Intelligent Driving Mode Control Method, Electronic Device and Storage Medium

Abstract

The present application provides an intelligent driving mode control method, an electronic device and a storage medium. The method includes: when the surrounding environment meets the start condition of the high-level intelligent driving function, receiving an intelligent driving mode and an actuator mode corresponding to a target function; wherein, the intelligent driving mode includes a cruise mode or a parking mode, and the actuator mode includes a redundant mode or a non-redundant mode; the target function belongs to the high-level intelligent driving function; according to the actuator mode, verifying a function module and a communication link corresponding to the actuator mode to determine a verification result; if the verification result is verification passed, executing the target function corresponding to the intelligent driving mode and the actuator mode; if the verification result is verification failed, generating a warning message and executing an alternative function corresponding to the target function. Through the technical solution of the present application, the availability and effectiveness of the high-level intelligent driving function are improved.

Description

Technical Field

[0001] This application relates to the field of intelligent driving technology, and particularly to an intelligent driving mode control method, an electronic device, and a storage medium. Background Art

[0002] With the popularization and application of high-order intelligent driving systems that integrate multi-sensor perception, their reliability and applicability are gradually improving.

[0003] Currently, high-order intelligent driving systems usually consider the usage of modules such as power supply, communication, braking, and steering. To ensure the robustness of high-order intelligent driving systems, redundant assistance is often added to communication, braking, and steering functions. However, this also brings the failures of the modules used for redundant assistance into the entire system, resulting in the problem that the high-order intelligent driving function becomes unavailable due to the redundant assistance function, affecting the availability of the high-order intelligent driving function. Summary of the Invention

[0004] In view of the above-mentioned defects or deficiencies in the prior art, this application aims to provide an intelligent driving mode control method, an electronic device, and a storage medium to solve the problem that the intelligent driving function becomes unavailable due to the failures caused by the redundant mode when the surrounding environment meets the start conditions of the high-order intelligent driving function.

[0005] An embodiment of this application provides an intelligent driving mode control method, which includes:

[0006] When the surrounding environment meets the start conditions of the high-order intelligent driving function, receiving an intelligent driving mode and an actuator mode corresponding to a target function; wherein, the intelligent driving mode includes a cruise mode or a parking mode, and the actuator mode includes a redundant mode or a non-redundant mode; the target function belongs to the high-order intelligent driving function;

[0007] According to the actuator mode, verifying the function modules and communication links corresponding to the actuator mode to determine the verification result;

[0008] If the verification result is passed, execute the target function corresponding to the intelligent driving mode and the actuator mode;

[0009] If the verification result is not passed, generate a warning message and execute an alternative function corresponding to the target function.

[0010] Optionally, the step of verifying the function modules and communication links corresponding to the actuator mode according to the actuator mode to determine the verification result includes:

[0011] According to the actuator mode, determine the function modules corresponding to the actuator mode;

[0012] Verify each of the said functional modules to determine the module verification result;

[0013] Verify each communication link between the advanced driver assistance system and each of the said functional modules to determine the connection verification result;

[0014] Determine the verification result based on the said module verification result and the said connection verification result.

[0015] Optionally, if the actuator mode is a redundant mode, the functional modules include a main braking module, a secondary braking module, a main steering module, and a secondary steering module; if the actuator mode is a non-redundant mode, the functional modules include a main braking module and a main steering module.

[0016] Optionally, the advanced driver assistance system is respectively connected to each of the said functional modules through a first bus, and the advanced driver assistance system is respectively connected to each of the said functional modules through a second bus; or,

[0017] The advanced driver assistance system is respectively connected to each of the said functional modules through a first bus, and the advanced driver assistance system is respectively connected to the main braking module and the main steering module through a second bus.

[0018] Optionally, the actuator mode is a non-redundant mode. After executing the target function corresponding to the intelligent driving mode and the actuator mode, it further includes:

[0019] Verify the secondary braking module and the secondary steering module to determine the first verification result;

[0020] Respectively verify each communication link between the advanced driver assistance system and the secondary braking module and the secondary steering module to determine the second verification result;

[0021] When both the first verification result and the second verification result are verified to be passed, control the actuator mode to switch from the non-redundant mode to the redundant mode.

[0022] Optionally, the intelligent driving mode is a cruise mode, the actuator mode is a redundant mode. If the module verification result is not verified to be passed, the alternative function corresponding to the execution of the target function includes:

[0023] Execute the vehicle control function and generate and display a reminder for the driver to take over;

[0024] In the case where no driver takeover action is detected within a preset duration, execute a braking stop operation;

[0025] If the module verification result is verified successfully and the connection verification result is verified unsuccessfully, then the execution of the alternative function corresponding to the target function includes:

[0026] Execute the intelligent cruise function or the adaptive cruise function.

[0027] Optionally, when the intelligent driving mode is the cruise mode and the actuator mode is the non-redundant mode, or when the intelligent driving mode is the parking mode, the execution of the alternative function corresponding to the target function includes:

[0028] Exit the high-order intelligent driving function and perform a braking operation.

[0029] Optionally, when the intelligent driving mode is the parking mode and the actuator mode is the non-redundant mode, the execution of the target function corresponding to the intelligent driving mode and the actuator mode includes:

[0030] Based on the current state information of the vehicle, determine the driver-in-the-loop state; wherein, the current state information is the interaction information between the driver and the vehicle, and the driver-in-the-loop state is used to describe the takeover situation of the driver for the vehicle;

[0031] If the driver-in-the-loop state is in the in-the-loop state, then execute the parking assistance function;

[0032] If the driver-in-the-loop state is in the not-in-the-loop state, then switch the actuator mode from the non-redundant mode to the redundant mode and execute the remote parking function.

[0033] The embodiment of the present application also provides an electronic device, and the electronic device includes:

[0034] A processor and a memory;

[0035] The processor is configured to execute the steps of the intelligent driving mode control method according to any embodiment of the present application by calling a program or an instruction stored in the memory.

[0036] The embodiment of the present application also provides a computer-readable storage medium, and the computer-readable storage medium stores a program or an instruction, and the program or the instruction causes a computer to execute the steps of the intelligent driving mode control method according to any embodiment.

[0037] In summary, the present application proposes an intelligent driving mode control method. When the surrounding environment meets the activation conditions of the high-level intelligent driving function, it receives the intelligent driving mode and actuator mode corresponding to the target function to determine the function required by the current user. According to the actuator mode, it verifies the function module and communication link corresponding to the actuator mode to determine the verification result, so as to judge whether the target function can be executed. If the verification result is passed, it executes the target function corresponding to the intelligent driving mode and actuator mode. If the verification result fails, it generates a warning message and executes the alternative function corresponding to the target function, solving the problem that the intelligent driving function is unavailable due to the failure caused by the redundant mode when the surrounding environment meets the activation conditions of the high-level intelligent driving function, and realizing the automatic matching of the redundant mode or non-redundant mode, improving the availability and effectiveness of the high-level intelligent driving function. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a flowchart of an intelligent driving mode control method provided by an embodiment of the present application;

[0039] Figure 2 is a flowchart of another intelligent driving mode control method provided by an embodiment of the present application;

[0040] Figure 3 is a schematic diagram of the connection manner between an advanced driving assistance system and each function module provided by an embodiment of the present application;

[0041] Figure 4 is a schematic diagram of another connection manner between an advanced driving assistance system and each function module provided by an embodiment of the present application;

[0042] Figure 5 is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0043] The present application will be further described in detail below with reference to the drawings and embodiments. It can be understood that the specific embodiments described herein are only used to explain the related invention, rather than limiting the invention. In addition, it should be noted that for the convenience of description, only the parts related to the invention are shown in the drawings.

[0044] It should be noted that, without conflict, the embodiments in the present application and the features in the embodiments can be combined with each other. The present application will be described in detail below with reference to the drawings and embodiments.

[0045] Figure 1 is a flowchart of an intelligent driving mode control method provided by an embodiment of the present application. Refer to Figure 1 , the intelligent driving mode control method specifically includes:

[0046] S110. When the surrounding environment meets the activation conditions of the high-level intelligent driving function, receive the intelligent driving mode and actuator mode corresponding to the target function.

[0047] Among them, the high-level intelligent driving function is the L3-level high-level intelligent driving function, that is, the point-to-point navigational cruise assist function. The target function can be the function triggered by the user received, that is, the function that the vehicle is about to execute. The target function belongs to the high-level intelligent driving function. The intelligent driving mode includes the cruise mode or the parking mode, and the actuator mode includes the redundant mode or the non-redundant mode.

[0048] Specifically, detect the surrounding environment of the vehicle to determine whether the surrounding environment meets the activation conditions of the high-level intelligent driving function. For example, whether the current driving section meets the conditions, whether the weather environment meets the conditions, etc. Only when the surrounding environment meets the activation conditions of the high-level intelligent driving function can the subsequent steps be carried out. The user can select the intelligent driving mode and actuator mode to execute the corresponding target function.

[0049] S120. According to the actuator mode, verify the function module and communication link corresponding to the actuator mode to determine the verification result.

[0050] Among them, the function module can be the module used to execute the corresponding function in the current actuator mode. The communication link can be the CAN bus. The verification result can be the comprehensive result of the self-verification of the function module and the verification of the communication link between the function modules, which can be verification passed or verification failed.

[0051] Specifically, after determining the actuator mode, determine the corresponding function modules according to the current actuator mode, and verify these function modules, such as whether there are functional failures, whether the function interfaces are available, etc. Furthermore, verify the communication links connected to these function modules. When each function module and each communication link pass the verification, determine that the verification result is verification passed; otherwise, determine that the verification result is verification failed.

[0052] S130. If the verification result is verification passed, execute the target function corresponding to the intelligent driving mode and actuator mode.

[0053] Specifically, if the verification result is verification passed, it indicates that the current function module and communication link can support the currently selected intelligent driving mode and actuator mode. Therefore, the target function can be executed based on each function module corresponding to the actuator mode and each communication link.

[0054] S140. If the verification result is verification failed, generate a warning message and execute the alternative function corresponding to the target function.

[0055] Among them, the warning information can be information used to prompt that there is a failure in the function module and / or communication link, so as to prompt the user to pay attention to handling. The alternative function can be a function selected to be executed when the target function cannot be realized, and can be a degraded function or an exit function of the target function.

[0056] Specifically, if the verification result is that the verification fails, it indicates that there is a failure in the current function module and / or communication link, and it is impossible to support the currently selected intelligent driving mode and actuator mode. Therefore, a warning information is generated and can be displayed through a display device to remind the user to pay attention. At the same time, since the target function cannot be executed currently, it can be automatically switched to the alternative function corresponding to the target function for adaptive processing of intelligent driving.

[0057] The intelligent driving mode control method provided by the embodiment of the present application, when the surrounding environment meets the start condition of the high-order intelligent driving function, receives the intelligent driving mode and actuator mode corresponding to the target function to determine the function required by the current user. According to the actuator mode, the function module and communication link corresponding to the actuator mode are verified to determine the verification result to judge whether the target function can be executed. If the verification result is that the verification passes, the target function corresponding to the intelligent driving mode and actuator mode is executed. If the verification result is that the verification fails, a warning information is generated and the alternative function corresponding to the target function is executed, solving the problem that the intelligent driving function is unavailable due to the failure caused by the redundant mode when the surrounding environment meets the start condition of the high-order intelligent driving function, and achieving the effect of automatically matching the redundant mode or non-redundant mode to improve the availability and effectiveness of the high-order intelligent driving function.

[0058] Figure 2 It is a flowchart of another intelligent driving mode control method provided by the embodiment of the present application. On the basis of the above embodiments, an exemplary description is made for the process of verifying the function module and communication link corresponding to the actuator mode. See Figure 2 and the intelligent driving mode control method specifically includes:

[0059] S210. When the surrounding environment meets the start condition of the high-order intelligent driving function, receive the intelligent driving mode and actuator mode corresponding to the target function.

[0060] S220. Determine the function module corresponding to the actuator mode according to the actuator mode.

[0061] Specifically, if the actuator mode is a redundant mode, the function module needs to include a main function module and an auxiliary function module redundant with the main function module; if the actuator mode is a non-redundant mode, the function module only needs to include the main function module and does not need to include the auxiliary function module.

[0062] Based on the above example, if the actuator mode is the redundant mode, the functional modules include a main braking module, an auxiliary braking module, a main steering module, and an auxiliary steering module; if the actuator mode is the non-redundant mode, the functional modules include a main braking module and a main steering module.

[0063] Among them, the main braking module and the auxiliary braking module are modules for controlling vehicle braking, and the auxiliary braking module is a redundant module of the main braking module. The main steering module and the auxiliary steering module are modules for controlling vehicle steering, and the auxiliary steering module is a redundant module of the main steering module.

[0064] Based on the above example, there are the following two connection methods between the Advanced Driving Assistance System (ADAS) and each functional module:

[0065] Connection Method 1: The ADAS and each functional module are respectively connected through a first bus, and the ADAS and each functional module are respectively connected through a second bus. The schematic diagram of this connection method is as Figure 3 shown.

[0066] Connection Method 2: The ADAS and each functional module are respectively connected through a first bus, and the ADAS and the main braking module and the main steering module are respectively connected through a second bus. The schematic diagram of this connection method is as Figure 4 shown.

[0067] It should be noted that the advantage of using Connection Method 1 is higher redundancy and stronger anti-interference ability. The advantage of using Connection Method 2 is that it can effectively reduce costs, facilitate optimizing the resource utilization in each functional module, reduce the verification times, and improve the verification speed.

[0068] S230. Verify each functional module to determine the module verification result; verify each communication link between the ADAS and each functional module to determine the connection verification result.

[0069] Among them, the ADAS uses various sensors installed on the vehicle to sense the surrounding environment at any time during driving, collect data, identify, detect, and track static and dynamic objects, and combine navigation map data, etc., to perform system operations and analyses, and then assist driving or perform intelligent driving. The module verification result is the comprehensive result of internal verification, interface inspection, etc. of each functional module, and is used to indicate whether each functional module is available. The connection verification result is the result of verifying the communication connection between the functional module and the ADAS.

[0070] Specifically, each functional module is verified separately, such as whether there are functional failures, whether the function interfaces are available, etc. If any functional module passes the verification, the module verification result is verified to pass. If at least one functional module fails the verification, the module verification result is verified to fail. The communication links connected to each functional module are verified. When any communication link passes the verification, it is determined that the connection verification result is verified to pass. If at least one communication link fails the verification, the connection verification result is verified to fail.

[0071] S240. Determine the verification result according to the module verification result and the connection verification result.

[0072] Specifically, if both the module verification result and the connection verification result are verified to pass, the verification result is verified to pass; if the module verification result and / or the connection verification result is verified to fail, the verification result is verified to fail.

[0073] S250. If the verification result is verified to pass, execute the target function corresponding to the intelligent driving mode and the actuator mode.

[0074] Based on the above example, the actuator mode is a non-redundant mode. After executing the target function corresponding to the intelligent driving mode and the actuator mode, it is also possible to determine whether the vehicle meets the redundant mode to perform an upgrade process on the target function. Specifically, it can be:

[0075] Verify the auxiliary braking module and the auxiliary steering module to determine the first verification result;

[0076] Verify each communication link between the advanced driver assistance system and the auxiliary braking module and the auxiliary steering module respectively to determine the second verification result;

[0077] When both the first verification result and the second verification result are verified to pass, control the actuator mode to switch from the non-redundant mode to the redundant mode.

[0078] Among them, the first verification result is the comprehensive result of the function verification and interface verification of the auxiliary braking module and the auxiliary steering module, etc. The second verification result is the comprehensive result of the verification result of the communication connection between the advanced driver assistance system and the auxiliary braking module and the verification result of the communication connection between the advanced driver assistance system and the auxiliary steering module.

[0079] Specifically, the auxiliary braking module and the auxiliary steering module are verified to determine whether they are available, and a first verification result is obtained. Further, the communication connection between the advanced driver assistance system and the auxiliary braking module is verified, and the communication connection between the advanced driver assistance system and the auxiliary steering module is verified, and a second verification result is obtained. If both the first verification result and the second verification result are verified to pass, it indicates that the redundant mode can be used normally. In this case, the actuator mode can be controlled to switch from the non-redundant mode to the redundant mode to improve the intelligence and automation of intelligent driving. If at least one of the first verification result and the second verification result is verified to fail, it indicates that the redundant mode cannot be used normally. In this case, the target function is still executed.

[0080] S260. If the verification result is verified to fail, a warning message is generated, and an alternative function corresponding to the target function is executed.

[0081] Based on the above example, the intelligent driving mode is the cruise mode, and the actuator mode is the redundant mode. If the module verification result is verified to fail, the alternative function corresponding to the target function can be executed in the following manner:

[0082] Execute the vehicle control function, and generate and display a message to remind the driver to take over.

[0083] If no driver takeover action is detected within the preset duration, a braking operation is executed.

[0084] Among them, the vehicle control function can be a function that controls the vehicle to the maximum extent within a safe range. The message to remind the driver to take over can be a message used to remind the driver that intelligent driving cannot be performed currently and the driver needs to take over manually. The preset duration can be the takeover response duration provided for the driver. The takeover action can be a steering wheel action, a foot pedal action, a gear manual action, etc.

[0085] Specifically, the intelligent driving mode is the cruise mode, and the actuator mode is the redundant mode. If the module verification result is verified to fail, it indicates that intelligent driving cannot be performed and the driver needs to take over manually. Before the driver takes over, the advanced driver assistance system executes the vehicle control function and controls the vehicle with the maximum capacity of the actuator. If the driver does not take over the vehicle within the preset duration, the minimum risk strategy is executed to control the vehicle to perform a braking operation in the current lane.

[0086] Based on the above example, the intelligent driving mode is the cruise mode, and the actuator mode is the redundant mode. If the module verification result is verified to pass and the connection verification result is verified to fail, the alternative function corresponding to the target function can be executed in the following manner:

[0087] Execute the intelligent cruise function or the adaptive cruise function.

[0088] Among them, the Integrated Cruise Assist (ICA) is an integrated cruise assist function that, based on the recognition of the road structure, assists the driver in achieving automatic control of the vehicle in the lateral and longitudinal directions. The Adaptive Cruise Control (ACC) allows the vehicle to travel at a preset speed and following distance.

[0089] Specifically, when the intelligent driving mode is the cruise mode and the actuator mode is the redundant mode, if the module verification result is passed and the connection verification result is not passed, it indicates that the functional module is available, but there is a problem with the communication connection. In this case, the target function should be downgraded to the ACC function or the ICA function to avoid directly delivering it to the driver and improve the intelligence of intelligent driving.

[0090] Based on the above example, when the intelligent driving mode is the cruise mode and the actuator mode is the non-redundant mode or the intelligent driving mode is the parking mode, the alternative function corresponding to the target function can be executed based on the following method:

[0091] Exit the high-order intelligent driving function and perform a braking operation.

[0092] Specifically, if the intelligent driving mode is the cruise mode, the actuator mode is the non-redundant mode, and the verification result is not passed, it indicates that the intelligent driving control of the vehicle cannot be performed even using the main functional module. At this time, it is necessary to exit the high-order intelligent driving function and perform a braking operation to avoid driving risks caused by module failures or communication failures. If the intelligent driving mode is the parking mode, regardless of the actuator mode, when the verification result is not passed, due to the low driving speed, the high-order intelligent driving function can be exited and a braking operation can be performed to allow the driver to take over the parking.

[0093] Based on the above example, when the intelligent driving mode is the parking mode and the actuator mode is the non-redundant mode, the target function corresponding to the intelligent driving mode and the actuator mode can be executed based on the following method:

[0094] Based on the current state information of the vehicle, determine the driver-in-the-loop state;

[0095] If the driver-in-the-loop state is in the in-the-loop state, execute the parking assist function;

[0096] If the driver-in-the-loop state is in the not-in-the-loop state, switch the actuator mode from the non-redundant mode to the redundant mode and execute the remote parking function.

[0097] Among them, the current state information is the interaction information between the driver and the vehicle, such as the brake pedal state, gear signal change, whether the driver's seat belt is fastened, whether the steering wheel is controlled, etc. The driver-in-the-loop state is used to describe the driver's takeover situation of the vehicle, which can include being in the loop state and not being in the loop state. If in the loop state, it indicates that the driver can take over the vehicle in a timely manner subsequently; if in the not-in-the-loop state, it indicates that the driver cannot take over the vehicle in a timely manner subsequently. The Auto Parking Assist (APA) function means that when the driver is in the vehicle, the vehicle can automatically identify a parking space through on-vehicle sensors, processors, and control systems and automatically complete the parking into the space. The Remote Parking Assist (RPA) function means that the driver can remotely park the vehicle outside the vehicle and within a certain range from the vehicle.

[0098] Specifically, collect and obtain the current state information of the vehicle. According to the current state information, it can be judged whether the driver can take over the vehicle in a timely manner subsequently, that is, determine the driver-in-the-loop state. If the driver-in-the-loop state is in the loop state, it indicates that the driver is in the vehicle and can take over the vehicle in a timely manner, and the parking assist function can be executed to perform automatic parking; if the driver-in-the-loop state is in the not-in-the-loop state, it indicates that the driver is outside the vehicle and cannot take over the vehicle in a timely manner. In this case, the remote parking function needs to be executed. However, since the remote parking function requires redundant braking, the actuator mode can be switched from the non-redundant mode to the redundant mode first, and then the remote parking function is executed, so that the driver outside the vehicle can remotely control the vehicle to achieve the purpose of parking.

[0099] The intelligent driving mode control method provided by the embodiments of this application determines the function module corresponding to the actuator mode according to the actuator mode, verifies each function module, determines the module verification result, verifies each communication link between the advanced driving assistance system and each function module, determines the connection verification result, and determines the verification result according to the module verification result and the connection verification result, so as to determine whether to execute the target function or the backup function according to the verification result, achieving the effect of accurately judging whether each function module is available and improving the reliability of function switching.

[0100] On the basis of the above example, the following method can be used to verify the main / auxiliary braking module in the redundant mode and the communication link corresponding to the main / auxiliary braking module:

[0101] The available status of the function interfaces of the primary / auxiliary braking modules will be mutually verified and a unified interface available status will be sent out. For example, if the primary brake fails, the primary function interface is unavailable, the auxiliary brake has no fault and functions normally, and the function interface is available, etc. At this time, the primary / auxiliary braking modules will check each other, and both the primary / auxiliary braking modules will send the interface available status to the vehicle CAN message. Only when both the primary / auxiliary braking modules pass the verification will they send the function interface available status. Only when the function interface available status sent by both the primary / auxiliary braking modules is accepted does it indicate that the communication link verification is successful.

[0102] It can be understood that the primary / auxiliary steering modules in the redundant mode and the communication links corresponding to the primary / auxiliary steering modules can be verified in the above manner.

[0103] Based on the above example, the primary / auxiliary braking modules in the non-redundant mode and the communication links corresponding to the primary / auxiliary braking modules can be verified in the following manner:

[0104] The available status of the function interfaces of the primary / auxiliary braking modules will not be mutually verified and sent out. For example, if the primary brake fails, the primary function interface is unavailable, the auxiliary brake has no fault and functions normally, and the function interface is available. Both the primary / auxiliary braking modules will send their respective function interface available status to the vehicle CAN message. The upper layer determines the degradation and exit of the intelligent driving function based on the ability value of a single function interface.

[0105] It can be understood that the primary / auxiliary steering modules in the non-redundant mode and the communication links corresponding to the primary / auxiliary steering modules can be verified in the above manner.

[0106] It should be noted that different target functions have different requirements for each function module and each communication link, as shown in Table 1 specifically.

[0107] Table 1 Requirements for Each Function Module and Each Communication Link under Different Target Functions

[0108]

[0109]

[0110] Figure 5 It is a schematic structural diagram of an electronic device provided by an embodiment of the present application. As Figure 5 shown, the electronic device 500 includes one or more processors 501 and a memory 502.

[0111] The processor 501 can be a central processing unit (CPU) or other forms of processing units with data processing capabilities and / or instruction execution capabilities, and can control other components in the electronic device 500 to execute desired functions.

[0112] The memory 502 may include one or more computer program products, and the computer program products may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. The volatile memory may include, for example, random access memory (RAM) and / or cache memory, etc. The non-volatile memory may include, for example, read-only memory (ROM), hard disk, flash memory, etc. One or more computer program instructions may be stored on the computer-readable storage media, and the processor 501 may run the program instructions to implement the intelligent driving mode control method of any embodiment of the present application described above and / or other desired functions. Various contents such as initial external parameters and thresholds may also be stored in the computer-readable storage media.

[0113] In one example, the electronic device 500 may further include: an input device 503 and an output device 504, and these components are interconnected through a bus system and / or other forms of connection mechanisms (not shown). The input device 503 may include, for example, a keyboard, a mouse, etc. The output device 504 may output various information to the outside, including warning prompt information, braking force, etc. The output device 504 may include, for example, a display, a speaker, a printer, and a communication network and its connected remote output devices, etc.

[0114] Of course, for simplicity, Figure 5 only some of the components related to the present application in the electronic device 500 are shown, and components such as buses, input / output interfaces, etc. are omitted. In addition, according to specific application scenarios, the electronic device 500 may further include any other appropriate components.

[0115] In addition to the above methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, and when the computer program instructions are run by a processor, the processor is caused to execute the steps of the intelligent driving mode control method provided by any embodiment of the present application.

[0116] The computer program product may be written in any combination of one or more programming languages to write program code for performing the operations of the embodiments of the present application. The programming languages include object-oriented programming languages, such as Java, C++, etc., and also include conventional procedural programming languages, such as the "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, executed as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0117] In addition, an embodiment of the present application may also be a computer-readable storage medium storing computer program instructions, which, when run by a processor, cause the processor to execute the steps of the intelligent driving mode control method provided in any embodiment of the present application.

[0118] The computer-readable storage medium may adopt any combination of one or more readable media. The readable media may be a readable signal medium or a readable storage medium. The readable storage medium may, for example, include but is not limited to an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the above. More specific examples (non-exhaustive list) of the readable storage medium include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0119] It should be noted that the terms used in the present application are only for describing specific embodiments and do not limit the scope of the present application. As shown in the specification and claims of the present application, unless the context clearly indicates otherwise, words such as "a", "an", "one", and / or "the" are not specifically singular and may also include plural. The term "comprising", "including", or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, or device including a series of elements not only includes those elements but also other elements not explicitly listed, or also includes elements inherent to such a process, method, or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, or device including the element.

[0120] It should also be noted that the orientation or positional relationship indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be understood as a limitation of the present application. Unless otherwise clearly specified and limited, terms such as "installed", "connected", "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and may be the internal communication of two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances.

[0121] In this text, specific examples are used to elaborate on the principles and implementation modes of this application. The description of the above embodiments is only used to help understand the method and its core idea of this application. The above is only the preferred implementation mode of this application. It should be noted that due to the limited nature of verbal expression and objectively infinite specific structures, for those of ordinary skill in the art, without departing from the principles of this invention, several improvements, refinements or changes can be made, or the above technical features can be combined in an appropriate manner; these improvements, refinements, changes or combinations, or directly applying the concept and technical solution of the invention to other occasions without improvement, shall all be regarded as the protection scope of this application.

Claims

1. A method for controlling an intelligent driving mode, characterized in that Including: When the surrounding environment meets the startup conditions of the high-level intelligent driving function, receiving an intelligent driving mode and an actuator mode corresponding to the target function; wherein, the intelligent driving mode includes a cruise mode or a parking mode, and the actuator mode includes a redundant mode or a non-redundant mode; the target function belongs to the high-level intelligent driving function; According to the actuator mode, verifying the function modules and communication links corresponding to the actuator mode to determine the verification result, including: verifying each of the function modules to determine the module verification result; verifying each communication link between the advanced driver assistance system and each of the function modules to determine the connection verification result; If the verification result is verification passed, then execute the target function corresponding to the intelligent driving mode and the actuator mode; If the verification result is verification failed, then generate a warning message and execute an alternative function corresponding to the target function; when the intelligent driving mode is the cruise mode and the actuator mode is the redundant mode, if the module verification result is verification failed, then the execution of the alternative function corresponding to the target function includes: executing a vehicle control function and generating and displaying a reminder for the driver to take over; if no driver takeover action is detected within a preset duration, execute a braking operation; if the module verification result is verification passed and the connection verification result is verification failed, then the execution of the alternative function corresponding to the target function includes: executing an intelligent cruise function or an adaptive cruise function.

2. The method according to claim 1, characterized in that, The verifying the function modules and communication links corresponding to the actuator mode according to the actuator mode to determine the verification result includes: Determining the function modules corresponding to the actuator mode according to the actuator mode; Determining the verification result according to the module verification result and the connection verification result.

3. The method according to claim 2, wherein If the actuator mode is the redundant mode, the function modules include a main braking module, an auxiliary braking module, a main steering module, and an auxiliary steering module; if the actuator mode is the non-redundant mode, the function modules include a main braking module and a main steering module.

4. The method according to claim 3, characterized in that, The advanced driver assistance system is respectively connected to each of the function modules through a first bus, and the advanced driver assistance system is respectively connected to each of the function modules through a second bus; Or, The advanced driver assistance system is respectively connected to each of the function modules through a first bus, and the advanced driver assistance system is respectively connected to the main braking module and the main steering module through a second bus.

5. The method according to claim 4, wherein When the actuator mode is the non-redundant mode, after executing the target function corresponding to the intelligent driving mode and the actuator mode, it further includes: Verifying the auxiliary braking module and the auxiliary steering module to determine a first verification result; Respectively verifying each communication link between the advanced driver assistance system and the auxiliary braking module and the auxiliary steering module to determine a second verification result; When both the first verification result and the second verification result are verification passed, controlling the actuator mode to switch from the non-redundant mode to the redundant mode.

6. The method according to claim 1, characterized in that, The intelligent driving mode is the cruise mode and the actuator mode is the non-redundant mode, or the intelligent driving mode is the parking mode. Executing the alternative function corresponding to the target function includes: Exiting the high-level intelligent driving function and performing a braking operation.

7. The method according to claim 1, characterized in that The intelligent driving mode is the parking mode and the actuator mode is the non-redundant mode. Executing the target function corresponding to the intelligent driving mode and the actuator mode includes: Determining the driver-in-the-loop state based on the current state information of the vehicle; wherein the current state information is the interaction information between the driver and the vehicle, and the driver-in-the-loop state is used to describe the takeover situation of the driver for the vehicle; If the driver-in-the-loop state is in the in-the-loop state, performing the parking assistance function; If the driver-in-the-loop state is in the not-in-the-loop state, switching the actuator mode from the non-redundant mode to the redundant mode and performing the remote parking function.

8. An electronic device, characterized in that, The electronic device includes: A processor and a memory; The processor is configured to execute the steps of the intelligent driving mode control method according to any one of claims 1 to 7 by calling the program or instruction stored in the memory.

9. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a program or instruction, and the program or instruction causes the computer to execute the steps of the intelligent driving mode control method according to any one of claims 1 to 7.

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