Autonomous driving status determination methods, systems, electronic devices, and storage media

Abstract

This invention provides a method, system, electronic device, and storage medium for determining the state of autonomous driving. The method includes: acquiring multiple conditional parameters for determining whether autonomous driving can be activated; determining the state category of autonomous driving based on the multiple conditional parameters and issuing corresponding prompt information; wherein, in addition to the already activated state category, the state category also includes multiple state categories with different levels of difficulty according to the ease of activating autonomous driving. By monitoring the conditional parameters that autonomous driving activation depends on, orderly transitions between multiple state categories are achieved, and different human-computer interactions are provided in different states, allowing users to adapt to the system more easily and concisely demonstrating the limitations of the driving system's capabilities.

Description

Technical Field

[0001] This invention relates to the field of autonomous driving technology, and in particular to an autonomous driving state determination method, system, electronic device, and storage medium. Background Technology

[0002] For Level 3 and above autonomous vehicles, due to limitations in their capability boundaries and Operational Design Domain (ODD), vehicles can typically only cover a portion of system and vehicle malfunctions, physical fences, external environmental constraints, user status, vehicle control status, and vehicle driving status. Therefore, how to effectively monitor these states and provide appropriate human-machine interaction to ensure that the reminders of autonomous driving status and capability boundaries are more reasonable is a technical problem that autonomous driving systems need to solve. Summary of the Invention

[0003] To address the problems existing in the prior art, this invention provides an autonomous driving state determination method, system, electronic device, and storage medium.

[0004] This invention provides a method for determining the state of autonomous driving, the method comprising:

[0005] Obtain multiple conditional parameters used to determine whether autonomous driving can be activated;

[0006] Based on the aforementioned multiple condition parameters, the state category of autonomous driving is determined and corresponding prompt information is issued;

[0007] In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease or difficulty of activating autonomous driving.

[0008] According to the autonomous driving state determination method provided by the present invention, the plurality of condition parameters include:

[0009] The first condition for the hardware performance requirements needed to activate autonomous driving;

[0010] The second condition for activating autonomous driving is the location of the vehicle;

[0011] The third condition for activating autonomous driving is the manual driving adjustments required.

[0012] According to the autonomous driving state determination method provided by the present invention, the state categories, in addition to the already activated state categories, are arranged from difficult to easy in order of the difficulty of activating autonomous driving, including a first state, a second state, and a third state.

[0013] in,

[0014] If the first condition is not met, the state category is determined to be the first state;

[0015] Provided that the first condition is met, if the second condition is not met, the state category is determined to be the second state.

[0016] If the first and second conditions are met, but the third condition is not met, then the state category is determined to be the third state.

[0017] According to the autonomous driving state determination method provided by the present invention, the first condition for activating autonomous driving requires that the autonomous driving system meet the autonomous driving requirements, and that each subsystem of the vehicle also meets the autonomous driving requirements.

[0018] According to the autonomous driving state determination method provided by the present invention, the satisfaction of the third condition for manual driving adjustment required to activate autonomous driving requires that the temporary road environment area state meets the autonomous driving needs, the backup user meets the autonomous driving needs, the vehicle control meets the autonomous driving needs, and the vehicle driving dynamics state meets the autonomous driving needs.

[0019] According to the autonomous driving state determination method provided by the present invention, the prompt information includes:

[0020] This indicates the first indication of the current state category;

[0021] In response to an external command to enter autonomous driving mode, a second prompt corresponding to the state category is generated;

[0022] If activation of autonomous driving fails, the second prompt includes the specific reason for the failure and / or the solution.

[0023] According to the present invention, an autonomous driving state determination method further includes:

[0024] If the condition parameter changes abruptly, it is considered as a response to an external command to enter autonomous driving, and a second prompt corresponding to the state category is generated.

[0025] This invention also provides an autonomous driving status determination system, the system comprising:

[0026] The acquisition module acquires multiple conditional parameters used to determine whether autonomous driving can be activated;

[0027] The prompting module determines the state category of autonomous driving based on the multiple condition parameters and issues corresponding prompt information;

[0028] In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease or difficulty of activating autonomous driving.

[0029] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the autonomous driving state determination method as described in any of the preceding claims.

[0030] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the autonomous driving state determination method as described in any of the preceding claims.

[0031] The present invention also provides a computer program product, comprising a computer program that, when executed by a processor, implements the steps of the autonomous driving state determination method as described in any of the preceding claims.

[0032] The present invention also provides a vehicle including a controller for autonomous driving, the controller of which is capable of implementing the autonomous driving state determination method as described in any of the preceding claims.

[0033] The autonomous driving state judgment method, system, electronic device, and storage medium provided by this invention monitor the condition parameters that autonomous driving activation depends on, realize orderly transitions between multiple state categories, and provide different human-computer interactions in different states, making it easier for users to adapt to the system and concisely showcasing the driving system's own capability boundaries. Attached Figure Description

[0034] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This invention provides a flowchart illustrating an autonomous driving state determination method.

[0036] Figure 2 This invention provides a schematic diagram of transitions between state categories;

[0037] Figure 3 A schematic diagram of an autonomous driving state determination system provided by the present invention;

[0038] Figure 4 This is a schematic diagram of the physical structure of an electronic device provided by the present invention. Detailed Implementation

[0039] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0040] The autonomous driving state judgment method provided in this application will be described in detail below with reference to the accompanying drawings, through specific embodiments and application scenarios.

[0041] Figure 1 This is a flowchart illustrating an autonomous driving state determination method provided by the present invention, as shown below. Figure 1 As shown, the present invention provides an autonomous driving state determination method, the method comprising:

[0042] S100: Obtain multiple conditional parameters used to determine whether autonomous driving can be activated.

[0043] Optionally, the object of autonomous driving can be various vehicles, aircraft or ships. Preferably, this method is applicable to cars with L3 level autonomous driving.

[0044] Optionally, different categories and models of autonomous driving objects may have different condition parameters for different application scenarios.

[0045] Optionally, for vehicles with certain autonomous driving functions, application scenarios include parking, driving on highways, and driving on ordinary roads.

[0046] S200. Based on multiple condition parameters, determine the state category of autonomous driving and issue corresponding prompts. In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease of activating autonomous driving.

[0047] Optionally, the level of difficulty is based on the condition parameters. If the condition parameters are far from meeting the requirements of autonomous driving, or if the autonomous driving attributes corresponding to the condition parameters are difficult for the user to adjust, then the corresponding state category is difficult to activate autonomous driving. Conversely, the corresponding state category is easy to activate autonomous driving, or can be activated after simple adjustments by the user.

[0048] Optionally, the notification message informs the user of the status category through the vehicle's human-machine interaction.

[0049] Optionally, the status category is communicated to the user through a prompt message, allowing the user to easily determine whether the current vehicle can activate autonomous driving based on the status category. Furthermore, if autonomous driving cannot be activated, the user can learn the general or specific reasons why autonomous driving cannot be activated based on the status category, thereby finding ways to adjust the direction or resolve the fault.

[0050] This embodiment monitors the conditional parameters that the autonomous driving activation depends on, enabling orderly transitions between multiple state categories and providing different human-computer interactions in different states. This allows users to adapt to the system more easily and concisely demonstrates the limitations of the driving system's own capabilities.

[0051] Furthermore, based on the foregoing embodiments, in another embodiment, this embodiment provides an autonomous driving state determination method, including multiple condition parameters:

[0052] The first condition for the hardware performance requirements needed to activate autonomous driving;

[0053] The second condition for activating autonomous driving is the location of the vehicle;

[0054] The third condition for activating autonomous driving is the manual driving adjustments required.

[0055] Optionally, hardware performance requirements refer to vehicle hardware-related requirements, the vehicle's location area refers to the application scenario requirements corresponding to autonomous driving, and manual driving adjustments are autonomous driving activation requirements that are easy for users to resolve.

[0056] This embodiment classifies the requirements for activating autonomous driving by specifically classifying the condition parameters, thereby facilitating fault classification when activation fails.

[0057] Furthermore, based on the foregoing embodiments, in another embodiment, this embodiment provides an autonomous driving state judgment method. In addition to the already activated state categories, the state categories are arranged from difficult to easy in order of the difficulty of activating autonomous driving, including a first state, a second state, and a third state.

[0058] in,

[0059] If the first condition is not met, the state category is determined to be the first state;

[0060] Provided that the first condition is met, if the second condition is not met, the state category is determined to be the second state.

[0061] If the first and second conditions are met, but the third condition is not met, then the state category is determined to be the third state.

[0062] If the user finds the vehicle in the first state, they will immediately know that the hardware performance requirements have not been met for autonomous driving activation; if the user finds the vehicle in the second state, they will immediately know that the area where the vehicle is located has not met the activation requirements for autonomous driving; if the user finds the vehicle in the third state, they will immediately know that only slight adjustments to manual driving are needed to meet the activation requirements for autonomous driving.

[0063] Specifically, before the Automated Driving (AD) mode is activated, three states are defined: Prepare (first state), Not Available (second state), and Available (third state). After activation, it becomes the Engaged state.

[0064] This embodiment discloses three specific autonomous driving states, enabling users to quickly classify the failure of autonomous driving activation based on the state category, specifying hardware performance requirements, vehicle location, or the need for manual driving adjustments.

[0065] Furthermore, based on the foregoing embodiments, in another embodiment, this embodiment provides an autonomous driving state judgment method. The first condition for activating autonomous driving requires the autonomous driving system to meet the autonomous driving requirements, and also requires each subsystem of the vehicle to meet the autonomous driving requirements. The third condition for activating autonomous driving requires the temporary road environment area state to meet the autonomous driving requirements, and also requires the backup user to meet the autonomous driving requirements, the vehicle control to meet the autonomous driving requirements, and the vehicle's driving dynamics state to meet the autonomous driving requirements.

[0066] Optionally, the first condition is monitored through the Automated-driving System Monitor (ASM) and Vehicle Systems Monitor (VSM); the second condition is monitored through the ODD Geo-fence Monitor (OGM); and the third condition is monitored through the ODD Temporary Environmental Constraint Monitor (ECM), Fallback-Available User Monitor (FUM), Vehicle Control Monitor (VCM), and Driving State Monitor (DSM). The monitoring results are then output to the state machine management software module. Specific examples for L3 autonomous driving applications on highways are shown in Table 1 below.

[0067]

[0068] Table 1

[0069] In manual driving mode, AD mode can only be activated and effective interaction and reminders can be provided if the first, second and third conditions are met, that is, if none of the above seven modules detect a fault. In automatic driving mode, if an unacceptable state category occurs, the function may be downgraded or rolled back.

[0070] The monitoring results can be output through multiple signal interfaces and matched to different autonomous driving functions. For example, for the autonomous driving function on highways or urban roads, the VCM requires the user to shift to D gear to activate it; while for the autonomous parking function in parking lots, the VCM requires the user to shift to P gear to activate it. Therefore, excluding other factors judged by the VCM and considering only the gear position, the VCM output results are shown in Table 2 below.

[0071]

[0072] Table 2

[0073] This embodiment discloses three status categories to help users quickly understand the current autonomous driving activation status.

[0074] Furthermore, based on the foregoing embodiments, in another embodiment, this embodiment provides a method for determining the state of autonomous driving, and the prompt information includes:

[0075] The first indication of the current status category;

[0076] In response to an external command to enter autonomous driving mode, a second prompt corresponding to the state category is generated;

[0077] If activation of autonomous driving fails, the second prompt will include the specific reason for the failure and / or the solution.

[0078] Optionally, prompts may be communicated to the user via buttons, control panels, and / or in-vehicle voice systems.

[0079] Optionally, the first prompt is always displayed.

[0080] Preferably, taking highway driving autonomous driving as an example, the state machine state switching and human-computer interaction are described for a single autonomous driving function. For vehicles with multiple autonomous driving functions, similar extensions can be made. The state machine is defined as shown in Table 3 below for all states from when the vehicle and the autonomous driving system are started at full power and in full thread until the autonomous driving is activated.

[0081]

[0082]

[0083] Table 3

[0084] The seven monitoring modules are divided into three categories, which are matched to the three states of Prepare, Not Available, and Available.

[0085] 1. The results of ASM and VSM indicate that it is not inactivable.

[0086] a) This indicates a malfunction in the AD system or the vehicle, and that autonomous driving cannot be activated until the malfunction is resolved;

[0087] b) Corresponds to the Prepare state (the two are ORed, one of which is inactive, i.e., remains in Prepare);

[0088] c) The “Prepare” status icon is always displayed to indicate a fault and that AD mode cannot be activated;

[0089] d) Upon entry, a 5-second notification will appear stating "Autopilot preparing";

[0090] e) If a user attempts to activate but fails, a text message notification will be provided:

[0091] i. First, alert the user to the existence of a fault: "AD system fault" / "vehicle fault".

[0092] ii. In addition, based on the detailed cause of the malfunction, specific solutions will be provided, including "Please wait" / "Please restart the AD system" / "Please restart the vehicle" / "Please contact after-sales service".

[0093] iii. Regarding the timing of reminders, normally a reminder should be displayed when the user attempts to activate the vehicle. However, for specific faults affecting driving safety, primarily those requiring "Please contact after-sales service," a reminder can be continuously displayed in this state to assist the user in completing vehicle maintenance as early as possible.

[0094] iv. In terms of priority, "Please contact after-sales service" > "Please restart the vehicle" > "Please restart the AD system" > "Please wait".

[0095] 2. ASM and VSM determine that the function is active, but OGM determines that it is inactive.

[0096] a) This represents a fault that does not affect AD mode, but the vehicle has not entered the physical fenced area where autonomous driving is possible, and autonomous driving cannot be activated before entering the area.

[0097] b) Corresponds to the Not Available state;

[0098] c) The “Not Available” icon is always displayed to indicate that the location is not allowed and AD mode cannot be activated;

[0099] d) Upon entry, a 5-second warning will appear stating "Autopilot is not available in the current area";

[0100] e) After a failed activation attempt, the following message will appear:

[0101] i. Reminder: "Please maintain manual driving until you reach an available area."

[0102] ii. Regarding the timing of the reminder, it can be displayed when the user attempts to activate the device, or it can be displayed continuously within this state machine.

[0103] 3. ASM and VSM are determined to be activatable, OGM is determined to be activatable, but ECM, FUM, VCM, and DSM are determined to be inactivatable.

[0104] a) This represents a fault that does not affect the AD mode and has entered the physical fenced area where autonomous driving is possible, but there are factors that temporarily affect autonomous driving, including temporary external environmental restrictions, user status, vehicle control status, and vehicle driving status. These factors can be recovered by adaptive adjustments, including when the vehicle drives through a temporary environmental restriction area and the user makes adaptive adjustments to their own status, vehicle control status, and vehicle driving status.

[0105] b) Autopilot cannot be activated before restoration; it can be activated after appropriate adjustments.

[0106] c) Corresponds to the Available state;

[0107] d) The “Available” icon is always displayed to indicate that AD mode can be activated;

[0108] e) Upon entry, a 5-second notification will appear stating "Autopilot is ready to activate";

[0109] f) After a failed activation attempt, the following message will appear:

[0110] i. Provide detailed reminders about the reasons for activation failure or to adjust the operation, such as "Please shift to D gear if activation is required" as shown in the example in the table above;

[0111] ii. Regarding the timing of the reminder, a reminder is given when the user attempts to activate the system, assisting the user in adjusting their own and the vehicle's status to successfully activate autonomous driving;

[0112] iii. In terms of alert priority, Temporary Environmental Restriction Area (ECM) > Vehicle Driving Status (DSM) > Vehicle Control Status (VCM) > Backup Ready User Status (FUM).

[0113] 4. The results of ASM, VSM, OGM, ECM, FUM, VCM, and DSM all indicate that the system is activatable.

[0114] a) This indicates a fault that does not affect AD mode. The vehicle has entered a physically fenced area where autonomous driving is possible, and there are no factors that may temporarily affect autonomous driving. Autonomous driving can be activated.

[0115] b) also corresponds to the Available state machine, and the human-computer interaction is the same as d) and e) in Part 3 above.

[0116] 5. Already in autonomous driving mode

[0117] a) Corresponds to the Engaged state;

[0118] b) The “Engaged” icon is always displayed to indicate that AD mode is activated;

[0119] c) Upon entry, a 5-second notification will appear stating "Autopilot activated".

[0120] In terms of status and alerts, the priority order is Prepare > NotAvailable > Available.

[0121] If the ASM and VSM results are inactive, regardless of whether the OGM, ECM, DSM, VCM, or FUM results are inactive or not, the system is in the Prepare state.

[0122] If there is no ASM or VSM that determines that the function is inactive, but there is an OGM that determines that the function is inactive, then regardless of whether the ECM, DSM, VCM, or FUM determines that the function is active or inactive, the function is in the NotAvailable state.

[0123] If there are no ASM, VSM, or OGM states that are inactive, but there are ECM, DSM, VCM, or FUM states that are inactive, then the system is in the Available state machine.

[0124] If ASM, VSM, OGM, ECM, DSM, VCM, or FUM do not exist and the result indicates that the system is not active, it remains in the Available state.

[0125] This embodiment provides different prompts for different status categories, and under different status categories, when the user gives the command to activate autonomous driving, the vehicle will provide further prompts, thereby achieving better human-machine interaction.

[0126] Furthermore, based on the foregoing embodiments, in another embodiment, this embodiment provides an autonomous driving state determination method, the method further comprising:

[0127] If the condition parameters change abruptly, it is considered a response to an external command to enter autonomous driving, and a second prompt corresponding to the state category is generated.

[0128] Optionally, Figure 2 This invention provides a schematic diagram of transitions between state categories, such as... Figure 2 As shown, as the condition parameter changes, engaged can jump to Prepare, Not Available, and Available; Available can jump to Prepare and Not Available; and Not Available can jump to Prepare.

[0129] This embodiment discloses that when the condition parameters change abruptly, the vehicle's autonomous driving function may be downgraded, and therefore a second prompt is given so that the user knows the reason for the downgrade.

[0130] The autonomous driving state determination system provided by the present invention is described below. The autonomous driving state determination system described below can be referred to in correspondence with the autonomous driving state determination method described above.

[0131] Figure 3 This invention provides a schematic diagram of an autonomous driving state determination system, as shown below. Figure 3 As shown, the present invention provides an autonomous driving state determination system, the system comprising:

[0132] The acquisition module acquires multiple conditional parameters used to determine whether autonomous driving can be activated.

[0133] The prompting module determines the state category of autonomous driving based on multiple condition parameters and issues corresponding prompt messages;

[0134] In addition to the already activated state categories, the state categories also include several state categories with different levels of difficulty, according to the ease of activating autonomous driving.

[0135] This embodiment monitors the conditional parameters that the autonomous driving activation depends on, enabling orderly transitions between multiple state categories and providing different human-computer interactions in different states. This allows users to adapt to the system more easily and concisely demonstrates the limitations of the driving system's own capabilities.

[0136] Figure 4 A schematic diagram of the physical structure of an electronic device provided by the present invention, such as... Figure 4 As shown, the electronic device may include: a processor 810, a communication interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communication interface 820, and the memory 830 communicate with each other through the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute an autonomous driving state determination method, the method including:

[0137] Obtain multiple conditional parameters used to determine whether autonomous driving can be activated;

[0138] Based on the aforementioned multiple condition parameters, the state category of autonomous driving is determined and corresponding prompt information is issued;

[0139] In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease or difficulty of activating autonomous driving.

[0140] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, essentially, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0141] On the other hand, the present invention also provides a computer program product, the computer program product comprising a computer program stored on a non-transitory computer-readable storage medium, the computer program comprising program instructions, wherein when the program instructions are executed by a computer, the computer is able to execute the autonomous driving state determination method provided by the above methods, the method comprising:

[0142] Obtain multiple conditional parameters used to determine whether autonomous driving can be activated;

[0143] Based on the aforementioned multiple condition parameters, the state category of autonomous driving is determined and corresponding prompt information is issued;

[0144] In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease or difficulty of activating autonomous driving.

[0145] In another aspect, the present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, is implemented to perform the aforementioned autonomous driving state determination methods, the methods comprising:

[0146] Obtain multiple conditional parameters used to determine whether autonomous driving can be activated;

[0147] Based on the aforementioned multiple condition parameters, the state category of autonomous driving is determined and corresponding prompt information is issued;

[0148] In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease or difficulty of activating autonomous driving.

[0149] Furthermore, the present invention also provides a vehicle, including a controller for autonomous driving, the controller of the vehicle being capable of implementing the autonomous driving state determination method as described in any of the preceding claims, the method comprising:

[0150] Obtain multiple conditional parameters used to determine whether autonomous driving can be activated;

[0151] Based on the aforementioned multiple condition parameters, the state category of autonomous driving is determined and corresponding prompt information is issued;

[0152] In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease or difficulty of activating autonomous driving.

[0153] The vehicle disclosed in this invention has a new architecture and state machine for autonomous driving state judgment, and provides a reference for corresponding human-computer interaction reminders. It can more effectively realize the state judgment and capability boundary reminder of autonomous vehicles, improve driving safety, and has both flexibility and scalability.

[0154] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0155] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0156] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for determining the state of autonomous driving, characterized in that, The method includes: Obtain multiple conditional parameters used to determine whether autonomous driving can be activated; Based on the aforementioned multiple condition parameters, the state category of autonomous driving is determined and a corresponding prompt message is issued; the multiple condition parameters include: a first condition of hardware performance requirements required to activate autonomous driving; a second condition of the vehicle's location required to activate autonomous driving; and a third condition of manual driving adjustments required to activate autonomous driving. In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease or difficulty of activating autonomous driving. In addition to the already activated state categories, the state categories are arranged from most difficult to easiest to activate autonomous driving, including the first state, the second state, and the third state. in, If the first condition is not met, the state category is determined to be the first state; Provided that the first condition is met, if the second condition is not met, the state category is determined to be the second state. If the first and second conditions are met, but the third condition is not met, then the state category is determined to be the third state. If a user finds the vehicle in the first state, they will immediately know that the hardware performance requirements have not been met for autonomous driving activation; if a user finds the vehicle in the second state, they will immediately know that the area where the vehicle is located has not met the activation requirements for autonomous driving; if a user finds the vehicle in the third state, they will immediately know that only slight adjustments to manual driving are needed to meet the activation requirements for autonomous driving.

2. The autonomous driving state determination method according to claim 1, characterized in that, The first condition for activating autonomous driving is that the autonomous driving system meets the requirements for autonomous driving, and at the same time, each subsystem of the vehicle meets the requirements for autonomous driving.

3. The autonomous driving state determination method according to claim 1, characterized in that, The third condition for activating autonomous driving, which requires manual driving adjustments, is that the temporary road environment and area conditions meet the needs of autonomous driving, the backup user meets the needs of autonomous driving, the vehicle control meets the needs of autonomous driving, and the vehicle's driving dynamics meet the needs of autonomous driving.

4. The method for determining the state of autonomous driving according to claim 1, characterized in that, The notification information includes: This indicates the first indication of the current state category; In response to an external command to enter autonomous driving mode, a second prompt corresponding to the state category is generated; If activation of autonomous driving fails, the second prompt includes the specific reason for the failure and / or the solution.

5. The autonomous driving state determination method according to claim 4, characterized in that, The method further includes: If the condition parameter changes abruptly, it is considered as a response to an external command to enter autonomous driving, and a second prompt corresponding to the state category is generated.

6. An autonomous driving state determination system, characterized in that, The system includes: The acquisition module acquires multiple conditional parameters used to determine whether autonomous driving can be activated; The plurality of condition parameters include: The first condition for the hardware performance requirements needed to activate autonomous driving; The second condition for activating autonomous driving is the location of the vehicle; The third condition for activating autonomous driving is the manual driving adjustments required. The prompting module determines the state category of autonomous driving based on the multiple condition parameters and issues corresponding prompt information; In addition to the already activated state categories, the state categories also include multiple state categories with different levels of difficulty, according to the ease or difficulty of activating autonomous driving. In addition to the already activated state categories, the state categories are arranged from most difficult to easiest to activate autonomous driving, including the first state, the second state, and the third state. in, If the first condition is not met, the state category is determined to be the first state; Provided that the first condition is met, if the second condition is not met, the state category is determined to be the second state. If the first and second conditions are met, but the third condition is not met, then the state category is determined to be the third state. If a user finds the vehicle in the first state, they will immediately know that the hardware performance requirements have not been met for autonomous driving activation; if a user finds the vehicle in the second state, they will immediately know that the area where the vehicle is located has not met the activation requirements for autonomous driving; if a user finds the vehicle in the third state, they will immediately know that only slight adjustments to manual driving are needed to meet the activation requirements for autonomous driving.

7. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the steps of the autonomous driving state determination method as described in any one of claims 1-5.

8. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the steps of the autonomous driving state determination method as described in any one of claims 1-5.

9. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the steps of the autonomous driving state determination method as described in any one of claims 1-5.

10. A vehicle, comprising a controller for autonomous driving, characterized in that, The vehicle's controller is capable of implementing the autonomous driving state determination method as described in any one of claims 1-5.

Images