A method and device for taking over an autonomous vehicle

Abstract

An embodiment of the present invention relates to a method and device for taking over an autonomous driving vehicle, the method comprising: regularly identifying the link status stored locally; when the link status is the first link, ensuring that the first link switch is in a connected state and the second link switch is in a disconnected state; and identifying the obtained driving status; if it is in the normal state of autonomous driving, displaying a green light; if it is in the alarm state of autonomous driving, flashing a red light and broadcasting an alarm, and switching the link status to the second link; if it is in the switching state of autonomous driving, flashing a red light and broadcasting a reminder, and switching the link status to the second link; when the link status is the second link, ensuring that the second link switch is in a connected state and the first link switch is in a disconnected state; and displaying a red light. The present invention can ensure that the driver can intuitively obtain the latest driving status at the first time, thereby achieving the purpose of improving the driver's reaction speed and reducing the probability of safety accidents.

Description

Technical Field

[0001] The present invention relates to the field of data processing technology, and in particular to a method and device for taking over an autonomous driving vehicle. Background Art

[0002] With the development of autonomous driving technology, L3 and above are becoming increasingly mature, even enabling eyes-free and hands-free driving in urban and highway conditions. While these new technologies bring convenience to drivers, they also require drivers to be able to keep abreast of the vehicle's driving status and immediately take over when the vehicle exits autonomous driving. However, in actual driving, we have found that drivers tend to ignore the display of autonomous driving status. If the vehicle exits autonomous driving for some reason and the driver fails to take over in time, a safety accident is likely to occur. Summary of the Invention

[0003] The present invention addresses the shortcomings of the prior art by providing a method, device, and computer-readable storage medium for taking over an autonomous vehicle. The method further subdivides the vehicle's driving state into: a normal autonomous driving state, an autonomous driving warning state, an autonomous driving switching state, and a manual takeover state. The method further includes a green light display in the normal autonomous driving state, a flashing red light and an audible warning in the autonomous driving warning state, a flashing red light and an audible warning in the autonomous driving switching state, and a red light display in the manual takeover state. The method further includes a takeover button, which, upon being pressed, sets the vehicle's driving state to the manual takeover state. The method further includes determining the braking type based on the button's force, duration, and frequency of clicks, and sending a corresponding emergency braking or slow braking command to the vehicle's drive-by-wire chassis based on the braking type. The method further includes an audio-visual configuration that ensures that the driver is immediately informed of the latest driving state type when the driving state changes, enabling the driver to take over the vehicle with one click and reduce speed in a timely manner while taking over, thereby improving the driver's reaction speed and reducing the probability of safety accidents.

[0004] To achieve the above-mentioned objectives, a first aspect of an embodiment of the present invention provides a method for taking over an autonomous driving vehicle, the method comprising:

[0005] The microprocessor of the takeover device periodically identifies the locally stored link status and generates a corresponding first link status; the takeover device includes the microprocessor, a relay module, a first link switch, a second link switch, a takeover button, a voice module, and a light module; the microprocessor is respectively connected to the relay module, the first link switch, the second link switch, the takeover button, the voice module, and the light module; the microprocessor is also connected to the automatic driving controller via the first link switch and to the wire-controlled chassis via the second link switch; the first link status includes the first link and the second link;

[0006] And when the first link state is the first link, the relay module is called to ensure that the switch state of the first link switch is the connected state, and the switch state of the second link switch is the disconnected state; and the real-time driving state is obtained from the automatic driving controller through the first link switch; and the driving state is identified; if the driving state is the normal state of automatic driving, the light module is called to display a green light; if the driving state is the automatic driving warning state, the light module is called to flash a red light and the voice module is called to perform automatic driving warning broadcast processing, and the locally stored link state and the corresponding first link state are switched to the second link; if the driving state is the automatic driving switching state, the light module is called to flash a red light and the voice module is called to perform driving state switching reminder playback processing, and the locally stored link state and the corresponding first link state are switched to the second link;

[0007] When the first link state is the second link, the relay module is called to ensure that the switch state of the second link switch is the connected state, and the switch state of the first link switch is the disconnected state; and the light module is called to display a red light.

[0008] Preferably, when the microprocessor receives the first brake instruction sent by the takeover button, it extracts the first brake type from the first brake instruction; and confirms whether the locally stored link status and the corresponding first link status are both the second link. If not, the locally stored link status that is not the second link or the corresponding first link status is switched to the second link; and the wire-controlled chassis is called to take over the vehicle's braking operation according to the first brake type.

[0009] A second aspect of an embodiment of the present invention provides a device for implementing the takeover method of an autonomous driving vehicle described in the first aspect, the device comprising: a microprocessor, a relay module, a first link switch, a second link switch, a takeover button, a voice module, and a lighting module;

[0010] The microprocessor is respectively connected to the relay module, the first link switch, the second link switch, the takeover button, the voice module, and the light module; the microprocessor is also connected to the automatic driving controller through the first link switch, and to the wire-controlled chassis through the second link switch;

[0011] The microprocessor is used to periodically identify the locally stored link state and generate a corresponding first link state; the first link state includes a first link and a second link;

[0012] The microprocessor is also used to, when the first link state is the first link, call the relay module to ensure that the switch state of the first link switch is the connected state, and ensure that the switch state of the second link switch is the disconnected state; and obtain the real-time driving state from the automatic driving controller through the first link switch; and identify the driving state; if the driving state is the normal state of automatic driving, call the light module to display a green light; if the driving state is the automatic driving warning state, call the light module to flash a red light and call the voice module to perform automatic driving warning broadcast processing, and switch the locally stored link state and the corresponding first link state to the second link; if the driving state is the automatic driving switching state, call the light module to flash a red light and call the voice module to perform driving state switching reminder playback processing, and switch the locally stored link state and the corresponding first link state to the second link;

[0013] The microprocessor is further configured to, when the first link state is the second link, call the relay module to ensure that the switch state of the second link switch is in the connected state, and ensure that the switch state of the first link switch is in the disconnected state; and call the light module to display a red light;

[0014] The microprocessor is also used to receive a first brake instruction sent by the takeover button; extract a first brake type from the first brake instruction; and confirm whether the locally stored link status and the corresponding first link status are both the second link. If not, the locally stored link status that is not the second link or the corresponding first link status is switched to the second link; and call the wire-controlled chassis to take over the vehicle's braking operation according to the first brake type.

[0015] Preferably, the relay module is configured to, when the locally stored link status is the first link, poll whether the switch status of the first link switch is in the connected state; and when the switch status of the first link switch changes to the disconnected state, perform a switch closing operation on the first link switch to ensure that the switch status of the first link switch is always in the connected state; and poll whether the switch status of the second link switch is in the disconnected state; and when the switch status of the second link switch changes to the connected state, perform a switch disconnecting operation on the second link switch to ensure that the switch status of the second link switch is always in the disconnected state.

[0016] Preferably, the relay module is further configured to, when the locally stored link status is the second link, poll whether the switch status of the second link switch is in the connected state; and when the switch status of the second link switch changes to the disconnected state, perform a switch closing operation on the second link switch to ensure that the switch status of the second link switch is always in the connected state; and poll whether the switch status of the first link switch is in the disconnected state; and when the switch status of the first link switch changes to the connected state, perform a switch disconnecting operation on the first link switch to ensure that the switch status of the first link switch is always in the disconnected state.

[0017] Preferably, the takeover button is used to obtain the current button force and current button duration of the button, and calculate the latest button click frequency based on the button in the most recent specified time period; when the current button force exceeds a preset force threshold or the button click frequency exceeds a preset frequency threshold or the current button duration exceeds a preset duration threshold, the first brake type is set to an emergency brake type; when the current button force does not exceed the force threshold and the button click frequency does not exceed the frequency threshold and the current button duration does not exceed the duration threshold, the first brake type is set to a slow brake type; and the first brake instruction carrying the first brake type is sent to the microprocessor; the first brake type includes an emergency brake type and a slow brake type.

[0018] Preferably, the microprocessor is specifically used to identify the first brake type when calling the wire-controlled chassis to take over the braking operation of the vehicle according to the first brake type; if the first brake type is an emergency brake type, an emergency brake command is sent to the wire-controlled chassis through the second link switch; if the first brake type is a slow brake type, a slow brake command is sent to the wire-controlled chassis through the second link switch.

[0019] A third aspect of an embodiment of the present invention provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed by a computer, the computer executes the instructions of the method or device described in the first or second aspect above.

[0020] Embodiments of the present invention provide a method, apparatus, and computer-readable storage medium for taking over an autonomous vehicle. The method further subdivides the vehicle's driving state into: a normal autonomous driving state, an autonomous driving warning state, an autonomous driving switching state, and a manual takeover state. The method displays a green light in the normal autonomous driving state, a flashing red light and an audible warning in the autonomous driving warning state, a flashing red light and an audible prompt in the autonomous driving switching state, and a red light in the manual takeover state. A takeover button is provided, and upon pressing the takeover button, the vehicle's driving state is set to the manual takeover state. The method also determines the braking type based on the button force, button duration, and button click frequency, and sends a corresponding emergency braking or slow braking command to the vehicle's controlled-by-wire chassis based on the braking type. The present invention's sound and light configuration ensures that the driver can immediately and intuitively obtain the latest driving state type when the driving state changes, enabling the driver to take over the vehicle with one click and promptly reduce speed while taking over. This improves the driver's reaction speed and reduces the probability of safety accidents. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 A schematic diagram of a takeover method for an autonomous driving vehicle provided in Example 1 of the present invention;

[0022] Figure 2 A module structure diagram of a takeover device for an autonomous driving vehicle provided in Example 2 of the present invention. DETAILED DESCRIPTION

[0023] To make the objectives, technical solutions, and advantages of the present invention more apparent, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the embodiments described herein are merely some, rather than all, of the present invention. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are intended to fall within the scope of protection of the present invention.

[0024] Figure 1This is a schematic diagram of a takeover method for an autonomous driving vehicle provided in Example 1 of the present invention. The takeover device involved in Example 1 of the present invention includes a microprocessor, a relay module, a first link switch, a second link switch, a takeover button, a voice module and a lighting module; the microprocessor is connected to the relay module, the first link switch, the second link switch, the takeover button, the voice module and the lighting module respectively; the microprocessor is also connected to the autonomous driving controller through the first link switch and to the wire-controlled chassis through the second link switch; the microprocessor can ensure that the driver can intuitively obtain the latest driving status type in the first time when the driving status changes through the method of Example 1 of the present invention, which can help the driver take over the vehicle with one click and reduce the speed in time while taking over; Figure 1 As shown, this method mainly includes the following steps:

[0025] Step 1: The microprocessor periodically identifies the locally stored link state and generates a corresponding first link state;

[0026] The first link state includes the first link and the second link.

[0027] Here, the link status is a system parameter stored locally in the microprocessor, and the first link status = link status; when the first link status is the first link, it means that the microprocessor of the takeover device is currently connected to the automatic driving controller through the first link switch; when the first link status is the second link, it means that the microprocessor of the takeover device is currently connected to the wire-controlled chassis through the second link switch; the automatic driving controller mentioned here is the controller of the vehicle's automatic driving system, that is, when the first link status is the first link, the vehicle's driving status should be related to automatic driving; the wire-controlled chassis mentioned here will be used for brake takeover, that is, when the first link status is the second link, the vehicle's driving status should be related to manual takeover.

[0028] Step 2. When the first link state is the first link, call the relay module to ensure that the switch state of the first link switch is connected, and ensure that the switch state of the second link switch is disconnected; and obtain the real-time driving state from the automatic driving controller through the first link switch; and identify the driving state; if the driving state is the normal state of automatic driving, call the light module to display the green light; if the driving state is the automatic driving warning state, call the light module to flash the red light and call the voice module to perform the automatic driving warning broadcast processing, and switch the locally stored link state and the corresponding first link state to the second link; if the driving state is the automatic driving switching state, call the light module to flash the red light and call the voice module to perform the driving state switching reminder playback processing, and switch the locally stored link state and the corresponding first link state to the second link.

[0029] Here, the embodiment of the present invention subdivides the driving status related to automatic driving into an automatic driving normal state, an automatic driving warning state, and an automatic driving switching state; these three states can all be obtained from the automatic driving controller; in the automatic driving normal state, a green light is displayed, in the automatic driving warning state, a red light flashes and a sound alarm is sounded, and the locally stored link state and the corresponding first link state are switched to the second link to start the corresponding manual takeover processing; in the automatic driving switching state, a red light flashes and a sound prompt is sounded, and the locally stored link state and the corresponding first link state are switched to the second link to start the corresponding manual takeover processing.

[0030] Step 3: When the first link state is the second link, call the relay module to ensure that the switch state of the second link switch is connected, and ensure that the switch state of the first link switch is disconnected; and call the light module to display a red light.

[0031] Here, the embodiment of the present invention further subdivides the driving state of the vehicle into a manual takeover state; this state cannot be obtained from the automatic driving controller, but is determined by the value of the first link state, and enters the manual takeover state when the first link state is the second link; a red light is displayed in the manual takeover state.

[0032] It should be noted that when the microprocessor of embodiment 1 of the present invention receives the first brake instruction sent by the takeover button, it will extract the first brake type from the first brake instruction; and confirm whether the locally stored link status and the corresponding first link status are both the second link. If not, the locally stored link status that is not the second link or the corresponding first link status will be switched to the second link; and the wire-controlled chassis will be called to take over the vehicle's braking operation according to the first brake type, specifically: the first brake type is identified; if the first brake type is an emergency brake type, an emergency brake instruction is sent to the wire-controlled chassis through the second link switch; if the first brake type is a slow brake type, a slow brake instruction is sent to the wire-controlled chassis through the second link switch.

[0033] It should be noted that the relay module of the first embodiment of the present invention is used to poll whether the switch state of the first link switch is in the connected state when the locally stored link state is the first link; and when the switch state of the first link switch changes to the disconnected state, perform a switch closing operation on the first link switch to ensure that the switch state of the first link switch is always in the connected state; and poll whether the switch state of the second link switch is in the disconnected state; and when the switch state of the second link switch changes to the connected state, perform a switch disconnecting operation on the second link switch to ensure that the switch state of the second link switch is always in the disconnected state.

[0034] It should be noted that the relay module of the first embodiment of the present invention is also used to poll whether the switch state of the second link switch is in the connected state when the locally stored link state is the second link; and when the switch state of the second link switch changes to the disconnected state, perform a switch closing operation on the second link switch to ensure that the switch state of the second link switch is always in the connected state; and poll whether the switch state of the first link switch is in the disconnected state; and when the switch state of the first link switch changes to the connected state, perform a switch disconnecting operation on the first link switch to ensure that the switch state of the first link switch is always in the disconnected state.

[0035] It should be noted that the takeover button of the first embodiment of the present invention is used to obtain the current button force and current button duration of the button, and calculate the latest button click frequency based on the button in the most recently specified time period; when the current button force exceeds the preset force threshold or the button click frequency exceeds the preset frequency threshold or the current button duration exceeds the preset duration threshold, the first brake type is set to an emergency brake type; when the current button force does not exceed the force threshold and the button click frequency does not exceed the frequency threshold and the current button duration does not exceed the duration threshold, the first brake type is set to a slow brake type; and the first brake instruction carrying the first brake type is sent to the microprocessor; the first brake type includes an emergency brake type and a slow brake type.

[0036] Figure 2 This is a module structure diagram of a takeover device for an autonomous driving vehicle provided in the second embodiment of the present invention. The device is a terminal device or server that implements the aforementioned method embodiment, or can be a device that enables the aforementioned terminal device or server to implement the aforementioned method embodiment. For example, the device can be a device or chip system of the aforementioned terminal device or server. Figure 2 As shown, the takeover device 20 includes: a microprocessor 201 , a relay module 202 , a first link switch 203 , a second link switch 204 , a takeover button 205 , a voice module 206 and a light module 207 .

[0037] The microprocessor 201 is respectively connected to the relay module 202, the first link switch 203, the second link switch 204, the takeover button 205, the voice module 206 and the lighting module 207; the microprocessor 201 is also connected to the automatic driving controller 10 through the first link switch 203, and to the wire-controlled chassis 30 through the second link switch 204.

[0038] The microprocessor 201 is configured to periodically identify the locally stored link status and generate a corresponding first link status; the first link status includes a first link and a second link.

[0039] Here, the link status is a system parameter stored locally in the microprocessor, and the first link status = link status; when the first link status is the first link, it means that the microprocessor 201 of the takeover device 20 is currently connected to the automatic driving controller 10 through the first link switch 203; when the first link status is the second link, it means that the microprocessor 201 of the takeover device 20 is currently connected to the wire-controlled chassis 30 through the second link switch 204; the automatic driving controller 10 mentioned here is the controller of the vehicle's automatic driving system, that is, when the first link status is the first link, the vehicle's driving status should be related to automatic driving; the wire-controlled chassis 30 mentioned here will be used for brake takeover, that is, when the first link status is the second link, the vehicle's driving status should be related to manual takeover.

[0040] The microprocessor 201 is also used to call the relay module 202 to ensure that the switch state of the first link switch 203 is connected and the switch state of the second link switch 204 is disconnected when the first link state is the first link; and obtain the real-time driving state from the automatic driving controller 10 through the first link switch 203; and identify the driving state; if the driving state is the normal state of automatic driving, call the light module 207 to display a green light; if the driving state is the automatic driving warning state, call the light module 207 to flash a red light and call the voice module 206 to perform automatic driving warning broadcast processing, and switch the locally stored link state and the corresponding first link state to the second link; if the driving state is the automatic driving switching state, call the light module 207 to flash a red light and call the voice module 206 to perform driving state switching reminder playback processing, and switch the locally stored link state and the corresponding first link state to the second link.

[0041] Here, the embodiment of the present invention subdivides the driving status related to automatic driving into an automatic driving normal state, an automatic driving warning state, and an automatic driving switching state; these three states can all be obtained from the automatic driving controller 10; in the automatic driving normal state, the microprocessor 201 calls the light module 207 to display a green light; in the automatic driving warning state, the microprocessor 201 calls the light module 207 to flash a red light and calls the voice module 206 to broadcast an automatic driving warning and switch the locally stored link status and the corresponding first link status to the second link to start the corresponding manual takeover processing; in the automatic driving switching state, the microprocessor 201 calls the light module 207 to flash a red light and calls the voice module 206 to play a driving status switching reminder, and switches the locally stored link status and the corresponding first link status to the second link to start the corresponding manual takeover processing.

[0042] The microprocessor 201 is further configured to, when the first link state is the second link, call the relay module 202 to ensure that the switch state of the second link switch 204 is connected and the switch state of the first link switch 203 is disconnected; and call the lighting module 207 to display a red light.

[0043] Here, the embodiment of the present invention further subdivides the driving state of the vehicle into a manual takeover state; this state cannot be obtained from the automatic driving controller, but is determined by the value of the first link state, and enters the manual takeover state when the first link state is the second link; in the manual takeover state, the automatic driving controller 10 calls the lighting module 207 to display a red light.

[0044] The relay module 202 is configured to, when the locally stored link status is the first link, poll whether the switch status of the first link switch 203 is in the connected state; and when the switch status of the first link switch 203 changes to the disconnected state, perform a switch closing operation on the first link switch 203 to ensure that the switch status of the first link switch 203 is always in the connected state; and poll whether the switch status of the second link switch 204 is in the disconnected state; and when the switch status of the second link switch 204 changes to the connected state, perform a switch disconnecting operation on the second link switch 204 to ensure that the switch status of the second link switch 204 is always in the disconnected state.

[0045] The relay module 202 is further configured to, when the locally stored link status is the second link, poll whether the switch status of the second link switch 204 is in the connected state; and when the switch status of the second link switch 204 changes to the disconnected state, perform a switch closing operation on the second link switch 204 to ensure that the switch status of the second link switch 204 is always in the connected state; and poll whether the switch status of the first link switch 203 is in the disconnected state; and when the switch status of the first link switch 203 changes to the connected state, perform a switch disconnecting operation on the first link switch 203 to ensure that the switch status of the first link switch 203 is always in the disconnected state.

[0046] Here, the relay module 202 of the embodiment of the present invention is used to control the on / off state of the first link switch 203 and the second link switch 204 according to the real-time driving state of the vehicle. The effect achieved is that as long as the driving state of the vehicle is related to autonomous driving, the switch state of the first link switch 203 is ensured to be connected and the switch state of the second link switch 204 is ensured to be disconnected; if the driving state of the vehicle enters the manual takeover state, the switch state of the second link switch 204 is ensured to be connected and the switch state of the first link switch 203 is ensured to be disconnected.

[0047] The takeover button 205 is used to obtain the current button force and current button duration of the button, and calculate the latest button click frequency based on the button in the most recently specified time period; when the current button force exceeds the preset force threshold or the button click frequency exceeds the preset frequency threshold or the current button duration exceeds the preset duration threshold, the first brake type is set to an emergency brake type; when the current button force does not exceed the force threshold and the button click frequency does not exceed the frequency threshold and the current button duration does not exceed the duration threshold, the first brake type is set to a slow brake type; and the first brake instruction carrying the first brake type is sent to the microprocessor 201; the first brake type includes an emergency brake type and a slow brake type.

[0048] The microprocessor 201 is also used to receive the first brake command sent by the takeover button 205; and extract the first brake type from the first brake command; and confirm whether the locally stored link status and the corresponding first link status are both the second link. If not, the locally stored link status or the corresponding first link status that is not the second link is switched to the second link; and the wire-controlled chassis 30 is called to take over the vehicle's braking operation according to the first brake type.

[0049] In a specific implementation of an embodiment of the present invention, the microprocessor 201 is specifically used to identify the first brake type when calling the wire-controlled chassis 30 to take over the braking operation of the vehicle according to the first brake type; if the first brake type is an emergency brake type, an emergency brake command is sent to the wire-controlled chassis 30 through the second link switch 204; if the first brake type is a slow brake type, a slow brake command is sent to the wire-controlled chassis 30 through the second link switch 204.

[0050] Here, the takeover device 20 of the embodiment of the present invention provides the driver with a one-touch takeover function of the vehicle and reduces the speed in time while taking over, which is specifically achieved through the linkage of the takeover button 205, the microprocessor 201 and the wire-controlled chassis 30.

[0051] It should be noted that the division of the modules of the above devices is merely a division of logical functions. In actual implementation, they can be fully or partially integrated into a single physical entity or physically separated. Furthermore, these modules can be implemented entirely in software called by a processing element, or entirely in hardware. Alternatively, some modules can be implemented in software called by a processing element, while others can be implemented in hardware. For example, the voice module can be a separate processing element, or it can be integrated into a chip of the above device. Furthermore, it can be stored in the memory of the above device in the form of program code, which can be called by a processing element of the device to perform the functions of the above-identified module. The implementation of other modules is similar. Furthermore, these modules can be fully or partially integrated or implemented independently. The processing element described here can be an integrated circuit with signal processing capabilities. During implementation, the steps of the above method or the above modules can be completed by hardware integrated logic circuits in the processor element or by software instructions.

[0052] For example, the above modules may be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits (ASICs), one or more digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs). For another example, when a module is implemented by scheduling program code through a processing element, the processing element may be a general-purpose processor, such as a central processing unit (CPU) or other processor that can call program code. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0053] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions described in the above method embodiments are generated in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The above-mentioned computer instructions can 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 can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, Bluetooth, microwave, etc.) means. The above-mentioned computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media. The above-mentioned available medium can be a magnetic medium (such as a floppy disk, hard disk, tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0054] It should be noted that an embodiment of the present invention further provides a computer-readable storage medium, which stores instructions. When the computer-readable storage medium is run on a computer, it enables the computer to execute the processing of the method or device provided in the above embodiment.

[0055] An embodiment of the present invention further provides a chip for executing instructions, which is used to execute the processing steps described in the aforementioned method or device embodiment.

[0056] Embodiments of the present invention provide a method, apparatus, and computer-readable storage medium for taking over an autonomous vehicle. The method further subdivides the vehicle's driving state into: a normal autonomous driving state, an autonomous driving warning state, an autonomous driving switching state, and a manual takeover state. The method displays a green light in the normal autonomous driving state, a flashing red light and an audible warning in the autonomous driving warning state, a flashing red light and an audible prompt in the autonomous driving switching state, and a red light in the manual takeover state. A takeover button is provided, and upon pressing the takeover button, the vehicle's driving state is set to the manual takeover state. The method also determines the braking type based on the button force, button duration, and button click frequency, and sends a corresponding emergency braking or slow braking command to the vehicle's controlled-by-wire chassis based on the braking type. The present invention's sound and light configuration ensures that the driver can immediately and intuitively obtain the latest driving state type when the driving state changes, enabling the driver to take over the vehicle with one click and promptly reduce speed while taking over. This improves the driver's reaction speed and reduces the probability of safety accidents.

[0057] Professionals should also be further aware that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0058] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0059] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for taking over an autonomous driving vehicle, characterized in that: The method comprises: The microprocessor of the takeover device periodically identifies the locally stored link status and generates a corresponding first link status; the takeover device includes the microprocessor, a relay module, a first link switch, a second link switch, a takeover button, a voice module, and a light module; the microprocessor is respectively connected to the relay module, the first link switch, the second link switch, the takeover button, the voice module, and the light module; the microprocessor is also connected to the automatic driving controller via the first link switch and to the wire-controlled chassis via the second link switch; the first link status includes the first link and the second link; And when the first link state is the first link, the relay module is called to ensure that the switch state of the first link switch is the connected state, and the switch state of the second link switch is the disconnected state; and the real-time driving state is obtained from the automatic driving controller through the first link switch; and the driving state is identified; if the driving state is the normal state of automatic driving, the light module is called to display a green light; if the driving state is the automatic driving warning state, the light module is called to flash a red light and the voice module is called to perform automatic driving warning broadcast processing, and the locally stored link state and the corresponding first link state are switched to the second link; if the driving state is the automatic driving switching state, the light module is called to flash a red light and the voice module is called to perform driving state switching reminder playback processing, and the locally stored link state and the corresponding first link state are switched to the second link; When the first link state is the second link, the relay module is called to ensure that the switch state of the second link switch is the connected state, and the switch state of the first link switch is the disconnected state; and the light module is called to display a red light; Upon receiving the first brake instruction sent by the takeover button, the microprocessor extracts a first brake type from the first brake instruction; confirms whether the locally stored link state and the corresponding first link state are both the second link; if not, switches the locally stored link state or the corresponding first link state that is not the second link to the second link; and calls the wire-controlled chassis to take over the vehicle's braking operation according to the first brake type. The takeover button is used to obtain the current button force and current button duration of the button, and calculate the latest button click frequency based on the button in the most recently specified time period; when the current button force exceeds a preset force threshold or the button click frequency exceeds a preset frequency threshold or the current button duration exceeds a preset duration threshold, the first brake type is set to an emergency brake type; when the current button force does not exceed the force threshold and the button click frequency does not exceed the frequency threshold and the current button duration does not exceed the duration threshold, the first brake type is set to a slow brake type; and the first brake instruction carrying the first brake type is sent to the microprocessor; the first brake type includes an emergency brake type and a slow brake type.

2. A takeover device for an autonomous vehicle, characterized in that: The device includes: a microprocessor, a relay module, a first link switch, a second link switch, a takeover button, a voice module and a light module; The microprocessor is respectively connected to the relay module, the first link switch, the second link switch, the takeover button, the voice module, and the light module; the microprocessor is also connected to the automatic driving controller through the first link switch, and to the wire-controlled chassis through the second link switch; The microprocessor is used to periodically identify the locally stored link state and generate a corresponding first link state; the first link state includes a first link and a second link; The microprocessor is also used to, when the first link state is the first link, call the relay module to ensure that the switch state of the first link switch is the connected state, and ensure that the switch state of the second link switch is the disconnected state; and obtain the real-time driving state from the automatic driving controller through the first link switch; and identify the driving state; if the driving state is the normal state of automatic driving, call the light module to display a green light; if the driving state is the automatic driving warning state, call the light module to flash a red light and call the voice module to perform automatic driving warning broadcast processing, and switch the locally stored link state and the corresponding first link state to the second link; if the driving state is the automatic driving switching state, call the light module to flash a red light and call the voice module to perform driving state switching reminder playback processing, and switch the locally stored link state and the corresponding first link state to the second link; The microprocessor is further configured to, when the first link state is the second link, call the relay module to ensure that the switch state of the second link switch is in the connected state, and ensure that the switch state of the first link switch is in the disconnected state; and call the light module to display a red light; The microprocessor is further configured to receive a first brake command sent by the takeover button; extract a first brake type from the first brake command; and confirm whether the locally stored link state and the corresponding first link state are both the second link; if not, switch the locally stored link state or the corresponding first link state that is not the second link to the second link; and call the wire-controlled chassis to take over the vehicle's braking operation according to the first brake type. The takeover button is used to obtain the current button force and current button duration of the button, and calculate the latest button click frequency based on the button in the most recently specified time period; when the current button force exceeds a preset force threshold or the button click frequency exceeds a preset frequency threshold or the current button duration exceeds a preset duration threshold, the first brake type is set to an emergency brake type; when the current button force does not exceed the force threshold and the button click frequency does not exceed the frequency threshold and the current button duration does not exceed the duration threshold, the first brake type is set to a slow brake type; and the first brake instruction carrying the first brake type is sent to the microprocessor; the first brake type includes an emergency brake type and a slow brake type.

3. The takeover device for an autonomous driving vehicle according to claim 2, characterized in that: The relay module is configured to, when the locally stored link state is the first link, poll whether the switch state of the first link switch is in the connected state; and when the switch state of the first link switch changes to the disconnected state, perform a switch closing operation on the first link switch to ensure that the switch state of the first link switch is always in the connected state; and poll whether the switch state of the second link switch is in the disconnected state; When the switch state of the second link switch changes to the connected state, a switch disconnection operation is performed on the second link switch to ensure that the switch state of the second link switch is always in the disconnected state.

4. The takeover device for an autonomous driving vehicle according to claim 2, characterized in that: The relay module is further configured to, when the locally stored link state is the second link, poll whether the switch state of the second link switch is in the connected state; and when the switch state of the second link switch changes to the disconnected state, perform a switch closing operation on the second link switch to ensure that the switch state of the second link switch is always in the connected state; and polling whether the switch state of the first link switch is in the disconnected state; When the switch state of the first link switch changes to the connected state, a switch disconnection operation is performed on the first link switch to ensure that the switch state of the first link switch is always in the disconnected state.

5. The takeover device for an autonomous driving vehicle according to claim 2, characterized in that: The microprocessor is specifically used to identify the first brake type when calling the wire-controlled chassis to take over the braking operation of the vehicle according to the first brake type; if the first brake type is an emergency brake type, an emergency brake command is sent to the wire-controlled chassis through the second link switch; if the first brake type is a slow brake type, a slow brake command is sent to the wire-controlled chassis through the second link switch.

6. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions, which, when executed by a computer, enable the computer to execute the method or apparatus according to any one of claims 1 to 5.

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