Switching Method, Device, Storage Medium and Vehicle for Autopilot Function

Abstract

The present application discloses a method, device, storage medium, and vehicle for switching an autonomous driving function. The method includes: when the vehicle is in an autonomous driving state of a first autonomous driving mode, performing autonomous driving planning on the vehicle based on the first autonomous driving mode and controlling the vehicle to perform autonomous driving according to the planned first autonomous driving data, and performing autonomous driving planning on the vehicle in a second autonomous driving mode to obtain second autonomous driving data; when it is recognized that the vehicle monitoring information of the vehicle meets a preset autonomous driving mode switching condition, controlling the vehicle to enter the second autonomous driving mode, and controlling the vehicle to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data, thereby improving the efficiency of the vehicle to complete the switching of the autonomous driving function.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, and in particular, to a method, device, storage medium, and vehicle for switching autonomous driving functions. Background Art

[0002] Autonomous driving technology is one of the hot research issues in the vehicle field today. The vehicle autonomous driving mode mainly includes two types. One is HNP (Highway Navigation Pilot) based on machine learning and high-precision map planning algorithms, and the other is CP (Cruise Pilot) based on sensor planning algorithms.

[0003] In the prior art, most vehicles are configured with only one of the autonomous driving modes. In some vehicles configured with two autonomous driving modes, users need to manually select the autonomous driving mode. It is difficult for users to accurately judge whether the current vehicle driving conditions meet the selected autonomous driving mode, which is likely to cause incorrect selection. In addition, even if the current driving conditions meet the user's selected mode, the vehicle takes a certain amount of time to complete the mode switch, and the response is not timely enough. Summary of the Invention

[0004] In view of this, this application provides a method, device, storage medium, and vehicle for switching autonomous driving functions, which helps to achieve fast adaptive switching of the vehicle's autonomous driving function.

[0005] According to one aspect of this application, a method for switching autonomous driving functions is provided. The method includes:

[0006] When the vehicle is in the autonomous driving state of the first autonomous driving mode, perform autonomous driving planning on the vehicle based on the first autonomous driving mode and perform autonomous driving control according to the planned first autonomous driving data, and perform autonomous driving planning on the vehicle in the second autonomous driving mode to obtain second autonomous driving data;

[0007] When it is recognized that the vehicle monitoring information of the vehicle meets the preset autonomous driving mode switching condition, control the vehicle to enter the second autonomous driving mode, and control the vehicle to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data.

[0008] Optionally, when the first autonomous driving mode is highway navigation driving, the second autonomous driving mode is cruise assist driving, and the preset autonomous driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving condition and meets the cruise assist driving condition;

[0009] When the first autonomous driving mode is cruise assist driving, the second autonomous driving mode is highway navigation driving, and the preset autonomous driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving condition.

[0010] Optionally, after controlling the vehicle to enter the second autonomous driving mode, the method further includes:

[0011] Perform autonomous driving planning on the vehicle in the first autonomous driving mode to obtain third autonomous driving data.

[0012] Optionally, the performing autonomous driving planning on the vehicle in the second autonomous driving mode to obtain second autonomous driving data includes:

[0013] Based on a preset second downsampling frequency corresponding to the second autonomous driving mode, perform autonomous driving planning for the vehicle in the second autonomous driving mode to obtain second autonomous driving data, where the second downsampling frequency is less than a preset second planning frequency corresponding to when the vehicle is in the second autonomous driving mode.

[0014] Optionally, when it is recognized that the vehicle monitoring information of the vehicle meets the preset autonomous driving mode switching condition, control the vehicle to enter the second autonomous driving mode, and after controlling the vehicle to perform autonomous driving in the second driving mode according to the second autonomous driving data, the method further includes:

[0015] Perform autonomous driving planning for the vehicle in the second autonomous driving mode based on a preset second planning frequency corresponding to the second autonomous driving mode, and perform autonomous driving control based on the latest second autonomous driving data planned, where the preset second planning frequency is greater than the preset second downsampling frequency.

[0016] Optionally, the highway navigation driving conditions include a first steering wheel offset angle range of the vehicle, a first starting speed range, a first longitudinal acceleration range, the vehicle not crossing the line, successful navigation route calculation and being in the navigation state, and the vehicle being within a map range that meets the preset conditions;

[0017] The cruise assist driving conditions include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane lines meeting the preset lane line conditions, the vehicle not crossing the line, and a relative angle range between the current driving direction of the vehicle and the reference driving direction planned based on the cruise assist driving mode.

[0018] Optionally, the method further includes:

[0019] When it is recognized that the vehicle monitoring information of the vehicle does not meet the preset automatic driving conditions, a first prompt message for exiting the automatic driving mode is output, and the vehicle enters the automatic function standby state;

[0020] When the operation data of the vehicle received from the user matches the preset operation data for exiting the automatic driving mode, the vehicle enters the automatic function standby state or enters the manual control state of the vehicle.

[0021] Optionally, before the vehicle is in the first automatic driving mode, the method further includes:

[0022] In response to a vehicle start signal, control the vehicle to enter the manual control state;

[0023] Receive an automatic function entry instruction, and control the vehicle to enter the automatic function standby state, where the automatic function entry instruction is generated when the received user biometric information matches the preset biometric information and / or when the received user operation data matches the preset operation data for entering the automatic driving mode;

[0024] If a user's automatic driving instruction is received and it is recognized that the vehicle meets the preset automatic driving mode conditions, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle; or,

[0025] If it is recognized that the vehicle meets the preset automatic driving conditions and no user's automatic driving instruction is received, output a second prompt message for entering the automatic driving mode, and when a confirmation feedback message for the second prompt message is received or when no rejection feedback message is received within a preset time period, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle;

[0026] When the vehicle completes the automatic driving configuration, enter the automatic driving mode of the vehicle.

[0027] Optionally, the preset automatic driving conditions include highway navigation driving conditions and cruise assist driving conditions; the performing automatic driving configuration on the vehicle includes:

[0028] If the vehicle meets the highway navigation driving conditions, perform highway navigation driving configuration on the vehicle;

[0029] If the vehicle meets the cruise assist driving conditions and does not meet the highway navigation driving conditions, perform cruise assist driving configuration on the vehicle.

[0030] According to another aspect of the present application, there is provided a switching device for an automatic driving function, the device including:

[0031] An autonomous driving control module, configured to perform autonomous driving planning on the vehicle based on the first autonomous driving mode and control the vehicle to drive autonomously according to the planned first autonomous driving data when the vehicle is in the autonomous driving state of the first autonomous driving mode, and perform autonomous driving planning on the vehicle in the second autonomous driving mode to obtain second autonomous driving data;

[0032] A mode switching module, configured to control the vehicle to enter the second autonomous driving mode when it is recognized that the vehicle monitoring information of the vehicle meets a preset autonomous driving mode switching condition, and control the vehicle to drive autonomously in the second autonomous driving mode according to the second autonomous driving data.

[0033] Optionally, when the first autonomous driving mode is highway navigation driving, the second autonomous driving mode is cruise assist driving, and the preset autonomous driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving condition and meets the cruise assist driving condition;

[0034] When the first autonomous driving mode is cruise assist driving, the second autonomous driving mode is highway navigation driving, and the preset autonomous driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving condition.

[0035] Optionally, the autonomous driving control module is further configured to:

[0036] After controlling the vehicle to enter the second autonomous driving mode, perform autonomous driving planning on the vehicle in the first autonomous driving mode to obtain third autonomous driving data.

[0037] Optionally, the autonomous driving control module is further configured to:

[0038] Perform autonomous driving planning on the vehicle in the second autonomous driving mode based on a preset second downsampling frequency corresponding to the second autonomous driving mode to obtain second autonomous driving data, where the second downsampling frequency is less than a preset second planning frequency corresponding to when the vehicle is in the second autonomous driving mode.

[0039] Optionally, the autonomous driving control module is further configured to:

[0040] Perform autonomous driving planning on the vehicle in the second autonomous driving mode based on a preset second planning frequency corresponding to the second autonomous driving mode, and control the vehicle to drive autonomously based on the latest second autonomous driving data obtained by the planning, where the preset second planning frequency is greater than the preset second downsampling frequency.

[0041] Optionally, the highway navigation driving conditions include a first steering wheel offset angle range of the vehicle, a first starting speed range, a first longitudinal acceleration range, the vehicle not crossing the line, successful navigation route calculation and being in the navigation state, and the vehicle being within a map range that meets preset conditions;

[0042] The cruise assist driving conditions include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane lines meeting preset lane line conditions, the vehicle not crossing the line, and a relative angle range between the current driving direction of the vehicle and the reference driving direction planned based on the cruise assist driving mode.

[0043] Optionally, the device further includes: a state switching module, configured to:

[0044] When it is recognized that the vehicle monitoring information of the vehicle does not meet the preset automatic driving, output a first prompt message to exit the automatic driving mode, and enter the automatic function standby state of the vehicle;

[0045] When the operation data of the vehicle received by the user matches the preset operation data for exiting the automatic driving, enter the automatic function standby state of the vehicle or enter the manual control state of the vehicle.

[0046] Optionally, the state switching module is further configured to:

[0047] Before the vehicle is in the first automatic driving mode, in response to a vehicle start signal, control the vehicle to enter the manual control state;

[0048] Receive an automatic function entry instruction, and control the vehicle to enter the automatic function standby state, where the automatic function entry instruction is generated when the received user biometric information matches the preset biometric information and / or when the received user operation data matches the preset operation data for entering the automatic driving;

[0049] If an automatic driving instruction of the user is received and it is recognized that the vehicle meets the preset automatic driving mode conditions, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle; or,

[0050] If it is recognized that the vehicle meets the preset automatic driving conditions and no automatic driving instruction of the user is received, output a second prompt message to enter the automatic driving mode, and when a confirmation feedback message for the second prompt message is received or when no rejection feedback message is received within a preset duration, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle;

[0051] When the vehicle completes the automatic driving configuration, enter the automatic driving mode of the vehicle.

[0052] Optionally, the preset autonomous driving conditions include highway navigation driving conditions and cruise assist driving conditions; the state switching module is further configured to:

[0053] If the vehicle meets the highway navigation driving conditions, perform highway navigation driving configuration on the vehicle;

[0054] If the vehicle meets the cruise assist driving conditions and does not meet the highway navigation driving conditions, perform cruise assist driving configuration on the vehicle.

[0055] According to another aspect of the present application, a storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the above-mentioned method for switching autonomous driving functions is implemented.

[0056] According to still another aspect of the present application, a vehicle is provided, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, and when the processor executes the program, the above-mentioned method for switching autonomous driving functions is implemented.

[0057] By means of the above technical solutions, a method, device, storage medium, and vehicle for switching autonomous driving functions provided by the present application, in the autonomous driving state of the vehicle in the first autonomous driving mode, perform autonomous driving planning on the vehicle based on the first autonomous driving mode and perform autonomous driving control according to the planned first autonomous driving data, and perform autonomous driving planning on the vehicle in the second autonomous driving mode to obtain second autonomous driving data. When it is recognized that the vehicle monitoring information of the vehicle meets the preset autonomous driving mode switching conditions, control the vehicle to enter the second autonomous driving mode, and control the vehicle to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data, improving the efficiency of the vehicle to complete the switching of autonomous driving functions.

[0058] The above description is only an overview of the technical solutions of the present application. In order to be able to understand the technical means of the present application more clearly, it can be implemented according to the content of the specification. And in order to make the above and other purposes, features, and advantages of the present application more obvious and understandable, the specific embodiments of the present application are specifically described below. Description of the Drawings

[0059] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation of the present application. In the drawings:

[0060] Figure 1 A flowchart showing a method for switching autonomous driving functions provided by an embodiment of the present application is shown;

[0061] Figure 2Shows a schematic diagram of mode degradation and mode upgrade provided by an embodiment of the present application;

[0062] Figure 3 Shows a schematic flowchart of another method for switching an autonomous driving function provided by an embodiment of the present application;

[0063] Figure 4 Shows a schematic flowchart of a process for a vehicle to enter an autonomous driving mode provided by an embodiment of the present application;

[0064] Figure 5 Shows a schematic diagram of the state transition relationship of a vehicle provided by an embodiment of the present application;

[0065] Figure 6 Shows a schematic flowchart of a vehicle configuration process in a preprocessing state provided by an embodiment of the present application;

[0066] Figure 7 Shows a schematic diagram of the automatic function standby state of a vehicle provided by an embodiment of the present application;

[0067] Figure 8 Shows a schematic diagram of the structure of a switching device for an autonomous driving function provided by an embodiment of the present application. Detailed implementation manners

[0068] The present application will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments. It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments may be combined with each other.

[0069] In this embodiment, a method for switching an autonomous driving function is provided. As Figure 1 shown, the method includes:

[0070] Step 101, when the vehicle is in the autonomous driving state of the first autonomous driving mode, perform autonomous driving planning on the vehicle based on the first autonomous driving mode and perform autonomous driving control according to the planned first autonomous driving data, and perform autonomous driving planning on the vehicle in the second autonomous driving mode to obtain second autonomous driving data.

[0071] In the embodiment of the present application, when the vehicle is in the autonomous driving state of the first autonomous driving mode, while performing autonomous driving control on the vehicle according to the first autonomous driving mode, autonomous driving planning is performed on the vehicle based on the second autonomous driving mode. Specifically, autonomous driving planning is performed on the vehicle based on the first autonomous driving mode to obtain first autonomous driving data, and autonomous driving control is performed according to the planned first autonomous driving data. At the same time, autonomous driving planning is performed on the vehicle in the second autonomous driving mode to obtain second autonomous driving data. In the first autonomous driving mode of the vehicle, autonomous driving control is performed on the vehicle only based on the first autonomous driving data, and the second autonomous driving data does not participate in the autonomous driving control of the vehicle. At this time, the calculated second autonomous driving data is to enable the vehicle to quickly respond to the switching of the autonomous driving mode. Specifically, the first autonomous driving mode can be one of HNP (Highway Navigation Pilot) or CP (Cruise CP), and at the same time, the second autonomous driving mode can be the other of HNP or CP. When the vehicle is in the autonomous driving state, the vehicle can switch between the two autonomous driving modes of HNP and CP according to the specific driving situation, realizing the reasonable and flexible scheduling of different autonomous driving modes for different vehicle driving scenarios, so that the vehicle always maintains the best autonomous driving state under the condition of safe and stable driving.

[0072] Step 102, when it is recognized that the vehicle monitoring information of the vehicle meets the preset autonomous driving mode switching condition, control the vehicle to enter the second autonomous driving mode, and control the vehicle to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data.

[0073] In the above embodiment, in the autonomous driving state of the vehicle, vehicle information monitoring is performed in real time through devices such as sensors of the vehicle to obtain vehicle monitoring information. When it is recognized that the vehicle monitoring information meets the preset autonomous driving mode switching condition, control the vehicle to enter the second autonomous driving mode, and control the vehicle to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data obtained in step 101.

[0074] Therefore, when the vehicle monitoring information meets the preset automatic driving mode switching condition, based on the second automatic driving data corresponding to the second automatic driving mode calculated during the first automatic driving mode control of the vehicle, it can quickly switch from the currently running first automatic driving mode to the second automatic driving mode. That is, when the vehicle is in the first automatic driving mode, the vehicle has been pre-planned for automatic driving according to the second automatic driving mode, so as to obtain the second automatic driving data. Therefore, when the vehicle needs to switch to the second automatic driving mode, it can immediately control the vehicle to drive automatically in the second automatic driving mode according to the obtained second automatic driving data, so that when the vehicle switches the automatic driving mode, it does not need to wait for the preliminary planning calculation time of the second automatic driving mode, and can immediately switch to the second automatic driving mode for automatic driving, realizing a quick switch between the two automatic driving modes, and does not require manual operation by the user, and can realize the adaptive switch of the automatic driving mode without the user's perception, avoiding that the current vehicle driving conditions do not meet the required conditions of the automatic driving mode selected by the user, which helps to improve the driving efficiency and driving stability.

[0075] Optionally, after step 102, it further includes: performing automatic driving planning on the vehicle in the first automatic driving mode to obtain third automatic driving data.

[0076] In the embodiment of the present application, after the vehicle realizes the switch from the first automatic driving mode to the second automatic driving mode, in order to ensure that the automatic driving mode can be quickly switched next time, in the second automatic driving mode of the vehicle, the vehicle is further planned for automatic driving through the first automatic driving mode, so as to obtain the third automatic driving data. So that when the preset automatic driving mode switching condition is met again, it can quickly switch from the current second automatic driving mode to the first automatic driving mode according to the obtained third automatic driving data, improving the efficiency of the vehicle to complete the automatic driving function switching.

[0077] By applying the technical solution of this embodiment, when the vehicle is in the automatic driving state of the first automatic driving mode, the automatic driving planning and control of the vehicle are performed based on the first automatic driving mode, and the automatic driving planning of the vehicle is performed in the second automatic driving mode to obtain the second automatic driving data. When it is identified that the vehicle monitoring information meets the preset automatic driving mode switching condition, the vehicle is controlled to enter the second automatic driving mode, and the vehicle is controlled to perform automatic driving in the second automatic driving mode according to the second automatic driving data. This application automatically determines whether the preset automatic driving mode switching condition is met according to the vehicle monitoring information of the vehicle, and automatically switches to the second automatic driving mode when the switching condition is met, so as to realize the reasonable and flexible scheduling of different automatic driving modes for different driving scenarios, so that the vehicle always maintains the best automatic driving state under safe and stable driving conditions, improves the efficiency of the vehicle in completing the switching of the automatic driving function, and when the vehicle is controlled in the first automatic driving mode, the automatic driving data corresponding to the second automatic driving mode is also calculated, so that the automatic driving mode can be quickly switched.

[0078] In an embodiment of the present application, optionally, when the first automatic driving mode is a highway navigation driving mode, the second automatic driving mode is a cruise assisted driving mode, and the preset automatic driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving condition but meets the cruise assisted driving condition; when the first automatic driving mode is cruise assisted driving, the second automatic driving mode is highway navigation driving, and the preset automatic driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving condition.

[0079] In the above embodiment, the vehicle's automatic driving mode includes a highway navigation driving mode HNP and a cruise assisted driving mode CP. In the vehicle's automatic driving state, it can adaptively switch between the two automatic driving modes of highway navigation driving HNP and cruise assisted driving CP, wherein the cruise assisted driving CP may include ACC (Adaptive Cruise Control), LCC (Lane Centering Control), and ILC (Interactive Lane Change). When one of the automatic driving modes is activated, the vehicle trajectory planned according to the activated automatic driving mode is then output at a normal frequency, while the other automatic driving mode is in a dormant state, and frequency reduction planning processing is performed in the dormant state. The automatic driving state can realize the acceleration and deceleration of the vehicle and the related processing of the vehicle lane change.

[0080] During the driving process of the vehicle, the switching of the vehicle from the HNP mode to the CP mode is a mode degradation of the autonomous driving mode, and the switching of the vehicle from the CP mode to the HNP mode is a mode upgrade of the autonomous driving mode. As Figure 2 shown.

[0081] The mode degradation may include the map ODD failure, the vehicle positioning not on the map road, and meeting the preset autonomous driving mode switching conditions and meeting the conditions for entering the CP mode. The mode upgrade may include meeting the conditions for entering the HNP mode and meeting the preset autonomous driving mode switching conditions. In a specific embodiment: when the first autonomous driving mode is highway navigation driving, the second autonomous driving mode is cruise assist driving, and the preset autonomous driving mode switching conditions are that the current vehicle monitoring information does not meet the highway navigation driving conditions and meets the cruise assist driving conditions. When the first autonomous driving mode is cruise assist driving, the second autonomous driving mode is highway navigation driving, and the preset autonomous driving mode switching conditions are that the current vehicle monitoring information meets the highway navigation driving conditions.

[0082] Optionally, the highway navigation driving conditions include the first steering wheel offset angle range of the vehicle, the first starting speed range, the first longitudinal acceleration range, the vehicle not crossing the line, the navigation route calculation being successful and in the navigation state, and the vehicle being within the map range that meets the preset conditions; the cruise assist driving conditions include the second steering wheel offset angle range, the second starting speed range, the second longitudinal acceleration range, the lane lines meeting the preset lane line conditions, the vehicle not crossing the line, and the relative angle range between the current driving direction of the vehicle and the reference driving direction planned based on the cruise assist driving mode.

[0083] In the above embodiment, the highway navigation driving conditions include the first steering wheel offset angle range of the vehicle, for example, the steering wheel offset angle is less than 30 degrees, the first starting speed range, for example, the starting speed range is 30 km / h to 130 km / h, the first longitudinal acceleration range, for example, the longitudinal acceleration is less than 0.3*g, the vehicle not crossing the line, the navigation route calculation being successful and in the navigation state, and the vehicle being within the map range that meets the preset conditions. For example, the width of the road where the vehicle is driving conforming to the preset width standard can also be included in the highway navigation driving conditions.

[0084] The cruise assist driving conditions include the second steering wheel offset angle range, for example, the steering wheel offset angle is less than 15 degrees, the second starting speed range, for example, the starting speed range is 30 km / h to 120 km / h, the second longitudinal acceleration range, for example, the longitudinal acceleration is less than 0.3*g, the lane lines meeting the preset lane line conditions, the vehicle not crossing the line, and the relative angle range between the current driving direction of the vehicle and the reference driving direction planned based on the cruise assist driving mode, etc.

[0085] Further, as a refinement and extension of the specific implementation manner of the above embodiment, in order to completely illustrate the specific implementation process of this embodiment, another method for switching the automatic driving function is provided. As Figure 3 shown, the method includes:

[0086] Step 201, when the vehicle is in the automatic driving state of the first automatic driving mode, perform the automatic driving planning of the first automatic driving mode on the vehicle based on the preset first planning frequency corresponding to the first automatic driving mode, and perform automatic driving control based on the latest first automatic driving data planned.

[0087] Step 202, perform the automatic driving planning of the second automatic driving mode on the vehicle based on the preset second frequency reduction frequency corresponding to the second automatic driving mode to obtain second automatic driving data.

[0088] Wherein, the preset second planning frequency is greater than the preset second frequency reduction frequency.

[0089] In the embodiment of the present application, when the vehicle is in the automatic driving state of the first automatic driving mode, perform the automatic driving planning of the first automatic driving mode on the vehicle based on the preset first planning frequency corresponding to the first automatic driving mode, and perform automatic driving control based on the latest first automatic driving data planned. For this reason, perform the automatic driving planning of the first automatic driving mode on the vehicle through the preset first planning frequency, so as to realize the automatic driving control of the vehicle.

[0090] At the same time, perform the automatic driving planning of the second automatic driving mode on the vehicle based on the preset second frequency reduction frequency corresponding to the second automatic driving mode to obtain second automatic driving data.

[0091] Step 203, when it is recognized that the vehicle monitoring information of the vehicle meets the preset automatic driving mode switching condition, control the vehicle to enter the second automatic driving mode, perform the automatic driving planning of the second automatic driving mode on the vehicle based on the preset second planning frequency corresponding to the second automatic driving mode, and perform automatic driving control based on the latest second automatic driving data planned.

[0092] In the above embodiment, when it is recognized that the vehicle monitoring information of the vehicle meets the preset automatic driving mode switching condition, control the vehicle to enter the second automatic driving mode. To ensure a quick mode switch, first control the vehicle according to the second automatic driving data planned for the last time before the automatic driving mode switch, and then perform normal frequency (i.e., the preset second planning frequency) automatic driving control on the vehicle in the second automatic driving mode of the vehicle. After each second automatic driving data planning, perform real-time automatic driving correction according to the latest second automatic driving data, so that the vehicle realizes automatic driving in the second automatic driving mode.

[0093] Step 204: Based on the preset first frequency reduction rate corresponding to the first autonomous driving mode, perform autonomous driving planning for the first autonomous driving mode on the vehicle to obtain third autonomous driving data.

[0094] Wherein, the preset first planning frequency is greater than the preset first frequency reduction rate.

[0095] In the above embodiment, to ensure the rapid switching of the next autonomous driving mode, in the second autonomous driving mode of the vehicle, based on the preset first frequency reduction rate corresponding to the first autonomous driving mode, perform autonomous driving planning for the first autonomous driving mode on the vehicle to obtain third autonomous driving data. Thus, after the vehicle switches from the initial first autonomous driving mode to the second autonomous driving mode, the first autonomous driving mode before the mode switch is then subjected to autonomous driving planning through the preset first frequency reduction rate, and then third autonomous driving data is obtained, which is used to quickly switch to the first autonomous driving mode when the vehicle monitoring information of the vehicle once again meets the preset autonomous driving mode switching condition, improving the efficiency of the vehicle to complete the switching of the autonomous driving function.

[0096] In the embodiment of the present application, in the autonomous driving state of the vehicle, optionally, it further includes: when it is recognized that the vehicle monitoring information of the vehicle does not meet the preset autonomous driving conditions, output a first prompt message to exit the autonomous driving mode, and enter the automatic function standby state of the vehicle; when receiving operation data of the user on the vehicle that matches the preset operation data for exiting the automatic mode, enter the automatic function standby state of the vehicle or enter the manual control state of the vehicle.

[0097] In the above embodiment, when it is recognized that the vehicle monitoring information of the vehicle does not meet the preset autonomous driving conditions, output a first prompt message to exit the autonomous driving mode, and enter the automatic function standby state of the vehicle. When receiving operation data of the user on the vehicle that matches the preset operation data for exiting the automatic mode, enter the automatic function standby state of the vehicle or enter the manual control state of the vehicle.

[0098] Specifically, the preset operation data for exiting the automatic mode may include software switch off, user taking over the steering wheel, user stepping on the brake, when the vehicle is in a non-lane-changing scenario and it is recognized that the vehicle has a lane-crossing operation, the road on which the vehicle is traveling is too narrow, etc.

[0099] By applying the technical solution of this embodiment, when the vehicle is in the autonomous driving state of the first autonomous driving mode, the autonomous driving planning of the first autonomous driving mode is performed on the vehicle at a preset first planning frequency and then autonomous driving control is carried out. At the same time, the autonomous driving planning of the second autonomous driving mode is performed at a preset second down-frequency to obtain second autonomous driving data. When the vehicle enters the second autonomous driving mode when meeting the preset autonomous driving mode switching condition, the autonomous driving planning of the second autonomous driving mode is performed on the vehicle at a preset second planning frequency and autonomous driving control is carried out based on the latest second autonomous driving data planned. At the same time, the autonomous driving planning of the first autonomous driving mode is performed on the vehicle according to the preset first down-frequency to obtain third autonomous driving data. It realizes the reasonable and flexible scheduling of different autonomous driving modes for different driving scenarios, and improves the efficiency of the vehicle to complete the switching of autonomous driving functions.

[0100] In the embodiment of the present application, the autonomous driving mode of the vehicle is entered in the following manner, as Figure 4 shown, including:

[0101] Step 301, in response to the vehicle start signal, control the vehicle to enter the manual control state.

[0102] In the embodiment of the present application, the vehicle state includes a manual control state and an automatic function state. After the driver starts the vehicle, in response to the vehicle start signal, the vehicle is immediately controlled to enter the manual control state.

[0103] After the vehicle starts, the switching between the automatic function state and the manual control state can be achieved through the system soft switch or other means. The automatic function state includes the autonomous driving state. When the vehicle system is in the automatic function state, the driver can initiate and trigger to enter the autonomous driving state by shifting the vehicle gear lever, clicking the screen button or pressing the key, and exit the autonomous driving state by taking over the steering wheel, stepping on the brake or other preset means.

[0104] Step 302, receive the automatic function entry instruction, and control the vehicle to enter the automatic function standby state, where the automatic function entry instruction is generated when the received user biometric information matches the preset biometric information and / or when the received user operation data matches the preset automatic operation data.

[0105] Next, the automatic function state further includes the automatic function standby state. After receiving the automatic function entry instruction, first control the vehicle to enter the automatic function standby state, where the automatic function entry instruction is generated when the received user biometric information matches the preset biometric information and / or when the received user operation data matches the preset automatic operation data. For example, the user can indicate to enter the automatic function state by means of voice input, fingerprint input, lever operation, etc.

[0106] As Figure 5 shown, the default initial state when the vehicle enters the automatic function state from the manual state is the automatic function standby state, and the system will jump to this state when it exits the automatic (exits autonomous driving). The automatic function state includes the automatic function standby state, the preprocessing state, and the autonomous driving state. Among them, the autonomous driving state includes the CP state and the HNP state. The vehicle performs autonomous driving in the CP mode in the CP state and autonomous driving in the HNP mode in the HNP state. The automatic function standby state switches to any one of the autonomous driving states through the preprocessing state, and the transition between different autonomous driving states also passes through the preprocessing state. The vehicle configuration for the autonomous driving state to be switched to is completed in the preprocessing state. For example, when preparing to switch to the CP state, the vehicle configuration for the CP state is performed in the preprocessing state.

[0107] During the preprocessing state, it is possible to achieve functional message interaction with each relevant algorithm module of the vehicle system, thereby completing a series of preparatory work before entering the autonomous driving state. By judging the preparation of the system state, the stability of the vehicle system and driving safety can be ensured. The functions implemented in the preprocessing state can include: setting the operation mode, switching the planning output, setting the function mode, and setting the automatic enable, etc., as Figure 6 shown.

[0108] Among them, setting the operation mode, for example: notifying algorithm modules such as the map, positioning, perception, prediction, planning, and control to start running (usually setting the mode to HIGHWAY, i.e., highway), and the operation modes include HIGHWAY, PARKING, etc., that is, highway and parking.

[0109] Setting the function mode, for example: the frequency control operation in the planning algorithm, controlling the vehicle to be set to the driving mode (used to distinguish between the driving mode and the parking mode), the positioning operation is used to record the state, the prediction operation is used to switch the model, and the function modes include HNP and CP, and the mode switch corresponds to the switch between HNP and CP in the function mode.

[0110] Setting the automatic enable, for example: used to start controlling the vehicle according to the planning output, performing relevant operations on the drive-by-wire chassis of the vehicle system, setting the driving speed, setting the time interval, setting the driving style (including aggressive, conventional, conservative, etc.), and at the same time, the above settings need to wait for the status return. After the vehicle performs the setting of the automatic enable, the user can send a driving style setting request to the vehicle, and the vehicle can then set the time interval and then set the driving style.

[0111] As Figure 7As shown, the automatic function standby state includes an empty standby state, a CP standby state, and an HNP standby state that can be arbitrarily converted between each other. The empty standby state is the default state for entering the automatic function state. It enters the HNP standby state when it is detected that the HNP automatic driving conditions are met, and enters the CP standby state when it is detected that the HNP automatic driving conditions are not met but the CP automatic driving conditions are met.

[0112] Step 303, if an automatic driving instruction from the user is received and it is recognized that the vehicle meets the preset automatic driving mode conditions, then control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle.

[0113] Next, in the case where an automatic driving instruction actively triggered by the user has been received, that is, when the user wants to start automatic driving, if it is recognized that the vehicle meets the preset automatic driving mode conditions, then control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle.

[0114] Step 304, if it is recognized that the vehicle meets the preset automatic driving conditions and no automatic driving instruction from the user is received, then output a second prompt message for entering the automatic driving mode, and when a confirmation feedback message for the second prompt message is received or no rejection feedback message is received within a preset duration, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle.

[0115] Then, in the case where no automatic driving instruction actively triggered by the user is received but it is recognized that the vehicle meets the preset automatic driving conditions, output a second prompt message for entering the automatic driving mode, and when a confirmation feedback message for the second prompt message is received or no rejection feedback message is received within a preset duration, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle. In a specific application scenario, when the driver is driving the vehicle, if the vehicle meets the preset automatic driving conditions, but the driver does not notice that the current road conditions allow for automatic driving, that is, at this time the vehicle has not received an automatic driving instruction from the user, then the vehicle can output a second prompt message for entering the automatic driving mode to prompt the user whether to turn on the automatic driving mode. If the user clicks to confirm or does not click to reject within a preset duration, such as within 5 minutes, then immediately control the vehicle to enter the automatic driving preparation state. In this application scenario, it can prevent the user from ignoring the situation where the automatic driving mode can be turned on due to focusing on traffic driving.

[0116] In this embodiment, the preset automatic driving conditions include highway navigation driving conditions and cruise assist driving conditions. When performing automatic driving configuration on the vehicle in step 304, optionally, if the vehicle meets the highway navigation driving conditions, highway navigation driving configuration is performed on the vehicle; if the vehicle meets the cruise assist driving conditions and does not meet the highway navigation driving conditions, cruise assist driving configuration is performed on the vehicle.

[0117] In the above embodiment, the preset automatic driving conditions include highway navigation driving conditions and cruise assist driving conditions. When performing automatic driving configuration on the vehicle, if the vehicle meets the highway navigation driving conditions, highway navigation driving configuration is performed on the vehicle; if the vehicle meets the cruise assist driving conditions and does not meet the highway navigation driving conditions, cruise assist driving configuration is performed on the vehicle.

[0118] Step 305, when the vehicle completes the automatic driving configuration, enter the automatic driving mode of the vehicle.

[0119] Finally, when the vehicle completes the automatic driving configuration, enter the automatic driving mode of the vehicle.

[0120] By applying the technical solution of this embodiment, in response to a vehicle start signal, the vehicle is controlled to enter the manual control state and enter the automatic function standby state according to the automatic function entry instruction. If an automatic driving instruction from the user is received and it is recognized that the vehicle meets the preset automatic driving mode conditions, then the vehicle is controlled to enter the automatic driving preparation state and the vehicle is configured for automatic driving. If it is recognized that the vehicle meets the preset automatic driving conditions and no automatic driving instruction from the user is received, then a second prompt message for entering the automatic driving mode is output, and when a confirmation feedback message for the second prompt message is received or no rejection feedback message is received within a preset time period, the vehicle is controlled to enter the automatic driving preparation state and the vehicle is configured for automatic driving. When the vehicle completes the automatic driving configuration, it enters the automatic driving mode of the vehicle, which can prevent the user from ignoring the situation where the automatic driving mode can be enabled due to focusing on traffic driving.

[0121] Further, as Figure 1 a specific implementation of the method, an embodiment of the present application provides a switching device for an automatic driving function, as Figure 8 shown, the device includes:

[0122] An automatic driving control module, configured to, when the vehicle is in the automatic driving state of the first automatic driving mode, perform automatic driving planning on the vehicle based on the first automatic driving mode and perform automatic driving control according to the planned first automatic driving data, and perform automatic driving planning on the vehicle in the second automatic driving mode to obtain second automatic driving data;

[0123] A mode switching module, configured to control the vehicle to enter the second autonomous driving mode when it is recognized that the vehicle monitoring information of the vehicle meets a preset autonomous driving mode switching condition, and control the vehicle to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data.

[0124] Optionally, when the first autonomous driving mode is highway navigation driving, the second autonomous driving mode is cruise assist driving, and the preset autonomous driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving condition and meets the cruise assist driving condition;

[0125] When the first autonomous driving mode is cruise assist driving, the second autonomous driving mode is highway navigation driving, and the preset autonomous driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving condition.

[0126] Optionally, the autonomous driving control module is further configured to:

[0127] After controlling the vehicle to enter the second autonomous driving mode, perform autonomous driving planning on the vehicle in the first autonomous driving mode to obtain third autonomous driving data.

[0128] Optionally, the autonomous driving control module is further configured to:

[0129] Based on a preset second downsampling frequency corresponding to the second autonomous driving mode, perform autonomous driving planning on the vehicle for the second autonomous driving mode to obtain second autonomous driving data, where the second downsampling frequency is less than a preset second planning frequency corresponding to when the vehicle is in the second autonomous driving mode.

[0130] Optionally, the autonomous driving control module is further configured to:

[0131] Perform autonomous driving planning on the vehicle for the second autonomous driving mode based on a preset second planning frequency corresponding to the second autonomous driving mode, and perform autonomous driving control based on the latest second autonomous driving data planned, where the preset second planning frequency is greater than the preset second downsampling frequency.

[0132] Optionally, the highway navigation driving conditions include a first steering wheel offset angle range of the vehicle, a first starting speed range, a first longitudinal acceleration range, the vehicle not crossing the line, successful navigation path calculation and being in a navigation state, and the vehicle being within a map range that meets a preset condition;

[0133] The cruise assist driving conditions include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane lines meeting the preset lane line conditions, the vehicle not crossing the lines, and a relative angle range between the current driving direction of the vehicle and the reference driving direction planned based on the cruise assist driving mode.

[0134] Optionally, the device further includes: a state switching module, configured to:

[0135] When it is recognized that the vehicle monitoring information of the vehicle does not meet the preset automatic driving conditions, output a first prompt message to exit the automatic driving mode, and enter the automatic function standby state of the vehicle;

[0136] When the operation data of the vehicle received from the user matches the preset operation data for exiting automatic driving, enter the automatic function standby state of the vehicle or enter the manual control state of the vehicle.

[0137] Optionally, the state switching module is further configured to:

[0138] Before the vehicle is in the first automatic driving mode, in response to a vehicle start signal, control the vehicle to enter the manual control state;

[0139] Receive an automatic function entry instruction, and control the vehicle to enter the automatic function standby state, where the automatic function entry instruction is generated when the received user biometric information matches the preset biometric information and / or when the received user operation data matches the preset operation data for entering automatic driving;

[0140] If an automatic driving instruction from the user is received and it is recognized that the vehicle meets the preset automatic driving mode conditions, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle; or,

[0141] If it is recognized that the vehicle meets the preset automatic driving conditions and no automatic driving instruction from the user is received, output a second prompt message to enter the automatic driving mode, and when a confirmation feedback message for the second prompt message is received or when no rejection feedback message is received within a preset duration, control the vehicle to enter the automatic driving preparation state and perform automatic driving configuration on the vehicle;

[0142] When the vehicle completes the automatic driving configuration, enter the automatic driving mode of the vehicle.

[0143] Optionally, the preset automatic driving conditions include highway navigation driving conditions and cruise assist driving conditions; the state switching module is further configured to:

[0144] If the vehicle meets the highway navigation driving conditions, perform highway navigation driving configuration on the vehicle;

[0145] If the vehicle meets the cruise assist driving conditions and does not meet the highway navigation driving conditions, the vehicle is configured for cruise assist driving.

[0146] It should be noted that for other corresponding descriptions of each functional unit involved in a switching device for an autonomous driving function provided in an embodiment of the present application, reference can be made to Figure 1 , Figure 4 and Figure 5 the corresponding descriptions in the method, which will not be elaborated here.

[0147] Based on the above method as shown in Figure 1 , Figure 3 and Figure 4 correspondingly, an embodiment of the present application further provides a storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the switching method of the autonomous driving function as shown in Figure 1 , Figure 3 and Figure 4 above.

[0148] Based on such an understanding, the technical solution of the present application can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.), including several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in various implementation scenarios of the present application.

[0149] Based on the above method as shown in Figure 1 , Figure 3 and Figure 4 and the virtual device embodiment shown in Figure 8 in order to achieve the above object, an embodiment of the present application further provides a computer device, which can specifically be a personal computer, a server, a network device, etc. The computer device includes a storage medium and a processor; the storage medium is used to store a computer program; the processor is used to execute the computer program to implement the switching method of the autonomous driving function as shown in Figure 1 , Figure 3 and Figure 4 above.

[0150] Optionally, the computer device may further include a user interface, a network interface, a camera, a Radio Frequency (RF) circuit, sensors, an audio circuit, a WI-FI module, and so on. The user interface may include a display and an input unit such as a keyboard. Optionally, the user interface may further include a USB interface, a card reader interface, and so on. The network interface may optionally include a standard wired interface, a wireless interface (such as a Bluetooth interface, a WI-FI interface), and so on.

[0151] Optionally, an embodiment of the present application provides a vehicle, including a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor. When the processor executes the program, the above-mentioned method for switching the autonomous driving function is implemented.

[0152] Those skilled in the art can understand that the structure of a computer device provided in this embodiment does not limit the computer device, and it may include more or fewer components, or combine certain components, or have different component arrangements.

[0153] The storage medium may further include an operating system and a network communication module. The operating system is a program for managing and storing the hardware and software resources of the computer device, supporting the information processing program and the operation of other software and / or programs. The network communication module is used to implement the communication between the components inside the storage medium, as well as the communication between the storage medium and other hardware and software in the entity device.

[0154] Through the description of the above embodiments, those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform, or by hardware. When the vehicle is in the autonomous driving state of the first autonomous driving mode, autonomous driving planning is performed on the vehicle based on the first autonomous driving mode and autonomous driving control is performed according to the planned first autonomous driving data. In addition, autonomous driving planning is performed on the vehicle in the second autonomous driving mode to obtain second autonomous driving data. When it is recognized that the vehicle monitoring information of the vehicle meets the preset autonomous driving mode switching condition, the vehicle is controlled to enter the second autonomous driving mode, and the vehicle is controlled to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data. By matching the vehicle monitoring information of the vehicle with the preset autonomous driving mode switching condition, automatic switching between the first autonomous driving mode and the second autonomous driving mode is realized, and reasonable and flexible scheduling of different autonomous driving modes for different driving scenarios is achieved, so that the vehicle always maintains the best autonomous driving state under safe and stable driving conditions, and the efficiency of the vehicle to complete the switching of the autonomous driving function is improved.

[0155] Those skilled in the art can understand that the accompanying drawings are only schematic diagrams of a preferred implementation scenario, and the modules or processes in the drawings are not necessarily essential for implementing the present application. Those skilled in the art can understand that the modules in the devices in the implementation scenario can be distributed in the devices in the implementation scenario according to the description of the implementation scenario, or can be correspondingly changed and located in one or more devices different from the present implementation scenario. The modules in the above implementation scenario can be combined into one module, or further split into multiple sub-modules.

[0156] The above serial numbers of the present application are only for description and do not represent the advantages or disadvantages of the implementation scenario. The above disclosure is only several specific implementation scenarios of the present application. However, the present application is not limited thereto, and any changes that can be conceived by those skilled in the art should fall within the protection scope of the present application.

Claims

1. A method for switching an autonomous driving function, characterized in that, the method includes: When the vehicle is in the autonomous driving state of the first autonomous driving mode, performing autonomous driving planning on the vehicle based on the first autonomous driving mode and controlling autonomous driving according to the planned first autonomous driving data, and performing autonomous driving planning on the vehicle in the second autonomous driving mode to obtain second autonomous driving data, including: performing autonomous driving planning on the vehicle in the second autonomous driving mode based on a preset second downsampling frequency corresponding to the second autonomous driving mode to obtain second autonomous driving data, wherein the second downsampling frequency is less than a preset second planning frequency corresponding to the vehicle when it is in the second autonomous driving mode; When it is recognized that the vehicle monitoring information of the vehicle meets a preset autonomous driving mode switching condition, controlling the vehicle to enter the second autonomous driving mode and controlling the vehicle to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data; Performing autonomous driving planning on the vehicle in the second autonomous driving mode based on the preset second planning frequency corresponding to the second autonomous driving mode and controlling autonomous driving based on the latest second autonomous driving data planned.

2. The method according to claim 1, characterized in that, when the first autonomous driving mode is highway navigation driving, the second autonomous driving mode is cruise assist driving, and the preset autonomous driving mode switching condition is that the current vehicle monitoring information does not meet the highway navigation driving condition and meets the cruise assist driving condition; when the first autonomous driving mode is cruise assist driving, the second autonomous driving mode is highway navigation driving, and the preset autonomous driving mode switching condition is that the current vehicle monitoring information meets the highway navigation driving condition.

3. The method according to claim 2, characterized in that, after controlling the vehicle to enter the second autonomous driving mode, the method further includes: Performing autonomous driving planning on the vehicle in the first autonomous driving mode to obtain third autonomous driving data.

4. The method according to claim 2, characterized in that, the highway navigation driving conditions include a first steering wheel offset angle range of the vehicle, a first starting speed range, a first longitudinal acceleration range, the vehicle not crossing the line, successful navigation path calculation and being in the navigation state, and the vehicle being within a map range meeting preset conditions; the cruise assist driving conditions include a second steering wheel offset angle range, a second starting speed range, a second longitudinal acceleration range, the lane lines meeting preset lane line conditions, the vehicle not crossing the line, and a relative angle range between the current driving direction of the vehicle and a reference driving direction planned based on the cruise assist driving mode.

5. The method according to any one of claims 1 to 4, characterized in that, the method further includes: When it is recognized that the vehicle monitoring information of the vehicle does not meet the preset autonomous driving conditions, outputting a first prompt message to exit the autonomous driving mode and entering the automatic function standby state of the vehicle; When the operation data of the vehicle received from the user matches the preset auto-operation data, enter the auto-function standby state of the vehicle or enter the manual control state of the vehicle.

6. The method according to claim 5, wherein, before the vehicle is in the first autonomous driving mode, the method further includes: responding to a vehicle start signal, controlling the vehicle to enter the manual control state; receiving an auto-function entry instruction, and controlling the vehicle to enter the auto-function standby state, wherein the auto-function entry instruction is generated when the received user biometric information matches the preset biometric information and / or when the received user operation data matches the preset auto-entry operation data; if a user's autonomous driving instruction is received and it is recognized that the vehicle meets the preset autonomous driving conditions, controlling the vehicle to enter the autonomous driving preparation state and performing autonomous driving configuration on the vehicle; or, if it is recognized that the vehicle meets the preset autonomous driving conditions and no user's autonomous driving instruction is received, outputting a second prompt message for entering the autonomous driving mode, and when a confirmation feedback message for the second prompt message is received or no rejection feedback message is received within a preset time period, controlling the vehicle to enter the autonomous driving preparation state and performing autonomous driving configuration on the vehicle; when the vehicle completes the autonomous driving configuration, enter the autonomous driving mode of the vehicle.

7. The method according to claim 6, wherein, the preset autonomous driving conditions include highway navigation driving conditions and cruise assist driving conditions; the performing autonomous driving configuration on the vehicle includes: if the vehicle meets the highway navigation driving conditions, performing highway navigation driving configuration on the vehicle; if the vehicle meets the cruise assist driving conditions and does not meet the highway navigation driving conditions, performing cruise assist driving configuration on the vehicle.

8. A switching device for an autonomous driving function, wherein, the device includes: an autonomous driving control module, configured to, when the vehicle is in the autonomous driving state of the first autonomous driving mode, perform autonomous driving planning on the vehicle based on the first autonomous driving mode and perform autonomous driving control according to the planned first autonomous driving data, and perform autonomous driving planning on the vehicle in the second autonomous driving mode to obtain second autonomous driving data; the autonomous driving control module is further configured to: perform autonomous driving planning on the vehicle in the second autonomous driving mode based on a preset second frequency reduction rate corresponding to the second autonomous driving mode to obtain second autonomous driving data, wherein the second frequency reduction rate is less than a preset second planning frequency corresponding to the vehicle when it is in the second autonomous driving mode; a mode switching module, configured to, when it is recognized that the vehicle monitoring information of the vehicle meets the preset autonomous driving mode switching conditions, control the vehicle to enter the second autonomous driving mode and control the vehicle to perform autonomous driving in the second autonomous driving mode according to the second autonomous driving data; The automatic driving control module is further configured to: perform automatic driving planning for the vehicle in the second automatic driving mode based on a preset second planning frequency corresponding to the second automatic driving mode, and perform automatic driving control based on the latest second automatic driving data obtained from the planning, wherein the preset second planning frequency is greater than the preset second frequency reduction frequency.

9. A storage medium, on which a computer program is stored, wherein, when the computer program is executed by a processor, it implements the automatic driving function switching method according to any one of claims 1 to 7.

10. A vehicle, comprising a storage medium, a processor, and a computer program stored on the storage medium and executable on the processor, wherein, when the processor executes the computer program, it implements the automatic driving function switching method according to any one of claims 1 to 7.

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