An automatic driving method and related device

Abstract

This invention relates to the field of autonomous driving, and more particularly to an autonomous driving method and related equipment. The method includes: executing an autonomous driving function according to a set autonomous driving gear; wherein the autonomous driving function has multiple autonomous driving gears, including at least one of a side distance gear and a following distance gear; upon detecting a correction command, acquiring correction information for the autonomous driving gear; determining whether the correction information poses a safety hazard; and if no safety hazard exists, updating the gear parameters of the autonomous driving gear based on the correction information. In this embodiment of the invention, by setting multiple autonomous driving gears, users can switch between them according to their actual needs. Furthermore, users can fine-tune the gear parameters of each autonomous driving gear, thereby making the following distance or side distance more consistent with user expectations and improving the user experience.

Description

[Technical Field]

[0001] This invention relates to the field of autonomous driving, and more particularly to an autonomous driving method and related equipment. [Background Technology]

[0002] Current autonomous driving functions primarily include Lane Keeping Assist (LKA) and Adaptive Cruise Control (ACC). LKA is a driver assistance system that detects the vehicle's relative position to lane markings in real time, keeping the vehicle within its lane. ACC controls the vehicle's acceleration and deceleration longitudinally based on traffic conditions in the direction of travel, reducing driver workload. When there are no vehicles ahead or the vehicle ahead is far away, ACC can maintain the cruise speed set by the driver. When the vehicle ahead is close, ACC can automatically maintain a relative distance based on the following distance set by the driver. However, current LKA systems can only maintain a relative distance to the lane edge based on manufacturer-defined parameters, making them incompatible with different driver habits. Similarly, current ACC systems can only follow the manufacturer-set following distance, failing to meet the driver's desired following distance. [Summary of the Invention]

[0003] To address the aforementioned issues, embodiments of the present invention provide an autonomous driving method and related equipment. By setting multiple autonomous driving gears with different parameters, it can meet the driving habits of different users. Furthermore, it can obtain user correction information regarding the autonomous driving gears to fine-tune the gear parameters, thereby making the autonomous driving effect more in line with the user's driving habits and improving the user's driving experience.

[0004] In a first aspect, embodiments of the present invention provide an autonomous driving method, comprising:

[0005] The autonomous driving function is executed according to the set autonomous driving level; wherein, the autonomous driving function is set with multiple autonomous driving levels, and the autonomous driving level includes at least one of the side distance level and the following distance level.

[0006] Upon detecting a correction command, obtain correction information for the autonomous driving gear.

[0007] Determine whether the corrected information poses a security risk;

[0008] If there are no safety hazards, update the gear parameters of the aforementioned autonomous driving gear according to the correction information.

[0009] In one possible implementation, before determining whether the correction information poses a security risk, the method further includes:

[0010] Determine whether there exists a gear position parameter that is closer to the target autonomous driving gear of the correction information than the current autonomous driving gear;

[0011] If the target autonomous driving mode exists, switch to the target autonomous driving mode and adjust the gear parameters of the target autonomous driving mode according to the correction information.

[0012] In one possible implementation, the autonomous driving gear is a margin gear, the autonomous driving is lane keeping assist, the correction information is margin correction information, and the gear parameter is a margin parameter.

[0013] In one possible implementation, before executing the autonomous driving function according to the set autonomous driving level, the method further includes:

[0014] Determine whether the conditions for activating lane keeping assist are met;

[0015] If so, then activate the lane keeping assist and obtain the set automatic driving mode.

[0016] In one possible implementation, the autonomous driving gear is a following distance gear, the autonomous driving is adaptive cruise control, the correction information is following distance correction information, and the gear parameter is a following distance parameter.

[0017] In one possible implementation, before executing the autonomous driving function according to the set autonomous driving level, the method further includes:

[0018] Determine whether the activation conditions for the adaptive cruise control are met;

[0019] If so, then activate the adaptive cruise control and obtain the set automatic driving mode.

[0020] In one possible implementation, if the correction information poses a security risk, then DD230419I will not be updated.

[0021] The system describes the gear parameters for the autonomous driving mode and displays the corresponding prompts.

[0022] In a second aspect, embodiments of the present invention provide an autonomous driving device, comprising:

[0023] An execution module is used to execute an autonomous driving function according to a set autonomous driving level; wherein, the autonomous driving function is provided with multiple autonomous driving levels, and the autonomous driving level includes at least one of a side distance level and a following distance level.

[0024] The acquisition module is used to acquire correction information for the automatic driving gear when a correction command is detected.

[0025] The processing module is used to determine whether the correction information poses a security risk;

[0026] The processing module is also used to update the gear parameters of the autonomous driving gear according to the correction information if there is no safety hazard.

[0027] Thirdly, embodiments of the present invention provide an electronic device, including: a processor, a memory, and a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions that, when executed, cause the electronic device to perform the method described in the first aspect.

[0028] Fourthly, embodiments of the present invention provide a computer-readable storage medium comprising a stored program, wherein the program, when executed, controls the device containing the computer-readable storage medium to perform the method described in the first aspect.

[0029] It should be understood that the second to fourth aspects of the embodiments of the present invention are consistent with the technical solutions of the first aspect of the embodiments of the present invention, and the beneficial effects achieved by each aspect and the corresponding feasible implementation are similar, and will not be described again.

[0030] In this embodiment of the invention, multiple autonomous driving modes are set to allow users to switch freely according to their needs. Furthermore, by acquiring correction information for each autonomous driving mode, the mode parameters are fine-tuned, enabling users to adjust the desired distances and following distances without complex calibration, thus improving the user experience. [Attached Image Description]

[0031] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 A flowchart of an autonomous driving method provided in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of the structure of an autonomous driving device provided in an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention.

Detailed Implementation Methods

[0035] To better understand the technical solutions in this specification, the embodiments of the present invention will be described in detail below with reference to the accompanying drawings.

[0036] It should be understood that the described embodiments are merely some, not all, of the embodiments in this specification. All other embodiments obtained by those skilled in the art based on the embodiments in this specification without inventive effort are within the scope of protection of this invention.

[0037] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to be limiting of this specification. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0038] Figure 1 A flowchart illustrating an autonomous driving method provided in an embodiment of the present invention. Figure 1 As shown, the method includes:

[0039] Step 101: Execute the autonomous driving function according to the set autonomous driving level. This embodiment of the invention can be applied to in-vehicle terminal devices with processing capabilities, such as vehicle controllers. The autonomous driving function has multiple autonomous driving levels, including at least one of a side distance level and a following distance level. The autonomous driving function mainly includes a lane keeping assist (LKA) system and an adaptive cruise control (ACC) system. Multiple levels with different parameters are set to meet the driving needs of different users.

[0040] For example, in an LKA system, four lane distance settings can be set, each with a different distance from the lane lines: 30cm, 40cm, 50cm, and 60cm. Users can switch between these four settings to change the distance between the vehicle and the lane lines. The lane distance parameter in each setting can be either the distance between the vehicle and the left lane line or the distance between the vehicle and the right lane line. This embodiment of the invention is not limited and can be adjusted according to actual circumstances.

[0041] The ACC system allows for four different following distance settings: 30s / Veh, 50s / Veh, 70s / Veh, and 90s / Veh. Users can switch between these settings to adjust the following distance to the vehicle in front.

[0042] Step 102: Upon detecting a correction command, obtain correction information for the autonomous driving gear. When the user needs to fine-tune the current gear information (follow distance or side distance), they can enter correction mode via a correction command, and then input the correction information for the autonomous driving gear for adjustment.

[0043] Specifically, users can increase their following distance by pressing the brake pedal or decrease it by pressing the accelerator pedal. Users can also adjust their distance from the lane lines using the steering wheel.

[0044] Step 103: Determine if the corrected information poses a safety hazard. Specifically, this involves determining whether the corrected lane distance and following distance meet road safety standards. For example, whether the distance to the vehicle in front exceeds a safety threshold, whether the lane width is sufficient, and whether there are any obstacles nearby.

[0045] Step 104: If there is no safety hazard, update the gear parameters of the autonomous driving mode based on the correction information. Optionally, if the correction information indicates a safety hazard, do not update the gear parameters of the autonomous driving mode and display the corresponding prompt information. For example, if the current following distance parameter is 50s / Veh, and the user reduces the following distance to 45s / Veh by pressing the accelerator pedal, then after confirming that there is no safety hazard with a following distance of 45s / Veh, change the following distance parameter of the current following distance mode from 50s / Veh to 45s / Veh.

[0046] In some embodiments, before determining whether the correction information poses a safety hazard, it can also be determined whether there is a target autonomous driving gear whose gear parameters are closer to the correction information than the current autonomous driving gear. If a target autonomous driving gear exists, the system switches to the target autonomous driving gear and adjusts its gear parameters according to the correction information. For example, the currently used margin gear is level 1 with a margin parameter of 40cm, and the user's margin correction information is 55cm. The margin parameter for level 2 is 60cm. Therefore, the margin parameter for level 2 is closer to the margin correction information than that for level 1. Thus, the system can first switch the margin gear from level 1 to level 2, and then modify the margin parameter of level 2 from 60cm to 55cm.

[0047] In a specific example, when the autonomous driving gear only includes the margin gear, then the autonomous driving is Lane Keeping Assist (LKA), the correction information is the margin correction information, and the gear parameter is the margin parameter. The specific implementation process of the above method includes:

[0048] First, determine if the conditions for activating lane keeping assist (LKA) are met. Specifically, use cameras or other data acquisition devices to collect image data within a certain distance around the vehicle. Then, determine if clear and continuous lane lines can be identified based on the collected image data. If clear and continuous lane lines can be identified, the conditions for activating LKA are met. Next, activate lane keeping assist and obtain the set distance setting (this can be manually set by the user, or automatically selected based on the current road width or lane width as the initial distance setting after activating the LKA system). Then, when the user needs to fine-tune the distance parameters of the current distance setting, they can activate the correction mode by pressing a designated button and adjust the distance between the vehicle and the lane lines using the steering wheel. Afterward, record the current actual distance parameters (i.e., distance correction information) and determine if there is a target distance setting whose parameters are closer to the distance correction information than the current distance setting. If a security risk exists, first switch to the target margin setting, then determine if the user-adjusted margin parameters (i.e., margin correction information) pose a safety hazard. If a security risk exists, indicate that the modification failed. If not, the user-adjusted margin parameters (i.e., margin correction information) are set as the margin parameters for the target margin setting. If no target margin setting exists, and after determining that there is no security risk, the margin parameters for the current margin setting can be modified to the user-adjusted margin parameters (i.e., margin correction information).

[0049] In another specific example, when the autonomous driving gear only includes the following distance gear, then the autonomous driving is adaptive cruise control (ACC), the correction information is the following distance correction information, and the gear parameter is the margin parameter. The specific implementation process of the above method includes:

[0050] The system determines whether the activation conditions for the Adaptive Cruise Control (ACC) system are met. Point cloud data collected by radar or other data acquisition devices can be used to determine if a target vehicle exists within a preset range ahead. If so, the activation conditions for the ACC system are met. The ACC system is then activated, and the set following distance setting is obtained (this can be manually set by the user or automatically selected based on current vehicle speed and road conditions as the initial following distance setting after ACC activation). When the user needs to fine-tune the following distance parameters at the current setting, they can activate the correction mode by pressing a designated button and adjust the distance to the vehicle in front by pressing the brake or accelerator pedal. Specifically, the depth to which the user presses the brake or accelerator pedal must be controlled within a certain range. For example, only within 1 / 2 depth, ensuring no collision with the vehicle in front or complete stop. The specific depth range can be calibrated by the manufacturer or the user. Next, the current actual following distance parameter (i.e., following distance correction information) is recorded, and it is determined whether there is a target following distance level whose following distance parameter is closer to the following distance correction information than the current following distance level. If such a target following distance level exists, the system first switches to the target following distance level and then determines whether the user-adjusted following distance parameter (i.e., following distance correction information) poses a safety hazard. If such a hazard exists, a modification failure message is displayed; otherwise, the user-adjusted following distance parameter (i.e., following distance correction information) is set as the following distance parameter for the target following distance level. If no target following distance level exists, and after determining that there is no safety hazard, the following distance parameter of the current following distance level can be modified to the user-modified following distance parameter (i.e., following distance correction information).

[0051] The above method allows users to freely switch between multiple autonomous driving modes based on actual conditions and driving habits by pre-setting multiple modes. Users can also fine-tune specific boundary distances and following distances. Without complex calibration, users can adjust the boundary distances and following distances to their desired levels according to their driving habits, improving the user experience.

[0052] Corresponding to the above-described autonomous driving method, this embodiment of the invention provides an autonomous driving device. Figure 2 This is a schematic diagram of the structure of an autonomous driving device provided in an embodiment of the present invention. Figure 2 As shown, the autonomous driving device includes: an execution module 201, an acquisition module 202, and a processing module 203.

[0053] The execution module 201 is used to execute the autonomous driving function according to the set autonomous driving level. The autonomous driving function is set with multiple autonomous driving levels, including at least one of the following distance level and the following distance level.

[0054] The acquisition module 202 is used to acquire correction information for the automatic driving gear when a correction command is detected.

[0055] Processing module 203 is used to determine whether the correction information has any security risks.

[0056] The processing module 203 is also used to update the gear parameters of the autonomous driving gear according to the correction information if there is no safety hazard.

[0057] Figure 2 The autonomous driving device provided in the illustrated embodiment can be used to execute this specification. Figure 1 The implementation principle and technical effects of the method embodiment shown can be further referred to the relevant description in the method embodiment.

[0058] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention, such as... Figure 3 As shown, the above-described electronic device may include a processor, a memory, and a computer program, wherein the computer program is stored in the memory and includes instructions that, when executed, cause the electronic device to perform the functions described herein. Figure 1 The autonomous driving method provided in the illustrated embodiment.

[0059] like Figure 3 As shown, the electronic device is represented in the form of a general-purpose computing device. The components of the electronic device may include, but are not limited to: one or more processors 310, communication interface 320 and memory 330, and a communication bus 340 connecting different system components (including memory 330, communication interface 320 and processor 310).

[0060] Communication bus 340 represents one or more of several bus architectures, including a memory bus or memory controller, a peripheral bus, a graphics acceleration port, a processor, or a local bus using any of the various bus architectures. For example, these architectures include, but are not limited to, Industry Standard Architecture (ISA) buses, Micro Channel Architecture (MAC) buses, Enhanced ISA buses, Video Electronics Standards Association (VESA) local buses, and Peripheral Component Interconnect (PCI) buses.

[0061] Electronic devices typically include a variety of computer-readable media. These media can be any available media that can be accessed by the electronic device, including volatile and non-volatile media, and removable and non-removable media.

[0062] Memory 330 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) and / or cache memory. The electronic device may further include other removable / non-removable, volatile / non-volatile computer system storage media. Memory 330 may include at least one program product having a set (e.g., at least one) of program modules configured to perform the functions of the embodiments described herein.

[0063] A program / utility having a set (at least one) of program modules can be stored in memory 330. Such program modules include—but are not limited to—an operating system, one or more application programs, other program modules, and program data. Each or some combination of these examples may include an implementation of a network environment. The program modules typically perform the functions and / or methods described in the embodiments of this specification.

[0064] Processor 310 executes various functional applications and data processing by running programs stored in memory 330, such as implementing the functions described in this specification. Figure 1 The autonomous driving method provided in the illustrated embodiment.

[0065] This specification provides a computer-readable storage medium that stores computer instructions that cause a computer to execute this specification. Figure 1 The autonomous driving method provided in the illustrated embodiment.

[0066] The aforementioned computer-readable storage medium may be any combination of one or more computer-readable media. A computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. A computer-readable storage medium may be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), or flash memory, optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in connection with an instruction execution system, apparatus, or device.

[0067] The foregoing has described specific embodiments of this specification. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims may be performed in a different order than that shown in the embodiments and may still achieve the desired result. Furthermore, the processes depicted in the drawings do not necessarily require the specific or sequential order shown to achieve the desired result. In some embodiments, multitasking and parallel processing are possible or may be advantageous.

[0068] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this specification. 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.

[0069] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this specification, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0070] 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 custom logic functions or processes, and the scope of the preferred embodiments of this specification 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 functions involved, as will be understood by those skilled in the art to which the embodiments of this specification pertain.

[0071] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0072] It should be noted that the devices involved in the embodiments of this specification may include, but are not limited to, personal computers (hereinafter referred to as PCs), personal digital assistants (hereinafter referred to as PDAs), wireless handheld devices, tablet computers, mobile phones, MP3 displays, MP4 displays, etc.

[0073] In the several embodiments provided in this specification, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0074] Furthermore, the functional units in the various embodiments of this specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0075] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, a connector, or a network device, etc.) or a processor to execute some steps of the methods described in the various embodiments of this specification. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0076] The above description is merely a preferred embodiment of this specification and is not intended to limit this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this specification should be included within the scope of protection of this specification.

Claims

1. An autonomous driving method, characterized in that, include: The autonomous driving function is executed according to the set autonomous driving level; wherein, the autonomous driving function is set with multiple autonomous driving levels, and the autonomous driving level includes at least one of the side distance level and the following distance level. Upon detecting a correction command, obtain correction information for the autonomous driving gear. Determine whether the corrected information poses a security risk; If there are no safety hazards, update the gear parameters of the aforementioned autonomous driving gear according to the correction information; Before determining whether the corrected information poses a security risk, the method further includes: Determine whether there exists a gear position parameter that is closer to the target autonomous driving gear of the correction information than the current autonomous driving gear; If the target autonomous driving mode exists, switch to the target autonomous driving mode and adjust the gear parameters of the target autonomous driving mode according to the correction information.

2. The method according to claim 1, characterized in that, The autonomous driving gear is a margin gear, the autonomous driving is lane keeping assist, the correction information is margin correction information, and the gear parameter is a margin parameter.

3. The method according to claim 2, characterized in that, Before executing the autonomous driving function according to the set autonomous driving level, the method further includes: Determine whether the conditions for activating lane keeping assist are met; If so, then activate the lane keeping assist and obtain the set automatic driving mode.

4. The method according to claim 1, characterized in that, The autonomous driving gear is the following distance gear, the autonomous driving is adaptive cruise control, the correction information is the following distance correction information, and the gear parameter is the following distance parameter.

5. The method according to claim 4, characterized in that, Before executing the autonomous driving function according to the set autonomous driving level, the method further includes: Determine whether the activation conditions for the adaptive cruise control are met; If so, then activate the adaptive cruise control and obtain the set automatic driving mode.

6. The method according to claim 1, characterized in that, If the correction information poses a safety hazard, the gear parameter of the autonomous driving mode will not be updated and a corresponding prompt message will be displayed.

7. An autonomous driving device, characterized in that, include: An execution module is used to execute an autonomous driving function according to a set autonomous driving level; wherein, the autonomous driving function is provided with multiple autonomous driving levels, and the autonomous driving level includes at least one of a side distance level and a following distance level. The acquisition module is used to acquire correction information for the automatic driving gear when a correction command is detected. The processing module is used to determine whether the correction information poses a security risk; The processing module is also used to update the gear parameters of the autonomous driving gear according to the correction information if there is no safety hazard. The processing module is further configured to determine whether there is a target autonomous driving gear whose gear parameters are closer to the correction information than the current autonomous driving gear; if the target autonomous driving gear exists, the module switches to the target autonomous driving gear and adjusts the gear parameters of the target autonomous driving gear according to the correction information.

8. An electronic device, characterized in that, include: A processor, a memory, and a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions that, when executed, cause the electronic device to perform the method of any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium includes a stored program, wherein, when the program is executed, it controls the device on which the computer-readable storage medium is located to perform the method according to any one of claims 1-6.

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