatic driving mode;

[0018] The second sending module is used to send a confirmation instruction to the vehicle when it is determined that the target risk disappears, and the confirmation instruction is used to indicate that the target risk disappears, so that the vehicle resumes the automatic driving mode.

[0019] According to a sixth aspect of the present disclosure, there is provided an electronic device, including:

[0020] at least one processor; and

[0021] a memory communicatively connected to the at least one processor; wherein,

[0022] The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the autonomous driving method described in the first aspect above, or execute the autonomous driving data processing method described in the second aspect above.

[0023] According to the seventh aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute the autonomous driving method described in the first aspect above, or to execute the autonomous driving data processing method described in the second aspect above.

[0024] According to an eighth aspect of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the autonomous driving method described in the first aspect, or implements the autonomous driving data processing method described in the second aspect.

[0025] In the disclosed embodiment, if a vehicle enters a preset safe state due to the presence of a target risk, upon detecting that the target risk has disappeared, a confirmation request is sent to the service platform, allowing the service platform to reconfirm whether the target risk has disappeared. If the service platform confirms that the target risk has disappeared, the vehicle is controlled to resume autonomous driving mode. This helps improve the safety of autonomous driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The accompanying drawings are provided to facilitate a better understanding of the present invention and do not constitute a limitation of the present disclosure.

[0027] Figure 1 is a flowchart of an autonomous driving method provided by an embodiment of the present disclosure;

[0028] Figure 2 is a flowchart of an autonomous driving data processing method provided by an embodiment of the present disclosure;

[0029] Figure 3 This is one of the structural diagrams of an automatic driving device provided by an embodiment of the present disclosure;

[0030] Figure 4 is a schematic structural diagram of a first sending module of an automatic driving device according to an embodiment of the present disclosure;

[0031] Figure 5 This is the second structural diagram of an automatic driving device provided by an embodiment of the present disclosure;

[0032] Figure 6 This is one of the structural diagrams of a service platform provided by an embodiment of the present disclosure;

[0033] Figure 7 This is the second structural diagram of a service platform provided by an embodiment of the present disclosure;

[0034] Figure 8 This is a block diagram of an electronic device for implementing an autonomous driving method or an autonomous driving data processing method provided by an embodiment of the present disclosure. DETAILED DESCRIPTION

[0035] The following description of exemplary embodiments of the present disclosure is made in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding. These details should be considered as merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0036] See Figure 1 , is a flow chart of an autonomous driving method provided by an embodiment of the present disclosure, the autonomous driving method comprising the following steps:

[0037] Step S101: When a vehicle is in an automatic driving mode and there is a preset risk, the vehicle is controlled based on a target control strategy, wherein the target control strategy is used to control the vehicle to enter a preset safety state;

[0038] Step S102: When the preset risk is a target risk and it is detected that the target risk disappears, a confirmation request is sent to the service platform, wherein the confirmation request is used to request confirmation of whether the target risk disappears;

[0039] Step S103: upon receiving a confirmation indication sent by the service platform, controlling the vehicle to resume the automatic driving mode, wherein the confirmation indication is used to indicate that the target risk disappears.

[0040] Among them, the automatic driving method can be applied to the automatic driving control system of the vehicle, and specifically can be applied to the vehicle-mounted control terminal.

[0041] The aforementioned pre-set risks can be various types of vehicle failures, or various potential driving risks caused by the external driving environment. For example, they can be the risk of collision due to obstacles outside the vehicle, or the failure of the autonomous vehicle system. The aforementioned target risk can be the risk that may cause the vehicle to cause a safety accident.

[0042] The target control strategy may include strategies such as controlling the vehicle to stop, limiting the speed of the vehicle, etc. Accordingly, the preset safety state may include the vehicle being in a stopped state, the vehicle being in a low-speed driving state, etc.

[0043] Specifically, the aforementioned detection of the disappearance of the target risk may be a result obtained by the vehicle's fault detection system. However, the vehicle's detection of the disappearance of the target risk may result in false detections. For example, when the target control strategy is to stop the vehicle, and the target risk is a collision risk, since the vehicle is in a stopped state, even if there is an obstacle ahead, the vehicle's current speed is zero. Therefore, the vehicle may output a detection result indicating no collision risk, i.e., a detection result indicating the disappearance of the target risk. However, in this case, directly starting the vehicle in autonomous driving mode will increase the risk of collision with the obstacle ahead.

[0044] Based on this, in the embodiment of the present disclosure, when the vehicle detects that the target risk disappears, it sends a confirmation request to the service platform so that the service platform can reconfirm whether the target risk disappears, and when the service platform confirms that the target risk disappears, it controls the vehicle to resume the automatic driving mode.

[0045] The autonomous driving mode may be an unmanned driving mode or any other type of autonomous driving mode. When the autonomous driving mode is an unmanned driving mode, the confirmation instruction may be a confirmation instruction issued by a cloud security officer of the service platform to the vehicle upon determining that the target risk has disappeared.

[0046] It can be understood that, in the case that the vehicle does not receive the confirmation indication, the vehicle maintains a preset safety state, for example, may maintain a parking state.

[0047] In this implementation, if the vehicle enters a preset safe state due to the presence of a target risk, upon detecting that the target risk has disappeared, a confirmation request is sent to the service platform, allowing the service platform to reconfirm whether the target risk has disappeared. Once the service platform confirms that the target risk has disappeared, the vehicle is controlled to resume autonomous driving mode. This helps improve the safety of autonomous driving.

[0048] Optionally, the target control strategy is a control strategy corresponding to the risk type of the preset risk, one risk type corresponds to one control strategy, and the control strategy includes at least one of the following: speed limit, pullover, slow braking along the line, and sudden braking on the spot.

[0049] Among them, the preset risks may include heavy fog, snowy weather, excessive temperature of the automatic driving control system, excessive system resource usage, drivers or passengers not wearing seat belts, collision risks, etc.

[0050] In one embodiment of the present disclosure, when the preset risk is any one of: heavy fog, snowy weather, excessive temperature of the automatic driving control system, and excessive system resource usage, the target control strategy may be: speed limit.

[0051] When the preset risk is that the passenger is not wearing a seat belt, the target control strategy may be: pull over.

[0052] If the vehicle is at risk of collision, the target control strategy may be: slow braking along the line or sudden braking on the spot. This strategy may be determined based on the collision safety distance. For example, when the collision safety distance is large, the target control strategy may be slow braking along the line to improve the riding experience for passengers or the driver. When the collision safety distance is small, the target control strategy may be sudden braking on the spot to ensure the safety of autonomous driving.

[0053] In this embodiment, different autonomous driving control strategies are set for different risk types. This helps the vehicle to autonomously respond to various types of risks, thereby further improving the safety of the autonomous driving process.

[0054] Optionally, when the preset risk is a risk other than the target risk, after controlling the vehicle based on the target control strategy, the method further includes:

[0055] When it is detected that the preset risk disappears, the vehicle is controlled to resume the automatic driving mode.

[0056] The target risk type may include various risk types that may be misdetected by the vehicle when the vehicle is in a stopped state. For example, the preset risk type may include various types of collision risks.

[0057] Specifically, when the pre-set risk is a risk other than the target risk, for example, when the pre-set risk is the driver or passenger not wearing a seatbelt, since the vehicle can accurately detect whether the pre-set risk has disappeared in this case, upon detecting that the pre-set risk has disappeared, the vehicle can be directly controlled to start and resume the autonomous driving mode. In other words, when the pre-set risk is a risk other than the target risk, there is no need to reconfirm with the service platform whether the pre-set risk has disappeared.

[0058] In this embodiment, in the case of other risks besides the target risk of the preset risk, when it is detected that the preset risk disappears, the vehicle is controlled to restore the automatic driving mode without the need to reconfirm with the service platform. In this way, the problem of poor riding or driving experience for users caused by the need to reconfirm with the service platform for various types of risks can be avoided.

[0059] Optionally, when the preset risk is a target risk and it is detected that the target risk disappears, sending a confirmation request to the service platform includes:

[0060] When the preset risks include at least two different types of target risks and it is detected that the at least two different types of target risks disappear, sending a confirmation request to the service platform;

[0061] The confirmation request is used to request confirmation of whether the at least two different types of target risks have disappeared, and the confirmation indication is used to indicate that the at least two different types of target risks have disappeared.

[0062] Specifically, when the vehicle is in autonomous driving mode, the vehicle may face more than two risks at the same time, and there may be more than two target risks, that is, there may be more than two risks that require secondary confirmation by the service platform before the autonomous driving mode can be restored.

[0063] In this embodiment, when a vehicle is exposed to at least two different types of target risks, upon detecting that all target risks have disappeared, the vehicle sends a confirmation request to the service platform. The service platform can then confirm, one by one, whether the at least two target risks have disappeared. Once the service platform determines that the at least two different types of target risks have disappeared, it sends the confirmation instruction to the vehicle. This helps further improve the safety of autonomous driving.

[0064] Optionally, sending a confirmation request to the service platform includes:

[0065] Acquiring driving environment data outside the vehicle;

[0066] A confirmation request is sent to a service platform, where the confirmation request includes the driving environment data.

[0067] In this embodiment, the driving environment data may include image data from all directions outside the vehicle. By sending the driving environment data outside the vehicle to the service platform, the safety officer of the service platform can judge the driving environment of the vehicle based on the driving environment data and determine whether the target risk has disappeared.

[0068] Optionally, the target risk includes collision risk.

[0069] The collision risk may refer to the risk of an obstacle in the direction of travel of the vehicle or the risk of brake failure of the vehicle.

[0070] In this embodiment, after the vehicle enters a preset safety state due to the existence of a collision risk, when the vehicle detects that the collision risk disappears, a confirmation request is sent to the service platform so that the service platform can perform a second confirmation of the collision risk. In this way, the possibility of a collision can be further reduced, thereby further improving the safety of autonomous driving.

[0071] Optionally, the method further includes:

[0072] When detecting that the control mode of the vehicle is switched from the automatic driving mode to the manual takeover mode and the speed of the vehicle is not 0, obtaining the operating state of the vehicle;

[0073] When the working status indicates that the vehicle is in an abnormal takeover state, the vehicle is controlled to stop, wherein the abnormal takeover state includes: the depth to which the accelerator of the vehicle is stepped on is less than a first threshold, the depth to which the brake of the vehicle is stepped on is less than a second threshold, and the turning angle of the steering wheel of the vehicle is less than a third threshold.

[0074] Among them, the manual takeover mode can be a manual takeover mode by a cloud security officer, or a manual takeover mode by the driver in the vehicle.

[0075] Since the vehicle's control mode may switch from the autonomous driving mode to the manual takeover mode due to an accidental touch by the driver or passenger in the vehicle, as well as a system failure, in the disclosed embodiment, upon detecting that the vehicle's control mode has switched from the autonomous driving mode to the manual takeover mode, and the vehicle's speed is not zero, the system further determines, based on the vehicle's operating status, whether the in-vehicle driver or the cloud driver has actually taken over the control to determine whether it is a normal takeover. If it is determined to be an abnormal takeover, the vehicle is controlled to stop, thereby further improving the safety of the autonomous driving process.

[0076] Specifically, in manual takeover mode, the driver typically operates at least one of the brakes, accelerator, and steering wheel. Therefore, in one embodiment of the present disclosure, the status of the brakes, accelerator, and steering wheel can be monitored to determine whether the driver has actually taken over. If so, it is determined to be a normal takeover, at which point the autonomous driving mode can be completely exited. Correspondingly, if no actual takeover is performed, it is determined to be an abnormal takeover. To ensure the safety of autonomous driving, the vehicle can be stopped.

[0077] Among them, the specific values of the first threshold, the second threshold and the third threshold can be selected according to actual conditions. For example, in one embodiment of the present disclosure, the first threshold can be 30% of the brake pedaling depth, the second threshold can be 30% of the accelerator pedaling depth, and the third threshold can be 20% of the steering wheel rotation.

[0078] The above-mentioned control of parking the vehicle can use different decelerations to perform slow braking along the line according to the distance between the vehicle and the vehicle in front. After the speed is braked to 0, the vehicle gear can be shifted to P gear and the automatic driving mode can be exited to ensure that the vehicle is in a safe state.

[0079] In this embodiment, when it is detected that the control mode of the vehicle is switched from the automatic driving mode to the manual takeover mode and the vehicle speed is not 0, it is further judged based on the working status of the vehicle whether the driver in the vehicle or the cloud driver has actually taken over to determine whether it is a normal takeover. If it is determined to be an abnormal takeover, the vehicle is controlled to stop. This is conducive to further improving the safety of the automatic driving process.

[0080] See Figure 2 , is a flowchart of an autonomous driving data processing method provided by another embodiment of the present disclosure, the autonomous driving data processing method comprising the following steps:

[0081] Step S201: The service platform receives a confirmation request sent by a vehicle, wherein the confirmation request is used to request confirmation of whether a target risk has disappeared, wherein the target risk is a target risk existing when the vehicle is in an automatic driving mode;

[0082] Step S202: When it is determined that the target risk disappears, a confirmation instruction is sent to the vehicle, where the confirmation instruction is used to indicate that the target risk disappears, so that the vehicle resumes the automatic driving mode.

[0083] The autonomous driving data processing method can be applied to a service platform. The specific implementation process of the autonomous driving data processing method corresponds to the autonomous driving method in the above embodiment.

[0084] Specifically, upon receiving the confirmation request, the service platform may display relevant information about the vehicle and the specific risk type of the target risk existing in the vehicle to the service platform's safety officer in the form of a pop-up window. Upon receiving the pop-up window, the safety officer may further confirm whether the target risk has disappeared based on the information displayed in the pop-up window. If confirmed to have disappeared, the officer may input a confirmation instruction to the service platform. Upon receiving the confirmation instruction, the service platform may send the confirmation instruction to the vehicle.

[0085] In this implementation, if the vehicle enters a preset safe state due to the presence of a target risk, upon detecting that the target risk has disappeared, a confirmation request is sent to the service platform, allowing the service platform to reconfirm whether the target risk has disappeared. Once the service platform confirms that the target risk has disappeared, the vehicle is controlled to resume autonomous driving mode. This helps improve the safety of autonomous driving.

[0086] Optionally, when it is determined that the target risk disappears, before sending a confirmation instruction to the vehicle, the method further includes:

[0087] In a case where the driving environment data indicates that the target risk disappears, it is determined that the target risk disappears.

[0088] In this embodiment, the driving environment data may include image data in all directions outside the vehicle. The safety officer of the service platform can judge the driving environment of the vehicle based on the driving environment data, and then determine whether the target risk disappears.

[0089] See Figure 3 , is a schematic structural diagram of an automatic driving device 300 provided in an embodiment of the present disclosure, wherein the automatic driving device 300 includes:

[0090] A control module 301 is configured to control the vehicle based on a target control strategy when the vehicle is in an automatic driving mode and there is a preset risk, wherein the target control strategy is configured to control the vehicle to enter a preset safe state;

[0091] The first sending module 302 is configured to send a confirmation request to the service platform when the preset risk is a target risk and it is detected that the target risk disappears, wherein the confirmation request is used to request confirmation of whether the target risk disappears;

[0092] The control module 301 is further configured to control the vehicle to resume the automatic driving mode upon receiving a confirmation indication sent by the service platform, wherein the confirmation indication is configured to indicate that the target risk disappears.

[0093] Optionally, the target control strategy is a control strategy corresponding to the risk type of the preset risk, one risk type corresponds to one control strategy, and the control strategy includes at least one of the following: speed limit, pullover, slow braking along the line, and sudden braking on the spot.

[0094] Optionally, when the preset risk is other risks other than the target risk, the control module 301 is further configured to control the vehicle to resume the automatic driving mode when it is detected that the preset risk disappears.

[0095] Optionally, the first sending module 302 is specifically configured to send a confirmation request to the service platform when the preset risk includes at least two different types of target risks and it is detected that the at least two different types of target risks disappear;

[0096] The confirmation request is used to request confirmation of whether the at least two different types of target risks have disappeared, and the confirmation indication is used to indicate that the at least two different types of target risks have disappeared.

[0097] Alternatively, see Figure 4 The first sending module 302 includes:

[0098] An acquisition submodule 3021 is used to acquire driving environment data outside the vehicle;

[0099] The sending submodule 3022 is configured to send a confirmation request to the service platform, where the confirmation request includes the driving environment data.

[0100] Optionally, the target risk includes collision risk.

[0101] Alternatively, see Figure 5 , the device further comprises:

[0102] an acquisition module 303 for acquiring the operating state of the vehicle when detecting that the control mode of the vehicle is switched from the automatic driving mode to the manual takeover mode and the vehicle speed is not zero;

[0103] The control module 301 is further used to control the vehicle to stop when the working status indicates that the vehicle is in an abnormal takeover state, wherein the abnormal takeover state includes: the depth to which the accelerator of the vehicle is stepped on is less than a first threshold, the depth to which the brake of the vehicle is stepped on is less than a second threshold, and the turning angle of the steering wheel of the vehicle is less than a third threshold.

[0104] It should be noted that the automatic driving device 300 provided in this embodiment can implement all the technical solutions of the above-mentioned automatic driving method embodiment, and therefore can at least achieve all the above-mentioned technical effects, which will not be repeated here.

[0105] The embodiments of the present disclosure also provide an autonomous driving vehicle, comprising: the autonomous driving device 300 described in the above embodiments.

[0106] In this embodiment, since the autonomous driving vehicle includes the autonomous driving device 300 described in the above embodiment, the vehicle can achieve all the beneficial effects of the above autonomous driving device 300. To avoid repetition, they will not be described here.

[0107] See Figure 6 , is a schematic diagram of the structure of a service platform 600 provided in an embodiment of the present disclosure, wherein the service platform 600 includes:

[0108] A receiving module 601 is configured to receive a confirmation request sent by a vehicle, wherein the confirmation request is used to request confirmation of whether a target risk has disappeared, wherein the target risk is a target risk existing when the vehicle is in an automatic driving mode;

[0109] The second sending module 602 is used to send a confirmation instruction to the vehicle when it is determined that the target risk disappears, and the confirmation instruction is used to indicate that the target risk disappears, so that the vehicle resumes the automatic driving mode.

[0110] Alternatively, see Figure 7 , the service platform 600 further includes:

[0111] The determination module 603 is configured to determine that the target risk has disappeared when the driving environment data indicates that the target risk has disappeared.

[0112] It should be noted that the service platform 600 provided in this embodiment can implement all the technical solutions of the above-mentioned autonomous driving data processing method embodiment, and therefore can at least achieve all the above-mentioned technical effects, which will not be repeated here.

[0113] In the technical solutions disclosed herein, the acquisition, storage, and application of user personal information involved comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0114] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0115] Figure 8 A schematic block diagram of an example electronic device 800 that can be used to implement embodiments of the present disclosure is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are provided as examples only and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0116] like Figure 8As shown, electronic device 800 includes a computing unit 801, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 802 or a computer program loaded from a storage unit 808 into a random access memory (RAM) 803. Various programs and data required for the operation of device 800 can also be stored in RAM 803. Computing unit 801, ROM 802, and RAM 803 are connected to each other via a bus 804. An input / output (I / O) interface 805 is also connected to bus 804.

[0117] Multiple components in electronic device 800 are connected to I / O interface 805, including: an input unit 806, such as a keyboard, mouse, etc.; an output unit 807, such as various types of displays, speakers, etc.; a storage unit 808, such as a magnetic disk, optical disk, etc.; and a communication unit 809, such as a network card, modem, wireless communication transceiver, etc. The communication unit 809 allows device 800 to exchange information / data with other devices via a computer network such as the Internet and / or various telecommunication networks.

[0118] The computing unit 801 can be any general-purpose and / or specialized processing component with processing and computing capabilities. Some examples of the computing unit 801 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various computing units that run machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 801 performs the various methods and processes described above, such as the autonomous driving method or the autonomous driving data processing method. For example, in some embodiments, the autonomous driving method or the autonomous driving data processing method can be implemented as a computer software program tangibly embodied in a machine-readable medium, such as the storage unit 808. In some embodiments, part or all of the computer program can be loaded and / or installed onto the device 800 via the ROM 802 and / or the communication unit 809. When the computer program is loaded into the RAM 803 and executed by the computing unit 801, one or more steps of the autonomous driving method or the autonomous driving data processing method described above are performed. Alternatively, in other embodiments, the computing unit 801 may be configured to execute the autonomous driving method, or the autonomous driving data processing method, in any other appropriate manner (e.g., by means of firmware).

[0119] Various embodiments of the systems and techniques described herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), system-on-chip systems (SOCs), programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments can include being implemented in one or more computer programs that are executable and / or interpreted on a programmable system that includes at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0120] The program code for implementing the method of the present disclosure can be written in any combination of one or more programming languages. These program codes can be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device so that when the program code is executed by the processor or controller, the functions / operations specified in the flow chart and / or block diagram are implemented. The program code can be executed entirely on the machine, partially on the machine, as a stand-alone software package, partially on the machine and partially on a remote machine, or entirely on a remote machine or server.

[0121] In the context of the present disclosure, a machine-readable medium can be a tangible medium that can contain or store a program for use by or in conjunction with an instruction execution system, device or equipment. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium can include an electrical connection based on one or more lines, 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), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0122] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0123] The systems and techniques described herein can be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), and the Internet.

[0124] A computer system may include a client and a server. The client and server are generally remote from each other and typically interact through a communication network. The client-server relationship arises through computer programs running on the respective computers and having a client-server relationship with each other. The server may be a cloud server, a server in a distributed system, or a server integrated with a blockchain.

[0125] It should be understood that the various forms of the processes shown above can be used to reorder, add, or delete steps. For example, the steps described in this disclosure can be performed in parallel, sequentially, or in a different order, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved. This is not limited herein.

[0126] The above specific embodiments do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art will appreciate that various modifications, combinations, sub-combinations, and substitutions may be made based on design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure shall be included within the scope of protection of this disclosure.

Claims

1. An autonomous driving method, comprising: When a vehicle is in an automatic driving mode and there is a preset risk, the vehicle is controlled based on a target control strategy, wherein the target control strategy is used to control the vehicle to enter a preset safety state, wherein the preset safety state includes a parking state and a speed-limited driving state; If the preset risk is a target risk and it is detected that the target risk has disappeared, a confirmation request is sent to the service platform, wherein the confirmation request is used to request confirmation of whether the target risk has disappeared; controlling the vehicle to resume the automatic driving mode upon receiving a confirmation instruction sent by the service platform, wherein the confirmation instruction is used to indicate that the target risk disappears; In a case where the preset risk is a risk other than the target risk, after controlling the vehicle based on the target control strategy, the method further includes: When it is detected that the preset risk disappears, controlling the vehicle to resume the automatic driving mode; When detecting that the control mode of the vehicle is switched from the automatic driving mode to the manual takeover mode and the speed of the vehicle is not 0, obtaining the operating state of the vehicle; When the working status indicates that the vehicle is in an abnormal takeover state, the vehicle is controlled to stop, wherein the abnormal takeover state includes: the depth to which the accelerator of the vehicle is stepped on is less than a first threshold, the depth to which the brake of the vehicle is stepped on is less than a second threshold, and the turning angle of the steering wheel of the vehicle is less than a third threshold.

2. The method according to claim 1, wherein The target control strategy is a control strategy corresponding to the risk type of the preset risk. One risk type corresponds to one control strategy, and the control strategy includes at least one of the following: speed limit, pullover, slow braking along the line, and sudden braking on the spot.

3. The method according to claim 1, wherein When the preset risk is the target risk and it is detected that the target risk disappears, sending a confirmation request to the service platform includes: When the preset risks include at least two different types of target risks and it is detected that the at least two different types of target risks disappear, sending a confirmation request to the service platform; The confirmation request is used to request confirmation of whether the at least two different types of target risks have disappeared, and the confirmation indication is used to indicate that the at least two different types of target risks have disappeared.

4. The method according to claim 1, wherein The sending of the confirmation request to the service platform includes: Acquiring driving environment data outside the vehicle; A confirmation request is sent to a service platform, where the confirmation request includes the driving environment data.

5. The method according to claim 1, wherein The target risk includes collision risk.

6. A method for processing autonomous driving data, comprising: The service platform receives a confirmation request sent by the vehicle, the confirmation request being used to request confirmation of whether a target risk has disappeared, the target risk being a target risk existing when the vehicle is in an autonomous driving mode, wherein the vehicle is used to execute the autonomous driving method according to any one of claims 1 to 5; When it is determined that the target risk disappears, a confirmation indication is sent to the vehicle, where the confirmation indication is used to indicate that the target risk disappears, so that the vehicle resumes the automatic driving mode.

7. The method according to claim 6, wherein: When it is determined that the target risk disappears, before sending a confirmation instruction to the vehicle, the method further includes: In a case where the driving environment data indicates that the target risk disappears, it is determined that the target risk disappears.

8. An automatic driving device comprising: a control module configured to control the vehicle based on a target control strategy when the vehicle is in an autonomous driving mode and there is a preset risk associated with the vehicle, wherein the target control strategy is configured to control the vehicle to enter a preset safety state, wherein the preset safety state includes a parking state and a speed-limited driving state; A first sending module is configured to, when the preset risk is a target risk and it is detected that the target risk disappears, send a confirmation request to the service platform, wherein the confirmation request is used to request confirmation of whether the target risk disappears; The control module is further configured to control the vehicle to resume the automatic driving mode upon receiving a confirmation instruction sent by the service platform, wherein the confirmation instruction is used to indicate that the target risk disappears; In a case where the preset risk is a risk other than the target risk, the control module is further configured to control the vehicle to resume the automatic driving mode upon detecting that the preset risk disappears; an acquisition module, configured to acquire the operating state of the vehicle when detecting that the control mode of the vehicle is switched from the automatic driving mode to the manual takeover mode and the vehicle speed is not zero; The control module is further used to control the vehicle to stop when the working status indicates that the vehicle is in an abnormal takeover state, wherein the abnormal takeover state includes: the depth to which the accelerator of the vehicle is stepped on is less than a first threshold, the depth to which the brake of the vehicle is stepped on is less than a second threshold, and the rotation angle of the steering wheel of the vehicle is less than a third threshold.

9. The device according to claim 8, wherein The target control strategy is a control strategy corresponding to the risk type of the preset risk. One risk type corresponds to one control strategy, and the control strategy includes at least one of the following: speed limit, pullover, slow braking along the line, and sudden braking on the spot.

10. The device according to claim 8, wherein The first sending module is specifically configured to send a confirmation request to the service platform when the preset risk includes at least two different types of target risks and it is detected that the at least two different types of target risks disappear; The confirmation request is used to request confirmation of whether the at least two different types of target risks have disappeared, and the confirmation indication is used to indicate that the at least two different types of target risks have disappeared.

11. The device according to claim 8, wherein The first sending module includes: An acquisition submodule, configured to acquire driving environment data outside the vehicle; The sending submodule is used to send a confirmation request to the service platform, where the confirmation request includes the driving environment data.

12. The device according to claim 8, wherein The target risk includes collision risk.

13. An autonomous driving vehicle comprising: The automatic driving device according to any one of claims 8 to 12.

14. A service platform comprising: a receiving module, configured to receive a confirmation request sent by a vehicle, the confirmation request being used to request confirmation of whether a target risk has disappeared, the target risk being a target risk existing when the vehicle is in an autonomous driving mode, wherein the vehicle is configured to execute the autonomous driving method according to any one of claims 1 to 5; The second sending module is used to send a confirmation instruction to the vehicle when it is determined that the target risk disappears, and the confirmation instruction is used to indicate that the target risk disappears, so that the vehicle resumes the automatic driving mode.

15. The service platform according to claim 14, wherein: The service platform also includes: The determination module is configured to determine that the target risk disappears when the driving environment data indicates that the target risk disappears.

16. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the autonomous driving method described in any one of claims 1-5, or execute the autonomous driving data processing method described in any one of claims 6-7.

17. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to enable the computer to execute the autonomous driving method described in any one of claims 1-5, or to execute the autonomous driving data processing method described in any one of claims 6-7.

18. A computer program product, comprising a computer program, which, when executed by a processor, implements the autonomous driving method described in any one of claims 1 to 5, or implements the autonomous driving data processing method described in any one of claims 6 to 7.

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