Driving mode switching method, device, equipment and storage medium

Abstract

The application discloses a driving mode switching method, the driving mode includes a first mode and a second mode divided according to road attributes, and the method comprises the following steps: acquiring an image of a road marked as a preset type in a map; determining a starting point and an ending point of the road according to the image of the road; determining scene switching information according to the starting point and the ending point; and generating a switching point according to the scene switching information, so that the driving mode is switched according to the switching point when the vehicle passes through the switching point. The application evaluates the starting point and the ending point of the candidate switching point, determines whether the driving mode needs to be switched according to the properties of the starting point and the ending point, and calculates the switching point according to the switching requirement, so that the driving mode is switched when the vehicle passes through the switching point. The obtained switching point can accurately distinguish scenes, so that the switching of the driving mode is more accurate, and the problem of incorrect mode switching caused by abnormal switching points is solved.

Description

Technical Field

[0001] This application relates to the field of autonomous driving technology, specifically to a driving mode switching method, a driving mode switching device, a computer device, and a computer-readable storage medium. Background Technology

[0002] In the scenario of automated assisted driving, different assistance modes are used in highway scenarios and municipal road scenarios. This is because the complexity of highway scenarios and municipal road scenarios is different, and the corresponding response logic is also very different. Therefore, switching driving modes between the two scenarios is a necessary technical challenge.

[0003] Current technical solutions often use specific types of roads, such as toll booths, as the dividing line for switching modes, or automatically switch modes based on changes in road attributes. However, due to the complexity of real-world road conditions, these solutions all have unavoidable technical problems that may lead to incorrect mode switching, such as no change in the scene on both sides of the so-called dividing line, no target road at the scene dividing line, or the scene dividing line path being too short, resulting in untimely switching. Summary of the Invention

[0004] This application provides a driving mode switching method, a driving mode switching device, a computer device, and a computer-readable storage medium.

[0005] The driving mode switching method provided in this application includes a first mode and a second mode divided according to road attributes, and the method includes:

[0006] Retrieve images of roads in the map that are marked with a preset type;

[0007] Based on the image of the road, determine the starting point and ending point of the road;

[0008] Based on the starting point and the ending point, determine the scene switching information;

[0009] A switching point is generated based on the scene switching information, so that when the vehicle passes the switching point, the driving mode is switched according to the switching point.

[0010] Therefore, this application uses the obtained preset type of road as candidate switching points, evaluates the start and end points of these candidate switching points, determines whether the driving mode needs to be switched based on the nature of the start and end points, and calculates the switching point based on the switching requirements, so that the driving mode switches when the vehicle passes the switching point. The above solution realizes the evaluation and generation of switching points based on actual road conditions. The obtained switching points can accurately distinguish the scene, thereby making the switching of driving modes more accurate and solving the problem of incorrect mode switching caused by switching points.

[0011] When the road marked as a preset type is of the first preset type, determining the scene switching information based on the starting point and the ending point includes:

[0012] Based on the starting point, determine the scene in which the vehicle was located before reaching the starting point of the road;

[0013] Based on the destination, determine the scenario into which the vehicle enters after leaving the destination of the road;

[0014] Scene switching information is determined based on the scene in which the vehicle was before arriving at the road and the scene in which the vehicle entered after leaving the road.

[0015] Thus, this application can determine whether a scene switch is needed by evaluating the scene where the vehicle is located before the starting point and the scene into which the vehicle enters after the ending point, thereby determining whether a driving mode switch is needed.

[0016] Determining the scenario where the vehicle is located before reaching the starting point of the road based on the starting point includes:

[0017] When there are roads of a continuous length of more than a first preset length within a first preset distance before the starting point, and these roads are marked as first attribute roads, it is determined that the vehicle was traveling in a first attribute road scenario before reaching the road marked as a preset type.

[0018] If there are no consecutive roads of a first preset length or longer marked as first attribute roads within a first preset distance before the starting point, it is determined that the vehicle is traveling in a second attribute road scenario before reaching the road marked as a preset type.

[0019] Thus, this application can determine the scene where the vehicle is located before the starting point based on the attributes and length of the road within a specific range before the starting point.

[0020] The scenario where the vehicle enters the road after determining the destination based on the destination includes:

[0021] When there are roads of a continuous length of more than a second preset length within a second preset distance after the endpoint that are marked as first attribute roads, it is determined that the vehicle leaves the road marked as a preset type and enters the first attribute road scenario.

[0022] When there are no consecutive roads of a second preset length or longer marked as first attribute roads within a second preset distance before the endpoint, it is determined that the vehicle leaves the road marked as a preset type and enters the second attribute road scenario.

[0023] Thus, this application can determine the scenario in which vehicles enter after the endpoint based on the attributes and length of the road within a specific range after the endpoint.

[0024] When the road marked as a preset type is a second preset type, determining the scene switching information based on the starting point and the ending point includes:

[0025] If there is a road marked as the first preset type within the third preset distance before the starting point, the scene switching information is determined to be that no switching point needs to be generated.

[0026] If there is no road marked as the first preset type within the third preset distance before the starting point:

[0027] If the road connected to the starting point has a continuous length of more than three preset lengths that are marked as first attribute roads, it is determined that the vehicle was traveling in the first attribute road scenario before reaching the road marked as the preset type;

[0028] When there is no continuous road of a third preset length or longer that is marked as a first attribute road, it is determined that the vehicle is traveling in a second attribute road scenario before reaching the road marked as a preset type.

[0029] Thus, this application can identify switching points for other types of road changes marked as preset types, and determine in advance whether switching points need to be generated based on the road conditions before the starting point. If switching points need to be generated, relevant raw data can be obtained to facilitate subsequent data processing.

[0030] When the road marked as a preset type is a second preset type, determining the scene switching information based on the starting point and the ending point includes:

[0031] If there is a road marked as the first preset type within the fourth preset distance after the endpoint, the scene switching information is determined to be that no switching point needs to be generated.

[0032] If no road of the first preset type is found within a fourth preset distance after the endpoint:

[0033] If the road connected to the endpoint has a continuous length of more than four preset lengths that are marked as first attribute roads, it is determined that the vehicle leaves the road marked as a preset type and then enters the first attribute road scenario.

[0034] If the road connected to the endpoint does not have a continuous road of a fourth preset length or longer that is marked as a first attribute road, it is determined that the vehicle leaves the road marked as a preset type and enters a second attribute road scenario.

[0035] Thus, this application can identify switching points for other types of road changes marked as preset types, and determine in advance whether switching points need to be generated based on the road conditions after the endpoint. If switching points need to be generated, relevant raw data can be obtained to facilitate subsequent data processing.

[0036] The step of generating a switching point based on the scene switching information includes:

[0037] When the scenario switching information indicates that there is no need to switch driving modes, no switching point is generated;

[0038] When the scene switching information indicates that a change in driving mode is required, a switching point is calculated and generated.

[0039] Thus, this application determines the necessity of generating a switching point by comparing whether the scenes before the starting point and after the ending point are consistent.

[0040] The step of generating a switching point based on the scene switching information further includes:

[0041] The road length of the switching point is calculated and determined based on the generated switching point and the road image within a preset range centered on the switching point.

[0042] Thus, this application can calculate the length of the switching point based on the actual road conditions.

[0043] In the method, if the road length of the switching point is less than the fifth preset length, the road length of the switching point is redefined to the fifth preset length to prevent the switching opportunity from being missed due to the switching point being too short.

[0044] Thus, this application can adjust the calculation results of the switching point length according to actual needs to avoid potential problems.

[0045] This application also relates to a driving mode switching device, the device comprising:

[0046] The image acquisition module is used to acquire images of roads in the map that are marked as preset types;

[0047] An image recognition module is used to determine the start and end points of the road based on an image of the road.

[0048] The data processing module is used to determine scene switching information based on the starting point and the ending point, and to generate switching points based on the scene switching information.

[0049] This application also relates to a computer device, the electronic device including a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, it implements the above-described method.

[0050] This application also relates to a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the above-described method.

[0051] Additional aspects and advantages of embodiments of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of embodiments of this application. Attached Figure Description

[0052] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0053] Figure 1 A flowchart of the driving mode switching method provided in this application;

[0054] Figure 2 A flowchart of the driving mode switching method provided in this application;

[0055] Figure 3 An application scenario diagram of the driving mode switching method provided in this application;

[0056] Figure 4 An application scenario diagram of the driving mode switching method provided in this application;

[0057] Figure 5 A schematic diagram of the driving mode switching device provided in this application. Detailed Implementation

[0058] The embodiments of this application are described in detail below. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the embodiments of this application, and should not be construed as limiting the embodiments of this application.

[0059] like Figure 1 As shown, this application provides a driving mode switching method, wherein the driving mode includes a first mode and a second mode divided according to road attributes, and specifically includes the following steps:

[0060] 01: Retrieve images of roads marked as preset types from the map;

[0061] 02: Based on the road image, determine the starting and ending points of the road;

[0062] 03: Determine scene switching information based on the starting point and ending point;

[0063] 04: Generate switching points based on scene switching information.

[0064] like Figure 5 As shown, this application also provides a driving mode switching device 10. The driving mode switching method of this application can be implemented by the driving mode switching device 10 of this application. Specifically, the driving mode switching device 10 includes an image acquisition module 11, an image recognition module 12, and a data processing module 13. The image acquisition module 11 is used to acquire images of roads marked as preset types on a map; the image recognition module 12 is used to determine the start and end points of the roads based on the road images; and the data processing module 13 is used to determine scene switching information based on the start and end points, and to generate switching points based on the scene switching information.

[0065] This application also provides a computer device, which includes a memory and a processor; the memory stores a computer program, and the processor is used to acquire images of roads marked as preset types in a map, and to determine the starting point and ending point of the roads based on the road images, and to determine scene switching information based on the starting point and ending point, and to generate switching points based on the scene switching information.

[0066] Specifically, this application is generally applied to automated driving assistance systems, therefore, when switching driving modes by setting switching points, maps are generally used as the data source. Driving modes are divided according to road attributes; in specific implementations, these road attributes are generally divided into highways and municipal roads, such as... Figure 3 , Figure 4 As shown, correspondingly, driving modes are also divided into highway driving mode (i.e., mode one) and municipal road driving mode (i.e., mode two). When the vehicle passes a switching point, the system will use the switching point as a trigger condition to switch the driving mode from mode one to mode two or vice versa. To determine the switching point required to switch driving modes, images of roads marked as preset types are first obtained from the map of the automated driving assistance system. The methods of obtaining images include, but are not limited to, numbering and partial recognition. In the example, roads marked as preset types generally refer to toll stations or connecting ramps. The starting and ending points of these roads can be determined according to the legally prescribed vehicle travel directions. Other roads near the starting and ending points, together with the roads marked as preset types, jointly determine the road nature of the starting and ending points. Based on this nature, it is determined whether to set a switching point on the roads marked as preset types. After determining the result, a switching point can be set or not set according to the result to adapt to the actual road conditions. Scene switching information indicates the necessity of setting a switching point on roads marked as preset types, generally showing two situations: needing to set one or not. The content of the scene switching information can also be adjusted according to actual needs.

[0067] Therefore, this application uses the obtained preset type of road as candidate switching points, evaluates the start and end points of these candidate switching points, determines whether the driving mode needs to be switched based on the nature of the start and end points, and calculates the switching point based on the switching requirements, so that the driving mode switches when the vehicle passes the switching point. The above solution realizes the evaluation and generation of switching points based on actual road conditions. The obtained switching points can accurately distinguish the scene, thereby making the switching of driving modes more accurate and solving the problem of incorrect mode switching caused by switching points.

[0068] like Figure 2 As shown, step 03 also includes:

[0069] 031: Determine the type of the road marked as a preset type. If it is the first preset type, proceed to step 032.

[0070] 032: Based on the starting point, determine the scene in which the vehicle is located before reaching the starting point of the road;

[0071] 033: Based on the destination, determine the scene after the vehicle leaves the road and enters it;

[0072] 034: Determine scene switching information based on the scene the vehicle was in before arriving at the road and the scene the vehicle entered after leaving the road.

[0073] The data processing module 13 is also used to determine the type of road marked as a preset type, and to determine the scene in which the vehicle is located before arriving at the starting point of the road based on the starting point, and to determine the scene in which the vehicle enters after leaving the end point of the road based on the ending point, and to determine scene switching information based on the scene in which the vehicle is located before arriving at the road and the scene in which the vehicle enters after leaving the road.

[0074] The processor is also used to determine the type of road marked as a preset type, and to determine the scene in which the vehicle is located before arriving at the starting point of the road based on the starting point, and to determine the scene in which the vehicle enters after leaving the end point of the road based on the ending point, and to determine scene switching information based on the scene in which the vehicle is located before arriving at the road and the scene in which the vehicle enters after leaving the road.

[0075] Specifically, in the example, the first preset type refers to a toll station. Since most municipal roads and highways have toll stations at their boundaries, the process prioritizes determining whether a road marked as a preset type is a toll station before proceeding with further data processing. Because vehicles travel from the scene before the starting point through a road marked as a preset type to the scene after the destination, the decision on whether a switching point needs to be set depends on both the scene before the starting point and the scene after the destination. Therefore, by directly determining these two scenes based on the information of the starting point and the destination, it is possible to further determine whether a switching point needs to be set. In practical implementation, the scene before the starting point can be determined directly using the image of the starting point and its vicinity on the map, and the scene after the destination can be determined using the image of the destination and its vicinity on the map, thereby determining whether a switching point needs to be set at the aforementioned roads.

[0076] Thus, this application can determine whether a scene switch is needed by evaluating the scene where the vehicle is located before the starting point and the scene into which the vehicle enters after the ending point, thereby determining whether a driving mode switch is needed.

[0077] Step 032 includes:

[0078] 0321: Determine whether there are any consecutive roads of a first preset length or longer marked as first attribute roads within the first preset distance before the starting point. If yes, proceed to step 0312; otherwise, proceed to step 0313.

[0079] 0322: Determine that the vehicle is traveling in the first attribute road scene before reaching the road marked as a preset type;

[0080] 0323: Determine that the vehicle is traveling in the second attribute road scene before reaching the road marked as a preset type.

[0081] The data processing module 13 is also used to determine whether there are consecutive roads of a first preset length or longer marked as first attribute roads within a first preset distance before the starting point, and to determine whether the vehicle arrives at a road marked as a preset type in a first attribute road scenario, and to determine whether the vehicle arrives at a road marked as a preset type in a second attribute road scenario.

[0082] The processor is used to determine whether there are consecutive roads of a first preset length or longer marked as first attribute roads within a first preset distance before the starting point, and to determine whether the vehicle arrives at a road marked as a preset type in a first attribute road scenario, and to determine whether the vehicle arrives at a road marked as a preset type in a second attribute road scenario.

[0083] Specifically, such as Figure 3As shown, in practical implementation, the first attribute road is generally a highway, and the second attribute road is generally a municipal road. The first preset distance is a buffer filtering distance set for the length of the connecting road between the municipal road and the highway. If this distance is too short or too long, it may lead to large errors and cause unreasonable switching point settings. In practical implementation, the first preset distance can generally be set to 1000-1500 meters. The first preset length is used to confirm that the part before the starting point is a first attribute road, and it can generally be set to 300-500 meters. In addition, this judgment step is based on map data. Since there are many forks in real roads, the road network can be treated as a logical tree for calculation. To avoid calculation confusion, a backtracking algorithm can be used. Based on the connectivity of the roads, a search tree is constructed with a road segment as a node and each node as the next road segment. The search tree is recursively traversed from the root node downwards in depth-first order to find other roads or elements that meet specific features or conditions. In a specific example, the backtracking algorithm is used with the starting point of the toll station as the root node. Within 1000 meters before the starting point of the toll station, there is a continuous 300-meter stretch of road marked as a highway. Therefore, it is determined that the vehicle was in a highway scenario before entering the toll station.

[0084] Thus, this application can determine the scene where the vehicle is located before the starting point based on the attributes and length of the road within a specific range before the starting point.

[0085] Step 033 includes:

[0086] 0331: Determine whether there are any consecutive roads of a second preset length or longer within the second preset distance after the endpoint that are marked as first attribute roads. If yes, proceed to step 0322; otherwise, proceed to step 0323.

[0087] 0332: After determining that the vehicle has left the road marked as a preset type and entered the first attribute road scene;

[0088] 0333: After determining that the vehicle leaves the road marked as the preset type and enters the second attribute road scene.

[0089] The data processing module 13 is also used to determine whether there are consecutive roads of a second preset length or longer marked as first attribute roads within a second preset distance after the endpoint, and to determine the scenario where a vehicle leaves a road marked as a preset type and enters a first attribute road, and to determine the scenario where a vehicle leaves a road marked as a preset type and enters a second attribute road.

[0090] The processor is also used to determine whether there are consecutive roads of a second preset length or longer marked as first attribute roads within a second preset distance after the endpoint, and to determine a scenario where the vehicle leaves a road marked as a preset type and enters a first attribute road, and to determine a scenario where the vehicle leaves a road marked as a preset type and enters a second attribute road.

[0091] Specifically, such as Figure 3 As shown, in practical implementation, the first attribute road is generally a highway, and the second attribute road is generally a municipal road. The second preset distance is a buffer filtering distance set for the length of the connecting road between the municipal road and the highway. If this distance is too short or too long, it may lead to large errors and cause unreasonable switching point settings. In practical implementation, the second preset distance can generally be set to 1000-1500 meters. The second preset length is used to confirm that the part before the starting point is the first attribute road, and can generally be set to 300-500 meters. In the specific example, the backtracking algorithm is performed with the end of the toll station as the root node. Within 1000 meters after the end of the toll station, there is no consecutive 300-meter road marked as a highway. Therefore, it is determined that the vehicle entered the municipal road scenario after leaving the toll station.

[0092] Thus, this application can determine the scenario in which vehicles enter after the endpoint based on the attributes and length of the road within a specific range after the endpoint.

[0093] like Figure 2 As shown, step 03 also includes:

[0094] 031: Determine the type of the road marked as a preset type. If it is the second preset type, proceed to step 035.

[0095] 035: Determine whether there is a road marked as the first preset type within the third preset distance before the starting point. If yes, proceed to step 037; otherwise, proceed to step 0351.

[0096] 0351: Determine whether there are any consecutive roads with a third preset length or longer that are marked as first attribute roads. If yes, proceed to step 0352; otherwise, proceed to step 0353.

[0097] 0352: Determine that the vehicle is traveling in the first attribute road scene before reaching the road marked as a preset type;

[0098] 0353: Determine that the vehicle is traveling in a second-attribute road scene before reaching a road marked as a preset type;

[0099] 037: Determine that the scene switching information does not require the generation of a switching point.

[0100] The data processing module 13 is also used to determine whether there is a road marked as the first preset type within a third preset distance before the starting point, and to determine whether there is a continuous road marked as the first attribute road for a third preset length or more connected to the starting point, and to determine whether the vehicle is in the first attribute road scenario before arriving at the road marked as the preset type, and to determine whether the vehicle is in the second attribute road scenario before arriving at the road marked as the preset type, and to determine that the scene switching information does not require the generation of a switching point.

[0101] The processor is also used to determine whether there is a road marked as the first preset type within a third preset distance before the starting point, and to determine whether there is a continuous road marked as the first attribute road for a third preset length or more connected to the starting point, and to determine whether the vehicle is in the first attribute road scene before arriving at the road marked as the preset type, and to determine whether the vehicle is in the second attribute road scene before arriving at the road marked as the preset type, and to determine that the scene switching information does not require the generation of a switching point.

[0102] Specifically, in this example, the second preset type of road refers to connecting ramps, such as... Figure 4 As shown, in real-world roads, there are situations where municipal roads and highways are connected only by ramps without toll booths. Therefore, this situation needs to be considered when switching driving modes. Similarly, even in cases where toll booths are present, ramps still connect municipal roads and highways, and this situation must also be considered. Therefore, after determining the road type to be the second preset type, it's necessary to further determine if there are roads marked as the first preset type (i.e., toll booths) within a preset distance before the ramp's starting point. If so, it means the driving mode has already been switched according to the first preset type, and no further switching is needed; a switch point can be directly determined without generating one. The third preset distance represents the detection range before the starting point, generally between 800 and 1200 meters; 1000 meters is sufficient in this example. If there are no roads marked as the first preset type (i.e., toll booths) within the preset distance before the ramp's starting point, it indicates that the ramp is a connecting road without a toll booth, and a switch point needs to be generated; further information should be obtained. At this point, the logic returns to the road scenario before obtaining the starting point. It directly checks whether there is a third consecutive road of a preset length directly connected to the starting point that is marked as the first attribute (i.e., highway). The third preset length is used to confirm whether the road marking is effective, and it is generally 300-500 meters. In this example, 300 meters is sufficient. If it is determined that there is a third consecutive road of a preset length marked as the first attribute, then it is determined that the vehicle was traveling in the first attribute road scenario (highway scenario) before the starting point. Otherwise, it is determined that the vehicle was traveling in the second attribute road scenario (municipal road scenario) before the starting point.

[0103] Thus, this application can identify switching points for other types of road changes marked as preset types, and determine in advance whether switching points need to be generated based on the road conditions before the starting point. If switching points need to be generated, relevant raw data can be obtained to facilitate subsequent data processing.

[0104] like Figure 2 As shown, step 03 also includes:

[0105] 031: Determine the type of the road marked as a preset type. If it is the second preset type, proceed to step 036.

[0106] 036: Determine whether there is a road marked as the first preset type within the fourth preset distance after the endpoint. If yes, proceed to step 037; otherwise, proceed to step 0361.

[0107] 0361: Determine whether the road connected to the endpoint has a continuous road of a fourth preset length or longer that is marked as a road with the first attribute. If yes, proceed to step 0362; otherwise, proceed to step 0363.

[0108] 0362: After determining that the vehicle has arrived at the road marked as a preset type, it enters the first attribute road scene;

[0109] 0363: After the vehicle arrives at the road marked as a preset type, it enters the second attribute road scene;

[0110] 037: Determine that the scene switching information does not require the generation of a switching point.

[0111] The data processing module 13 is also used to determine whether there is a road marked as the first preset type within a fourth preset distance after the endpoint, and to determine whether there are consecutive roads marked as the first attribute roads for a fourth preset length or more connected to the endpoint, and to determine whether the vehicle enters the first attribute road scene after arriving at the road marked as the preset type, and to determine whether the vehicle enters the second attribute road scene after arriving at the road marked as the preset type, and to determine that the scene switching information does not require the generation of a switching point.

[0112] The processor is also used to determine whether there is a road marked as the first preset type within a fourth preset distance after the endpoint, and to determine whether there is a continuous road marked as the first attribute road for a length of more than a fourth preset length connected to the endpoint, and to determine whether the vehicle enters the first attribute road scene after arriving at the road marked as the preset type, and to determine whether the vehicle enters the second attribute road scene after arriving at the road marked as the preset type, and to determine that the scene switching information does not require the generation of a switching point.

[0113] Specifically, in this example, the second preset type of road refers to connecting ramps, such as... Figure 4As shown, in real-world roads, there are situations where municipal roads and highways are connected only by ramps without toll booths. Therefore, this situation needs to be considered when switching driving modes. Similarly, even in cases where toll booths are present, ramps still connect municipal roads and highways, and this situation must also be considered. Therefore, after determining the road type as the second preset type and evaluating the road conditions at the starting point, it is necessary to further determine if there are roads marked as the first preset type (i.e., toll booths) within a preset distance after the ramp's end. If so, it means the driving mode has already been switched according to the first preset type, and there is no need to switch again; a switch point need not be generated. The evaluation of the road conditions at the end point supplements the aforementioned evaluation of the road conditions at the starting point, improving the accuracy of the switch point setting. The fourth preset distance represents the detection range after the end point, generally taken as 800-1200 meters; 1000 meters is sufficient in this example. If there are no roads marked as the first preset type (i.e., toll booths) within a preset distance after the ramp's end, it indicates that the ramp is a connecting road without a toll booth, and a switch point needs to be generated; further information should be obtained. At this point, the logic returns to the road scenario after obtaining the destination. It directly checks if there is a fourth consecutive road of a preset length directly connecting to the starting point that is marked as the first attribute (i.e., highway). The fourth preset length is used to confirm whether the road marking is effective, and it is generally set to 300-500 meters. In this example, 300 meters is sufficient. If it is determined that there is a fourth consecutive road of the preset length marked as the first attribute, then it is determined that the vehicle is traveling in the first attribute road scenario (highway scenario) after the destination. Otherwise, it is determined that the vehicle is traveling in the second attribute road scenario (municipal road scenario) after the destination.

[0114] Thus, this application can identify switching points for other types of road changes marked as preset types, and determine in advance whether switching points need to be generated based on the road conditions after the endpoint. If switching points need to be generated, relevant raw data can be obtained to facilitate subsequent data processing.

[0115] Step 03 also includes:

[0116] 038: Determine whether the scene where the vehicle was before arriving at the road marked as a preset type is the same as the scene the vehicle entered after leaving the road marked as a preset type. If yes, proceed to step 0381; otherwise, proceed to step 0382.

[0117] 0381: The scene transition information has been determined to be that no transition point needs to be generated;

[0118] 0382: Determine the scene switching information as the switching point that needs to be generated.

[0119] The data processing module 13 is also used to determine whether the scene in which the vehicle was located before arriving at the road marked as a preset type is the same as the scene in which the vehicle entered after leaving the road marked as a preset type, and to determine whether the scene switching information does not require the generation of a switching point, and to determine whether the scene switching information requires the generation of a switching point.

[0120] The processor is also used to determine whether the scene in which the vehicle was before arriving at the road marked as a preset type is the same as the scene in which the vehicle entered after leaving the road marked as a preset type, and to determine whether the scene switching information does not require the generation of a switching point, and to determine whether the scene switching information requires the generation of a switching point.

[0121] Specifically, the purpose of switching driving modes is to allow for different response strategies when the vehicle enters different scenarios. Therefore, if the scenario before and after a tollbooth or ramp remains unchanged, there's no need to switch driving modes, and thus no need to generate a switch point. Thus, comparing the scenario the vehicle was in before arriving at a road marked as a preset type with the scenario it entered after leaving the road marked as a preset type confirms whether a switch point needs to be generated.

[0122] Thus, this application determines the necessity of generating a switching point by comparing whether the scenes before the starting point and after the ending point are consistent.

[0123] Step 04 is followed by:

[0124] 05: Calculate and determine the road length of the switching point based on the generated switching point and the road image within a preset range centered on the switching point.

[0125] The processor is also used to calculate and determine the road length of the switching point based on the generated switching point and the road image within a preset range centered on the switching point.

[0126] Specifically, the generated switching points are generally located on roads marked as preset types. Due to errors in current technology, a switching point is essentially a road segment with a certain length. This length has a crucial impact on the timing of mode switching. Therefore, it is necessary to calculate the easiest and most reliable switching point road length based on the actual situation and road images within a preset range centered on the switching point. Specific calculation methods can employ relevant technologies, and no further limitations are specified here.

[0127] In step 05, if the road length at the switching point is less than the fifth preset length, the road length at the switching point will be redefined to the fifth preset length to prevent the switching opportunity from being missed due to the switching point being too short.

[0128] Specifically, sometimes the size of toll plazas or ramps is too small, which may lead to delayed or missed switching opportunities in actual application due to the calculated road length at the switching point. To avoid this, a fifth preset length is established. This fifth preset length is the minimum road length for a manually preset switching point, designed to prevent the aforementioned issues. The fifth preset length is typically between 80 and 120 meters, with 100 meters being the default value. When the calculated road length at the switching point is less than 100 meters, simply assign the value of 100 meters to the switching point road length.

[0129] Thus, this application can adjust the calculation results of the switching point length according to actual needs to avoid potential problems.

[0130] This application also provides a computer-readable storage medium storing a computer program that, when executed by one or more processors, implements the above-described driving mode switching method.

[0131] All or part of the processes in the above-described embodiments of this application can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium. When executed, the program can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and RAMbus dynamic RAM (RDRAM), etc.

[0132] In the description of this specification, the references to terms such as "some embodiments," "in one example," "exemplarily," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0133] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or more executable instructions for implementing a particular logical function or process, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the function involved, as will be understood by those skilled in the art to which embodiments of this application pertain.

[0134] Although embodiments of this application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting this application. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of this application.

Claims

1. A method for switching driving modes, characterized in that, The driving modes include a first mode and a second mode divided according to road attributes, and the method includes: Retrieve images of roads in the map that are marked with a preset type; Determine the type of roads marked as preset types on the map; If it is the first preset type, the scene where the vehicle is before the starting point of the road and the scene where the vehicle enters after the ending point of the road are evaluated to determine whether scene switching is needed, thereby determining whether driving mode switching is needed. If it is the second preset type, the starting point and ending point of the road are determined based on the road image, and it is determined whether there is a road marked as the first preset type within a third preset distance before the starting point. If there is, it is determined that there is no need to switch driving modes; if not, it is determined whether there is a continuous road marked as the first attribute road for a length of more than a third preset length connected to the starting point. If so, it is determined that the vehicle is traveling in the first attribute road scenario before reaching the road marked as the preset type; if not, it is determined that the vehicle is traveling in the second attribute road scenario before reaching the road marked as the preset type. Based on the image of the road, determine the starting point and ending point of the road; Based on the starting point and the ending point, determine the scene switching information; A switching point is generated based on the scene switching information, so that when the vehicle passes the switching point, the driving mode is switched according to the switching point.

2. The method according to claim 1, characterized in that, When the road marked as a preset type is of the first preset type, determining the scene switching information based on the starting point and the ending point includes: Based on the starting point, determine the scene in which the vehicle was located before reaching the starting point of the road; Based on the destination, determine the scenario into which the vehicle enters after leaving the destination of the road; Scene switching information is determined based on the scene in which the vehicle was before arriving at the road and the scene in which the vehicle entered after leaving the road.

3. The method according to claim 2, characterized in that, Determining the scenario where the vehicle is located before reaching the starting point of the road based on the starting point includes: If there are consecutive roads of a first preset length or longer within a first preset distance before the starting point, these roads are marked as first attribute roads. It is determined that the vehicle was traveling in a first attribute road scenario before reaching the road marked as a preset type. If there are no consecutive roads of a first preset length or longer marked as first attribute roads within a first preset distance before the starting point, it is determined that the vehicle is traveling in a second attribute road scenario before reaching the road marked as a preset type.

4. The method according to claim 2, characterized in that, The scenario where the vehicle enters the road after determining the destination based on the destination includes: If there are consecutive roads of a second preset length or longer within a second preset distance after the endpoint, and these roads are marked as first attribute roads, then it is determined that the vehicle leaves the road marked as a preset type and enters the first attribute road scenario. If there are no consecutive roads of a second preset length or longer within a second preset distance before the endpoint that are marked as first attribute roads, then the scenario is determined that the vehicle leaves the road marked as a preset type and enters the second attribute road scenario.

5. The method according to claim 1, characterized in that, When the road marked as a preset type is a second preset type, determining the scene switching information based on the starting point and the ending point includes: If there is a road marked as the first preset type within the fourth preset distance after the endpoint, the scene switching information is determined to be that no switching point needs to be generated. If no road of the first preset type is found within a fourth preset distance after the endpoint: If the road connected to the endpoint has a continuous length of more than four preset lengths that are marked as first attribute roads, it is determined that the vehicle leaves the road marked as a preset type and then enters the first attribute road scenario. If the road connected to the endpoint does not have a continuous road of a fourth preset length or longer that is marked as a first attribute road, it is determined that the vehicle leaves the road marked as a preset type and enters a second attribute road scenario.

6. The method according to any one of claims 2-5, characterized in that, The step of determining scene switching information based on the starting point and the ending point includes: If the scene in which the vehicle was located before it arrived at the road marked as a preset type is the same as the scene in which the vehicle entered after it left the road marked as a preset type, then the scene switching information is determined to be that no switching point needs to be generated. If the scene in which the vehicle was located before arriving at the road marked as a preset type is inconsistent with the scene in which the vehicle entered after leaving the road of the preset type, the scene switching information is determined to be a switching point that needs to be generated.

7. The method according to claim 6, characterized in that, The step of generating a switching point based on the scene switching information includes: If the scenario switching information indicates that there is no need to switch driving modes, no switching point will be generated; If the scenario switching information indicates that a change in driving mode is required, calculate and generate a switching point.

8. The method according to claim 7, characterized in that, The step of generating a switching point based on the scene switching information further includes: The road length of the switching point is calculated and determined based on the generated switching point and the road image within a preset range centered on the switching point.

9. The method according to claim 8, characterized in that, The method further includes: If the road length at the switching point is less than the fifth preset length, then the road length at the switching point will be redefined as the fifth preset length.

10. A driving mode switching device, implementing the method as described in any one of claims 1-9, characterized in that, The device includes: The image acquisition module is used to acquire images of roads in the map that are marked as preset types; An image recognition module is used to determine the start and end points of the road based on an image of the road. The data processing module is used to determine scene switching information based on the starting point and the ending point, and to generate switching points based on the scene switching information.

11. A computer device, characterized in that, The computer device includes a memory and a processor; the memory stores a computer program that, when executed by the processor, causes the processor to perform the method as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by one or more processors, implements the method as described in any one of claims 1-9.

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