A method for switching a driving assistance control mode and related equipment

Abstract

The present application provides a method for switching a driving assistance control mode and related equipment, the method comprising: determining a target deceleration based on vehicle driving direction detection information and vehicle driving state information; obtaining a driver's braking operation on the vehicle when the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode; avoiding emergency braking by switching the vehicle to an automatic emergency braking mode when the braking operation is effective. In this way, the vehicle's adaptive cruise mode interacts with the automatic emergency braking mode, and when the braking operation is invalid, the ACC mode is exited, the braking pressure is maintained but not released, so that the vehicle quickly and smoothly switches to the AEB mode for further braking, ensuring that the pressure does not decrease first and then increase during the switching between the two modes, causing the vehicle to shake violently, and ensuring safety and comfort during driving.

Description

Technical Field

[0001] The present invention relates to the field of vehicle assisted driving, and in particular to a method for switching a driving assistance control mode and related equipment. Background Art

[0002] Adaptive cruise control is a vehicle control system that collects the distance between the vehicle and the vehicle in front based on the information detected by the vehicle-to-vehicle distance sensor, sets a safe distance, and controls the vehicle's speed based on the distance between the vehicle and the vehicle in front and the set safety distance. The system can control the vehicle to maintain a reasonable distance from the vehicle in front, thereby ensuring driving safety.

[0003] Automatic emergency braking uses radar to measure the distance to the vehicle in front or an obstacle, and analyzes the measured distance against the warning distance and safety distance. If the distance between the vehicle and the vehicle in front or an obstacle is less than the warning distance, an alarm will be given. If the distance between the vehicle and the vehicle in front or an obstacle is less than the safety distance, the automatic emergency braking system will automatically activate and brake the car even if the driver does not have time to step on the brake pedal, thereby ensuring safe travel.

[0004] At present, the adaptive cruise mode and automatic emergency braking mode of vehicles have independent functions and only consider driving safety and pursue high safety of vehicles, while ignoring the comfort requirements of passengers on the vehicle. As a result, when the vehicle is switched to the automatic emergency braking mode and emergency braking is performed on the vehicle, on the one hand, the vehicle speed suddenly slows down and drops directly to 0, and the braking is violent, which may cause passengers in the car to collide and create danger. On the other hand, the automatic cruise mode exits at the moment before the vehicle enters the automatic emergency braking mode, accompanied by a pressure relief process. When entering the automatic emergency braking mode, it is pressurized again, causing the vehicle to shake during the switching process. Summary of the invention

[0005] The present invention provides a method for switching a driving assistance control mode and related equipment to solve the problem that during vehicle driving, the vehicle's adaptive cruise control system and the vehicle's automatic emergency braking system do not interact with each other, resulting in the vehicle being judged to have a collision risk and either immediately decelerating at a large deceleration, or experiencing unevenness during the function switching process, thereby affecting the vehicle's comfort.

[0006] In a first aspect, the present invention provides a method for switching a driving assistance control mode, comprising: determining a target deceleration based on vehicle driving direction detection information and vehicle own driving state information;

[0007] When the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode, obtaining a driver's braking operation on the vehicle;

[0008] In the case where the braking operation is effective, emergency braking is avoided by switching the vehicle to an automatic emergency braking mode.

[0009] Optionally, the method for switching the driving assistance control mode further includes:

[0010] When the braking operation is effective, exiting the adaptive cruise mode;

[0011] Maintain the current brake pressure in the adaptive cruise mode.

[0012] Optionally, the adaptive cruise mode is ACC mode, and the automatic emergency braking mode is AEB mode.

[0013] Optionally, the vehicle driving direction detection information includes at least one of the type of target object in the vehicle driving direction, the distance between the vehicle and the target object, the speed of the target object and the orientation of the target object relative to the vehicle; the vehicle's own driving status information includes at least one of the vehicle's speed, acceleration and steering angle.

[0014] Optionally, when the braking operation is not obtained or the braking operation is invalid, the vehicle is switched to an automatic emergency braking mode for emergency braking.

[0015] Optionally, when the braking operation is not obtained or the braking operation is invalid, switching the vehicle to an automatic emergency braking mode for emergency braking includes:

[0016] switching the vehicle to an automatic emergency braking mode when the braking operation is not obtained or the braking operation is invalid;

[0017] The deceleration of the vehicle is adjusted to be greater than or equal to the target deceleration based on the automatic emergency braking mode.

[0018] Optionally, when the braking operation is not obtained or the braking operation is invalid, performing emergency braking by switching the vehicle to an automatic emergency braking mode further includes:

[0019] In case of emergency braking by switching the vehicle to an automatic emergency braking mode, obtaining viewing angle information of the driver of the vehicle at a moment before braking;

[0020] When the viewing angle information matches the target object in the direction of travel of the vehicle, and it is again monitored that the vehicle is in adaptive cruise mode and the target deceleration does not match the vehicle in adaptive cruise mode, the vehicle is switched to automatic emergency braking mode for emergency braking.

[0021] In a second aspect, the present invention further provides a driving assistance control mode switching device, comprising:

[0022] A determination module, used to determine a target deceleration based on the vehicle driving direction detection information and the vehicle's own driving state information;

[0023] a collection module, configured to obtain a braking operation of the vehicle by the driver when the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode;

[0024] A control module is configured to avoid emergency braking by switching the vehicle to an automatic emergency braking mode if the braking operation is effective.

[0025] In a third aspect, the present invention further provides an electronic device, comprising a memory and a processor, wherein the processor is configured to implement the steps of the method for switching the driving assistance control mode as described in any one of the first aspects above when executing a computer program stored in the memory.

[0026] In a fourth aspect, the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the steps of the method for switching the driving assistance control mode as described in any one of the first aspects are implemented.

[0027] It can be seen from the above technical solutions that the embodiment of the present application provides a method for switching a driving assistance control mode, including: determining a target deceleration based on vehicle driving direction detection information and vehicle driving state information; monitoring and obtaining the driver's braking operation on the vehicle when the vehicle is in adaptive cruise mode and the target deceleration does not match the vehicle in adaptive cruise mode; avoiding emergency braking by switching the vehicle to automatic emergency braking mode when the braking operation is effective. At present, the adaptive cruise mode and automatic emergency braking mode of the vehicle are independent in function, only considering driving safety and pursuing high safety of the vehicle, while ignoring the comfort requirements of passengers on the vehicle, resulting in a sudden deceleration of the vehicle speed when the vehicle is switched to the automatic emergency braking mode, and the vehicle speed is directly reduced to 0, and the braking is violent, which may cause the passengers in the car to collide and cause danger. The embodiment of the present application determines the target deceleration through the vehicle driving direction detection information and the vehicle driving state information, and controls the vehicle to switch the control mode according to the above target deceleration, the maximum deceleration value in the adaptive cruise mode and the driver's braking operation information on the vehicle. In this way, the vehicle's adaptive cruise mode and automatic emergency braking mode can interact to ensure driving safety while improving vehicle comfort. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solution of the present application, the drawings required for use in the embodiments are briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0029] Figure 1 A schematic flow chart of a method for switching a driving assistance control mode provided in an embodiment of the present application;

[0030] Figure 2 A schematic structural diagram of a driving assistance control mode switching device provided in an embodiment of the present application;

[0031] Figure 3 A schematic diagram of an electronic device provided in an embodiment of the present application;

[0032] Figure 4 A schematic diagram of an embodiment of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0033] The embodiments will be described in detail below, and examples thereof are shown in the accompanying drawings. When the following description refers to the drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The implementation methods described in the following embodiments do not represent all implementation methods consistent with the present application. They are only examples of systems and methods consistent with some aspects of the present application as detailed in the claims. In the several embodiments provided in the embodiments of the present application, it should be understood that the disclosed devices and methods can also be implemented in other ways, and the device embodiments described below are merely exemplary.

[0034] The present application provides a method for switching a driving assistance control mode, such as Figure 1 As shown, including:

[0035] Step S110: Determine the target deceleration based on the vehicle driving direction detection information and the vehicle's own driving state information.

[0036] Exemplarily, the vehicle driving direction detection information can be obtained through a vehicle-mounted image acquisition device and a vehicle radar, the vehicle's own driving status information can be obtained through a vehicle controller, and a target deceleration determination model can be written into the vehicle controller in advance. The target deceleration value can be determined based on the vehicle driving direction detection information and the vehicle's own driving status information in combination with the target deceleration determination model.

[0037] Step S120: When the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle being in the adaptive cruise mode, obtaining a braking operation of the vehicle by the driver.

[0038] Exemplarily, the maximum deceleration value of the vehicle in an adaptive cruise mode can be obtained through the vehicle's adaptive cruise system, the target deceleration and the maximum deceleration value of the vehicle in an adaptive cruise mode can be compared, and when the target deceleration is greater than the maximum deceleration value of the vehicle in an adaptive cruise mode, the driver's braking operation on the vehicle can be detected and simultaneously obtained, and the driver's braking operation on the vehicle can be obtained through a vehicle controller, and the braking operation can include starting the vehicle's driving brake and starting the vehicle's parking brake. The wheel force can be monitored through a pressure sensor at the wheel, and when the wheel force increases, it is determined that the driver has braked the vehicle. The pressure in the brake air chamber can also be monitored through a pressure sensor in the brake chamber, and when the pressure increases, it is determined that the driver has braked the vehicle.

[0039] Step S130: When the braking operation is effective, avoid emergency braking by switching the vehicle to an automatic emergency braking mode.

[0040] For example, when the driver initiates a braking operation on the vehicle, it can be determined whether the braking operation is effective by comparing the current deceleration of the vehicle with the target deceleration. If the braking operation is effective, the driver can continue to drive the vehicle to avoid emergency braking by switching the vehicle to automatic emergency braking mode.

[0041] According to some embodiments, the method for switching the driving assistance control mode further includes:

[0042] When the above braking operation is effective, exiting the above adaptive cruise mode;

[0043] Maintain current brake pressure in Adaptive Cruise Mode as above.

[0044] When the driver's braking operation is effective, the adaptive cruise mode is exited and the driver takes back the driving rights of the vehicle, while maintaining the current brake pressure in the above adaptive cruise mode. The driver can further decelerate and brake the vehicle based on the current adaptive cruise mode speed, so that the vehicle can be decelerated smoothly, avoiding the reduction of the vehicle's brake pressure due to exiting the adaptive cruise mode, and the vehicle accelerating and then decelerating under the driver's braking operation, thereby improving the stability and comfort of the vehicle.

[0045] According to some embodiments, the adaptive cruise control mode is an ACC mode, and the automatic emergency braking mode is an AEB mode.

[0046] The above-mentioned ACC mode is a vehicle control mode that collects the distance between the vehicle and the vehicle in front based on the information detected by the vehicle distance sensor, and controls the vehicle speed according to the distance between the vehicle and the vehicle in front and the set safety distance by setting a safety distance. In this mode, the vehicle can be controlled to maintain a reasonable distance from the vehicle in front, thereby ensuring driving safety. The above-mentioned AEB mode is to measure the distance to the vehicle in front or an obstacle through the vehicle radar, analyze the measured distance, the alarm distance, and the safety distance, and issue an alarm when the distance between the vehicle and the vehicle in front or an obstacle is less than the alarm distance. When the distance between the vehicle and the vehicle in front or an obstacle is less than the safety distance, the automatic emergency braking system will automatically start to brake the car even if the driver does not have time to step on the brake pedal, thereby ensuring safe travel.

[0047] According to some embodiments, the vehicle driving direction detection information includes at least one of the type of target object in the vehicle driving direction, the distance between the vehicle and the target object, the speed of the target object and the orientation of the target object relative to the vehicle; the vehicle's own driving status information includes at least one of the speed, acceleration and steering angle of the vehicle.

[0048] Exemplarily, an on-board image acquisition device may be used to capture images of the vehicle's traveling direction. If there is a target object in the vehicle's traveling direction, information about the distance between the vehicle and the target object and the speed of the target object may be collected through an on-board radar and / or the vehicle's inter-vehicle distance sensor. Information about the orientation of the target object relative to the vehicle may be collected through the on-board image acquisition device and / or the on-board radar. Information about the speed, acceleration and steering angle of the vehicle may be collected through a vehicle management system and / or a vehicle controller.

[0049] The maximum deceleration value of the vehicle in the adaptive cruise mode can be determined based on the vehicle driving direction detection information, and the target deceleration of the vehicle can be determined based on the vehicle's own driving state information and the vehicle direction detection information.

[0050] According to some embodiments, the method for switching the driving assistance control mode further includes:

[0051] When the braking operation is not acquired or is invalid, emergency braking is performed by switching the vehicle to an automatic emergency braking mode.

[0052] Exemplarily, the driver's braking operation on the above-mentioned vehicle can be obtained at any time, and the driver's braking operation on the above-mentioned vehicle can be obtained through the vehicle controller. When the vehicle's driving brake and the vehicle's parking brake are not detected, it is determined that the driver has not performed a braking operation on the vehicle. The wheel force can be monitored by the pressure sensor at the wheel. When the wheel force does not increase, it is determined that the driver has not performed a braking operation on the vehicle. The pressure in the brake air chamber can also be monitored by the pressure sensor in the brake chamber. When the pressure does not increase, it is determined that the driver has not performed a braking operation on the vehicle; when the driver performs a braking operation on the vehicle, the wheel force can be monitored by the pressure sensor at the wheel. When the wheel force is less than the above-mentioned target deceleration, it is determined that the above-mentioned braking operation is invalid. The pressure in the brake air chamber can also be monitored by the pressure sensor in the brake chamber. When the pressure in the brake air chamber is less than the above-mentioned target deceleration, it is determined that the above-mentioned braking operation is invalid. When the above-mentioned braking operation is not obtained or the above-mentioned braking operation is invalid, the current braking pressure can be maintained and the vehicle can be switched to the emergency braking mode.

[0053] The driver's braking operation on the above-mentioned vehicle can be obtained at any time. When the above-mentioned braking operation is not obtained or the above-mentioned braking operation is invalid, it can be determined that the driver is unable to achieve safe braking of the vehicle, so the above-mentioned vehicle is switched to the automatic emergency braking mode for emergency braking, which can ensure the safety of the vehicle during driving.

[0054] According to some embodiments, when the braking operation is not obtained or the braking operation is invalid, performing emergency braking by switching the vehicle to an automatic emergency braking mode includes:

[0055] When the braking operation is not obtained or is invalid, switching the vehicle to an automatic emergency braking mode;

[0056] The deceleration of the vehicle is adjusted to be greater than or equal to the target deceleration based on the automatic emergency braking mode.

[0057] The driver's braking operation on the above-mentioned vehicle is obtained within a preset time. If the above-mentioned braking operation is not obtained or the above-mentioned braking operation is invalid, it can be determined that the driver is unable to achieve safe braking of the vehicle. The current braking pressure is maintained instead of reducing the pressure during the switching process. Switching the above-mentioned vehicle to the automatic emergency braking mode can avoid the situation where the vehicle is first depressurized and then increased in pressure during the mode switching process, resulting in violent shaking of the vehicle. At the same time, the deceleration of the above-mentioned vehicle is adjusted to be greater than or equal to the above-mentioned target deceleration, which can ensure that the vehicle can achieve safe braking in the automatic emergency braking mode and ensure the driving safety of the vehicle.

[0058] According to some embodiments, when the braking operation is not obtained or the braking operation is invalid, performing emergency braking by switching the vehicle to an automatic emergency braking mode further includes:

[0059] In the case of emergency braking by switching the vehicle to an automatic emergency braking mode, obtaining the perspective information of the driver of the vehicle at a moment before braking;

[0060] When the viewing angle information matches the target object in the driving direction of the vehicle, and it is again monitored that the vehicle is in adaptive cruise mode and the target deceleration does not match that of the vehicle in adaptive cruise mode, emergency braking is performed by switching the vehicle to automatic emergency braking mode.

[0061] Exemplarily, information on target objects in the direction of travel of the vehicle can be collected through a vehicle-mounted image acquisition device, the driver's field of view can be acquired through a vehicle management system, the viewing angle information of the driver of the vehicle can be determined based on the driver's field of view and the field of view of the vehicle image acquisition device, and the viewing angle information of the driver of the vehicle can be matched with the target objects in the direction of travel of the vehicle through the image processing algorithm of the vehicle management system.

[0062] When the visual angle information of the driver of the vehicle just before braking matches the target object in the driving direction of the vehicle, there is reason to believe that before the vehicle switches to the automatic emergency braking mode, the driver can judge that the vehicle needs to be braked, but because the driver's reaction time is too long or the driver cannot effectively brake the vehicle, it can be considered that the driver does not have the ability to actively perform safe braking. Therefore, when it is monitored again that the vehicle is in the adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode, there is no need to obtain the driver's braking operation on the vehicle. Emergency braking can be performed directly by switching the vehicle to the automatic emergency braking mode, which can save braking time and further ensure the driving safety of the vehicle.

[0063] See also Figure 2 , Figure 2 It is a schematic structural diagram of a driving assistance control mode switching device provided in an embodiment of the present application.

[0064] The embodiment of the present application provides a driving assistance control mode switching device 200, which includes: a determination module 201, a collection module 202, and a control module 203, wherein:

[0065] A determination module 201 is used to determine a target deceleration based on the vehicle driving direction detection information and the vehicle's own driving state information;

[0066] The acquisition module 202 is used to obtain the driver's braking operation on the vehicle when the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode;

[0067] The control module 203 is used to avoid emergency braking by switching the vehicle to an automatic emergency braking mode when the braking operation is effective.

[0068] A driving assist control mode switching device 200 can achieve Figure 1 The various processes implemented in the method embodiment are not described here in detail to avoid repetition. The switching device of the driving assist control mode can determine the target deceleration through the vehicle driving direction detection information and the vehicle's own driving state information, and control the vehicle to switch the control mode according to the above target deceleration, the maximum deceleration value in the adaptive cruise mode and the driver's braking operation information on the vehicle. In this way, the vehicle's adaptive cruise mode and the automatic emergency braking mode can interact to ensure driving safety and improve the comfort of the vehicle.

[0069] like Figure 3 As shown, Figure 3 A schematic structural diagram of an electronic device provided in an embodiment of the present application.

[0070] The embodiment of the present application provides an electronic device 300, including a memory 310, a processor 320, and a computer program 311 stored in the memory 310 and executable on the processor 320. When the processor 320 executes the computer program 311, the following steps are implemented:

[0071] Determine the target deceleration based on the vehicle driving direction detection information and the vehicle's own driving state information;

[0072] When the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode, obtaining a braking operation of the vehicle by the driver;

[0073] In the case where the braking operation is effective, emergency braking is avoided by switching the vehicle to an automatic emergency braking mode.

[0074] In the specific implementation process, when the processor 320 executes the computer program 311, it can achieve Figure 1 Any implementation manner in the corresponding embodiments.

[0075] Since the electronic device introduced in this embodiment is a device used to implement a device in the embodiment of the present application, based on the method introduced in the embodiment of the present application, technical personnel in this field can understand the specific implementation method of the electronic device of this embodiment and its various variations. Therefore, how the electronic device implements the method in the embodiment of the present application is not introduced in detail here. As long as the equipment used by technical personnel in this field to implement the method in the embodiment of the present application is within the scope of protection of this application.

[0076] like Figure 4 As shown, Figure 4 A schematic structural diagram of a computer-readable storage medium provided in an embodiment of the present application.

[0077] This embodiment provides a computer-readable storage medium 400, on which a computer program 411 is stored. When the computer program 411 is executed by a processor, the following steps are implemented:

[0078] Determine the target deceleration based on the vehicle driving direction detection information and the vehicle's own driving state information;

[0079] When the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode, obtaining a braking operation of the vehicle by the driver;

[0080] In the case where the braking operation is effective, emergency braking is avoided by switching the vehicle to an automatic emergency braking mode.

[0081] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0082] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that include computer-usable program code.

[0083] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0084] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0085] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0086] The present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device is caused to execute the following Figure 1 The process in the control method of the hybrid vehicle in the corresponding embodiment.

[0087] The above-mentioned computer program product includes one or more computer instructions. When the above-mentioned computer program instructions are loaded and executed on a computer, the above-mentioned process or function according to the embodiment of the present application is generated in whole or in part. The above-mentioned computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The above-mentioned computer instructions may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the above-mentioned computer instructions may be transmitted from a website site, a computer, a server or a data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The above-mentioned computer-readable storage medium may be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integrated. The above-mentioned available medium may be a magnetic medium, (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid state disk (solid state disk, SSD)), etc.

[0088] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0089] In the several embodiments provided in the present application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0090] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0091] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0092] If the above-mentioned integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), disk or optical disk and other media that can store program codes.

[0093] In summary, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A method for switching a driving assistance control mode, characterized in that: include: Determine the target deceleration based on the vehicle driving direction detection information and the vehicle's own driving state information; When the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode, obtaining a driver's braking operation on the vehicle; avoiding emergency braking by switching the vehicle to an automatic emergency braking mode if the braking operation is effective; When the braking operation is not obtained or the braking operation is invalid, switching the vehicle to an automatic emergency braking mode for emergency braking; In case of emergency braking by switching the vehicle to an automatic emergency braking mode, obtaining viewing angle information of the driver of the vehicle at a moment before braking; When the viewing angle information matches the target object in the direction of travel of the vehicle, and it is again monitored that the vehicle is in adaptive cruise mode and the target deceleration does not match the vehicle in adaptive cruise mode, the vehicle is switched to automatic emergency braking mode for emergency braking.

2. The method according to claim 1, characterized in that: Also includes: When the braking operation is effective, exiting the adaptive cruise mode; Maintain the current brake pressure in the adaptive cruise mode.

3. The method according to claim 1, characterized in that: The adaptive cruise mode is the ACC mode, and the automatic emergency braking mode is the AEB mode.

4. The method according to claim 1, characterized in that The vehicle driving direction detection information includes at least one of the type of target object in the vehicle driving direction, the distance between the vehicle and the target object, the speed of the target object and the orientation of the target object relative to the vehicle; the vehicle's own driving status information includes at least one of the vehicle's speed, acceleration and steering angle.

5. The method according to claim 1, characterized in that When the braking operation is not obtained or the braking operation is invalid, switching the vehicle to an automatic emergency braking mode for emergency braking includes: switching the vehicle to an automatic emergency braking mode when the braking operation is not obtained or the braking operation is invalid; The deceleration of the vehicle is adjusted to be greater than or equal to the target deceleration based on the automatic emergency braking mode.

6. A switching device for a driving assist control mode, characterized in that: include: A determination module, used to determine a target deceleration based on the vehicle driving direction detection information and the vehicle's own driving state information; a collection module, configured to obtain a braking operation of the vehicle by the driver when the vehicle is in an adaptive cruise mode and the target deceleration does not match the vehicle in the adaptive cruise mode; a control module for avoiding emergency braking by switching the vehicle to an automatic emergency braking mode when the braking operation is effective; When the braking operation is not obtained or the braking operation is invalid, switching the vehicle to an automatic emergency braking mode for emergency braking; In case of emergency braking by switching the vehicle to an automatic emergency braking mode, obtaining viewing angle information of a driver of the vehicle at a moment before braking; When the viewing angle information matches the target object in the direction of travel of the vehicle, and it is again monitored that the vehicle is in adaptive cruise mode and the target deceleration does not match the vehicle in adaptive cruise mode, the vehicle is switched to automatic emergency braking mode for emergency braking.

7. An electronic device, comprising a memory and a processor, characterized in that: The processor is configured to implement the steps of the method for switching the driving assistance control mode according to any one of claims 1 to 5 when executing the computer program stored in the memory.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method for switching the driving assist control mode according to any one of claims 1 to 5 are implemented.

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