Autonomous vehicle, control method thereof, autonomous driving device, and storage medium

Abstract

The application provides an automatic driving vehicle, a control method thereof, an automatic driving device and a storage medium. The method is applied to the automatic driving device, and includes the following steps: a first driving control domain sends a handshake message to a second driving control domain, so that the second driving control domain controls the automatic driving vehicle to enter a second driving mode, generates a corresponding control instruction for vehicle line control in the second driving mode, and sends the corresponding control instruction to the first driving control domain; and the corresponding control instruction is received from the second driving control domain, so as to control the automatic driving vehicle to perform vehicle line control through the corresponding control instruction in the first driving mode. Through the above scheme, the automatic level of the vehicle can be effectively optimized.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automatic driving, and particularly relates to an automatic driving vehicle and a control method thereof, an automatic driving device and a storage medium. BACKGROUND

[0002] An automatic driving vehicle, also known as an unmanned vehicle, is an intelligent vehicle that can realize unmanned driving through a computer system. The automatic driving vehicle relies on the cooperation of artificial intelligence, visual computing, radar, monitoring devices and a global positioning system to enable the computer to automatically and safely operate a motor vehicle without any human initiative. During the driving of the vehicle, the automatic driving system needs to understand the surrounding traffic conditions and navigate according to the road and traffic conditions on the driving route to ensure the safe and normal driving of the vehicle.

[0003] Future automotive electronic systems will be increasingly driver-oriented and service-oriented. Vehicle entertainment systems, human-vehicle interaction systems and vehicle networking systems will play increasingly important roles, and their code volume will inevitably increase with time. However, the current independent ECUs (Electronic Control Units) that are scattered everywhere are used to realize different driving modes, which will not meet the system changes with the increasing code volume. SUMMARY

[0004] The application aims to provide an automatic driving vehicle and a control method thereof, an automatic driving device and a storage medium to solve the above problems.

[0005] The first aspect of the application provides a control method of an automatic driving vehicle, applied to an automatic driving device, wherein the automatic driving device is installed with a first driving control domain and a second driving control domain, the first driving control domain is used to control the automatic driving vehicle to perform vehicle line control in a first driving mode, and the second driving control domain is used to control the automatic driving vehicle to perform vehicle line control in a second driving mode, wherein the automation degree of the first driving mode is higher than that of the second driving mode, and the method comprises the following steps: the first driving control domain sends a handshake message to the second driving control domain, so that the second driving control domain controls the automatic driving vehicle to enter the second driving mode, generates a corresponding control instruction for vehicle line control in the second driving mode, and sends the corresponding control instruction to the first driving control domain; and the corresponding control instruction is received from the second driving control domain to control the automatic driving vehicle to perform vehicle line control in the first driving mode through the corresponding control instruction.

[0006] In some embodiments, the corresponding control instruction is generated by the second driving control domain based on second sensor data received in the second driving mode; and the method further comprises: controlling, by the first driving control domain, the automatic driving vehicle to enter the first driving mode and stop receiving first sensor data, wherein the first sensor data is used for vehicle-by-wire in the first driving mode, and the first sensor data is different from the second sensor data.

[0007] In some embodiments, the controlling the automatic driving vehicle to perform vehicle-by-wire in the first driving mode according to the corresponding control instruction comprises: generating, by the first driving control domain, running logic corresponding to the second driving mode based on the corresponding control instruction, for performing vehicle-by-wire in the first driving mode; and controlling, by the first driving control domain, the automatic driving vehicle to perform vehicle-by-wire in the first driving mode based on the running logic corresponding to the second driving mode.

[0008] In some embodiments, the second driving mode comprises at least one of an adaptive cruise mechanism and an autonomous parking mechanism; and the second driving control domain controls the automatic driving vehicle to enter the second driving mode and generate corresponding control instruction for performing vehicle-by-wire in the second driving mode, which comprises: controlling, by the second driving control domain, the automatic driving vehicle to enter the adaptive cruise mechanism and generate first control instruction for performing vehicle-by-wire in the adaptive cruise mechanism; and / or controlling, by the second driving control domain, the automatic driving vehicle to enter the autonomous parking mechanism and generate second control instruction for performing vehicle-by-wire in the autonomous parking mechanism.

[0009] In some embodiments, the second driving mode further comprises a safety officer takeover mechanism; and the method further comprises: acquiring, by the first driving control domain, a working state of at least one actuator in the automatic driving vehicle, wherein the at least one actuator is used to perform corresponding operation for performing vehicle-by-wire in the first driving mode or the second driving mode; in response to the working state of the at least one actuator satisfying a preset condition, generating running logic corresponding to the safety officer takeover mechanism; and executing the running logic corresponding to the safety officer takeover mechanism and stopping receiving the first control instruction corresponding to the adaptive cruise mechanism and / or the second control instruction corresponding to the autonomous parking mechanism, to take over the automatic driving vehicle in the first driving mode.

[0010] The second aspect of the present application provides a control method of an autonomous vehicle, applied to an autonomous driving device, the autonomous driving device comprising a first driving control domain and a second driving control domain, the first driving control domain being configured to control the autonomous vehicle to perform vehicle-by-wire driving in a first driving mode, and the second driving control domain being configured to control the autonomous vehicle to perform vehicle-by-wire driving in a second driving mode, wherein the first driving mode has a higher degree of automation than the second driving mode, and the method comprises: receiving, by the second driving control domain, a handshake message from the first driving control domain; in response to the handshake message, controlling the autonomous vehicle to enter the second driving mode, generating corresponding control instructions for performing vehicle-by-wire driving in the second driving mode; and sending the corresponding control instructions to the first driving control domain, so that the first driving control domain receives the corresponding control instructions to control the autonomous vehicle to perform vehicle-by-wire driving in the first driving mode through the corresponding control instructions.

[0011] In some embodiments, the generating of the corresponding control instructions for performing vehicle-by-wire driving in the second driving mode comprises: generating the corresponding control instructions based on second sensor data received in the second driving mode; and wherein the first driving control domain controls the autonomous vehicle to enter the first driving mode and stop receiving first sensor data, wherein the first sensor data is used for performing vehicle-by-wire driving in the first driving mode, and wherein the first sensor data is different from the second sensor data.

[0012] In some embodiments, the controlling of the autonomous vehicle by the first driving control domain to perform vehicle-by-wire driving in the first driving mode through the corresponding control instructions comprises: generating, by the first driving control domain, running logic corresponding to the second driving mode based on the corresponding control instructions, for performing vehicle-by-wire driving in the first driving mode; and controlling, by the first driving control domain, the autonomous vehicle to perform vehicle-by-wire driving in the first driving mode based on the running logic corresponding to the second driving mode.

[0013] In some embodiments, the second driving mode comprises at least one of an adaptive cruise control mechanism and an autonomous parking mechanism; and the controlling of the autonomous vehicle by the second driving control domain to enter the second driving mode and generate the corresponding control instructions for performing vehicle-by-wire driving in the second driving mode comprises: controlling, by the second driving control domain, the autonomous vehicle to enter the adaptive cruise control mechanism and generate first control instructions for performing vehicle-by-wire driving in the adaptive cruise control mechanism; and / or controlling, by the second driving control domain, the autonomous vehicle to enter the autonomous parking mechanism and generate second control instructions for performing vehicle-by-wire driving in the autonomous parking mechanism.

[0014] The third aspect of the present application provides an automatic driving device, comprising a memory and a processor coupled with each other, and installed with a first driving control domain and a second driving control domain, the first driving control domain is used to control the automatic driving vehicle to perform vehicle-by-wire in a first driving mode, and the second driving control domain is used to control the automatic driving vehicle to perform vehicle-by-wire in a second driving mode, wherein the automation level of the first driving mode is higher than that of the second driving mode; the processor is used to execute program instructions stored in the memory, so as to execute the control method of the automatic driving vehicle as described in any one of the first aspect above through the first driving control domain, and execute the control method of the automatic driving vehicle as described in any one of the second aspect through the second driving control domain.

[0015] The fourth aspect of the present application provides an automatic driving vehicle, comprising the automatic driving device as described in the third aspect above and a vehicle chassis control circuit connected with the automatic driving device, wherein the vehicle chassis control circuit is used to realize the operation corresponding to vehicle-by-wire.

[0016] The fifth aspect of the present application provides a non-volatile computer readable storage medium, used to store program instructions, the program instructions are used to realize the control method of the automatic driving vehicle as described in any one of the first aspect and / or the second aspect when executed by a processor.

[0017] The above scheme sends a handshake message from the first driving control domain to the second driving control domain, so that the second driving control domain controls the automatic driving vehicle to enter the second driving mode, generates a corresponding control instruction for vehicle-by-wire in the second driving mode, and sends the corresponding control instruction to the first driving control domain, so that the first driving control domain receives the corresponding control instruction from the second driving control domain to control the automatic driving vehicle to perform vehicle-by-wire through the corresponding control instruction in the first driving mode, thereby realizing that the driving mode with high automation level is realized through the driving mode with low automation level, and improving the optimization of vehicle automation level.

[0018] These and other objects of the present application will no doubt become apparent to those skilled in the art after reading the following detailed description of the preferred embodiments illustrated in the figures and drawings. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings herein are incorporated into the description and form part of the description, which illustrate embodiments consistent with the present application, and together with the description serve to explain the technical solutions of the present application.

[0020] Figure 1 is a frame schematic diagram of an embodiment of the automatic driving device of the present application;

[0021] Figure 2 is a flowchart of an embodiment of the control method of the autonomous vehicle of the present application;

[0022] Figure 3 is another flowchart of an embodiment of the control method of the autonomous vehicle of the present application;

[0023] Figure 4 is an application interaction diagram of an embodiment of the control method of the present application;

[0024] Figure 5 is a framework diagram of an embodiment of the autonomous driving device of the present application;

[0025] Figure 6 is a framework diagram of an embodiment of the autonomous vehicle of the present application;

[0026] Figure 7 is a framework diagram of an embodiment of the non-volatile computer readable storage medium of the present application. DETAILED DESCRIPTION

[0027] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without any creative work fall within the scope of protection of the present application.

[0028] In addition, if the present application has a description of "first", "second", etc. in the embodiments, the description of "first", "second", etc. is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first", "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection claimed by the present application.

[0029] In order to facilitate the understanding of the present application, the autonomous driving device of the embodiments of the present application will be described first. Please refer to Figure 1 , Figure 1is a schematic diagram of an embodiment framework of an automatic driving device 10 of the present application. The automatic driving device 10 can be arranged on an automatic driving vehicle, or can be a cloud device in communication connection with a device on the automatic driving vehicle. The automatic driving device 10 is installed with a first driving control domain 101 and a second driving control domain 102, wherein the first driving control domain 101 is in communication connection with the second driving control domain 102.

[0030] The automatic driving device 10 is connected with sensors and vehicle chassis control circuit. The sensors are connected with the first driving control domain 101 and the second driving control domain 102 respectively, for example, through Ethernet connection. The first driving control domain 101 and the second driving control domain 102 are in communication connection with the vehicle chassis control circuit, for example, through CAN bus.

[0031] The sensors can include a system composed of all sensors carried on the automatic driving vehicle. For example, the sensors can include but are not limited to radar sensors, ultrasonic sensors, camera sensors, etc. The radar sensors can be Lidar sensors, Radar sensors, etc.

[0032] The vehicle chassis control circuit, also known as vehicle chassis module, is used to implement various vehicle control processes of automatic driving, and can be divided into various actuators, such as lateral control mechanism, longitudinal control mechanism, gear control mechanism, steering light control mechanism, vehicle state mechanism, etc.

[0033] The first driving control domain 101 is used to control the automatic driving vehicle to perform vehicle-by-wire according to a first driving mode. The second driving control domain 102 is used to control the automatic driving vehicle to perform vehicle-by-wire according to a second driving mode. The automation degree of the first driving mode is higher than that of the second driving mode. That is, the first driving control domain 101 controls the vehicle chassis control circuit of the automatic driving vehicle to perform vehicle-by-wire according to the first driving mode. The second driving control domain 102 controls the vehicle chassis control circuit of the automatic driving vehicle to perform vehicle-by-wire according to the second driving mode.

[0034] For example, the first driving mode can be L4 automatic driving mode, and the second driving mode can be L2 or L3 assisted driving mode. At this time, the first driving control domain 101 can be an automatic driving control domain, and the second driving control domain 102 can be an assisted driving control domain.

[0035] Please refer to Figure 2 , Figure 2 is a flowchart of an embodiment of a control method of an automatic driving vehicle of the present application. The control method is applied to an automatic driving device, for example, the above-mentioned Figure 1The automatic driving device 10 in the vehicle is installed with a first driving control domain 101 and a second driving control domain 102, the first driving control domain 101 is used to control the automatic driving vehicle to perform vehicle-by-wire according to a first driving mode, and the second driving control domain 102 is used to control the automatic driving vehicle to perform vehicle-by-wire according to a second driving mode, wherein the automation degree of the first driving mode is higher than that of the second driving mode, and the method comprises the following steps:

[0036] S21: The first driving control domain sends a handshake message to the second driving control domain.

[0037] Wherein, the first driving control domain can refer to the automatic driving control domain, that is, the first driving mode can refer to the automatic driving mode, and the second driving control domain can refer to the auxiliary driving control domain, that is, the second driving mode can refer to the auxiliary driving mode.

[0038] In the auxiliary driving mode, the auxiliary driving control domain generates corresponding control instructions according to the current state of the automatic driving vehicle, such as maintaining speed, controlling the steering wheel, etc. These instructions are sent to the automatic driving control domain, which controls the automatic driving vehicle according to the instructions.

[0039] Before the first driving control domain sends a handshake message to the second driving control domain, the first driving control domain is controlling the vehicle to perform vehicle-by-wire according to the first driving mode. Then, the first driving control domain sends a handshake message to the second driving control domain. At this time, the second control domain controls the automatic driving vehicle to enter the second driving mode, generates corresponding control instructions for vehicle-by-wire in the second driving mode, and sends the corresponding control instructions to the first control domain.

[0040] S22: Receive corresponding control instructions from the second driving control domain to control the automatic driving vehicle to perform vehicle-by-wire in the first driving mode through the corresponding control instructions.

[0041] Specifically, after the automatic driving control domain receives the corresponding control instructions of the auxiliary driving control domain, the automatic driving control domain keeps the vehicle to perform vehicle-by-wire in the automatic driving mode, that is, the vehicle chassis control circuit is continuously set to the automatic driving mode, and vehicle-by-wire is performed through the received corresponding control instructions, wherein the vehicle-by-wire refers to controlling the driving route and motion trajectory of the automatic driving vehicle by controlling the speed, direction, brake, etc. Parameters of the automatic driving vehicle.

[0042] In this embodiment, the handshake message is sent from the first driving control domain to the second driving control domain to make the second driving control domain control the autonomous driving vehicle to enter the second driving mode, generate corresponding control instructions for vehicle-by-wire in the second driving mode, and send the corresponding control instructions to the first driving control domain, so that the first driving control domain receives the corresponding control instructions from the second driving control domain to control the autonomous driving vehicle to perform vehicle-by-wire in the first driving mode through the corresponding control instructions, thereby realizing automatic switching from a driving mode with low automation level to a driving mode with high automation level, and improving the optimization of the automation level of the vehicle.

[0043] As described above, the corresponding control instructions are sent to the first driving control domain, and in some embodiments, the corresponding control instructions are generated by the second driving control domain based on the second sensor data received in the second driving mode.

[0044] The control method further includes: the first driving control domain controls the autonomous driving vehicle to enter the first driving mode and stops receiving the first sensor data, wherein the first sensor data is used for vehicle-by-wire in the first driving mode, and wherein the first sensor data is different from the second sensor data.

[0045] The first sensor data and the second sensor data refer to data generated when the corresponding sensors are controlled to be turned on by the two control domains respectively, and the sensors used by the first driving control domain and the second driving control domain are different, such as different data types and accuracies of the sensors, that is, the data generated by the sensor used by the first driving control domain is the first sensor data, the data generated by the sensor used by the second driving control domain is the second sensor data, and the data types and accuracies of the first sensor data and the second sensor data are different.

[0046] For example, the first sensor data corresponding to the first driving control domain is millimeter wave sensor data, and the second sensor data corresponding to the second driving control domain is a non-millimeter wave sensor, such as a camera sensor.

[0047] When the autonomous driving control domain controls the vehicle to enter the autonomous driving mode, the corresponding sensor data is stopped from being received, that is, the corresponding sensor is turned off. Subsequently, the first driving control domain sends a handshake message to the second driving control domain.

[0048] As described above, the corresponding control instruction is received from the second driving control domain to control the automatic driving vehicle to perform vehicle-by-wire in the first driving mode according to the corresponding control instruction. In some embodiments, the control of the automatic driving vehicle to perform vehicle-by-wire in the first driving mode according to the corresponding control instruction includes: the first driving control domain generates running logic corresponding to the second driving mode based on the corresponding control instruction, for performing vehicle-by-wire in the first driving mode; and the automatic driving vehicle is controlled to perform vehicle-by-wire in the first driving mode based on the running logic corresponding to the second driving mode.

[0049] In this case, the first driving control domain based on the corresponding instruction refers to the automatic driving control domain based on the auxiliary driving control instruction of the auxiliary driving control domain in the auxiliary driving mode.

[0050] Specifically, according to the running logic corresponding to the auxiliary driving mode, the route and the driving strategy that the vehicle should follow can be calculated, and the automatic driving control domain controls the vehicle to perform vehicle-by-wire in the automatic driving mode according to the route and the strategy to control the speed, steering, obstacle avoidance, and other operations of the automatic driving vehicle. In this case, the automatic driving mode can also use the first sensor such as a sensor, map data, and the like to monitor the environment around the vehicle and adjust the running logic if necessary.

[0051] The running logic corresponding to the auxiliary driving mode is different from the running logic corresponding to the automatic driving mode.

[0052] In some embodiments, the second driving mode includes at least one of an adaptive cruise mechanism and an autonomous parking mechanism; the second driving control domain controls the automatic driving vehicle to enter the second driving mode and generates the corresponding control instruction for performing vehicle-by-wire in the second driving mode, including: the second driving control domain controls the automatic driving vehicle to enter the adaptive cruise mechanism and generates a first control instruction for performing vehicle-by-wire in the adaptive cruise mechanism; and / or the second driving control domain controls the automatic driving vehicle to enter the autonomous parking mechanism and generates a second control instruction for performing vehicle-by-wire in the autonomous parking mechanism.

[0053] The first control instruction refers to the auxiliary driving control instruction generated by the auxiliary driving control domain when the vehicle enters the adaptive cruise mechanism, which can include speed control, route planning, obstacle avoidance, and the like when the vehicle automatically cruises on a highway, and the second control instruction refers to the auxiliary driving control instruction generated by the auxiliary driving control domain when the vehicle enters the autonomous parking mechanism, which can include position positioning, finding an empty space, entering and exiting a parking space, steering, driving speed, and the like when the automatic driving vehicle performs autonomous parking in a parking lot or a private garage.

[0054] When the second driving mode includes the adaptive cruise control mechanism, the second driving control domain controls the autonomous driving vehicle to enter the adaptive cruise control mechanism, and generates the first control instruction for vehicle-by-wire under the adaptive cruise control mechanism. When the second driving mode includes the autonomous parking mechanism, the second driving control domain controls the autonomous driving vehicle to enter the autonomous parking mechanism, and generates the second control instruction for vehicle-by-wire under the autonomous parking mechanism. When the second driving mode includes the adaptive cruise control mechanism and the autonomous parking mechanism, the second driving control domain controls the autonomous driving vehicle to enter the adaptive cruise control mechanism, and generates the first control instruction for vehicle-by-wire under the adaptive cruise control mechanism, and controls the autonomous driving vehicle to enter the autonomous parking mechanism, and generates the second control instruction for vehicle-by-wire under the autonomous parking mechanism.

[0055] In some embodiments, the second driving mode further includes a safety operator takeover mechanism; the method further includes: the first driving control domain acquiring a working state of at least one actuator in the autonomous driving vehicle, wherein the at least one actuator is used to perform corresponding operations for vehicle-by-wire under the first driving mode or the second driving mode; in response to the working state of the at least one actuator satisfying a preset condition, generating a running logic corresponding to the safety operator takeover mechanism; executing the running logic corresponding to the safety operator takeover mechanism, and stopping receiving the first control instruction corresponding to the adaptive cruise control mechanism and / or the second control instruction corresponding to the autonomous parking mechanism, to take over the autonomous driving vehicle under the first driving mode.

[0056] The at least one actuator can be arranged in a vehicle chassis control circuit, and the type of the actuator includes, but is not limited to, one or more of the following: a steering actuator (EPS), a gear actuator (VCU), a brake actuator (XBR), a parking actuator (EPB), etc.

[0057] The autonomous driving control domain acquires the working state of the actuator in the vehicle, and when at least one working state satisfies a preset condition, such as judging whether the monitored EPS torque and motor torque are consistent with the torque instruction in the auxiliary driving control instruction, the running logic corresponding to the safety operator takeover mechanism is generated, and the running logic corresponding to the safety operator takeover mechanism is executed, and the auxiliary driving control instruction of the adaptive cruise control mechanism is stopped to take over the vehicle under the autonomous driving mode.

[0058] For example, if the motor speed is too low, the transmission temperature is too high, or the suspension system pressure is too low, it may mean that the autonomous driving vehicle has a fault, and the autonomous driving control domain may respond to these abnormal states and generate the running logic corresponding to the safety operator takeover mechanism.

[0059] Please refer to Figure 3 , Figure 3is another flowchart of an embodiment of the control method of the autonomous vehicle of the present application, the control method is applied to an autonomous driving device, for example, the autonomous driving device 10 in the above Figure 1 , the autonomous driving device 10 includes a first driving control domain 101 and a second driving control domain 102, the first driving control domain 101 is used to control the autonomous vehicle to perform vehicle line control in a first driving mode, and the second driving control domain 102 is used to control the autonomous vehicle to perform vehicle line control in a second driving mode, wherein the automation level of the first driving mode is higher than that of the second driving mode, and the method includes:

[0060] S31: The second driving control domain receives a handshake message from the first driving control domain.

[0061] The handshake message is used for the autonomous driving control domain and the auxiliary driving control domain to establish handshake communication, and after the auxiliary driving control domain receives the handshake message, it checks the content and source of the handshake message to confirm that the request is valid.

[0062] Wherein, the first driving control domain can refer to the autonomous driving control domain, that is, the first driving mode can refer to the autonomous driving mode, and the second driving control domain can refer to the auxiliary driving control domain, that is, the second driving mode can refer to the auxiliary driving mode.

[0063] S32: In response to the handshake message, control the autonomous vehicle to enter the second driving mode, and generate corresponding control instructions for vehicle line control in the second driving mode.

[0064] Specifically, after the auxiliary driving control domain receives the handshake message sent by the autonomous driving control domain, it will respond to this message and control the autonomous vehicle to enter the auxiliary autonomous driving mode. In the auxiliary driving mode, the auxiliary driving control domain will generate a series of control instructions, which are used to control the line control of the vehicle, wherein the control instructions can include vehicle speed, steering, brake, etc., and the specific content of the control instructions is not limited here.

[0065] S33: Send the corresponding control instructions to the first driving control domain, so that the first driving control domain receives the corresponding control instructions to control the autonomous vehicle to perform vehicle line control through the corresponding control instructions in the first driving mode.

[0066] After the auxiliary driving control domain generates the control instructions for vehicle line control in the auxiliary driving mode, the auxiliary driving control domain will send these control instructions to the autonomous driving control domain, so that the autonomous driving control domain can receive these control instructions and perform vehicle line control through these control instructions in the autonomous driving mode.

[0067] In the second driving control domain, a handshake message is received from the first driving control domain. In response to the handshake message, the automatic driving vehicle is controlled to enter the second driving mode, and corresponding control instructions for vehicle-by-wire in the second driving mode are generated. The corresponding control instructions are sent to the first driving control domain, so that the first driving control domain receives the corresponding control instructions to control the automatic driving vehicle to perform vehicle-by-wire in the first driving mode through the corresponding control instructions, thereby effectively improving the automation level of the vehicle.

[0068] As described above, the first driving control domain receives the corresponding control instructions to control the automatic driving vehicle to perform vehicle-by-wire in the first driving mode through the corresponding control instructions. In some embodiments, generating the corresponding control instructions for vehicle-by-wire in the second driving mode includes generating the corresponding control instructions based on the second sensor data received in the second driving mode. The first driving control domain controls the automatic driving vehicle to enter the first driving mode and stop receiving the first sensor data, where the first sensor data is used for vehicle-by-wire in the first driving mode. The first sensor data is different from the second sensor data.

[0069] In the assisted driving mode, the assisted driving control domain receives data from the second sensor and generates corresponding control instructions based on the data. These control instructions can include the speed, direction, and brake of the vehicle. These control instructions are sent to the automatic driving control domain for vehicle-by-wire in the automatic driving mode. At this time, the second driving control domain has taken over the control of the automatic driving vehicle and switched to the assisted driving mode, so the automatic driving control domain stops receiving the first sensor data.

[0070] As described above, the first driving control domain controls the automatic driving vehicle to perform vehicle-by-wire in the first driving mode through the corresponding control instructions. In some embodiments, the first driving control domain controls the automatic driving vehicle to perform vehicle-by-wire in the first driving mode through the corresponding control instructions, including: the first driving control domain generates running logic corresponding to the second driving mode based on the corresponding control instructions, for vehicle-by-wire in the first driving mode; and controlling the automatic driving vehicle to perform vehicle-by-wire in the first driving mode based on the running logic corresponding to the second driving mode.

[0071] The assisted driving control domain receives second sensor data and generates corresponding control instructions based on the data. These control instructions are sent to the automatic driving control domain, which generates running logic corresponding to the assisted driving mode based on these control instructions. These running logics are used for vehicle-by-wire in the automatic driving mode to control the automatic driving vehicle to move on the road.

[0072] In some embodiments, the second driving mode comprises at least one of an adaptive cruise control mechanism and an autonomous parking mechanism; the second driving control domain controls the autonomous driving vehicle to enter the second driving mode, and generates corresponding control instructions for vehicle line control in the second driving mode, including: the second driving control domain controls the autonomous driving vehicle to enter the adaptive cruise control mechanism, and generates first control instructions for vehicle line control in the adaptive cruise control mechanism; and / or the second driving control domain controls the autonomous driving vehicle to enter the autonomous parking mechanism, and generates second control instructions for vehicle line control in the autonomous parking mechanism.

[0073] The first control instructions refer to the auxiliary driving control instructions generated by the auxiliary driving control domain when controlling the vehicle to enter the adaptive cruise control mechanism, and the second control instructions refer to the auxiliary driving control instructions generated by the auxiliary driving control domain when controlling the vehicle to enter the autonomous parking mechanism.

[0074] For example, the auxiliary driving control domain selects to use the adaptive cruise control mechanism, which receives corresponding second sensor data, and generates automatic control instructions for vehicle line control in the adaptive cruise control mechanism based on the data, and the auxiliary driving control domain controls the autonomous driving vehicle to perform vehicle line control in the adaptive cruise control mechanism according to the control instructions.

[0075] The above embodiments will be described below with reference to the following examples, Figure 4 For example, the auxiliary driving control domain selects to use the adaptive cruise control mechanism, which receives corresponding second sensor data, and generates automatic control instructions for vehicle line control in the adaptive cruise control mechanism based on the data, and the auxiliary driving control domain controls the autonomous driving vehicle to perform vehicle line control in the adaptive cruise control mechanism according to the control instructions. Figure 4 is an application interaction diagram of an embodiment of the control method of the present application, as shown in Figure 4 The first driving control domain sends a handshake message to the second driving control domain, and the second driving control domain receives the handshake message, controls the vehicle to enter the second driving mode, generates corresponding control instructions for the mode, and then sends the generated response control instructions to the first driving control domain. After receiving the corresponding control instructions, the first driving control domain can perform vehicle line control in the first driving mode through the corresponding control instructions.

[0076] Please refer to Figure 5 , Figure 5 is a framework diagram of an embodiment of the autonomous driving device 50 of the present application. The autonomous driving device 50 comprises a memory 501 and a processor 502 coupled with each other, and is installed with a first driving control domain and a second driving control domain. The first driving control domain is used to control the autonomous driving vehicle to perform vehicle line control according to a first driving mode, and the second driving control domain is used to control the autonomous driving vehicle to perform vehicle line control according to a second driving mode, wherein the automation degree of the first driving mode is higher than that of the second driving mode; the processor is used to execute program instructions stored in the memory, so as to execute the control method of the autonomous driving vehicle as described above through the first driving control domain, and execute any one of the control methods of the autonomous driving vehicle as described above through the second driving control domain.

[0077] Please refer toFigure 6 , Figure 6 is a framework schematic diagram of an embodiment of the autonomous vehicle 60 of the present application. The autonomous vehicle 60 comprises an autonomous driving device 601 and a vehicle chassis control circuit 602 connected to the autonomous driving device 601, wherein the autonomous driving device 601 can be the autonomous driving device 50 of the above-mentioned embodiments, and the description of the autonomous driving device 50 is detailed in the description of the embodiments, which will not be described here. The vehicle chassis control circuit 602 is used to realize the operation corresponding to the vehicle line control, and can comprise at least one actuator, and the type of the actuator includes but is not limited to one or more of the following: a steering actuator (EPS), a gear actuator (VCU), a brake actuator (XBR), a parking actuator (EPB), etc.

[0078] Please refer to Figure 7 , Figure 7 is a framework schematic diagram of an embodiment of the non-volatile computer readable storage medium 70 of the present application, and the non-volatile computer readable storage medium 70 stores program instructions 701 for storing, and the program instructions 701 are used to realize the control method of the autonomous vehicle as described in any one of the above-mentioned embodiments when executed by a processor, and the specific implementation can refer to the description of the above-mentioned method embodiments, and for the sake of brevity, it will not be described here.

[0079] The above only describes the preferred embodiments of the present application and is not intended to limit the present application. For those skilled in the art, the present application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A control method of an autonomous vehicle, characterized by, The method is applied to an automatic driving device, the automatic driving device is installed with a first driving control domain and a second driving control domain, the first driving control domain is used for controlling the automatic driving vehicle to perform vehicle line control according to a first driving mode, the second driving control domain is used for controlling the automatic driving vehicle to perform vehicle line control according to a second driving mode, wherein the automation degree of the first driving mode is higher than that of the second driving mode, and the method comprises: The first driving control domain sends a handshake message to the second driving control domain, so that the second driving control domain controls the automatic driving vehicle to enter the second driving mode, generates corresponding control instructions for performing vehicle line control in the second driving mode, and sends the corresponding control instructions to the first driving control domain; The corresponding control instructions are received from the second driving control domain to control the automatic driving vehicle to perform vehicle line control in the first driving mode through the corresponding control instructions; The corresponding control instructions are generated by the second driving control domain based on second sensor data received in the second driving mode, the first driving control domain controls the automatic driving vehicle to enter the first driving mode and stops receiving first sensor data used for performing vehicle line control in the first driving mode, wherein the first sensor data is different from the second sensor data; The control of the automatic driving vehicle to perform vehicle line control in the first driving mode through the corresponding control instructions comprises that the first driving control domain generates running logic corresponding to the second driving mode based on the corresponding control instructions, for performing vehicle line control in the first driving mode; and controls the automatic driving vehicle to perform vehicle line control in the first driving mode based on the running logic corresponding to the second driving mode; The second driving mode comprises at least one of an adaptive cruise mechanism and an autonomous parking mechanism; the second driving control domain controls the automatic driving vehicle to enter the second driving mode and generates corresponding control instructions for performing vehicle line control in the second driving mode, comprising that the second driving control domain controls the automatic driving vehicle to enter the adaptive cruise mechanism and generates first control instructions for performing vehicle line control in the adaptive cruise mechanism; and / or, the second driving control domain controls the automatic driving vehicle to enter the autonomous parking mechanism and generates second control instructions for performing vehicle line control in the autonomous parking mechanism; The second driving mode further comprises a safety operator takeover mechanism; the method further comprises: the first driving control domain acquiring a working state of at least one actuator in the autonomous driving vehicle, wherein the at least one actuator is used to perform corresponding operations of vehicle line control in the first driving mode or the second driving mode; in response to the working state of the at least one actuator satisfying a preset condition, generating a running logic corresponding to the safety operator takeover mechanism; executing the running logic corresponding to the safety operator takeover mechanism, and stopping receiving the first control instruction corresponding to the adaptive cruise mechanism and / or the second control instruction corresponding to the autonomous parking mechanism, so as to take over the autonomous driving vehicle in the first driving mode.

2. A control method of an autonomous vehicle, characterized by, The application is applied to an autonomous driving device, the autonomous driving device comprises a first driving control domain and a second driving control domain, the first driving control domain is used to control the autonomous driving vehicle to perform vehicle line control in a first driving mode, and the second driving control domain is used to control the autonomous driving vehicle to perform vehicle line control in a second driving mode, wherein the automation degree of the first driving mode is higher than that of the second driving mode, the method comprises the control method of the autonomous driving vehicle in the above-mentioned claim 1, and the method further comprises: The second driving control domain receives a handshake message from the first driving control domain; In response to the handshake message, the autonomous driving vehicle is controlled to enter the second driving mode, and corresponding control instructions for vehicle line control in the second driving mode are generated; The corresponding control instructions are sent to the first driving control domain, so that the first driving control domain receives the corresponding control instructions to control the autonomous driving vehicle to perform vehicle line control in the first driving mode through the corresponding control instructions.

3. The method of claim 2, wherein, The generation of the corresponding control instructions for vehicle line control in the second driving mode comprises: The corresponding control instructions are generated based on second sensor data received in the second driving mode; The first driving control domain controls the autonomous driving vehicle to enter the first driving mode and stops receiving first sensor data, wherein the first sensor data is used for vehicle line control in the first driving mode, and the first sensor data is different from the second sensor data.

4. The method of claim 2, wherein, The first driving control domain controls the autonomous driving vehicle to perform vehicle line control in the first driving mode through the corresponding control instructions, comprising: The first driving control domain generates a running logic corresponding to the second driving mode based on the corresponding control instructions, for vehicle line control in the first driving mode; The autonomous driving vehicle is controlled to perform vehicle line control in the first driving mode based on the running logic corresponding to the second driving mode.

5. The method according to any one of claims 2 to 4, characterized in that, The second driving mode comprises at least one of an adaptive cruise mechanism and an autonomous parking mechanism; The second driving control domain controls the autonomous driving vehicle to enter the second driving mode, and generates corresponding control instructions for vehicle line control in the second driving mode, comprising: The second driving control domain controls the automatic driving vehicle to enter the adaptive cruise mechanism, and generates a first control instruction for vehicle line control under the adaptive cruise mechanism. And / or The second driving control domain controls the automatic driving vehicle to enter the autonomous parking mechanism, and generates a second control instruction for vehicle line control under the autonomous parking mechanism.

6. An automatic driving device characterized by comprising: The automatic driving device comprises a memory and a processor coupled with each other, and is installed with a first driving control domain and a second driving control domain, the first driving control domain is used to control the automatic driving vehicle to perform vehicle line control according to a first driving mode, and the second driving control domain is used to control the automatic driving vehicle to perform vehicle line control according to a second driving mode, wherein the automation degree of the first driving mode is higher than that of the second driving mode; The processor is used to execute program instructions stored in the memory, so as to realize the control method of the automatic driving vehicle according to any one of claims 2 to 5.

7. An autonomous vehicle, characterized by The automatic driving device according to claim 6 and a vehicle chassis control circuit connected with the automatic driving device, wherein the vehicle chassis control circuit is used to realize the operation corresponding to vehicle line control.

8. A non-transitory computer readable storage medium storing program instructions, the program instructions comprising instructions for: The program instructions are used to realize the control method of the automatic driving vehicle according to any one of claims 2 to 5 when executed by the processor.

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