Intelligent driving control methods, devices, electronic devices and storage media

Abstract

The embodiments of the present disclosure disclose an intelligent driving control method, device, electronic device and storage medium, wherein the method comprises: determining a first driving mode range supported by each driving section according to the type of each driving section, acquiring the perception domain capability of the vehicle based on the perception sensors configured for the vehicle and the working status of the perception sensors, determining a second driving mode range supported by the perception domain capability of the vehicle, and determining a first target driving mode of the vehicle in each driving section based on the first driving mode range and the second driving mode range, so as to control the vehicle to travel in the corresponding driving section in the first target driving mode, thereby realizing that the driving mode of the vehicle can be comprehensively determined according to the working status of the perception sensors configured for the vehicle and the type of the driving section.

Description

Technical Field

[0001] The present disclosure relates to intelligent driving technology, and in particular to an intelligent driving control method, device, electronic device and storage medium. Background Art

[0002] To ensure the driving safety and user experience of the vehicle, the number of perception sensors configured in the vehicle is increasing. The perception sensors work together to provide the vehicle with more accurate and complete information about the surrounding environment. During the driving process of the vehicle, when an individual perception sensor is abnormal, if the vehicle still maintains the original driving mode, it will have a serious negative impact on the driving safety of the vehicle and the user's driving experience. Summary of the invention

[0003] In order to solve the above technical problems, the present disclosure is proposed. Embodiments of the present disclosure provide an intelligent driving control method, device, electronic device and storage medium.

[0004] According to one aspect of an embodiment of the present disclosure, an intelligent driving control method is provided, including: determining a first driving mode range supported by each driving section according to the type of each driving section in a driving path of a vehicle; acquiring a perception domain capability of the vehicle based on perception sensors configured for the vehicle and the working status of the perception sensors; determining a second driving mode range supported by the vehicle based on the perception domain capability; and determining a first target driving mode of the vehicle in each driving section based on the first driving mode range and the second driving mode range, so as to control the vehicle to travel in the corresponding driving section in the first target driving mode.

[0005] According to another aspect of an embodiment of the present disclosure, an intelligent driving control device is provided, including: a first acquisition module, used to determine a first driving mode range supported by each driving section in a driving path of the vehicle according to the type of the driving section; a second acquisition module, used to acquire a perception domain capability of the vehicle based on a perception sensor configured for the vehicle and a working state of the perception sensor; a first determination module, used to determine a second driving mode range supported by the vehicle based on the perception domain capability; and a second determination module, used to determine a first target driving mode of the vehicle in each driving section based on the first driving mode range and the second driving mode range, so as to control the vehicle to travel in the corresponding driving section in the first target driving mode.

[0006] According to another aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, wherein the storage medium stores a computer program, and the computer program is used to execute the intelligent driving control method described in any of the above embodiments of the present disclosure.

[0007] According to another aspect of an embodiment of the present disclosure, an electronic device is provided, comprising: a processor; a memory for storing instructions executable by the processor; and the processor for executing the intelligent driving control method described in any of the above embodiments of the present disclosure.

[0008] Based on the intelligent driving control method, device, electronic device and storage medium provided by the above embodiments of the present disclosure, the first driving mode range supported by each driving section can be determined according to the type of each driving section in the driving path of the vehicle, and the perception domain capability of the vehicle can be obtained based on the perception sensor configured on the vehicle and the working state of the perception sensor, and the second driving mode range supported by the perception domain capability of the vehicle can be determined. Then, based on the first driving mode range and the second driving mode range, the first target driving mode of the vehicle in each driving section can be determined to control the vehicle to travel in the corresponding driving section in the first target driving mode, so that the driving mode of the vehicle can be comprehensively determined according to the working state of the perception sensor configured on the vehicle and the type of the driving section. At the same time, when the driving section changes or the perception sensor is abnormal, the driving mode is adjusted in time, so that the type of the driving section and the perception domain capability of the vehicle can simultaneously support the adjusted driving mode, further improving the safety of vehicle driving and the driving experience of users.

[0009] The technical solution of the present disclosure is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the drawings, the same reference numerals generally represent the same components or steps.

[0011] Figure 1 This is an exemplary application scenario of the intelligent driving control method provided by the present disclosure.

[0012] Figure 2 It is a flowchart of an intelligent driving control method provided by an exemplary embodiment of the present disclosure.

[0013] Figure 3 It is a flowchart of step S202 provided by an exemplary embodiment of the present disclosure.

[0014] Figure 4 is a schematic diagram of a perception domain of a vehicle provided by an exemplary embodiment of the present disclosure.

[0015] Figure 5It is a flowchart of step S204 provided by an exemplary embodiment of the present disclosure.

[0016] Figure 6 It is a flowchart of step S201 provided by an exemplary embodiment of the present disclosure.

[0017] Figure 7 It is a flowchart of an intelligent driving control method provided by another exemplary embodiment of the present disclosure.

[0018] Figure 8 It is the perception domain of the vehicle when the working states of the perception sensors configured for the vehicle provided by an exemplary embodiment of the present disclosure are all in normal state.

[0019] Fig. 9 It is the perception domain of the vehicle when the working state of the perception sensor of the forward perception domain configured for the vehicle provided by an exemplary embodiment of the present disclosure is abnormal.

[0020] Fig.10 It is the perception domain of the vehicle when the working state of the perception sensor of the perception radar perception domain configured for the vehicle provided by an exemplary embodiment of the present disclosure is abnormal.

[0021] Fig.11 It is the perception domain of the vehicle when the working state of a perception sensor of the left-view perception domain of the vehicle configuration provided by an exemplary embodiment of the present disclosure is abnormal.

[0022] Fig.12 This is an example diagram of a vehicle traveling in a middle lane when the left visual perception field of the vehicle is missing, provided by an exemplary embodiment of the present disclosure.

[0023] Fig.13 This is an example diagram of a vehicle changing lanes to the left lane when the left visual perception field of the vehicle is lost, provided by an exemplary embodiment of the present disclosure.

[0024] Fig.14 It is an overall flow chart of an intelligent driving control method provided by an exemplary embodiment of the present disclosure.

[0025] Fig.15 Detailed description of the invention is given in detail below.

[0026] Fig.16 It is a schematic diagram of the structure of an intelligent driving control device provided by an exemplary embodiment of the present disclosure.

[0027] Fig.17 It is a structural schematic diagram of an intelligent driving control device provided by another exemplary embodiment of the present disclosure.

[0028] Fig.18 is a structural diagram of an electronic device provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0029] Below, the exemplary embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present disclosure, rather than all the embodiments of the present disclosure, and it should be understood that the present disclosure is not limited to the exemplary embodiments described here.

[0030] It should be noted that the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure unless specifically stated otherwise.

[0031] Those skilled in the art can understand that the terms "first" and "second" in the embodiments of the present disclosure are only used to distinguish different steps, devices or modules, etc., and neither represent any specific technical meaning nor indicate the necessary logical order between them.

[0032] It should also be understood that in the embodiments of the present disclosure, “plurality” may refer to two or more than two, and “at least one” may refer to one, two, or more than two.

[0033] It should also be understood that any component, data or structure mentioned in the embodiments of the present disclosure can generally be understood as one or more, unless explicitly limited or otherwise indicated in the context.

[0034] In addition, the term "and / or" in the present disclosure is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the present disclosure generally indicates that the associated objects before and after are in an "or" relationship.

[0035] It should also be understood that the description of the various embodiments in the present disclosure focuses on the differences between the various embodiments, and the same or similar aspects thereof can be referenced to each other, and for the sake of brevity, they will not be described one by one.

[0036] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0037] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0038] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0039] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0040] The embodiments of the present disclosure can be applied to electronic devices such as terminal devices, computer systems, servers, etc., which can operate with many other general or special computing system environments or configurations. Examples of well-known terminal devices, computing systems, environments and / or configurations suitable for use with electronic devices such as terminal devices, computer systems, servers, etc. include, but are not limited to: personal computer systems, server computer systems, thin clients, thick clients, handheld or laptop devices, microprocessor-based systems, set-top boxes, programmable consumer electronics, network personal computers, small computer systems, large computer systems, and distributed cloud computing technology environments including any of the above systems, etc.

[0041] Electronic devices such as terminal devices, computer systems, servers, etc. can be described in the general context of computer system executable instructions (such as program modules) executed by computer systems. Generally, program modules can include routines, programs, object programs, components, logic, data structures, etc., which perform specific tasks or implement specific abstract data types. Computer systems / servers can be implemented in a distributed cloud computing environment, where tasks are performed by remote processing devices linked through a communication network. In a distributed cloud computing environment, program modules can be located on local or remote computing system storage media including storage devices.

[0042] Application Overview

[0043] In the process of realizing the present disclosure, the inventor discovered that in order to ensure the safe driving of the vehicle, the vehicle is equipped with a variety of perception sensors, and the various driving modes of the vehicle are realized through the cooperation of the various sensors. However, during the driving of the vehicle, if the perception sensors configured for the vehicle are abnormal, but the vehicle still maintains the original automatic driving mode, it will not only reduce the user's driving experience, but also cause great hidden dangers to the driving safety of the vehicle. Therefore, how to determine the driving mode of the vehicle based on the working status of each perception sensor to ensure the driving safety of the vehicle and the driving experience of the user is a problem that needs to be solved urgently.

[0044] Exemplary Systems

[0045] Figure 1 This is an exemplary application scenario of the intelligent driving control method provided by the present disclosure.

[0046] The technical solution of the present disclosure can be applied to vehicles with autonomous driving functions. In the present disclosure, a vehicle can be equipped with an on-board positioning device and a variety of perception sensors. The on-board positioning device and the various perception sensors are connected to a computing platform. The computing platform can be set on the vehicle or at other locations. Among them, the on-board positioning device can be a global positioning system (GPS), and the perception sensor can be one or more of a camera, an ultrasonic radar, a millimeter-wave radar, a lidar, and an inertial measurement unit (IMU).

[0047] In the present disclosure, the starting position of the vehicle can be determined by the vehicle-mounted positioning device, and the starting position, the end position and the map information of the vehicle are transmitted to the computing platform. The computing platform plans the vehicle's driving path and each driving section according to the starting position, the end position and the map information of the vehicle, and selects the first driving mode range according to the type of each driving section. The working state of each perception sensor is detected, and the working state of each perception sensor is transmitted to the computing platform. The computing platform obtains the second driving mode range according to the working state of each perception sensor, and then obtains the first target driving mode of each driving section according to the first driving mode range and the second driving mode range, and the computing platform outputs the first target driving mode of each driving section to the vehicle control system. The vehicle control system can control the vehicle to drive in the first target driving mode corresponding to the driving section when the vehicle travels to the corresponding driving section.

[0048] In the present disclosure, the driving mode of the vehicle is determined according to the working status of the perception sensors configured for the vehicle in combination with the type of the driving section, so that when the driving section changes or the working status of the perception sensors is abnormal, the driving mode of the vehicle is adjusted in time, so that the driving section and the perception domain capabilities of the vehicle support the adjusted driving mode of the vehicle, thereby ensuring the driving safety of the vehicle and improving the driving experience of the user.

[0049] Exemplary Methods

[0050] Figure 2 is a flow chart of an intelligent driving control method provided by an exemplary embodiment of the present disclosure. This embodiment can be applied to electronic devices, such as Figure 2 As shown, the following steps are included:

[0051] Step S201, determining a first driving mode range supported by each driving section according to the type of each driving section in the driving path of the vehicle.

[0052] Among them, the driving path may include multiple driving sections, and each driving section has a corresponding type. Different types of driving sections support different levels of driving modes. The driving sections included in the driving path of the vehicle and the types of each driving section can be obtained according to the starting position, the end position and the map of the vehicle. The starting position of the vehicle can be the current position of the vehicle obtained by locating the starting position of the vehicle through the vehicle-mounted positioning device, or it can be the current position of the vehicle obtained in response to user input. The end position can be the position information obtained in response to the user input, or it can be preset position information. The map can be a high-precision map or a map carrying depth information, etc. The first driving mode range of each driving section can include a set of different driving modes supported by the driving section based on different levels.

[0053] The level corresponding to the driving mode can adopt the autonomous driving level standards formulated by the National Highway Traffic Safety Administration (NHTSA) or the Society of Automotive Engineers (SAE), or the level of the driving mode can be formulated according to actual needs. This disclosure does not make any special restrictions.

[0054] Step S202, based on the perception sensors configured on the vehicle and the working status of the perception sensors, the perception domain capability of the vehicle is obtained.

[0055] The perception domain capability of the vehicle may be the perception domain that can be perceived by the perception sensors configured on the vehicle. The perception domain may be the range perceived by the perception capability of the perception sensor. For example, the front, left, right and rear of the vehicle are respectively provided with perception sensors, and the above perception sensors are respectively used to collect relevant information around the vehicle to form the perception domain of the vehicle. In this case, the perception domain capability of the vehicle is the perception domain perceived by the perception sensors at the front, left, right and rear of the vehicle.

[0056] Step S203: determining a second driving mode range supported by the vehicle based on the perception domain capability of the vehicle.

[0057] According to the correspondence between the perception domain capability of the vehicle and the level, the second driving mode range supported by the vehicle is determined. The second driving mode range may include at least one level of driving mode supported by the perception domain capability of the vehicle.

[0058] Step S204: determining a first target driving mode of the vehicle in each driving section based on the first driving mode range and the second driving mode range, so as to control the vehicle to travel in the corresponding driving section in the first target driving mode.

[0059] Among them, the driving mode supported by each driving section can be determined according to the driving modes of each level in the first driving mode range and the driving modes of each level in the second driving mode range supported by each driving section, and the driving mode supported by each driving section can be determined as the first target driving mode for each driving section.

[0060] The intelligent driving control method provided in this embodiment can determine the first driving mode range supported by each driving section according to the type of each driving section in the driving path of the vehicle, and obtain the perception domain capability of the vehicle based on the working state of the perception sensor configured on the vehicle, and determine the second driving mode range supported by the vehicle according to the perception domain capability of the vehicle, and then determine the first target driving mode of the vehicle in each driving section based on the first driving mode range and the second driving mode range, so as to control the vehicle to travel in the corresponding driving section with the first target driving mode, so as to achieve the comprehensive determination of the driving mode of the vehicle according to the working state of the perception sensor configured on the vehicle and the type of the driving section. At the same time, it is achieved that when the driving section changes or the perception sensor is abnormal, the driving mode is adjusted in time, so that the type of the driving section and the perception domain capability of the vehicle can simultaneously support the adjusted driving mode, further improving the safety of vehicle driving and the driving experience of users.

[0061] like Figure 3 As shown in the above Figure 2 Based on the illustrated embodiment, step 202 may include the following steps:

[0062] Step S2021, determining the perception domain of the vehicle based on the perception sensors configured on the vehicle and the working status of the perception sensors.

[0063] Step S2022: determining the perception domain capability of the vehicle based on the perception domain of the vehicle.

[0064] Among them, the working status of the perception sensors configured for the vehicle is detected, the perception sensors in a normal working state are determined, and the perception domain capability of the vehicle is obtained based on the perception domain perceived by the perception sensors in a normal working state.

[0065] The perception domain of a vehicle may include one or more of the following: a forward perception domain, a rearward perception domain, a left-side perception domain, a right-side perception domain, and a radar perception domain. The forward perception domain of a vehicle may be the perception domain perceived by the perception sensor configured in front of the vehicle, the rearward perception domain of the vehicle may be the perception domain perceived by the perception sensor configured behind the vehicle, the left-side perception domain and the right-side perception domain of the vehicle may be the perception domain perceived by the sensors configured on the left and right sides of the vehicle, respectively, and the radar perception domain of the vehicle may be the perception domain perceived by the radar perception sensor configured on the vehicle.

[0066] For example, Figure 4As shown, the perception sensors configured on the vehicle are multiple cameras, millimeter-wave radars and radars. The multiple cameras are respectively configured at the front, rear, left and right sides of the vehicle, forming the vehicle's forward perception domain, rear perception domain, left perception domain and right perception domain. The millimeter-wave radar is arranged at the front of the vehicle to form the vehicle's millimeter-wave perception domain or forward perception domain. The radar is arranged on the top of the vehicle to form the vehicle's radar perception domain. When the above-mentioned multiple cameras, millimeter-wave radars and radars are all in normal working state, the vehicle's perception domain may include the forward perception domain, rear perception domain, left perception domain, right perception domain, millimeter-wave perception domain and radar perception domain. The vehicle's perception domain capabilities are the ability to perceive the forward perception domain, the ability to perceive the rear perception domain, the ability to perceive the left perception domain, the ability to perceive the right perception domain, the ability to perceive the millimeter-wave perception domain and the ability to perceive the radar perception domain.

[0067] like Figure 5 As shown in the above Figure 2 Based on the illustrated embodiment, step 204 may include the following steps:

[0068] Step 2041 , selecting a first driving mode of the highest level included in both the first driving mode range and the second driving mode range, and outputting the first driving mode.

[0069] The driving modes of each level in the first driving mode range supported by each driving section are matched with the driving modes of each level in the second driving mode range, and the driving mode with the highest level included in both the first driving mode range and the second driving mode range of each driving section is selected as the first driving mode of the driving section. For example, the driving route includes driving section A and driving section B, and the levels of the driving modes in the first driving mode range of driving section A are L3, L2, L1, and L0 from high to low, and the levels of the driving modes in the first driving mode range of driving section B are L5, L4, L3, L2, L1, and L0 from high to low, and the levels of the driving modes in the second driving mode range are L4, L3, L2, L1, and L0 from high to low. Therefore, it can be obtained that the first driving mode of driving section A is the driving mode corresponding to level L3, and the first driving mode of driving section B is the driving mode corresponding to level L4. The higher the level, the higher the degree of automation of the driving mode. For example, the driving mode corresponding to L5 may be fully automatic driving, the driving mode corresponding to L4 may be highly automatic driving, the driving mode corresponding to L3 may be conditional automatic driving, the driving mode corresponding to L2 may be partial automatic driving, the driving mode corresponding to L1 may be assisted automatic driving, and the driving mode corresponding to L0 may be manual driving.

[0070] Step 2042: In response to obtaining a confirmation indication for the first driving mode, using the first driving mode as a first target driving mode.

[0071] Among them, after the first driving mode of the driving section is output, the feedback information obtained is a confirmation indication of the first driving mode, then the first driving mode is used as the first target driving mode of the driving section, and the vehicle is driven in the first target driving mode on the driving section.

[0072] Step S2043: in response to obtaining a mode change instruction to adopt another driving mode, using the other driving mode as the first target driving mode.

[0073] Wherein, after the first driving mode of the driving section is output, if the feedback information obtained is a mode change indication to adopt other driving modes, then the other driving modes are adopted as the first target driving mode of the driving section.

[0074] It is worth noting that the level of other driving modes of the driving section is not higher than the level of the first driving mode. For example, multiple levels of driving modes are pre-set in the vehicle, for example, driving modes of levels L3, L2, L1 and L0 can be pre-set in the vehicle, and the level of the first driving mode of driving section A is determined to be L3, and the first driving mode is output. When the user chooses not to use the first driving mode, the other driving modes that can be selected are driving modes of a level lower than the first driving mode, that is, the user can select driving modes of levels L2, L1 or L0 as other driving modes.

[0075] The disclosed embodiment uses the highest level driving mode included in the first driving mode range supported by each driving section determined based on the type of each driving section and the second driving mode range supported by the vehicle determined by the perception domain capability of the vehicle as the first driving mode, and after responding to the user's confirmation instruction, uses the first driving mode as the first target driving mode, or responds to the user's mode change instruction of other driving modes, uses other driving modes as the first target driving mode. This implementation not only realizes the determination of the vehicle's driving mode according to the working state of the perception sensor configured on the vehicle and the type of the driving section, but also improves the user's flexibility in choosing the driving mode, further improving the user's driving experience.

[0076] In an optional example, after step 204, the method of the present disclosure further includes: when the vehicle travels to a current driving section that meets a preset condition, prompting the length of the current driving section and the first target driving mode in a preset manner.

[0077] The preset condition can be set according to actual needs or experience, for example, the preset condition can be a preset duration or a preset driving distance. The preset method can be image display or voice broadcast.

[0078] In one practical application, satisfying the preset condition may be determining that the time the vehicle has entered the current driving section meets the preset time, and then outputting prompt content through a vehicle voice system or a preset method such as a vehicle display screen, and the prompt content may include at least one of the following: the length of the current driving section, the first target driving mode, the distance from the current position of the vehicle to the next driving section, and the first target driving mode corresponding to the next driving section. In another practical application, satisfying the preset condition may be determining that the distance the vehicle has traveled to the next driving section meets the preset distance, and then outputting prompt content such as the distance to the next driving section and the first target driving mode of the next driving section through a vehicle voice system or a preset method such as a vehicle display screen.

[0079] like Figure 6 As shown in the above Figure 2 Based on the illustrated embodiment, step 201 may further include the following steps:

[0080] Step S2011, obtaining a set of historical driving modes corresponding to each driving section.

[0081] The historical driving mode set corresponding to the driving section may include the historical driving modes of the vehicle that meet the preset conditions in all time periods or preset time periods in the driving section and / or the number of times each historical driving mode is selected. Exemplarily, taking the preset time period as the last 7 days, the vehicle drove in the driving mode of level L4 3 times and in the driving mode of level L2 2 times in the last 7 days in the driving section A. At this time, the historical driving mode set of the vehicle in the driving section A may be {L4,3, L2,2}. The historical driving mode set here may also be obtained in the following manner: according to the level and / or the number of times the historical driving mode is selected as the preset condition, the historical driving mode of each driving section is screened, and then the historical driving mode set of each driving section is determined according to the screened result. For example, the preset condition may be: the historical driving mode of each driving section is selected more than or equal to 3 times as the historical driving mode of the driving section. At this time, the historical driving mode set of the vehicle in the driving section A may be {L4,3}.

[0082] Step S2012: determining a first driving mode range supported by each driving section based on a set of historical driving modes corresponding to each driving section.

[0083] Among them, a driving mode can be determined from the historical driving mode collection of each driving section according to a preset screening scheme, and the driving mode and all driving modes of a lower level can be used as the first driving mode range of the driving section. For example, the highest-level driving mode in the historical driving modes of each driving section can be screened out, and the screened driving mode and driving modes of a lower level can be used as the first driving mode range of the driving section; or the driving mode with the most selected times in the historical driving mode collection can be screened out, and the screened driving mode and driving modes of a lower level can be used as the first driving mode range; or the highest-level driving mode in the historical driving mode collection can be screened out, compared with the highest-level driving mode determined according to the type of the driving section, and the highest-level driving mode can be selected, and the selected highest-level driving mode and driving modes of a lower level can be used as the first driving mode range of the driving section.

[0084] In the disclosed embodiment, the first driving mode range of each driving section can be determined through the historical driving mode set of each driving section. When the first target driving mode of each driving section is determined based on the first driving mode range and the second driving mode, the user's habits or preferences are taken into consideration, thereby further improving the user's driving experience.

[0085] In an alternative example, Figure 7 After step S204, the method of the present disclosure further includes:

[0086] Step S205, obtaining the working status of the perception sensor configured for the vehicle and the road scene information of the current driving section according to a preset cycle.

[0087] Among them, the information of the current driving section can be obtained through the perception sensor configured on the vehicle. For example, the information of the current driving section can be image information. The current position of the vehicle is determined according to the vehicle-mounted positioning device configured on the vehicle, and the information of the current driving section and the current position of the vehicle are transmitted to the computing platform. The computing platform processes the information of the current driving section and the current position of the vehicle to obtain the road scene information of the current driving section. The road scene information of the current driving section may include the number of lanes of the current driving section, the position and / or number of lanes where the vehicle can change lanes, the position and / or number of other vehicles around the vehicle, ground traffic signs, etc. The working state of the perception sensor may include a normal working state and an abnormal working state.

[0088] Step S206, adjusting the driving mode and / or lane of the vehicle on the current driving section according to the working status of the perception sensor and the road scene information.

[0089] In an optional example, step S206 may include the following steps:

[0090] Step S2061: Determine the highest level of the second driving mode supported by the vehicle in the current lane of the current driving section according to the road scene information.

[0091] Among them, each lane of the driving section supports at least one driving mode, and each road scene information supports at least one driving mode. All driving modes supported by the current lane can be obtained, and a first candidate driving mode set is formed by all driving modes supported by the current lane. All driving modes supported by the road scene information of the current lane are obtained, and a second candidate driving mode set is formed by all driving modes supported by the road scene information. The highest-level driving mode in the intersection of the first candidate driving mode set and the second candidate driving mode set is determined as the highest-level second driving mode supported by the current lane.

[0092] Step S2062, obtaining the perception domain capability of the vehicle according to the working status of the perception sensor.

[0093] The working state of the perception sensors configured on the vehicle can be detected in real time or according to a preset period, and the current perception domain capability of the vehicle can be determined based on the perception sensors currently in a normal working state. The preset period can be set according to actual conditions.

[0094] For example, the vehicle may be equipped with perception sensors for perceiving the vehicle's forward perception domain, rearward perception domain, left perception domain, and right perception domain. The vehicle may also be equipped with perception sensors for perceiving the vehicle's radar perception domain and millimeter wave perception domain. The vehicle's left perception domain capability and right perception domain capability may be perceived by two or more perception sensors. For example, the vehicle's left perception domain may include left perception domain 1 and left perception domain 2; the right perception domain may include right perception domain 1 and right perception domain 2.

[0095] Figure 8 It shows the perception domain and perception domain capability of the vehicle when the perception sensors configured on the vehicle are in normal working condition. At this time, the perception domain capability of the vehicle is able to perceive the vehicle's forward perception domain, rearward perception domain, left perception domain, right perception domain, radar perception domain and millimeter wave perception domain.

[0096] Fig. 9 It shows the perception domain and perception domain capability of the vehicle when the working state of the perception sensor configured for perceiving the forward perception domain is abnormal. At this time, the forward perception domain of the vehicle is missing, and the perception domain capability of the vehicle is capable of perceiving the rear view perception domain, left view perception domain, right view perception domain, radar perception domain and millimeter wave perception domain of the vehicle.

[0097] Fig.10The vehicle's perception domain and perception domain capability are shown when the working state of the perception sensor configured for perceiving the radar perception domain is abnormal. At this time, the vehicle's radar perception domain is missing, and the vehicle's perception domain capability is capable of perceiving the vehicle's forward perception domain, rearward perception domain, left perception domain, right perception domain, and millimeter-wave perception domain.

[0098] Fig.11 The diagram shows the perception domain and perception domain capability of the vehicle when the working state of a perception sensor configured for perceiving the left-view perception domain is abnormal. At this time, the left-view perception domain 2 of the vehicle is missing, and the perception domain capability of the vehicle is capable of perceiving the vehicle's forward-view perception domain, rear-view perception domain, left-view perception domain 1 (part of the left-view perception domain), right-view perception domain, and millimeter-wave perception domain.

[0099] Step S2063: When it is determined that the perception domain capability supports the vehicle to drive in the current lane in the second driving mode, adjust the driving mode of the vehicle in the current lane to the second driving mode.

[0100] Among them, when driving in each lane in each driving mode of each level, the vehicle needs to have the corresponding perception domain capability. The perception domain capability required for the vehicle to drive in the current lane in the second driving mode is obtained, and it is determined whether the perception domain capability of the vehicle meets the above-mentioned required perception domain capability. When it is determined that the perception domain capability of the vehicle meets the above-mentioned required perception domain capability, it is determined that the perception domain capability of the vehicle supports the second driving mode. When it is determined that the perception domain capability of the vehicle supports the second driving mode, the vehicle is adjusted to drive in the current lane of the current driving section in the second driving mode. For example, the current lane in which the vehicle is driving is the middle lane. According to the road scene information, it is determined that the level of the highest driving mode in the middle lane is L3. When it is determined that the vehicle is driving in the middle lane in the driving mode of level L3, the perception domain capability of the vehicle is required to be the forward perception domain, rearward perception domain, left perception domain and right perception domain that can perceive the vehicle. When the perception domain capability of the vehicle at this time is the forward perception domain, rearward perception domain, left perception domain and right perception domain that can perceive the vehicle, it is determined that the perception domain capability of the vehicle supports the vehicle to drive in the middle lane in the second driving mode.

[0101] In an optional example, step S206 may further include the following steps:

[0102] Step S2064: when it is determined that the perception domain capability does not support the vehicle driving in the current lane in the second driving mode, determine whether the perception domain capability supports the vehicle driving in the second driving mode in other lanes of the current driving section.

[0103] Step S2065: When it is determined that the perception domain capability supports the vehicle to drive in other lanes of the current driving section in the second driving mode, the vehicle is controlled to change lanes to other lanes of the current driving section, and the driving mode of the vehicle is adjusted to the second driving mode.

[0104] Among them, when it is determined that the perception domain capability of the vehicle does not meet the perception domain capability required for the vehicle to travel in the second driving mode in the current lane, it is determined that the perception domain capability of the vehicle does not support the vehicle to travel in the second driving mode in the current lane. When it is determined that the perception domain capability of the vehicle does not support the vehicle to travel in the second driving mode in the current lane, determine whether the current driving section of the vehicle has other lanes that allow the vehicle to change lanes based on road scene information, and when it is determined that there are other lanes that can be changed, obtain the perception domain capability required for driving in the second driving mode in the other lanes, determine whether the perception domain capability of the vehicle meets the required perception domain capability, and when the current perception domain capability of the vehicle meets the required perception domain capability, determine that the other lane supports the vehicle to travel thereon in the second driving mode, control the vehicle to change lanes to the other lane, and adjust the vehicle's driving mode to the second driving mode. For example, Fig.12 As shown, the current road section where the vehicle is traveling includes left lane 1, right lane 2 and middle lane 3. The current lane where the vehicle is traveling is middle lane 3. It is detected that the working state of the perception sensor that perceives the left visual perception domain of the vehicle is abnormal. At this time, the perception domain capability of the vehicle is that it can perceive the front visual perception domain, right visual perception domain, rear visual perception domain, radar perception domain and millimeter wave perception domain. According to the road scene information, it is determined that the highest level of driving mode supported by the vehicle in middle lane 3 is the driving mode of level L3. The perception domain capability required for driving in the middle lane of level L3 is that it can perceive the front visual perception domain, rear visual perception domain, left visual perception domain and right visual perception domain of the vehicle. At this time, the perception domain capability of the vehicle does not support the vehicle to drive in the middle lane 3 in the driving mode of level L3. The perception domain capability required for driving in the left lane 1 at the level L3 driving mode is obtained as the forward perception domain, rearward perception domain, and right perception domain that can perceive the vehicle. At this time, it is determined that the perception domain capability of the vehicle supports the vehicle to drive in the left lane 1 at the level L3 driving mode, control the vehicle to change lanes to the left lane 1, and then control the vehicle to drive in the left lane 1 at the level L3 driving mode, such as Fig.13 shown.

[0105] In an optional example, step S206 may further include the following steps:

[0106] Step S2066: When it is determined that the perception domain capability does not support the vehicle to drive in the other lanes of the current driving section in the second driving mode, determine the highest level of the third driving mode supported by the perception domain capability on each lane of the current driving section.

[0107] Step S2067: Select the highest level driving mode among the third driving modes supported by each lane as the second target driving mode, and determine the driving lane corresponding to the second target driving mode as the target lane.

[0108] Step S2068, controlling the vehicle to change lanes to the target lane, and adjusting the vehicle's driving mode to a second target driving mode.

[0109] When it is determined that the perception domain capability of the vehicle does not support the vehicle to travel in all lanes of the current driving section in the second driving mode, the driving modes of various levels supported by each lane in the current driving section and the perception domain capabilities required for each level of driving modes to travel in the lane are obtained, the perception domain capabilities of the vehicle are matched with the perception domain capabilities required for each level of driving modes in each lane to travel in the lane, and the highest level of driving mode for each lane supported by the perception domain capability of the vehicle is screened out as the third driving mode for each lane. For example, lane A can support driving modes of level L3, level L2, level L1 and level L0; when the vehicle is driving on lane A in L3 driving mode, the required perception domain capabilities are to perceive the forward perception domain, rearward perception domain, left perception domain and right perception domain; when the vehicle is driving on lane A in level L2 driving mode, the required perception domain capabilities are to perceive the forward perception domain, rearward perception domain and right perception domain, and the vehicle's perception domain capabilities are to be able to perceive the forward perception domain, rearward perception domain and right perception domain of the vehicle. At this time, the highest level of driving mode supported by lane A is the driving mode corresponding to level L2, and the driving mode corresponding to level L2 is the third driving mode of lane A.

[0110] The highest-level driving mode is selected from the third driving modes of each lane as the second target driving mode, and the lane corresponding to the second target driving mode is selected as the target lane. For example, the level of the third driving mode of lane A is L3, and the level of the third driving mode of lane B is L2. In this case, lane A is selected as the target lane, and the driving mode of level L3 is the second target driving mode. The vehicle is first controlled to change lanes to lane A, and then drives in lane A in the driving mode of level L3.

[0111] In the disclosed embodiments, the vehicle's driving mode and / or lane are adjusted in a timely manner through road scene information and the vehicle's perception domain capabilities, so that the adjusted vehicle's driving mode and lane match the vehicle's perception domain capabilities and road scene information, thereby further improving the safety of vehicle driving while ensuring the user's driving experience.

[0112] In an optional example, step S2062 may include the following steps:

[0113] Step S20621, according to the working status of the perception sensors, determine the perception sensors in the vehicle that are in a normal state and the perception sensors that are in an abnormal state.

[0114] Step S20622: Use the perception sensor in a normal state to perform perception domain compensation on the perception sensor in an abnormal state, and determine the perception domain capability of the vehicle based on the compensated perception domain.

[0115] According to the working state and perceptual domain of each perception sensor configured in the vehicle, it is determined whether the perceptual domain of the perception sensor in normal working state can compensate for the perceptual domain of the perception sensor in abnormal working state, and when it is determined that the perceptual domain of the perception sensor in normal working state can compensate for the perceptual domain of the perception sensor in abnormal working state, the perceptual domain of the perception sensor in normal working state is used to compensate for the perceptual domain of the perception sensor in abnormal working state, and the perception domain capability of the vehicle is determined based on the compensated perceptual domain. For example, Fig. 9 As shown, the perception sensor that perceives the forward perception domain is in an abnormal working state and cannot perceive the forward perception domain, while the working states of other perception sensors are normal. At this time, the forward perception domain can be compensated by the millimeter-wave perception domain. At this time, the perception domain capability of the vehicle is to be able to perceive the forward perception domain, the rear-view perception domain, the left-view perception domain, the right-view perception domain, the radar perception domain, and the millimeter-wave perception domain. In the disclosed embodiment, the perception sensors configured on the vehicle in normal working state are used to compensate for the perception domains of the perception sensors in abnormal working states, which not only ensures the perception domain capability of the vehicle and increases the utilization rate of the perception sensors, but also further improves the safety of vehicle driving because the perception domains of the perception sensors in abnormal working states are compensated in time.

[0116] In an alternative example, Fig.14 An overall flow chart of an intelligent driving control method provided by an exemplary embodiment of the present disclosure is disclosed, wherein the specific operation of each step has been described in detail in the foregoing content and will not be repeated here.

[0117] 1. According to the vehicle's starting position, end position and map, determine the driving sections of the vehicle's driving path, such as Fig.15 As shown, two driving paths are planned between the vehicle's starting position A and the vehicle's end position B, namely, driving path 1 and driving path 2. Driving path 1 includes driving section 1.1 and driving section 1.2, and driving path 2 includes driving section 2.1 and driving section 2.2. The type of each driving section corresponds to a different level of driving mode, and the range of the first driving mode supported by each driving section is determined according to the type of each driving section.

[0118] 2. Based on the perception sensors configured on the vehicle and the working status of the perception sensors, the perception domain capability of the vehicle is obtained.

[0119] 3. Based on the perception domain capabilities, determine the range of the second driving mode supported by the vehicle.

[0120] 4. Select a first driving mode of the highest level included in both the first driving mode range and the second driving mode range, and output the first driving mode.

[0121] 5. Determine the received information. When the information obtained is a confirmation indication for the first driving mode, execute step 6. When the information obtained is a mode change indication for adopting another driving mode, execute step 7.

[0122] 6. Take the first driving mode as the first target driving mode, and then execute step 8.

[0123] 7. Use other driving modes as the first target driving mode.

[0124] 8. Determine whether the vehicle has reached the terminal position. When the vehicle has reached the terminal position, execute step 9; when the vehicle has not reached the terminal position, execute step 10; wherein, the current position of the vehicle can be detected by an on-board positioning device configured for the vehicle, and based on the current position of the vehicle, determine whether the vehicle has reached the terminal position.

[0125] 9. The vehicle is parked, and the subsequent process of this embodiment is not executed.

[0126] 10. According to the preset cycle, obtain the working status of the perception sensors configured on the vehicle and the road scene information of the current driving section.

[0127] 11. Determine the vehicle’s perception domain capability based on the working status of the perception sensors configured on the vehicle.

[0128] 12. Determine whether the perception domain capability of the vehicle supports the first target driving mode. When the perception domain capability of the vehicle supports the first target driving mode, execute step 8; when the perception domain capability of the vehicle does not support the first target driving mode, execute step 13.

[0129] 13. Determine the highest level of the second driving mode supported by the vehicle in the current lane of the current driving section based on the road scene information.

[0130] 14. Determine whether the perception domain capability of the vehicle supports the vehicle driving in the second driving mode in the current lane. When it is determined that the perception domain capability supports the vehicle driving in the second driving mode in the current lane, execute step 15; when it is determined that the perception domain capability does not support the vehicle driving in the second driving mode in the current lane, execute step 16.

[0131] 15. Adjust the vehicle's driving mode in the current lane to the second driving mode, and then execute step 8.

[0132] 16. Determine whether the perception domain capability of the vehicle supports the vehicle to drive in other lanes of the current driving section in the second driving mode. When it is determined that the perception domain capability supports the vehicle to drive in other lanes of the current driving section in the second driving mode, execute step 17; when it is determined that the perception domain capability does not support the vehicle to drive in other lanes of the current driving section in the second driving mode, execute step 18.

[0133] 17, control the vehicle to change lanes to other lanes of the current driving section, and adjust the vehicle's driving mode to the second driving mode, and then execute step 8.

[0134] 18. Determine the highest level of the third driving mode supported by the perception domain capability on each lane of the current driving section.

[0135] 19. Select the highest level driving mode among the third driving modes supported by each lane as the second target driving mode, and determine the driving lane corresponding to the second target driving mode as the target lane.

[0136] 20. Control the vehicle to change lanes to the target lane, and adjust the vehicle's driving mode to a second target driving mode, and then execute step 8.

[0137] Any intelligent driving control method provided in the embodiments of the present disclosure may be executed by any appropriate device with data processing capabilities, including but not limited to: a terminal device and a server, etc. Alternatively, any intelligent driving control method provided in the embodiments of the present disclosure may be executed by a processor, such as a processor executing any intelligent driving control method mentioned in the embodiments of the present disclosure by calling corresponding instructions stored in a memory. This will not be described in detail below.

[0138] Exemplary Devices

[0139] Fig.16 is a schematic diagram of the structure of an intelligent driving control device provided by an exemplary embodiment of the present disclosure. The device of this embodiment can be used to implement the corresponding method embodiment of the present disclosure, such as Fig.16 The device shown includes: a first acquisition module 801 , a second acquisition module 802 , a first determination module 803 and a second determination module 804 .

[0140] A first acquisition module 801 is used to determine a first driving mode range supported by each driving section according to the type of each driving section in the driving path of the vehicle;

[0141] A second acquisition module 802, configured to acquire the perception domain capability of the vehicle based on the perception sensors configured on the vehicle and the working status of the perception sensors;

[0142] A first determination module 803, configured to determine a second driving mode range supported by the vehicle based on the perception domain capability;

[0143] The second determination module 804 is used to determine a first target driving mode of the vehicle in each driving section based on the first driving mode range and the second driving mode range, so as to control the vehicle to travel in the corresponding driving section in the first target driving mode.

[0144] Fig.17 It is a structural schematic diagram of an intelligent driving control device provided by another exemplary embodiment of the present disclosure.

[0145] In an optional example, the second determining module 804 includes:

[0146] A first selection submodule 8041 is used to select a first driving mode of the highest level included in both the first driving mode range and the second driving mode range, and output the first driving mode;

[0147] The response submodule 8042 is used to respond to obtaining a confirmation indication for the first driving mode, using the first driving mode as the first target driving mode; or, respond to obtaining a mode change indication to adopt other driving modes, using the other driving mode as the first target driving mode.

[0148] In an optional example, the apparatus of the present disclosure further includes:

[0149] The prompt module 805 is used to prompt the length of the current driving section and the first target driving mode in a preset manner when the vehicle travels to the current driving section and meets the preset conditions.

[0150] In an optional example, the first acquisition module 801 includes:

[0151] The first acquisition submodule 8011 is used to acquire, based on each driving section in the driving path, a set of historical driving patterns corresponding to each driving section;

[0152] The first determination submodule 8012 is used to determine the first driving mode range supported by each of the driving sections based on the historical driving mode sets corresponding to each of the driving sections.

[0153] In an optional example, the perception domain includes one or more of the following: a forward-looking perception domain, a rearward-looking perception domain, a left-looking perception domain, a right-looking perception domain, and a radar perception domain.

[0154] In an optional example, the apparatus of the present disclosure further includes:

[0155] The checking module 806 is used to obtain the working status of the perception sensor configured for the vehicle and the road scene information of the current driving section according to a preset period;

[0156] The adjustment module 807 is used to adjust the driving mode and / or lane of the vehicle on the current driving section according to the working status of the perception sensor and the road scene information.

[0157] In an optional example, the adjustment module 807 includes:

[0158] A second determination submodule 8071 is used to determine the highest level of a second driving mode supported by the vehicle in the current lane of the current driving section according to the road scene information;

[0159] A second acquisition submodule 8072 is used to acquire the perception domain capability of the vehicle according to the working state of the perception sensor;

[0160] The first adjustment submodule 8073 is configured to adjust the driving mode of the vehicle in the current lane to the second driving mode when it is determined that the perception domain capability supports the vehicle to drive in the current lane in the second driving mode.

[0161] In an optional example, the adjustment module 807 further includes:

[0162] A third determination submodule 8074 is configured to determine whether the perception domain capability supports the vehicle to drive in the second driving mode in other lanes of the current driving section when it is determined that the perception domain capability does not support the vehicle to drive in the second driving mode in the current lane;

[0163] The second adjustment submodule 8075 controls the vehicle to change lanes to the other lanes of the current driving section and adjusts the driving mode of the vehicle to the second driving mode when it is determined that the perception domain capability supports the vehicle to drive in the other lanes of the current driving section in the second driving mode.

[0164] In an optional example, the adjustment module 807 further includes:

[0165] A fourth determination submodule 8076 is configured to determine a third driving mode of the highest level supported by the perception domain capability on each lane of the current driving section when it is determined that the perception domain capability does not support the vehicle driving in the other lanes of the current driving section in the second driving mode;

[0166] a fifth determining submodule 8077, configured to select a highest level driving mode among the third driving modes supported by each lane as the second target driving mode, and determine a driving lane corresponding to the second target driving mode as the target lane;

[0167] The third adjustment submodule 8078 is used to control the vehicle to change lanes to the target lane and adjust the driving mode of the vehicle to the second target driving mode.

[0168] In an optional example, the second acquisition submodule 8072 further includes:

[0169] A determining unit 80721 is used to determine, according to the working state of the perception sensor, a perception sensor in a normal state and a perception sensor in an abnormal state among the perception sensors of the vehicle;

[0170] The compensation unit 80722 is used to use the perception sensor in the normal state to perform perception domain compensation on the perception sensor in the abnormal state, and determine the perception domain capability of the vehicle based on the compensated perception domain.

[0171] Exemplary Electronic Devices

[0172] The embodiment of the present disclosure also provides an electronic device, including: a memory for storing a computer program;

[0173] The processor is used to execute the computer program stored in the memory, and when the computer program is executed, the intelligent driving control method described in any of the above embodiments of the present disclosure is implemented.

[0174] like Fig.18 As shown, the electronic device 10 includes one or more processors 11 and a memory 12 .

[0175] The processor 11 may be a central processing unit (CPU) or other forms of processing units having data processing capabilities and / or instruction execution capabilities, and may control other components in the electronic device 10 to perform desired functions.

[0176] The memory 13 may include one or more computer program products, which may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. The non-volatile memory may include, for example, a read-only memory (ROM), a hard disk, a flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage medium, and the processor 11 may run the program instructions to implement the intelligent driving control method of each embodiment of the present disclosure described above and / or other desired functions. Various contents such as input signals, signal components, noise components, etc. may also be stored in the computer-readable storage medium.

[0177] In one example, the electronic device 10 may further include an input device 12 and an output device 14 , and these components are interconnected via a bus system and / or other forms of connection mechanisms (not shown).

[0178] For example, the input device 12 may be the microphone or microphone array mentioned above, which is used to capture the input signal of the sound source. In addition, the input device 12 may also include, for example, a keyboard, a mouse, and the like.

[0179] The output device 14 can output various information to the outside, including determined distance information, direction information, etc. The output device 14 can include, for example, a display, a speaker, a printer, a communication network and a remote output device connected thereto, and the like.

[0180] Of course, to simplify, Fig.18 Only some of the components related to the present disclosure in the electronic device 10 are shown, and components such as a bus, an input / output interface, etc. are omitted. In addition, according to specific application situations, the electronic device 10 may also include any other appropriate components.

[0181] Exemplary computer program products and computer-readable storage media

[0182] In addition to the above-mentioned methods and devices, an embodiment of the present disclosure may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps of the intelligent driving control method according to various embodiments of the present disclosure described in the above-mentioned "Exemplary Method" section of this specification.

[0183] The computer program product may be written in any combination of one or more programming languages ​​to write program code for performing the operations of the disclosed embodiments, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0184] In addition, an embodiment of the present disclosure may also be a computer-readable storage medium on which computer program instructions are stored. When the computer program instructions are executed by a processor, the processor executes the steps of the intelligent driving control method according to various embodiments of the present disclosure described in the above "Exemplary Method" section of this specification.

[0185] The computer readable storage medium can adopt any combination of one or more readable media. The readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can include, for example, but is not limited to, a system, device or device of electricity, magnetism, light, electromagnetic, infrared, or semiconductor, or any combination of the above. More specific examples (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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 above.

[0186] The basic principles of the present disclosure are described above in conjunction with specific embodiments. However, it should be noted that the advantages, strengths, effects, etc. mentioned in the present disclosure are only examples and not limitations, and it cannot be considered that these advantages, strengths, effects, etc. are required by each embodiment of the present disclosure. In addition, the specific details disclosed above are only for the purpose of illustration and ease of understanding, and are not limitations. The above details do not limit the present disclosure to the necessity of adopting the above specific details to be implemented.

[0187] Each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the embodiments can be referred to each other. For the system embodiment, since it basically corresponds to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0188] The block diagrams of the devices, apparatuses, equipment, and systems involved in this disclosure are only illustrative examples and are not intended to require or imply that they must be connected, arranged, and configured in the manner shown in the block diagrams. As will be appreciated by those skilled in the art, these devices, apparatuses, equipment, and systems can be connected, arranged, and configured in any manner. Words such as "including," "comprising," "having," and the like are open words, referring to "including but not limited to," and can be used interchangeably therewith. The words "or" and "and" used herein refer to the words "and / or," and can be used interchangeably therewith, unless the context clearly indicates otherwise. The word "such as" used herein refers to the phrase "such as but not limited to," and can be used interchangeably therewith.

[0189] The method and apparatus of the present disclosure may be implemented in many ways. For example, the method and apparatus of the present disclosure may be implemented by software, hardware, firmware, or any combination of software, hardware, and firmware. The above order of steps for the method is for illustration only, and the steps of the method of the present disclosure are not limited to the order specifically described above, unless otherwise specifically stated. In addition, in some embodiments, the present disclosure may also be implemented as a program recorded in a recording medium, which includes machine-readable instructions for implementing the method according to the present disclosure. Therefore, the present disclosure also covers a recording medium storing a program for executing the method according to the present disclosure.

[0190] It should also be noted that in the apparatus, device and method of the present disclosure, each component or each step can be decomposed and / or recombined. Such decomposition and / or recombination should be regarded as equivalent solutions of the present disclosure.

[0191] The above description of the disclosed aspects is provided to enable any person skilled in the art to make or use the present disclosure. Various modifications to these aspects will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other aspects without departing from the scope of the present disclosure. Therefore, the present disclosure is not intended to be limited to the aspects shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0192] The above description has been given for the purpose of illustration and description. In addition, this description is not intended to limit the embodiments of the present disclosure to the forms disclosed herein. Although multiple example aspects and embodiments have been discussed above, those skilled in the art will recognize certain variations, modifications, changes, additions and sub-combinations thereof.

Claims

1. An intelligent driving control method, comprising: Determining, according to the type of each driving section in the driving path of the vehicle, a first driving mode range supported by each driving section, wherein the first driving mode range supported by each driving section includes a driving mode supported by the corresponding driving section; Based on the perception sensors configured on the vehicle and the working states of the perception sensors, acquiring the perception domain capability of the vehicle, wherein the perception domain capability of the vehicle is the perception domain that can be perceived by the perception sensors configured on the vehicle; Based on the perception domain capability, determining a second driving mode range supported by the vehicle, wherein the second driving mode range includes driving modes supported by the perception domain capability of the vehicle; Determining a first target driving mode of the vehicle in each driving section based on the first driving mode range and the second driving mode range, so as to control the vehicle to travel in the corresponding driving section in the first target driving mode; According to a preset cycle, the working status of the perception sensor configured for the vehicle and the road scene information of the current driving section are obtained; The driving mode and / or lane of the vehicle on the current driving section is adjusted according to the working status of the perception sensor and the road scene information.

2. The method according to claim 1, wherein: The determining, based on the first driving mode range and the second driving mode range, a first target driving mode of the vehicle in each driving section includes: selecting a first driving mode of the highest level included in both the first driving mode range and the second driving mode range, and outputting the first driving mode; In response to obtaining a confirmation indication for the first driving mode, taking the first driving mode as the first target driving mode; or, In response to obtaining a mode change indication to adopt another driving mode, the other driving mode is used as the first target driving mode.

3. The method according to claim 1, wherein: After controlling the vehicle to travel in the corresponding driving section in the first target driving mode, the method further includes: When the vehicle travels to a current driving section that meets a preset condition, the section length of the current driving section and the first target driving mode are prompted in a preset manner.

4. The method according to any one of claims 1 to 3, wherein: The first driving mode range supported by each driving section is obtained in the following manner: Obtaining a set of historical driving modes corresponding to each of the driving sections; Based on the historical driving mode sets corresponding to the driving sections respectively, the first driving mode ranges respectively supported by the driving sections are determined.

5. The method according to claim 1, wherein: The acquiring the perception domain capability of the vehicle based on the perception sensors configured on the vehicle and the working status of the perception sensors includes: Determining a perception domain of the vehicle based on perception sensors configured on the vehicle and working states of the perception sensors; Based on the perception domain of the vehicle, determining a perception domain capability of the vehicle; The perception domain includes one or more of the following: a forward-looking perception domain, a rearward-looking perception domain, a left-looking perception domain, a right-looking perception domain, and a radar perception domain.

6. The method according to claim 1, wherein: The adjusting the driving mode and / or lane of the vehicle on the current driving section according to the working state of the perception sensor and the road scene information includes: Determining, according to the road scene information, a second driving mode of the highest level supported by the vehicle in a current lane of the current driving section; Acquiring the perception domain capability of the vehicle according to the working state of the perception sensor; When it is determined that the perception domain capability supports the vehicle to drive in the current lane in the second driving mode, the driving mode of the vehicle in the current lane is adjusted to the second driving mode.

7. The method according to claim 6, further comprising: When it is determined that the perception domain capability does not support the vehicle driving in the current lane in the second driving mode, determining whether the perception domain capability supports the vehicle driving in the second driving mode in other lanes of the current driving section; When it is determined that the perception domain capability supports the vehicle to drive in the other lane of the current driving section in the second driving mode, the vehicle is controlled to change lanes to the other lane of the current driving section, and the driving mode of the vehicle is adjusted to the second driving mode.

8. The method according to claim 7, further comprising: When it is determined that the perception domain capability does not support the vehicle driving in the other lanes of the current driving section in the second driving mode, determining a third driving mode of the highest level supported by the perception domain capability on each lane of the current driving section; Selecting a highest level driving mode among the third driving modes supported by each lane as a second target driving mode, and determining a driving lane corresponding to the second target driving mode as a target lane; The vehicle is controlled to change lanes to the target lane, and the driving mode of the vehicle is adjusted to the second target driving mode.

9. The method according to any one of claims 6 to 8, wherein: The acquiring the perception domain capability of the vehicle according to the working state of the perception sensor includes: According to the working state of the perception sensor, determining a perception sensor in a normal state and a perception sensor in an abnormal state among the perception sensors of the vehicle; The perception sensor in a normal state is used to perform perception domain compensation on the perception sensor in an abnormal state, and the perception domain capability of the vehicle is determined based on the compensated perception domain.

10. An intelligent driving control device, comprising: A first acquisition module is used to determine, according to the type of each driving section in the driving path of the vehicle, a first driving mode range supported by each driving section, wherein the first driving mode range supported by each driving section includes the driving mode supported by the corresponding driving section; a second acquisition module, configured to acquire a perception domain capability of the vehicle based on a perception sensor configured on the vehicle and a working state of the perception sensor, wherein the perception domain capability of the vehicle is a perception domain that can be perceived by the perception sensor configured on the vehicle; A first determination module is configured to determine a second driving mode range supported by the vehicle based on the perception domain capability, wherein the second driving mode range includes driving modes supported by the perception domain capability of the vehicle; a second determining module, configured to determine a first target driving mode of the vehicle in each driving section based on the first driving mode range and the second driving mode range, so as to control the vehicle to travel in the corresponding driving section in the first target driving mode; An inspection module is used to obtain the working status of the perception sensor configured for the vehicle and the road scene information of the current driving section according to a preset period; The adjustment module is used to adjust the driving mode and / or lane of the vehicle on the current driving section according to the working state of the perception sensor and the road scene information.

11. A computer-readable storage medium, wherein the storage medium stores a computer program, wherein the computer program is used to execute the intelligent driving control method described in any one of claims 1 to 9.

12. An electronic device, comprising: processor; a memory for storing instructions executable by the processor; The processor is used to read the executable instructions from the memory and execute the instructions to implement the intelligent driving control method described in any one of claims 1 to 9 above.

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