An intelligent driving function control method, device, equipment and medium

Abstract

The application discloses a kind of intelligent driving function control method, device, equipment and medium, it is related to intelligent driving technical field, including: if vehicle speed is greater than vehicle speed threshold value, then based on target integral strategy determine and the first total integral corresponding to the camera failure level of camera output, the second total integral corresponding to lane line confidence, the third total integral corresponding to target confidence and the fourth total integral corresponding to rainfall level signal;Based on the first total integral, the second total integral, the third total integral and the fourth total integral determine trigger camera perception is limited, and disable intelligent driving function.Visibly, the application determines the total integral corresponding to camera failure level, lane line confidence, target confidence and rainfall level signal according to target integral strategy, and disables intelligent driving function based on each total integral, in this way, the application can cover multiple scenarios, improve the accuracy of intelligent driving function disablement.

Description

Technical Field

[0001] This invention relates to the field of intelligent driving technology, and in particular to an intelligent driving function control method, device, equipment and medium. Background Technology

[0002] Currently, intelligent driving solutions are increasingly appearing in mass-produced vehicles. Cameras, as core sensors, rely on reliable perception for the operation of intelligent driving functions. However, in rainy conditions, the windshield becomes blurred by rainwater, affecting camera perception. Additionally, water droplets and mist from vehicles ahead can further obscure the camera's view. To address this, intelligent driving systems typically disable certain functions in rainy situations based on the degree and duration of camera obstruction. However, due to issues like camera misidentification, the system might falsely trigger the most severe failure level in light rain and occasionally a moderate failure level in heavy rain. This can lead to incorrectly disabling intelligent driving functions when rainfall is light and the target is relatively clear, while not disabling them when rainfall is heavy and the target is less clearly visible. In other words, disabling intelligent driving functions based on the degree and duration of camera obstruction has inherent errors and cannot cover all scenarios.

[0003] Therefore, improving the accuracy of disabling intelligent driving functions and covering multiple scenarios is an urgent problem to be solved in this field. Summary of the Invention

[0004] In view of this, the purpose of this invention is to provide a method, device, equipment, and medium for controlling intelligent driving functions, which can improve the accuracy of disabling intelligent driving functions and cover multiple scenarios. The specific solution is as follows:

[0005] In a first aspect, this application discloses an intelligent driving function control method, including:

[0006] Determine if the vehicle speed exceeds a preset speed threshold;

[0007] If so, then based on the target integration strategy, determine the first total score corresponding to the camera failure level output by the camera, the second total score corresponding to the lane line confidence level output by the camera, the third total score corresponding to the target confidence level output by the camera, and the fourth total score corresponding to the rainfall level signal.

[0008] Based on the first total score, the second total score, the third total score, and the fourth total score, it is determined that the camera's perception is limited, and the intelligent driving function is disabled.

[0009] Optionally, determining the trigger for limiting the camera's perception and disabling the intelligent driving function based on the first total score, the second total score, the third total score, and the fourth total score includes:

[0010] When the sum of the first total score, the second total score, the third total score, and the fourth total score reaches the target score threshold, the camera's perception is restricted, and the intelligent driving function is disabled.

[0011] Optionally, determining the first total integral corresponding to the camera failure level output by the camera based on the target integral strategy includes:

[0012] The camera failure level output by the camera is obtained at preset time intervals;

[0013] If the camera failure level is the first failure level, then the first score is increased;

[0014] If the camera failure level is the second failure level, then the second score is reduced;

[0015] If the camera failure level is the third failure level, then the third score is reduced;

[0016] The sum of the points obtained corresponding to each of the camera failure levels is taken as the first total point; wherein the first failure level is greater than the second failure level, and the second failure level is greater than the third failure level; the second point is greater than the third point.

[0017] Optionally, a second total integral corresponding to the lane line confidence level output by the camera is determined based on a target integration strategy, including:

[0018] The confidence level of the lane lines output by the camera is obtained at preset time intervals;

[0019] If the lane line confidence is greater than the lane line confidence threshold, and the change in lateral distance between the vehicle and the lane lines on both sides is within the first change range, then the fourth integral is reduced.

[0020] If the lane line confidence is not greater than the lane line confidence threshold, or if the change in lateral distance between the vehicle and the lane lines on both sides is outside the first change range, then the fourth integral is added.

[0021] The sum of the integrals corresponding to the confidence levels of each lane line is used as the second total integral.

[0022] Optionally, determining the third total integral corresponding to the target confidence level output by the camera based on the target integration strategy includes:

[0023] The target confidence level output by the camera is obtained at preset time intervals;

[0024] If the target confidence level is greater than the target confidence threshold, and the jump in the lateral and longitudinal distance between the vehicle and the target is within the second jump range, then the fifth integral is reduced.

[0025] If the target confidence level is not greater than the target confidence level threshold, or if the jump in the lateral and longitudinal distance between the vehicle and the target is outside the second jump range, then the fifth integral is added;

[0026] The sum of the integrals obtained corresponding to each of the target confidence levels is taken as the third total integral.

[0027] Optionally, a fourth total integral corresponding to the rainfall level signal is determined based on the target integration strategy, including:

[0028] The rainfall level signal output by the rain sensor is acquired at preset time intervals.

[0029] If the rainfall level signal output by the rainfall sensor indicates that there is no rain or light rain, then the sixth integral is reduced.

[0030] If the rainfall level signal output by the rainfall sensor indicates that the rainfall is moderate or heavy, then the sixth integral is added.

[0031] The sum of the integrals obtained corresponding to each of the rainfall level signals is taken as the fourth total integral.

[0032] Optionally, after determining that the camera's perception is limited and disabling the intelligent driving function based on the first total score, the second total score, the third total score, and the fourth total score, the method further includes:

[0033] The camera failure level, lane line confidence level, target confidence level, and rainfall level signals are acquired at preset time intervals.

[0034] If the camera failure level is any failure level other than the first failure level, then the seventh point is reduced; if the camera failure level is the first failure level, then the sum of all current total points is reset to the target point threshold.

[0035] If the lane line confidence score is greater than the lane line confidence score threshold, then the eighth score is reduced; if the lane line confidence score is not greater than the lane line confidence score threshold, then the sum of all current total scores remains unchanged.

[0036] If the target confidence level is greater than the target confidence level threshold, then the ninth score is reduced; if the target confidence level is not greater than the target confidence level threshold, then the sum of all current total scores remains unchanged.

[0037] If the rainfall level signal indicates no rain or light rain, then the tenth point is reduced; if the rainfall level signal indicates moderate rain or heavy rain, then the sum of all current total points remains unchanged.

[0038] If the sum of all current total scores is zero, then the camera's perception limitation is canceled and the intelligent driving function is re-enabled.

[0039] Secondly, this application discloses an intelligent driving function control device, comprising:

[0040] The vehicle speed determination module is used to determine whether the vehicle speed is greater than a preset vehicle speed threshold.

[0041] The total integral determination module is used to determine, if so, a first total integral corresponding to the camera failure level output by the camera, a second total integral corresponding to the lane line confidence level output by the camera, a third total integral corresponding to the target confidence level output by the camera, and a fourth total integral corresponding to the rainfall level signal based on the target integral strategy; wherein, the target confidence level is the probability of the target's existence.

[0042] The intelligent driving function disabling module is used to determine, based on the first total score, the second total score, the third total score, and the fourth total score, to trigger the camera's perception limitation and disable the intelligent driving function.

[0043] Thirdly, this application discloses an electronic device, including:

[0044] Memory, used to store computer programs;

[0045] A processor is used to execute the computer program to implement the aforementioned intelligent driving function control method.

[0046] Fourthly, this application discloses a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned intelligent driving function control method.

[0047] As can be seen, this application proposes an intelligent driving function control method, including: determining whether the vehicle speed is greater than a preset vehicle speed threshold; if so, determining a first total integral corresponding to the camera failure level output by the camera, a second total integral corresponding to the lane line confidence level output by the camera, a third total integral corresponding to the target confidence level output by the camera, and a fourth total integral corresponding to the rainfall level signal based on a target integral strategy; wherein, the target confidence level is the probability of the target's existence; and determining, based on the first total integral, the second total integral, the third total integral, and the fourth total integral, triggering the camera's perception limitation and disabling the intelligent driving function. In summary, this application introduces a target integration strategy and determines, based on this strategy, a first total score corresponding to the failure level of the camera output, a second total score corresponding to the lane line confidence level, a third total score corresponding to the target confidence level, and a fourth total score corresponding to the rainfall level signal. Then, based on the first total score, the second total score, the third total score, and the fourth total score, it determines whether to trigger the camera's perception limitation and disables the intelligent driving function. In this way, this application comprehensively judges whether to trigger the camera's perception limitation by using the target integration strategy, the camera failure level, the lane line confidence level, the target confidence level, and the rainfall level signal, covering multiple scenarios. It makes up for the shortcomings of simply relying on the camera's output failure level signal and its output time to trigger the camera's perception limitation, solves the problem of false alarms and false negatives of camera perception limitation in rainy scenarios, and improves the accuracy of disabling the intelligent driving function. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0049] Figure 1 This is a flowchart of an intelligent driving function control method disclosed in this application;

[0050] Figure 2 This is a flowchart of a specific intelligent driving function control method disclosed in this application;

[0051] Figure 3 This is a flowchart of a specific intelligent driving function control method disclosed in this application;

[0052] Figure 4 This is a schematic diagram of the structure of an intelligent driving function control device disclosed in this application;

[0053] Figure 5This is a structural diagram of an electronic device disclosed in this application. Detailed Implementation

[0054] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. 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 are within the scope of protection of the present invention.

[0055] Due to issues such as camera misidentification, the system may falsely trigger the most severe failure level during light rain and occasionally trigger the medium failure level during heavy rain. This can lead to the erroneous disabling of the intelligent driving function when the rainfall is light and the target perceived by the camera is relatively clear, while it may not disable the intelligent driving function when the target is less clearly visible due to heavy rain. In other words, disabling intelligent driving functions based on the degree of impact on the camera's perception and the duration of the impact has a certain degree of error and cannot cover a wide range of scenarios.

[0056] Therefore, this application proposes an intelligent driving function disabling scheme, which can improve the accuracy of intelligent driving function disabling and cover multiple scenarios.

[0057] This application discloses an intelligent driving function control method. See also Figure 1 and Figure 2 As shown, the method includes:

[0058] Step S11: Determine whether the vehicle speed is greater than the preset vehicle speed threshold.

[0059] In this embodiment, under intelligent driving mode, it is determined whether the vehicle speed is greater than a preset speed threshold. The intelligent driving mode is implemented by the driver assistance system installed on the vehicle, which can improve the driving experience.

[0060] In some embodiments, the preset vehicle speed threshold can be set to 10 km / h, that is, to determine whether the vehicle speed is greater than 10 km / h.

[0061] Step S12: If so, determine the first total score corresponding to the camera failure level output by the camera, the second total score corresponding to the lane line confidence level output by the camera, the third total score corresponding to the target confidence level output by the camera, and the fourth total score corresponding to the rainfall level signal based on the target integration strategy.

[0062] In this embodiment of the application, when the vehicle speed is greater than a preset vehicle speed threshold, the integral is accumulated starting from 0.

[0063] The target integration strategy will be explained in detail below from the aspects of camera failure level, lane line confidence, target confidence, and rainfall level signal.

[0064] Firstly, it should be noted that the camera failure level refers to the different levels of signals emitted by the camera based on the degree to which its detection field of view and accuracy are affected. In some embodiments, these include failure level 99, failure level 75, failure level 25, and failure level 0.

[0065] Specifically, determining the first total score corresponding to the camera failure level output by the camera based on the target integration strategy includes: acquiring the camera failure level output by the camera at preset time intervals; increasing the first score if the camera failure level is the first failure level; decreasing the second score if the camera failure level is the second failure level; decreasing the third score if the camera failure level is the third failure level; and using the sum of the acquired scores corresponding to each camera failure level as the first total score; wherein the first failure level is greater than the second failure level, and the second failure level is greater than the third failure level; and the second score is greater than the third score.

[0066] In some embodiments, the preset time interval is 1 / 100 of a second, or 1 frame; the first failure level is failure level 99; the second failure level is failure level 75; and the third failure level includes failure level 25 and failure level 0. The first score is 1 / 200, the second score is 1 / 1000, and the third score is 1 / 300. That is, when the vehicle is in intelligent driving mode and traveling at a speed of 10 km / h or higher, if a frame of camera failure level 99 is received, the score is increased by 1 / 200; if a frame of camera failure level 75 is received, the score is decreased by 1 / 1000; and if a frame of any other failure level is received, the score is decreased by 1 / 300. Furthermore, the sum of the scores received corresponding to each camera failure level is used as the first total score. It should be noted that the specific point values ​​corresponding to different camera failure levels can be set based on actual business needs. In this embodiment, those skilled in the art, based on relevant business needs and their own experience, determined the point corresponding to failure level 99 to be 1 / 200, the point corresponding to failure level 75 to be 1 / 1000, and the point corresponding to failure levels 25 and 0 to be 1 / 300.

[0067] Secondly, it should be noted that the lane line confidence level is the probability of the lane line existing, which is output by the camera.

[0068] Specifically, determining the second total score corresponding to the lane line confidence level output by the camera based on the target integration strategy includes: acquiring the lane line confidence level output by the camera at preset time intervals; if the lane line confidence level is greater than the lane line confidence level threshold, and the change in lateral distance between the vehicle and the lane lines on both sides is within a first change range, then reducing the fourth score; if the lane line confidence level is not greater than the lane line confidence level threshold, or the change in lateral distance between the vehicle and the lane lines on both sides is outside the first change range, then increasing the fourth score; and summing the scores corresponding to each lane line confidence level as the second total score.

[0069] In some embodiments, the lane line confidence threshold is 0.7, and the fourth integral is 1 / 1000. That is, when a lane line confidence value greater than 0.7 is received, and the lateral distance between the vehicle and the lane lines on both sides is stable and does not change significantly, the integral is reduced by 1 / 1000; when a lane line confidence value less than or equal to 0.7 is received, or the lateral distance between the vehicle and the lane lines on both sides changes significantly, the integral is increased by 1 / 1000. Further, the sum of the integrals corresponding to each lane line confidence value is used as the second total integral. It should be noted that, in related services, based on the principle that the weight of judging the reliability of camera perception through lane line confidence value is at the same level as the weight of judging the reliability of camera perception through camera failure level 75, this embodiment sets the integral value corresponding to lane line confidence value to 1 / 1000.

[0070] Regarding the stable lateral distance without significant jumps, the following explanation is provided: In this embodiment, a three-dimensional coordinate system is established with the front, right, and top directions as positive, using the camera mounted on the vehicle as the origin. Assuming the camera is installed at the center of the front side of the vehicle, the center of the front side of the vehicle is the origin. It can be understood that the camera outputs lane line confidence scores and the lateral distance between the vehicle and the lane lines on both sides in each frame. For example, if the distance between the right lane line and the origin is 1.5 meters in the previous frame and 1.48 meters in this frame, the jump is very small, and therefore can be considered as a stable lateral distance between the vehicle and the right lane line without significant jumps. The same applies to the left lane line.

[0071] Thirdly, it should be noted that the target confidence level is the probability of the target's existence, output by the camera. The target can be a person or a vehicle.

[0072] Specifically, determining the third total score corresponding to the target confidence level output by the camera based on the target integration strategy includes: specifically, acquiring the target confidence level output by the camera at preset time intervals; if the target confidence level is greater than the target confidence level threshold, and the change in the lateral and longitudinal distance between the vehicle and the target is within the second change range, then reducing the fifth score; if the target confidence level is not greater than the target confidence level threshold, or the change in the lateral and longitudinal distance between the vehicle and the target is outside the second change range, then increasing the fifth score; and summing the scores corresponding to each target confidence level as the third total score.

[0073] In some embodiments, the target confidence threshold is 0.7, and the fifth integral is 1 / 1000. That is, when a frame with a target confidence greater than 0.7 is received, and the target is stable with no significant jump in horizontal and vertical distance, the integral is reduced by 1 / 1000; when a frame with a target confidence less than or equal to 0.7 is received, or the target's horizontal and vertical distance undergoes a significant jump, the integral is increased by 1 / 1000; furthermore, the sum of the integrals corresponding to each target confidence level is used as the third total integral. It should be noted that, in related services, based on the principle that the weight of judging the reliability of camera perception through target confidence is at the same level as the weight of judging the reliability of camera perception through camera failure level 75, this embodiment sets the integral value corresponding to the target confidence to 1 / 1000.

[0074] Regarding the stable lateral and longitudinal distances between the vehicle and the target without significant jumps, as shown in the aforementioned disclosure, assuming the target received in the previous frame appeared on the right front side of the vehicle, and the target received in this frame appeared on the left front side of the vehicle, this means that the target has undergone significant jumps and is unstable in the lateral and longitudinal directions.

[0075] Fourthly, it should be noted that the rain sensor outputs a rainfall level signal through its own sensing function, which is used to characterize the amount of rainfall. In some embodiments, the rain sensor outputs light, no rain, medium, and heavy rain.

[0076] Specifically, determining the fourth total integral corresponding to the rainfall level signal based on the target integration strategy includes: acquiring the rainfall level signal output by the rainfall sensor at preset time intervals; if the rainfall level signal output by the rainfall sensor indicates no rain or light rain, then reducing the sixth integral; if the rainfall level signal output by the rainfall sensor indicates moderate rain or heavy rain, then increasing the sixth integral; and summing the acquired integrals corresponding to each rainfall level signal as the fourth total integral.

[0077] In some embodiments, the sixth integral is 1 / 1000, that is, when a rainfall level signal is received indicating light or no rain, the integral is decreased by 1 / 1000; when a rainfall level signal is received indicating medium or heavy rain, the integral is increased by 1 / 1000. Further, the sum of the integrals corresponding to each rainfall level signal is used as the fourth total integral. It should be noted that, in related services, based on the principle that the weight of judging the reliability of camera perception through rainfall level signals is the same as the weight of judging the reliability of camera perception through camera failure level 75, this embodiment sets the integral value corresponding to the rainfall level signal to 1 / 1000.

[0078] Step S13: Based on the first total score, the second total score, the third total score, and the fourth total score, determine that the camera's perception is restricted and disable the intelligent driving function.

[0079] In this embodiment, determining whether to trigger the camera's perception limitation and disable the intelligent driving function based on the first total score, the second total score, the third total score, and the fourth total score specifically includes: when the sum of the first total score, the second total score, the third total score, and the fourth total score reaches a target score threshold, the camera's perception limitation is triggered, and the intelligent driving function is disabled. That is, this embodiment determines whether to trigger the camera's perception limitation and disable the intelligent driving function by judging whether the sum of each total score reaches the target score threshold.

[0080] In some embodiments, the target integration threshold is 30, that is, when the sum of the first total integration, the second total integration, the third total integration and the fourth total integration reaches 30, the camera's perception is restricted and the intelligent driving function is disabled.

[0081] Furthermore, in intelligent driving mode, if the vehicle speed is no greater than 10km / h, the sum of all total points S is 0. In other words, if the vehicle speed is no greater than 10km / h, the logic of limited camera perception is not executed.

[0082] As can be seen, this application proposes an intelligent driving function control method, including: determining whether the vehicle speed is greater than a preset vehicle speed threshold; if so, determining a first total integral corresponding to the camera failure level output by the camera, a second total integral corresponding to the lane line confidence level output by the camera, a third total integral corresponding to the target confidence level output by the camera, and a fourth total integral corresponding to the rainfall level signal based on a target integral strategy; wherein, the target confidence level is the probability of the target's existence; and determining, based on the first total integral, the second total integral, the third total integral, and the fourth total integral, triggering the camera's perception limitation and disabling the intelligent driving function. In summary, this application introduces a target integration strategy and determines, based on this strategy, a first total score corresponding to the failure level of the camera output, a second total score corresponding to the lane line confidence level, a third total score corresponding to the target confidence level, and a fourth total score corresponding to the rainfall level signal. Then, based on the first total score, the second total score, the third total score, and the fourth total score, it determines whether to trigger the camera's perception limitation and disables the intelligent driving function. In this way, this application comprehensively judges whether to trigger the camera's perception limitation by using the target integration strategy, the camera failure level, the lane line confidence level, the target confidence level, and the rainfall level signal, covering multiple scenarios. It makes up for the shortcomings of simply relying on the camera's output failure level signal and its output time to trigger the camera's perception limitation, solves the problem of false alarms and false negatives of camera perception limitation in rainy scenarios, and improves the accuracy of disabling the intelligent driving function.

[0083] In the embodiments of this application, see Figure 2 and Figure 3 As shown, after triggering the camera's perception limitation and disabling the intelligent driving function, the following steps are also included:

[0084] Step S21: Acquire the camera failure level, lane line confidence, target confidence, and rainfall level signals at preset time intervals.

[0085] Step S22: If the camera failure level is any failure level other than the first failure level, then reduce the seventh point; if the camera failure level is the first failure level, then reset the sum of all current total points to the target point threshold.

[0086] In some embodiments, the seventh point is 1 / 200. Specifically, when a frame of camera failure level 99 is received, the point is reduced by 1 / 200; when a frame of camera failure level 99 is received, the sum of all current total points is reset to 30.

[0087] Step S23: If the lane line confidence score is greater than the lane line confidence score threshold, then reduce the eighth score; if the lane line confidence score is not greater than the lane line confidence score threshold, then keep the sum of all current total scores unchanged.

[0088] In some embodiments, the eighth integral is 1 / 1000. Specifically, when a lane line confidence score of 1 frame is received that is greater than 0.7, the integral is reduced by 1 / 1000; when a lane line confidence score of 1 frame is received that is less than or equal to 0.7, the integral is reduced by 0. It should be noted that since there may be a jump in the lane line confidence score of a certain frame, for example, the lane line confidence scores of 0.8, 0.4, and 0.9 for three consecutive frames, this embodiment will not reset the integral to 30 when a lane line confidence score of 0.7 is received, but will reduce it to 0. This is to prevent the integral from being reset to 30 if the lane line confidence score jumps.

[0089] Step S24: If the target confidence level is greater than the target confidence level threshold, then reduce the ninth score; if the target confidence level is not greater than the target confidence level threshold, then keep the sum of all current total scores unchanged.

[0090] In some embodiments, the ninth integral is 1 / 1000. Specifically, when a frame with a target confidence level greater than 0.7 is received, the integral is reduced by 1 / 1000; when a frame with a target confidence level less than or equal to 0.7 is received, the integral is reduced by 0. Similarly, since there may be a jump in the target confidence level of a certain frame, this embodiment will not reset the integral to 30 when a frame with a target confidence level less than or equal to 0.7 is received, but will reduce it by 0.

[0091] Step S25: If the rainfall level signal indicates no rain or light rain, then reduce the tenth integral; if the rainfall level signal indicates moderate rain or heavy rain, then keep the current sum of all integrals unchanged.

[0092] In this embodiment, when a frame of rainfall level "light" or "no rain" is received, the integral is reduced by 1 / 1000; when a frame of rainfall level "medium" or "high" is received, the integral is reduced by 0. Similarly, since there may be a jump in the rainfall level signal of a certain frame, this embodiment will not reset the integral to 30 when a frame of rainfall level signal "medium" or "high" is received, but will reduce it by 0.

[0093] Step S26: If the sum of all current total scores is zero, then cancel the camera's perception restriction and re-enable the intelligent driving function.

[0094] In this embodiment, the sum of each total score is continuously measured. When the sum is reduced to 0, the camera perception restriction is canceled and the intelligent driving function becomes available again.

[0095] In summary, after triggering the camera's perception limitation and disabling the intelligent driving function, this application continuously acquires the camera failure level, lane line confidence, target confidence, and rainfall level signals at preset time intervals. Furthermore, based on the cumulative sum of the integrals corresponding to the camera failure level, lane line confidence, target confidence, and rainfall level signals, it determines whether to cancel the camera perception limitation and re-enable the intelligent driving function. In this way, the intelligent driving function control method described in this application can adapt to changes in weather and other factors, making it more intelligent.

[0096] It should be noted that the various score values ​​in the aforementioned publicly available information can be set according to actual business needs.

[0097] Accordingly, this application also discloses an intelligent driving function control device, see [link to relevant documentation]. Figure 4 As shown, the device includes:

[0098] The vehicle speed determination module 11 is used to determine whether the vehicle speed is greater than a preset vehicle speed threshold.

[0099] The total integral determination module 12 is used to determine, if so, a first total integral corresponding to the camera failure level output by the camera, a second total integral corresponding to the lane line confidence level output by the camera, a third total integral corresponding to the target confidence level output by the camera, and a fourth total integral corresponding to the rainfall level signal based on the target integral strategy; wherein, the target confidence level is the probability of the existence of the target;

[0100] The intelligent driving function disabling module 13 is used to determine, based on the first total score, the second total score, the third total score, and the fourth total score, to trigger the camera's perception limitation and disable the intelligent driving function.

[0101] For more detailed information on the working process of each of the above modules, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0102] As can be seen, this application proposes an intelligent driving function control device, including: a vehicle speed judgment module, used to judge whether the vehicle speed is greater than a preset vehicle speed threshold; a total score determination module, used to determine, if so, a first total score corresponding to the camera failure level output by the camera, a second total score corresponding to the lane line confidence level output by the camera, a third total score corresponding to the target confidence level output by the camera, and a fourth total score corresponding to the rainfall level signal based on a target score strategy; wherein, the target confidence level is the probability of the target's existence; and an intelligent driving function disabling module, used to determine, based on the first total score, the second total score, the third total score, and the fourth total score, that the camera's perception is restricted, and to disable the intelligent driving function. In summary, this application introduces a target integration strategy and determines, based on this strategy, a first total score corresponding to the failure level of the camera output, a second total score corresponding to the lane line confidence level, a third total score corresponding to the target confidence level, and a fourth total score corresponding to the rainfall level signal. Then, based on the first total score, the second total score, the third total score, and the fourth total score, it determines whether to trigger the camera's perception limitation and disables the intelligent driving function. In this way, this application comprehensively judges whether to trigger the camera's perception limitation by using the target integration strategy, the camera failure level, the lane line confidence level, the target confidence level, and the rainfall level signal, covering multiple scenarios. It makes up for the shortcomings of simply relying on the camera's output failure level signal and its output time to trigger the camera's perception limitation, solves the problem of false alarms and false negatives of camera perception limitation in rainy scenarios, and improves the accuracy of disabling the intelligent driving function.

[0103] Furthermore, embodiments of this application also provide an electronic device. Figure 5 This is a structural diagram of an electronic device 20 according to an exemplary embodiment. The content of the diagram should not be construed as limiting the scope of this application.

[0104] Figure 5 This is a schematic diagram of the structure of an electronic device 20 provided in an embodiment of this application. Specifically, the electronic device 20 may include: at least one processor 21, at least one memory 22, a display screen 23, an input / output interface 24, a communication interface 25, a power supply 26, and a communication bus 27. The memory 22 stores a computer program, which is loaded and executed by the processor 21 to implement the relevant steps in the intelligent driving function control method disclosed in any of the foregoing embodiments. Furthermore, the electronic device 20 in this embodiment may specifically be an electronic computer.

[0105] In this embodiment, the power supply 26 is used to provide operating voltage for each hardware device on the electronic device 20; the communication interface 25 can create a data transmission channel between the electronic device 20 and external devices, and the communication protocol it follows can be any communication protocol applicable to the technical solution of this application, and is not specifically limited here; the input / output interface 24 is used to acquire external input data or output data to the outside world, and its specific interface type can be selected according to specific application needs, and is not specifically limited here.

[0106] Furthermore, the memory 22, as a carrier for resource storage, can be a read-only memory, random access memory, disk, or optical disk, etc. The resources stored thereon may include computer programs 221, and the storage method may be temporary storage or permanent storage. The computer programs 221 may include, in addition to computer programs capable of performing the intelligent driving function control method executed by the electronic device 20 as disclosed in any of the foregoing embodiments, computer programs capable of performing other specific tasks.

[0107] Furthermore, embodiments of this application also disclose a computer-readable storage medium for storing a computer program; wherein, when the computer program is executed by a processor, it implements the aforementioned intelligent driving function control method.

[0108] For the specific steps of this method, please refer to the relevant content disclosed in the foregoing embodiments, which will not be repeated here.

[0109] The various embodiments in this application are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. For the same or similar parts between the various embodiments, refer to each other. As for the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple, and relevant parts can be referred to the method section.

[0110] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0111] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein can be implemented directly by hardware, a software module executed by a processor, or a combination of both. The software module can be located in random access memory (RAM), main memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0112] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0113] The above provides a detailed description of the intelligent driving function control method, device, equipment, and storage medium provided in this application. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of this application. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of this application. Therefore, the content of this specification should not be construed as a limitation of this application.

Claims

1. A method for controlling intelligent driving functions, characterized in that, include: Determine if the vehicle speed exceeds a preset speed threshold; If so, then based on the target integration strategy, determine the first total score corresponding to the camera failure level output by the camera, the second total score corresponding to the lane line confidence level output by the camera, the third total score corresponding to the target confidence level output by the camera, and the fourth total score corresponding to the rainfall level signal. Based on the first total score, the second total score, the third total score, and the fourth total score, it is determined that the camera's perception is limited, and the intelligent driving function is disabled; The determination of the second total integral corresponding to the lane line confidence level output by the camera, based on the target integration strategy, includes: The confidence level of the lane lines output by the camera is obtained at preset time intervals; If the lane line confidence is greater than the lane line confidence threshold, and the change in lateral distance between the vehicle and the lane lines on both sides is within the first change range, then the fourth integral is reduced. If the lane line confidence is not greater than the lane line confidence threshold, or if the change in lateral distance between the vehicle and the lane lines on both sides is outside the first change range, then the fourth integral is added. The sum of the integrals corresponding to the confidence levels of each lane line is obtained is used as the second total integral; The step of determining, based on the first total score, the second total score, the third total score, and the fourth total score, to trigger the camera's perception limitation and disable the intelligent driving function includes: When the sum of the first total score, the second total score, the third total score, and the fourth total score reaches the target score threshold, the camera's perception is restricted, and the intelligent driving function is disabled. The determination of the first total integral corresponding to the camera failure level output by the camera based on the target integral strategy includes: The camera failure level output by the camera is obtained at preset time intervals; If the camera failure level is the first failure level, then the first score is increased; If the camera failure level is the second failure level, then the second score is reduced; If the camera failure level is the third failure level, then the third score is reduced; The sum of the points obtained corresponding to each of the camera failure levels is taken as the first total point; wherein the first failure level is greater than the second failure level, and the second failure level is greater than the third failure level; the second point is greater than the third point.

2. The intelligent driving function control method according to claim 1, characterized in that, The third total integral, determined based on the target integration strategy and corresponding to the target confidence level output by the camera, includes: The target confidence level output by the camera is obtained at preset time intervals; If the target confidence level is greater than the target confidence threshold, and the jump in the lateral and longitudinal distance between the vehicle and the target is within the second jump range, then the fifth integral is reduced. If the target confidence level is not greater than the target confidence level threshold, or if the jump in the lateral and longitudinal distance between the vehicle and the target is outside the second jump range, then the fifth integral is added; The sum of the integrals obtained corresponding to each of the target confidence levels is taken as the third total integral.

3. The intelligent driving function control method according to claim 2, characterized in that, The fourth total integral corresponding to the rainfall level signal is determined based on the target integration strategy, including: The rainfall level signal output by the rain sensor is acquired at preset time intervals. If the rainfall level signal output by the rainfall sensor indicates that there is no rain or light rain, then the sixth integral is reduced. If the rainfall level signal output by the rainfall sensor indicates that the rainfall is moderate or heavy, then the sixth integral is added. The sum of the integrals obtained corresponding to each of the rainfall level signals is taken as the fourth total integral.

4. The intelligent driving function control method according to claim 3, characterized in that, After determining that the camera's perception is limited and disabling the intelligent driving function is triggered based on the first total score, the second total score, the third total score, and the fourth total score, the method further includes: The camera failure level, lane line confidence level, target confidence level, and rainfall level signals are acquired at preset time intervals. If the camera failure level is any failure level other than the first failure level, then the seventh point is reduced; if the camera failure level is the first failure level, then the sum of all current total points is reset to the target point threshold. If the lane line confidence score is greater than the lane line confidence score threshold, then the eighth score is reduced; if the lane line confidence score is not greater than the lane line confidence score threshold, then the sum of all current total scores remains unchanged. If the target confidence level is greater than the target confidence level threshold, then the ninth score is reduced; if the target confidence level is not greater than the target confidence level threshold, then the sum of all current total scores remains unchanged. If the rainfall level signal indicates no rain or light rain, then the tenth point is reduced; if the rainfall level signal indicates moderate rain or heavy rain, then the sum of all current total points remains unchanged. If the sum of all current total scores is zero, then the camera's perception limitation is canceled and the intelligent driving function is re-enabled.

5. An intelligent driving function control device, characterized in that, include: The vehicle speed determination module is used to determine whether the vehicle speed is greater than a preset vehicle speed threshold. The total integral determination module is used to determine, if so, a first total integral corresponding to the camera failure level output by the camera, a second total integral corresponding to the lane line confidence level output by the camera, a third total integral corresponding to the target confidence level output by the camera, and a fourth total integral corresponding to the rainfall level signal based on the target integral strategy; wherein, the target confidence level is the probability of the target's existence. The intelligent driving function disabling module is used to determine, based on the first total score, the second total score, the third total score, and the fourth total score, that the camera's perception is restricted, and to disable the intelligent driving function. The determination of the second total integral corresponding to the lane line confidence level output by the camera, based on the target integration strategy, includes: The confidence level of the lane lines output by the camera is obtained at preset time intervals; If the lane line confidence is greater than the lane line confidence threshold, and the change in lateral distance between the vehicle and the lane lines on both sides is within the first change range, then the fourth integral is reduced. If the lane line confidence is not greater than the lane line confidence threshold, or if the change in lateral distance between the vehicle and the lane lines on both sides is outside the first change range, then the fourth integral is added. The sum of the integrals corresponding to the confidence levels of each lane line is obtained is used as the second total integral; The step of determining, based on the first total score, the second total score, the third total score, and the fourth total score, to trigger the camera's perception limitation and disable the intelligent driving function includes: When the sum of the first total score, the second total score, the third total score, and the fourth total score reaches the target score threshold, the camera's perception is restricted, and the intelligent driving function is disabled. The determination of the first total integral corresponding to the camera failure level output by the camera based on the target integral strategy includes: The camera failure level output by the camera is obtained at preset time intervals; If the camera failure level is the first failure level, then the first score is increased; If the camera failure level is the second failure level, then the second score is reduced; If the camera failure level is the third failure level, then the third score is reduced; The sum of the points obtained corresponding to each of the camera failure levels is taken as the first total point; wherein the first failure level is greater than the second failure level, and the second failure level is greater than the third failure level; the second point is greater than the third point.

6. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor for executing the computer program to implement the intelligent driving function control method as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, Used to store computer programs; wherein, when the computer programs are executed by a processor, they implement the intelligent driving function control method as described in any one of claims 1 to 4.

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