Method and device for switching vehicle operating state, electronic equipment and storage medium

Abstract

This invention discloses a method, apparatus, electronic device, and storage medium for switching vehicle operating states. The method includes: acquiring video data collected by a camera and determining the quality detection result of the video data; updating the fault state of the camera according to an anomaly detection strategy and the quality detection result; and switching the vehicle operating state according to the vehicle's current operating mode, current control request, and the fault state. This invention, by determining whether a camera is faulty by judging the quality of the video data, and combining this with vehicle operating information and camera fault state, automatically switches the vehicle's operating state in the event of a camera malfunction, ensuring vehicle safety during autonomous driving and improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of computer technology, and in particular to a method, apparatus, electronic device, and storage medium for switching vehicle operating states. Background Technology

[0002] With the development of autonomous driving technology, it is becoming increasingly mature, enabling hands-free and eye-free driving in urban areas or highways. While bringing convenience to life, autonomous driving technology also places higher demands on the stability of system control, which largely depends on the stability of image data from intelligent cameras.

[0003] To ensure the safety of autonomous driving, the image quality of cameras in intelligent driving vehicles must be guaranteed, and the vehicle control software needs to appropriately monitor the image data status. In existing technologies, when the image data quality from intelligent cameras is poor, the vehicle cannot automatically change its driving state based on the image data, posing a significant safety hazard. Therefore, how to automatically switch driving states based on image data quality has become an urgent problem to be solved. Summary of the Invention

[0004] This invention provides a method, device, electronic device, and storage medium for switching vehicle operating states, so as to automatically switch vehicle operating states according to the quality of video data collected by cameras, ensuring safe driving of the vehicle during autonomous driving and improving the user experience.

[0005] According to one aspect of the present invention, a method for switching vehicle operating states is provided, wherein the method includes:

[0006] Acquire video data captured by the camera and determine the quality inspection results of the video data;

[0007] Update the camera's fault status based on the anomaly detection strategy and quality inspection results;

[0008] The vehicle's operating status is switched based on its current operating mode, current control request, and fault status.

[0009] According to another aspect of the present invention, a vehicle state switching device is provided, characterized in that it comprises:

[0010] The detection result determination module is used to acquire video data collected by the camera and determine the quality detection result of the video data of the super adaptive cruise system.

[0011] The fault status update module is used to update the fault status of the camera in the super adaptive cruise system based on the anomaly detection strategy and the quality inspection results of the super adaptive cruise system.

[0012] The vehicle status switching module is used to switch the vehicle's operating status according to the vehicle's current operating mode, current control request, and the fault status of the super adaptive cruise control system.

[0013] According to another aspect of the present invention, an electronic device is provided, the electronic device comprising:

[0014] At least one processor;

[0015] and memory that is communicatively connected to at least one processor;

[0016] The memory stores a computer program that can be executed by at least one processor, which enables the at least one processor to perform the vehicle state switching method of any embodiment of the present invention.

[0017] According to another aspect of the present invention, a computer-readable storage medium is provided, which stores computer instructions for causing a processor to execute a method for switching vehicle states according to any embodiment of the present invention.

[0018] The technical solution of this invention acquires video data collected by a camera, determines the quality inspection result of the video data, updates the camera's fault status according to anomaly detection strategy and quality inspection result, and switches the vehicle's operating status according to the vehicle's current operating mode, current control request, and fault status. This achieves the ability to determine whether the camera is faulty based on the quality inspection result of the video data, and simultaneously switch the vehicle's operating status in combination with the vehicle's operating information. In the event of a camera malfunction, the vehicle's operating status is automatically switched, ensuring the safety of the vehicle during autonomous driving and improving the user experience.

[0019] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a flowchart of a method for switching vehicle operating states according to Embodiment 1 of the present invention;

[0022] Figure 2This is a flowchart of a method for switching vehicle operating states according to Embodiment 2 of the present invention;

[0023] Figure 3 This is a schematic diagram of a vehicle operating state switching system provided according to Embodiment 3 of the present invention;

[0024] Figure 4 This is a schematic diagram of a vehicle operating state switching device according to Embodiment 3 of the present invention;

[0025] Figure 5 This is a schematic diagram of the structure of an electronic device that implements a method for switching vehicle operating states according to an embodiment of the present invention. Detailed Implementation

[0026] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0028] Example 1

[0029] Figure 1 This is a flowchart of a vehicle operating state switching method according to Embodiment 1 of the present invention. This embodiment is applicable to situations where the vehicle operating state is automatically switched based on the camera status. This method can be executed by a vehicle operating state switching device, which can be implemented in hardware and / or software and can be configured in an electronic device. Figure 1 As shown, the method includes:

[0030] S110. Obtain video data captured by the camera and determine the quality inspection results of the video data.

[0031] The camera is used to capture video of the scene in front of the vehicle. In practice, the camera can be installed in any unobstructed position within the vehicle's field of vision, as long as it can accurately capture video data of the scene in front of the vehicle. The quality inspection result refers to the result generated by quality testing of the video data captured by the camera, and the result can be categorized as normal or abnormal. In practice, quality inspection can be performed on different aspects of the video data, such as image blur detection, camera occlusion detection, image freeze detection, visibility detection, strong light detection, and image loss detection.

[0032] For different aspects of video data quality inspection, corresponding quality inspection results can be generated. For example, for image blur detection, results such as clear image, slightly blurred image, moderately blurred image, severely blurred image, and image failure can be generated. It can be preset to output a normal quality inspection result when the image is clear or slightly blurred, and an abnormal quality inspection result when the image is moderately blurred, severely blurred, or failed. For camera occlusion detection, results with and without occlusion can be generated. It can be preset to output a normal quality inspection result when there is no occlusion and an abnormal quality inspection result when there is occlusion. For image freeze detection, results with and without image freeze can be generated. It can be preset to output a normal quality inspection result when the image is not frozen and an abnormal quality inspection result when the image is frozen. For visibility detection, results with high visibility and low visibility can be generated. It can be preset to output a normal quality inspection result when there is high visibility and an abnormal quality inspection result when there is low visibility. For strong light detection, results with and without strong light can be generated. It can be preset to output a normal quality inspection result when there is no strong light and an abnormal quality inspection result when there is strong light. For image loss detection, results with and without image loss can be generated. It can be set to output a normal quality detection result when there is no image loss and an abnormal quality detection result when there is image loss.

[0033] In this embodiment of the invention, video data captured by a camera can be received, and quality detection can be performed on the video data to generate quality detection results. In actual operation, image blur detection, camera occlusion detection, image freeze detection, visibility detection, strong light detection, and image loss detection can be performed on the video data to generate corresponding quality detection results. Different rules exist for quality detection of different aspects of the video data. By detecting the video data according to these rules, corresponding quality detection results can be generated.

[0034] In one embodiment, a preset detection period can be used for image blur detection, camera occlusion detection, visibility detection, and strong light detection. Video data is then detected according to this detection period. Similarly, a preset number of detection frames can be used for image freeze detection and image loss detection. The quality of the video data is determined based on the number of detection frames. In actual operation, the detection period and the number of detection frames can be set according to user needs. The detection period can include, but is not limited to, 80ms, 100ms, 120ms, etc., and the number of detection frames can include, but is not limited to, 25 frames, 30 frames, 35 frames, etc., without any limitation.

[0035] In one embodiment, image blur detection can be performed on video data by judging the camera's resolution, video data contrast, and color saturation according to a detection cycle, and the quality detection result of the video data can be determined by comprehensively scoring the camera's resolution, contrast, and color saturation. In another embodiment, camera occlusion detection can be performed by judging whether there are cases where part of the scene or the entire scene is without image according to a detection cycle, and the quality detection result of the video data can be determined.

[0036] In one embodiment, the similarity of adjacent frames within a preset number of frames in the video data can be used to perform frame freeze detection. For example, when the similarity of adjacent frames within a preset number of frames is greater than a preset threshold, the video data can be determined to be frozen; otherwise, the video data is determined not to be frozen. In one embodiment, the presence of dropped frames within a preset number of frames can be determined to perform image loss detection. In one embodiment, the visibility of the video data within a detection period can be determined to perform visibility detection. In one embodiment, the presence of strong light or backlight within a detection period can be determined to perform strong light detection.

[0037] S120. Update the camera's fault status based on the anomaly detection strategy and quality inspection results.

[0038] An anomaly detection strategy can refer to a strategy for determining whether a camera is malfunctioning. The anomaly detection strategy can be a strategy set by the user according to their needs. In one embodiment, the number of anomaly detection strategies can be multiple, and the corresponding anomaly detection strategy can be extracted based on the current fault state of the camera. The fault state can include whether the camera is malfunctioning or not.

[0039] In this embodiment, the current fault state of the camera can be determined, and the camera's fault state can be updated according to the anomaly detection strategy and quality inspection results. In actual operation, the corresponding anomaly detection strategy can be extracted according to the current fault state of the camera. In one embodiment, the anomaly detection strategy may include updating the camera's fault state to "fault present" when the current fault state of the camera is "no fault" and m consecutive quality inspection results are abnormal; or updating the camera's fault state to "no fault" when the current fault state of the camera is "fault present" and n consecutive quality inspection results are normal. The values ​​of m and n can be the same or different, and this is not limited. The camera's fault state can be updated according to the corresponding anomaly detection strategy and quality inspection results.

[0040] S130. Switch the vehicle's operating state according to the vehicle's current operating mode, current control request, and fault status.

[0041] The current operating mode of the vehicle can refer to the current operating mode of the vehicle. For example, the operating mode of the vehicle may include, but is not limited to, the adaptive cruise system, super adaptive cruise system and / or lane keeping assist system being turned off; the adaptive cruise system, super adaptive cruise system and / or lane keeping assist system being in standby mode; the adaptive cruise system, super adaptive cruise system and / or lane keeping assist system being in active mode; and the adaptive cruise system, super adaptive cruise system and / or lane keeping assist system being in a fault state.

[0042] A current control request can refer to a control request generated during vehicle operation, and the vehicle's operation can be controlled based on the current control request. In one embodiment, a current control request may include, but is not limited to, no control request, steering torque request, acceleration request, and deceleration request. The vehicle operating state can refer to the vehicle's current operating state, which may include running and stopped.

[0043] In the embodiments of the invention, the current operating mode of the vehicle can be determined, the current control request can be collected, and the vehicle operating state can be switched according to the current operating mode, the current control request, and the fault status. In actual operation, depending on different current operating modes and collected current control requests, there may be situations where the vehicle operating state is switched or not.

[0044] In actual operation, when the fault status is "fault exists," and it is determined that the adaptive cruise control system, super adaptive cruise control system, and lane keeping assist system are all in a deactivated, standby, or activated state, and the current control request is "no control request," the current control request can be maintained without changing the vehicle's operating state. When the adaptive cruise control system, super adaptive cruise control system, or lane keeping assist system is in a fault state, the current control request can be updated to "no control request," and the vehicle's operating state can be switched to "stop." When the adaptive cruise control system or super adaptive cruise control system is in an activated state, and the current control request is an acceleration or deceleration request, the current control request can be maintained without changing the vehicle's operating state. When the lane keeping assist system is in an activated state, and the current control request is a steering torque request, the current control request can be maintained without changing the vehicle's operating state. When the super adaptive cruise control system is in an activated state, and the current control request is a steering torque request, the current control request is updated to "no control request," and the vehicle's operating state can be switched to "stop." When the fault status is "no fault exists," the current vehicle operating state can be maintained.

[0045] This invention, through acquiring video data collected by a camera, determines the quality inspection result of the video data, updates the camera's fault status based on anomaly detection strategies and the quality inspection result, and switches the vehicle's operating status according to the vehicle's current operating mode, current control request, and fault status. This achieves the goal of determining whether a camera is faulty based on the quality inspection result of the video data, and switching the vehicle's operating status by combining the vehicle's operating information. This enables automatic switching of the vehicle's operating status in the event of a camera malfunction, ensuring vehicle safety during autonomous driving and improving the user experience.

[0046] Example 2

[0047] Figure 2 This is a flowchart of a method for switching vehicle operating states according to Embodiment 2 of the present invention. This embodiment further explains a method for switching vehicle operating states based on the above embodiment. Figure 2 As shown, the method includes:

[0048] S210. Acquire video data collected by the camera and generate a quality test result for the clarity of the content display of the corresponding video data according to the preset video data detection rules.

[0049] The preset video data detection rules can be pre-set rules for detecting the quality of video data. There can be multiple preset video data detection rules, and different preset video detection rules can be used to detect the quality of video data from different aspects.

[0050] In one embodiment, the preset video data detection rules include at least one of the following: image blur detection rules, camera occlusion detection rules, image freeze detection rules, visibility detection rules, strong light detection rules, and image loss detection rules.

[0051] The image blur detection rules can include performing image blur detection on video data based on the camera's resolution, video data contrast, and color saturation according to the detection cycle, and determining the quality detection result of the video data by comprehensively scoring the camera's resolution, contrast, and color saturation. Assuming the total comprehensive score is 100 points, a higher score indicates worse video data quality. A setting can be made to determine that the video data image is clear when the comprehensive score is less than 1. For example, a comprehensive score greater than 10 and less than 40 indicates slightly blurred video data; a comprehensive score greater than 40 and less than 70 indicates moderately blurred video data; a comprehensive score greater than 70 and less than 99 indicates severely blurred video data; and a comprehensive score greater than or equal to 99 indicates invalid video data. When the video data image is determined to be clear or slightly blurred, the content display level is high, and a normal quality detection result can be output. When the video data image is determined to be moderately blurred, severely blurred, or invalid, the content display level is low, and an abnormal quality detection result can be output. The detection cycle can be set according to user needs, and the detection cycle can include, but is not limited to, once every 80ms, once every 100ms, once every 120ms, etc.

[0052] Camera occlusion detection rules can include determining whether video data shows a partial or complete absence of image, based on a detection cycle, to determine the quality detection result of the video data. For example, when a partial or complete absence of image exists, an occluded result is generated; when no partial or complete absence of image exists, an unoccluded result is generated. When the result is unoccluded, the content display level is determined to be high, and a normal quality detection result is output; when the result is occluded, the content display level is determined to be low, and an abnormal quality detection result is output.

[0053] The freeze detection rule can include determining the quality detection result of the video data by judging the similarity of adjacent frames within a preset number of frames. For example, image data of adjacent frames in the video data can be extracted, a histogram of each frame can be calculated, and the similarity of adjacent frames can be determined based on the histogram. When the similarity of adjacent frames is greater than a preset threshold, it can be determined that the adjacent frames are consistent, and the video data is considered frozen; otherwise, it is determined that the video data is not frozen. When the frame is not frozen, the content display level is determined to be high, and a normal quality detection result is output; when the frame is frozen, the content display level is determined to be low, and an abnormal quality detection result is output. In one embodiment, since the similarity of adjacent frames is high, one frame can be extracted from the video data at a set interval to ensure the accuracy of freeze detection. The preset number of frames can be set according to user needs, and can include, but is not limited to, 25 frames, 30 frames, 35 frames, etc.

[0054] Visibility detection rules may include determining the quality detection result of video data based on the visibility of the video data within the detection period. Due to weather conditions, sufficient light is needed to provide adequate contrast and / or texture features between the vehicle ahead and the background environment. Therefore, the visibility of the video data can be detected based on the contrast between the vehicle ahead and the background environment. In one embodiment, visibility greater than 200 meters can be determined as high visibility; visibility less than or equal to 200 meters can be determined as low visibility. When visibility is high, the content display level is determined to be high, and a normal quality detection result is output; when visibility is low, the content display level is determined to be low, and an abnormal quality detection result is output.

[0055] The strong light detection rules can include determining the quality of video data by detecting whether strong light or backlight occurs according to a detection cycle. In one embodiment, a light threshold can be preset. When the light exceeds the light threshold, strong light is determined to be present; otherwise, no strong light is determined. When there is no strong light, the content display level is determined to be high, and a normal quality detection result is output; when there is strong light, the content display level is determined to be low, and an abnormal quality detection result is output.

[0056] The image loss detection rule can include determining whether there are any dropped frames within a preset number of frames of video data. If frame loss is determined, then there is image loss; if no frame loss is determined, then there is no image loss. When the result is no image loss, the content display level is considered high, and a normal quality detection result is output; when the result is image loss, the content display level is considered low, and an abnormal quality detection result is output.

[0057] In this embodiment of the invention, video data captured by a camera can be acquired, preset video data detection rules can be extracted, and the content of the video data can be detected according to the preset video detection rules to determine the clarity of the video data. A quality detection result is then generated based on the clarity of the video data. In actual operation, when the clarity determined according to the preset video detection rules is high, the generated quality detection result is normal; when the clarity determined according to the preset video detection rules is low, the generated quality detection result is abnormal.

[0058] S220. Extract the camera's fault information as the current fault status.

[0059] In this embodiment of the invention, fault information from the camera can be extracted and used as the current fault state. In actual operation, when the fault information indicates a fault exists, the current fault state is determined to be faulty; when the fault information indicates no fault exists, the current fault state is determined to be faultless.

[0060] S230. Extract anomaly detection strategies from the preset detection strategy set according to the current fault state; wherein, the anomaly detection strategies include a first anomaly detection strategy and a second anomaly detection strategy.

[0061] The preset detection strategy set can be a collection of stored anomaly detection strategies, which can be pre-configured according to user requirements. The first anomaly detection strategy can be a strategy for when the current fault state is "no fault exists". For example, the first anomaly detection strategy may include updating the fault state to "fault exists" when the quality detection results are all abnormal for a first preset number of consecutive times. The second anomaly detection strategy can be a strategy for when the current fault state is "fault exists". For example, the second anomaly detection strategy may include updating the fault state to "no fault exists" when the quality detection results are all normal for a second preset number of consecutive times.

[0062] In this embodiment of the invention, an anomaly detection strategy can be extracted from a preset detection strategy set based on the current fault state. In actual operation, if the current fault state is no fault, a first anomaly detection strategy can be extracted; if the current fault state is a fault, a second anomaly detection strategy can be extracted.

[0063] S240. If the current fault status is no fault, extract the first anomaly detection strategy, extract the quality detection results for a first preset number of consecutive times according to the first anomaly detection strategy, and when the quality detection results for the first preset number of consecutive times are all abnormal, update the fault status to a fault exists.

[0064] The first preset number of tests can be set according to user needs. If the quality test results are all abnormal for the first preset number of consecutive tests, it can be determined that the camera is faulty. For example, the first preset number of tests can include, but is not limited to, 4, 5, 6, etc.

[0065] In the embodiment of the invention, the current fault status is no fault. The quality test results of a first preset number of consecutive tests can be extracted to determine whether all of the first preset number of consecutive quality test results are abnormal. When all of the first preset number of consecutive quality test results are abnormal, it is determined that the camera has a fault, and the fault status is updated to have a fault.

[0066] S250. If the current fault status is "fault exists", extract the second anomaly detection strategy, extract the quality detection results for the second preset number of consecutive times according to the second anomaly detection strategy, and when the quality detection results for the second preset number of consecutive times are all normal, update the fault status to "fault does not exist".

[0067] The second preset number of tests can be set according to user requirements. If the quality test results for the second preset number of tests are all normal, it can be determined that the camera is not faulty. For example, the second preset number of tests can include, but is not limited to, 4, 5, 6, etc. The first preset number of tests and the second preset number of tests can be the same or different, and there is no limitation on this.

[0068] In the embodiment of the invention, the current fault state is that a fault exists. The quality test results of a second preset number of consecutive tests can be extracted to determine whether the quality test results of the second preset number of consecutive tests are all normal. When the quality test results of the second preset number of consecutive tests are all normal, it is determined that the camera does not have a fault, and the fault state is updated to "no fault exists".

[0069] S260, Read the vehicle's current operating mode; the current operating state includes at least one of the following: the adaptive cruise system, super adaptive cruise system, and / or lane keeping assist system are in the off state; the adaptive cruise system, super adaptive cruise system, and / or lane keeping assist system are in the standby state; the adaptive cruise system, super adaptive cruise system, and / or lane keeping assist system are in the active state; the adaptive cruise system, super adaptive cruise system, and / or lane keeping assist system are in the fault state.

[0070] Adaptive Cruise Control (ACC) is a car function that allows the vehicle's cruise control system to adjust its speed to adapt to traffic conditions. ACC can be implemented using radar mounted in front of the vehicle to detect if there are slower vehicles in the path. If a slower vehicle is detected, ACC can reduce its speed and control the distance or time gap between the vehicle and the one in front.

[0071] Super Adaptive Cruise Control (SACC) is an intelligent driving system that monitors road conditions ahead, automatically controls vehicle acceleration and deceleration longitudinally, and automatically keeps the vehicle on its driving path laterally.

[0072] Lane Keeping Assist (LKA) is a system that monitors the relative position of a vehicle to lane lines in real time, enabling the vehicle to stay within its lane.

[0073] In this embodiment of the invention, the current operating mode of the vehicle can be determined by detecting the current state of the adaptive cruise control system, the super adaptive cruise control system, and the lane keeping assist system. The current state of the adaptive cruise control system, the super adaptive cruise control system, and the lane keeping assist system can respectively include a closed state, a standby state, an active state, and a fault state.

[0074] S270. Extract the current control request, which includes at least one of the following: no control request, steering torque request, acceleration request, and deceleration request.

[0075] In the embodiments of the invention, the current control request sent by the vehicle controller can be obtained. The current control request may include, but is not limited to, no control request, steering torque request, acceleration request, and deceleration request.

[0076] S280. Update the current control request according to the current operating mode, current control request and fault status, and switch the vehicle operating status based on the updated current control request.

[0077] In the embodiments of the invention, after determining the vehicle's current operating mode, current control request, and fault status, the vehicle's operating state can be switched according to these parameters. In actual operation, depending on the different current vehicle operating modes and the collection of current control requests, there may be situations where the vehicle's operating state is switched or not.

[0078] Specifically, the current control request is updated according to the current operating mode, current control request, and fault status. Based on the updated current control request, the vehicle operating status is switched, including:

[0079] When the adaptive cruise control system, super adaptive cruise control system, and lane keeping assist system are all in the off, standby, or active state, the current control request is no control request, and the fault status is fault present, the current control request is maintained and the vehicle operating state is not switched.

[0080] When the adaptive cruise control system, super adaptive cruise control system, or lane keeping assist system is in a faulty state, update the current control request to no control request and switch the vehicle operating state to stop.

[0081] When the adaptive cruise control system or super adaptive cruise control system is active, the current control request is an acceleration request or a deceleration request, and the fault status is "fault exists", the current control request is maintained and the vehicle operating status is not switched.

[0082] When the lane keeping assist system is active, the current control request is a steering torque request, and the fault status is "fault exists", the current control request is maintained and the vehicle operating status is not changed.

[0083] When the Super Adaptive Cruise Control system is active, the current control request is a steering torque request, and the fault status is "fault exists," the current control request is updated to "no control request," and the vehicle operating status is switched to "stop."

[0084] In the embodiments of the invention, when it is determined that the adaptive cruise control system, the super adaptive cruise control system, and the lane keeping assist system are all in a closed, standby, or active state, the current control request is determined. If the current control request is no control request and the fault status is faulty, the current control request can be maintained without switching the vehicle operating state. When it is determined that any one of the adaptive cruise control system, the super adaptive cruise control system, or the lane keeping assist system is in a faulty state, the current control request can be updated to no control request, and the vehicle operating state can be switched to stopped. When it is determined that the adaptive cruise control system or the super adaptive cruise control system is active, and the current control request is an acceleration or deceleration request, and the fault status is faulty, the current control request can be maintained without switching the vehicle operating state, ensuring normal vehicle operation. When it is determined that the lane keeping assist system is active, the current control request is a steering torque request, and the fault status is faulty, the current control request can be maintained without switching the vehicle operating state. When it is determined that the super adaptive cruise control system is active, the current control request is a steering torque request, and the fault status is faulty, the current control request is updated to no control request, and the vehicle operating state can be switched to stopped.

[0085] This invention, in its embodiments, acquires video data collected by a camera, generates quality detection results for the clarity of the corresponding video data display according to preset video data detection rules, extracts camera fault information as the current fault state, and extracts anomaly detection strategies from a preset detection strategy set according to the current fault state. If the current fault state is "no fault," a first anomaly detection strategy is extracted, and quality detection results are extracted for a first preset number of consecutive times according to the first anomaly detection strategy. When all quality detection results for the first preset number of consecutive times are anomaly, the fault state is updated to "fault exists." If the current fault state is "fault exists," a second anomaly detection strategy is extracted, and quality detection results are extracted for a second preset number of consecutive times according to the second anomaly detection strategy. When all quality detection results for a preset number of consecutive times are normal, the fault state is updated to "no fault exists." This achieves the extraction of different fault detection vehicles under different fault states. The current operating mode of the vehicle is read, the current control request is extracted, and the current control request is updated according to the current operating mode, the current control request, and the fault state. Based on the updated current control request, the vehicle operating state is switched, enabling automatic switching of the vehicle operating state in the event of a camera malfunction, ensuring vehicle safety during autonomous driving and improving the user experience.

[0086] In one embodiment, after switching the vehicle operating state based on the vehicle's current operating mode, current control request, and fault state, the method further includes:

[0087] When the adaptive cruise control system, super adaptive cruise control system, or lane keeping assist system is active and the fault status is "fault present," a warning message is generated to alert the driver that there is a fault in the vehicle.

[0088] In an embodiment of the invention, when the adaptive cruise system, super adaptive cruise system, or lane keeping assist system is in an active state, and the fault status is "fault exists", a warning message can be generated to inform the driver that the vehicle has a fault and request the driver to drive manually.

[0089] Example 3

[0090] Figure 3 This is a schematic diagram of a vehicle operating state switching system according to Embodiment 3 of the present invention. This embodiment is a detailed description of a schematic diagram of a vehicle operating state switching system based on the above embodiments. Figure 3 As shown, the system includes: an image diagnosis module 31, a fault detection module 32, an operation status management module 33, and a parameter management module 34.

[0091] The image diagnostic module 31 acquires video data collected by the camera and determines the quality inspection results of the video data.

[0092] The image diagnostic module 31 includes an image blur detection module 311, a camera occlusion detection module 312, an image freeze detection module 313, a visibility detection module 314, a strong light detection module 315, and an image loss detection module 316. The image blur detection module 311 performs image blur detection on the video data according to image blur detection rules to generate a quality detection result. The camera occlusion detection module 312 performs camera occlusion detection on the video data according to camera occlusion detection rules to generate a quality detection result. The image freeze detection module 313 performs image freeze detection on the video data according to image freeze detection rules to generate a quality detection result. The visibility detection module 314 performs visibility detection on the video data according to visibility detection rules to generate a quality detection result. The strong light detection module 315 performs strong light detection on the video data according to strong light detection rules to generate a quality detection result. The image loss detection module 316 performs image loss detection on the video data according to image loss detection rules to generate a quality detection result. The quality detection results include normal image and abnormal image.

[0093] The fault detection module 32 acquires the anomaly detection strategy from the parameter management module and updates the camera's fault status based on the anomaly detection strategy and the quality inspection results.

[0094] The operation status management module 33 is used to switch the vehicle operation status according to the vehicle's current operation mode, current control request, and fault status.

[0095] In actual operation, if the ACC, SACC, or LKA functions are in a closed state, a standby state, or an active state but without a control request output, the current state will remain unchanged for the time being, and all outputs will be 0.

[0096] If the ACC / SACC or LKA function is under driver active control (fault state), all controller request outputs are suppressed.

[0097] If the LKA function is active and there is a steering torque request, the output signal remains valid, the current requested value is ignored, and the previous requested value is maintained.

[0098] If the ACC or SACC function is active and there is an acceleration request, keep the output signal valid, ignore the current requested value, and keep the previous requested value output.

[0099] If the ACC or SACC function is active and there is a deceleration request, the output signal remains valid, the current requested value is ignored, and the previous requested value is maintained.

[0100] If the SACC function is active and there is a steering torque request, the output signal is set to invalid and the request value is set to 0.

[0101] In one embodiment, when ACC, SACC, or LKA is active and the fault status is "fault exists", a warning message can be generated to inform the driver that the vehicle has a fault and request the driver to drive manually.

[0102] The parameter management module 34 is used to store anomaly detection strategies and preset video data detection rules.

[0103] Example 4

[0104] Figure 4 This is a schematic diagram of a vehicle operating state switching device according to Embodiment 3 of the present invention. Figure 4 As shown, the device includes: a detection result determination module 41, a fault status update module 42, and a vehicle status switching module 43.

[0105] The detection result determination module 41 is used to acquire video data collected by the camera and determine the quality detection result of the video data.

[0106] The fault status update module 42 is used to update the fault status of the camera based on the anomaly detection strategy and the quality inspection results.

[0107] The vehicle status switching module 43 is used to switch the vehicle's operating status according to the vehicle's current operating mode, current control request, and fault status.

[0108] In this embodiment of the invention, a detection result determination module acquires video data collected by a camera and determines the quality detection result of the video data. A fault status update module updates the fault status of the camera according to anomaly detection strategy and quality detection results. A vehicle status switching module switches the vehicle's operating status according to the vehicle's current operating mode, current control request, and fault status. This achieves the goal of determining whether the camera is faulty based on the quality detection result of the video data and switching the vehicle's operating status by combining the vehicle's operating information. This enables automatic switching of the vehicle's operating status in the event of a camera malfunction, ensuring vehicle safety during autonomous driving and improving the user experience.

[0109] In one embodiment, the detection result determination module 41 includes:

[0110] The detection result determination unit is used to generate a quality detection result for the clarity of the content display of the corresponding video data according to the preset video data detection rules.

[0111] In one embodiment, the preset video data detection rules in the detection result determination module 41 include at least one of the following: image blur detection rule, camera occlusion detection rule, image freeze detection rule, visibility detection rule, strong light detection rule, and image loss detection rule.

[0112] In one embodiment, the fault status update module 42 includes:

[0113] The status extraction unit is used to extract the camera's fault information as the current fault status;

[0114] The strategy extraction unit is used to extract anomaly detection strategies from a preset detection strategy set according to the current fault state; wherein, the anomaly detection strategies include a first anomaly detection strategy and a second anomaly detection strategy.

[0115] The first fault status update unit is used to extract a first anomaly detection strategy if the current fault status is no fault, extract the quality detection results for a first preset number of consecutive times according to the first anomaly detection strategy, and update the fault status to have a fault if the quality detection results for the first preset number of consecutive times are all anomalies.

[0116] The second fault status update unit is used to extract a second anomaly detection strategy if the current fault status is "fault exists", extract the quality detection results for a second preset number of consecutive times according to the second anomaly detection strategy, and update the fault status to "no fault exists" when the quality detection results for the second preset number of consecutive times are all normal.

[0117] In one embodiment, the vehicle state switching module 43 includes:

[0118] The operating mode reading unit is used to read the current operating mode of the vehicle; the current operating state includes at least one of the following: the adaptive cruise system, super adaptive cruise system, and / or lane keeping assist system are in the off state; the adaptive cruise system, super adaptive cruise system, and / or lane keeping assist system are in the standby state; the adaptive cruise system, super adaptive cruise system, and / or lane keeping assist system are in the active state; the adaptive cruise system, super adaptive cruise system, and / or lane keeping assist system are in the fault state.

[0119] A control request extraction unit is used to extract the current control request, which includes at least one of the following: no control request, steering torque request, acceleration request, and deceleration request;

[0120] The operating state switching unit is used to update the current control request according to the current operating mode, the current control request, and the fault status, and switch the vehicle operating state based on the updated current control request.

[0121] In one embodiment, the running state switching unit includes:

[0122] The first operating state switching unit is used to maintain the current control request and not switch the vehicle operating state when the adaptive cruise system, super adaptive cruise system and lane keeping assist system are all in the off state, standby state or active state, the current control request is no control request and the fault state is fault exists.

[0123] The second operating state switching unit is used to update the current control request to no control request and switch the vehicle operating state to stop when the adaptive cruise system, super adaptive cruise system or lane keeping assist system is in a fault state.

[0124] The third operating state switching unit is used to maintain the current control request and not switch the vehicle operating state when the adaptive cruise system or super adaptive cruise system is active, the current control request is an acceleration request or a deceleration request, and the fault status is a fault.

[0125] The fourth operating state switching unit is used to maintain the current control request and not switch the vehicle operating state when the lane keeping assist system is active, the current control request is a steering torque request, and the fault status is a fault.

[0126] The fifth operating state switching unit is used to update the current control request to no control request and switch the vehicle operating state to stop when the super adaptive cruise system is active, the current control request is a steering torque request, and the fault status is fault present.

[0127] In one embodiment, the vehicle operating state switching device further includes:

[0128] The warning generation module is used to generate warning information to alert the driver that there is a malfunction in the vehicle when the adaptive cruise system, super adaptive cruise system, or lane keeping assist system is active and the fault status is "fault present".

[0129] The vehicle operating state switching device provided in this embodiment of the invention can execute the vehicle operating state switching method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method execution.

[0130] Example 5

[0131] Figure 5This is a schematic diagram of an electronic device 10 implementing a method for switching vehicle operating states according to an embodiment of the present invention. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0132] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0133] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0134] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as methods for switching vehicle operating states.

[0135] In some embodiments, the vehicle operating state switching method may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the vehicle operating state switching method described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform the vehicle operating state switching method by any other suitable means (e.g., by means of firmware).

[0136] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0137] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0138] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0139] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0140] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0141] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0142] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0143] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A method of switching a running state of a vehicle, characterized by, include: Acquire video data captured by the camera and determine the quality inspection result of the video data; The fault status of the camera is updated based on the anomaly detection strategy and the quality inspection results; The vehicle's operating status is switched based on the vehicle's current operating mode, current control request, and current camera malfunction status. The step of updating the fault status of the camera based on the anomaly detection strategy and the quality detection results includes: Extract the fault information of the camera as the current fault status of the camera; An anomaly detection strategy is extracted from the preset detection strategy set according to the current fault state of the camera; wherein, the anomaly detection strategy includes a first anomaly detection strategy and a second anomaly detection strategy; If the current fault status of the camera is no fault, extract the first anomaly detection strategy, extract the quality detection results for a first preset number of consecutive times according to the first anomaly detection strategy, and when the quality detection results for the first preset number of consecutive times are all abnormal, update the fault status of the camera to have a fault. If the current fault status of the camera is faulty, a second anomaly detection strategy is extracted, and the quality detection results are extracted for a second preset number of consecutive times according to the second anomaly detection strategy. When the quality detection results for the second preset number of consecutive times are all normal, the fault status of the camera is updated to no fault.

2. The method of claim 1, wherein, Determining the quality inspection result of the video data includes: A quality inspection result is generated based on the clarity of the content displayed in the video data according to preset video data detection rules.

3. The method of claim 2, wherein, The preset video data detection rules include at least one of the following: image blur detection rule, camera occlusion detection rule, image freeze detection rule, visibility detection rule, strong light detection rule, and image loss detection rule.

4. The method according to claim 1, characterized in that, The step of switching the vehicle's operating state based on the vehicle's current operating mode, current control request, and the current camera's fault status includes: The current operating mode of the vehicle is read; the current operating mode includes at least one of the following: the adaptive cruise system, the super adaptive cruise system, and / or the lane keeping assist system are in a deactivated state; the adaptive cruise system, the super adaptive cruise system, and / or the lane keeping assist system are in a standby state; the adaptive cruise system, the super adaptive cruise system, and / or the lane keeping assist system are in an activated state; the adaptive cruise system, the super adaptive cruise system, and / or the lane keeping assist system are in a system malfunction state. Extract the current control request, which includes at least one of the following: no control request, steering torque request, acceleration request, and deceleration request; The current control request is updated according to the current operating mode, the current control request, and the current camera fault status, and the vehicle operating status is switched based on the updated current control request.

5. The method according to claim 4, characterized in that, The step of updating the current control request according to the current operating mode, the current control request, and the current camera fault status, and switching the vehicle operating status based on the updated current control request, includes: When the adaptive cruise control system, the super adaptive cruise control system, and the lane keeping assist system are all in a closed, standby, or active state, the current control request is no control request, and the current camera's fault status is faulty, the current control request is maintained, and the vehicle's operating state is not switched. When the adaptive cruise system, the super adaptive cruise system, or the lane keeping assist system is in a system malfunction state, the current control request is updated to no control request, and the vehicle operating state is switched to stopped. When the adaptive cruise control system or the super adaptive cruise control system is active, the current control request is an acceleration request or a deceleration request, and the current camera's fault status is "faulty", the current control request is maintained and the vehicle's operating state is not switched. When the lane keeping assist system is active, the current control request is a steering torque request, and the current camera malfunction status is faulty, the current control request is maintained and the vehicle operating state is not switched. When the super adaptive cruise control system is activated, the current control request is a steering torque request, and the current camera's fault status is "faulty", the current control request is updated to "no control request", and the vehicle's operating status is switched to "stop".

6. The method according to claim 4, characterized in that, After switching the vehicle operating state based on the vehicle's current operating mode, current control request, and the current camera's fault status, the method further includes: When the adaptive cruise control system, the super adaptive cruise control system, or the lane keeping assist system is active, and the current camera is in a faulty state, a warning message is generated to alert the driver that the vehicle has a fault.

7. A vehicle state switching device, characterized in that, include: The detection result determination module is used to acquire video data collected by the camera and determine the quality detection result of the video data. The fault status update module is used to update the fault status of the camera according to the anomaly detection strategy and the quality detection results; The vehicle status switching module is used to switch the vehicle's operating status according to the vehicle's current operating mode, current control request, and current camera malfunction status. The fault status update module includes: The status extraction unit is used to extract the camera's fault information as the current fault status of the camera. The strategy extraction unit is used to extract anomaly detection strategies from a preset detection strategy set according to the current fault state of the camera; wherein, the anomaly detection strategies include a first anomaly detection strategy and a second anomaly detection strategy. The first fault status update unit is used to extract a first anomaly detection strategy if the current fault status of the camera is no fault, extract the quality detection results for a first preset number of consecutive times according to the first anomaly detection strategy, and update the fault status of the camera to have a fault if the quality detection results for the first preset number of consecutive times are all abnormal. The second fault status update unit is used to extract a second anomaly detection strategy if the current fault status of the camera is faulty, extract the quality detection results for a second preset number of consecutive times according to the second anomaly detection strategy, and update the fault status of the camera to fault-free if the quality detection results for the second preset number of consecutive times are all normal.

8. An electronic device, characterized in that, The electronic device includes: At least one processor; and a memory communicatively connected to the at least one processor; The memory stores a computer program that can be executed by the at least one processor, which is then executed by the at least one processor to enable the at least one processor to perform the vehicle operating state switching method according to any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method for switching the vehicle operating state as described in any one of claims 1-6.

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