A driving mode switching and control method and system for an autonomous driving vehicle

Abstract

The present invention relates to a driving mode switching and control method and system for an autonomous driving vehicle, the method comprising the following steps: determining an autonomous driving mode use route based on a target vehicle's driving route and driving mode, determining a high-frequency use route based on the autonomous driving mode use route; in a manual driving process, generating a recommended autonomous driving route based on the target driving route of the vehicle and the high-frequency use route, and when the vehicle reaches the starting point of the recommended autonomous driving route, determining whether to send an autonomous driving mode recommendation instruction to the driver based on the perception data; when the autonomous driving mode is used on the recommended autonomous driving route, monitoring whether there is an abnormal area on the recommended autonomous driving route, and when the vehicle reaches the abnormal area, sending a warning message to the driver whether to switch the driving mode. The present invention provides a method with high safety and capable of automatically recommending and switching driving modes.

Description

Technical Field

[0001] The present invention relates to the field of vehicle autonomous driving technology, and specifically to a driving mode switching and control method and system for an autonomous driving vehicle. Background Art

[0002] The driving mode switching of an autonomous vehicle is usually completed through the vehicle's central control system or touch screen interface. The driver can choose different driving modes, such as autonomous driving mode, manual driving mode, economic mode, sports mode, etc. After selecting a new driving mode, the vehicle's control system will automatically adjust the vehicle's various parameters and performance to adapt to the new driving style or environment. At present, the autonomous driving system uses sensors such as high-definition cameras, radars, and laser radar (LiDAR) to perceive the surrounding environment in real time, including road conditions, traffic signs, obstacles and other information. Based on the perceived data, the system makes decisions through advanced algorithms to determine whether the current environment is suitable for driving mode switching. However, when dealing with complex or sudden environments, the autonomous driving system may sometimes be unable to make accurate judgments, which may lead to risks when switching to a driving mode. Therefore, the present invention provides a driving mode switching and control method and system for an autonomous driving vehicle with higher safety. Summary of the invention

[0003] In view of the above-mentioned problems, the present invention proposes a driving mode switching and control method and system for an autonomous driving vehicle.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A driving mode switching and control method for an autonomous driving vehicle, the method comprising the following steps:

[0006] Acquire a driving route and a driving mode of a target vehicle, determine an automatic driving mode usage route based on the driving route and the driving mode of the target vehicle, and determine a high-frequency usage route based on the automatic driving mode usage route;

[0007] During manual driving, a recommended autonomous driving route is generated based on the target driving route of the vehicle and the frequently used route, and when the vehicle reaches the starting point of the recommended autonomous driving route, a determination is made based on the perception data whether to send an autonomous driving mode recommendation instruction to the driver;

[0008] When using the autonomous driving mode on a recommended autonomous driving route, monitor whether there are abnormal areas on the recommended autonomous driving route, and when the vehicle reaches an abnormal area, send a warning message to the driver asking whether to switch the driving mode;

[0009] During the automatic driving process, the driver's operation information is received, and when the driver's operation information meets the preset manual driving switching conditions, the automatic driving mode is released and the automatic driving mode is started.

[0010] As a further technical solution of the present invention, the steps of obtaining a driving route and a driving mode of a target vehicle, determining an automatic driving mode usage route based on the driving route and the driving mode of the target vehicle, and determining a high-frequency usage route according to the automatic driving mode usage route include:

[0011] Acquire the driving route information and driving mode information of the target vehicle, wherein the driving mode information includes the driving mode and the switching information of each driving mode, the driving mode includes automatic driving and manual driving, the switching information includes the use start and end time of each driving mode, and the driving route information carries time information;

[0012] Determine the route used by each vehicle in the automatic driving mode based on the driving route information and driving mode information of the target vehicle;

[0013] Compare the routes used by the automatic driving mode of each vehicle within a preset time to determine whether there is any overlap in the routes used by the automatic driving mode of each vehicle within the preset time;

[0014] When there are overlapping routes, count the number of vehicles traveling in autonomous driving mode on each overlapping route;

[0015] When the number of vehicles traveling in autonomous driving mode on the overlapping route exceeds a preset threshold, the current overlapping route is determined to be a high-frequency used route.

[0016] As a further technical solution of the present invention, in the manual driving process, the step of generating a recommended autonomous driving route according to the target driving route of the vehicle and the high-frequency used route, and when the vehicle drives to the starting point of the recommended autonomous driving route, determining whether to send an autonomous driving mode recommendation instruction to the driver according to the perception data includes:

[0017] During manual driving, a target driving route of the vehicle is obtained, the target driving route is compared with a frequently used route, and it is determined whether the target driving route coincides with the frequently used route;

[0018] When the target driving route coincides with a frequently used route, determining that the coincident route between the target driving route and the frequently used route is a recommended autonomous driving route;

[0019] When the ego vehicle drives to the starting point of the recommended autonomous driving route, a perception detection instruction is generated;

[0020] Acquiring perception data based on the perception detection instruction, the perception data including road condition data, traffic sign and signal data, obstacle data and environment data;

[0021] Analyzing and determining whether the perception data complies with preset autonomous driving mode rules, wherein the preset autonomous driving mode rules include road condition rules, traffic sign and signal rules, obstacle rules, and environmental condition rules;

[0022] When the analysis result of the perception data meets the preset automatic driving mode rules, sending an automatic driving mode recommendation instruction to the driver;

[0023] Receive the driver's receipt information and determine whether to start the automatic driving mode based on the receipt information.

[0024] As a further technical solution of the present invention, when the autonomous driving mode is used on the recommended autonomous driving route, the step of monitoring whether there is an abnormal area on the recommended autonomous driving route, and when the vehicle reaches the abnormal area, sending a warning message to the driver whether to switch the driving mode includes:

[0025] When the autonomous driving mode is used on the recommended autonomous driving route, the number of switching from the autonomous driving mode to the manual driving mode on the recommended autonomous driving route within a preset historical time is counted per unit time, and the location information of the switching point is obtained;

[0026] Determine the abnormal area according to the position information of the switching point and the number of switching times;

[0027] When the vehicle reaches an abnormal area, a warning message is sent to the driver to ask whether to switch driving modes.

[0028] As a further technical solution of the present invention, the step of determining the abnormal area according to the position information of the switching point and the number of switching times includes:

[0029] Fitting the recommended autonomous driving route into a line segment;

[0030] Obtaining the position information of the switching point, and searching for a point corresponding to the position on the line segment as a marking point, and inserting a marking value at the marking point;

[0031] Based on the marked values ​​of the marked points on the line segment, the values ​​at other positions on the line segment are fitted to obtain the fitted values;

[0032] Read the line segment position where the fitting value is greater than the preset threshold, and infer the actual position as the abnormal area;

[0033] Among them, based on the marked value of the marked point on the line segment, the value at other positions on the fitting line segment is obtained by the formula:

[0034] ;

[0035] Among them, x i is the i-th marker point, Z i is the marking value of the i-th marking point on the line segment, x is any point on the line segment, y(x) is the fitting value at x on the line segment, N is the total number of marking points, and is the number of switching times from the automatic driving mode to the manual driving mode.

[0036] Another object of the present invention is to provide a driving mode switching and control system for an autonomous driving vehicle, the system comprising:

[0037] A high-frequency route determination module is used to obtain a driving route and a driving mode of a target vehicle, determine an automatic driving mode usage route based on the driving route and the driving mode of the target vehicle, and determine a high-frequency route based on the automatic driving mode usage route;

[0038] an automatic driving mode recommendation module, for generating a recommended automatic driving route according to the target driving route of the vehicle and the high-frequency used route during manual driving, and determining whether to send an automatic driving mode recommendation instruction to the driver according to the perception data when the vehicle reaches the starting point of the recommended automatic driving route;

[0039] The driving mode switching prompt module is used to monitor whether there are abnormal areas on the recommended autonomous driving route when the autonomous driving mode is used on the recommended autonomous driving route. When the vehicle reaches the abnormal area, it sends a warning message to the driver whether to switch the driving mode;

[0040] The driving mode switching monitoring module is used to receive driver operation information during the automatic driving process, and the driver operation information includes braking, turning the steering wheel, etc. When the driver's operation information meets the preset manual driving switching conditions, the automatic driving mode is released and the automatic driving mode is started.

[0041] As a further technical solution of the present invention, the high-frequency route determination module includes:

[0042] an information acquisition unit, configured to acquire the driving route information and driving mode information of the target vehicle, wherein the driving mode information includes the driving mode and the switching information of each driving mode, the driving mode includes automatic driving and manual driving, the switching information includes the use start and end time of each driving mode, and the driving route information carries the time information;

[0043] A route determination unit, configured to determine a route used in an automatic driving mode for each vehicle based on the driving route information and driving mode information of the target vehicle;

[0044] A route comparison unit, used to compare the routes used by the automatic driving mode of each vehicle within a preset time, and determine whether there is an overlapped route between the routes used by the automatic driving mode of each vehicle within the preset time;

[0045] A vehicle counting unit is used to count the number of vehicles traveling in the automatic driving mode on each overlapping route when there are overlapping routes;

[0046] The high-frequency route determination unit is used to determine that the current overlapping route is a high-frequency used route when the number of vehicles traveling in the automatic driving mode on the overlapping route exceeds a preset threshold.

[0047] As a further technical solution of the present invention, the autonomous driving mode recommendation module includes:

[0048] The route acquisition unit is used to acquire the target driving route of the vehicle during manual driving, compare the target driving route with the frequently used route, and determine whether the target driving route coincides with the frequently used route.

[0049] an automatic driving route determination unit, configured to determine, when the target driving route coincides with a frequently used route, that the coincident route between the target driving route and the frequently used route is a recommended automatic driving route;

[0050] a detection instruction generating unit, configured to generate a perception detection instruction when the self-driving vehicle travels to the starting point of the recommended autonomous driving route;

[0051] A perception data acquisition unit is used to acquire perception data based on the perception detection instruction, wherein the perception data includes road condition data, traffic sign and signal data, obstacle data and environment data.

[0052] a perception data analysis unit, configured to analyze and determine whether the perception data complies with preset autonomous driving mode rules, wherein the preset autonomous driving mode rules include road condition rules, traffic sign and signal rules, obstacle rules, and environmental condition rules;

[0053] a mode recommendation unit, configured to send an automatic driving mode recommendation instruction to the driver when the analysis result of the perception data meets the preset automatic driving mode rule;

[0054] The information receiving unit is used to receive the driver's receipt information and determine whether to start the automatic driving mode based on the receipt information.

[0055] As a further technical solution of the present invention, the driving mode switching prompt module includes:

[0056] an information statistics unit, for counting the number of switchings from the automatic driving mode to the manual driving mode on the recommended automatic driving route within a preset historical time per unit time, and obtaining position information of the switching point when the automatic driving mode is used on the recommended automatic driving route;

[0057] An abnormal area determination unit, used to determine the abnormal area according to the position information of the switching point and the number of switching times;

[0058] The abnormal warning unit is used to send a warning message to the driver whether to switch the driving mode when the vehicle reaches an abnormal area.

[0059] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention determines the recommended autonomous driving route by using the authorization data of the target vehicle and the target driving route of the vehicle, and then determines whether to send the recommended autonomous driving mode instruction based on the recommended autonomous driving route and the perception data, thereby improving the safety when switching driving modes. And when using the autonomous driving mode on the recommended autonomous driving route, the authorization data of the target vehicle is also used in real time to monitor whether there are abnormal areas on the recommended autonomous driving route, and a warning message is sent to the driver whether to switch the driving mode, which can effectively detect the sudden state of the recommended autonomous driving route and improve driving safety. The present invention provides a method with high safety and the ability to automatically recommend switching driving modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 The present invention is a flowchart of a driving mode switching and control method for an autonomous driving vehicle.

[0061] Figure 2 A flowchart of the steps of determining a frequently used route in a driving mode switching and control method for an autonomous driving vehicle.

[0062] Figure 3 The present invention is a flowchart of the step of determining whether to recommend an autonomous driving mode in a driving mode switching and control method of an autonomous driving vehicle.

[0063] Figure 4 The present invention is a flowchart of an abnormality monitoring step in a driving mode switching and control method of an autonomous driving vehicle.

[0064] Figure 5 The figure is a structural block diagram of a driving mode switching and control system for an autonomous driving vehicle. DETAILED DESCRIPTION

[0065] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0066] like Figure 1As shown, an embodiment of the present invention provides a driving mode switching and control method for an autonomous driving vehicle, the method comprising the following steps:

[0067] Step S100, obtaining a driving route and a driving mode of a target vehicle, determining an automatic driving mode usage route based on the driving route and the driving mode of the target vehicle, and determining a high-frequency usage route based on the automatic driving mode usage route;

[0068] Step S200, during manual driving, generating a recommended autonomous driving route according to the target driving route of the vehicle and the frequently used route, and when the vehicle reaches the starting point of the recommended autonomous driving route, determining whether to send an autonomous driving mode recommendation instruction to the driver according to the perception data;

[0069] Step S300, when using the automatic driving mode on the recommended automatic driving route, monitoring whether there is an abnormal area on the recommended automatic driving route, and when the vehicle reaches the abnormal area, sending a warning message to the driver whether to switch the driving mode;

[0070] Step S400, during the automatic driving process, receiving the driver's operation information, when the driver's operation information meets the preset manual driving switching conditions, releasing the automatic driving mode and starting the automatic driving mode; the driver's operation information includes stepping on the brakes, turning the steering wheel, etc.

[0071] In this embodiment, it is mainly used for switching between the automatic driving mode and the manual driving mode of the automatic driving vehicle. In the present invention, based on the authorization of the vehicle owner, the driving route and driving mode of the target vehicle are obtained, the automatic driving mode usage route is determined based on the driving route and driving mode of the target vehicle, and the high-frequency usage route is determined according to the automatic driving mode usage route. In the manual driving process, a recommended automatic driving route is generated according to the target driving route of the vehicle and the high-frequency usage route, and then on the basis of the recommended automatic driving route, it is determined in combination with the perception data whether to send the automatic driving mode recommendation instruction, thereby improving the safety when switching the driving mode. In addition, when the automatic driving mode is used on the recommended automatic driving route, the authorization data of the target vehicle is also used in real time to monitor whether there is an abnormal area on the recommended automatic driving route, and a warning message is sent to the driver whether to switch the driving mode, which can effectively discover the sudden state of the recommended automatic driving route, thereby improving driving safety. In actual use, when the vehicle uses the automatic driving mode on a route that is not a recommended automatic driving route, the authorization data of the target vehicle can also be used to monitor whether there is an abnormal area on the recommended target driving route, and a warning message is sent to the driver whether to switch the driving mode, thereby effectively discovering the sudden state of the target driving route, thereby improving driving safety.

[0072] like Figure 2As shown, as a preferred embodiment of the present invention, the steps of obtaining the driving route and driving mode of the target vehicle, determining the automatic driving mode usage route based on the driving route and driving mode of the target vehicle, and determining the high-frequency usage route according to the automatic driving mode usage route include:

[0073] Step S101, obtaining the driving route information and driving mode information of the target vehicle, wherein the target vehicle refers to a vehicle with an automatic driving system and the owner anonymously grants the system permission to obtain its driving route information and driving mode information, the driving mode information includes the driving mode and the switching information of each driving mode, the driving mode includes automatic driving and manual driving, the switching information includes the use start and end time of each driving mode, the driving route information carries time information, and the driving route information generally refers to the route and path that the vehicle passes through during driving;

[0074] Step S102, determining the route used by each vehicle in the automatic driving mode based on the driving route information and driving mode information of the target vehicle;

[0075] Specifically, the switching information in the driving mode information is compared with the time information carried in the driving route information, the position of the use start and end time of each driving mode in the driving route information is determined, and the use route of each vehicle's automatic driving mode is intercepted;

[0076] Step S103, comparing the routes used by the automatic driving mode of each vehicle within a preset time, and determining whether there is an overlapped route between the routes used by the automatic driving mode of each vehicle within the preset time;

[0077] In the process of determining whether there is an overlapping route, it is only necessary to compare the routes instead of the time.

[0078] Step S104, when there are overlapping routes, counting the number of vehicles traveling in the automatic driving mode on each overlapping route;

[0079] Step S105: When the number of vehicles traveling in the automatic driving mode on the overlapping route exceeds a preset threshold, the current overlapping route is determined to be a high-frequency used route.

[0080] In this embodiment, the driving route information and driving mode information of the target vehicle are obtained to determine the frequently used routes corresponding to the automatic driving mode. The frequently used routes indicate that many people use the automatic driving mode on these routes, which indirectly proves that the safety is relatively high.

[0081] like Figure 3As shown, as a preferred embodiment of the present invention, in the manual driving process, the step of generating a recommended automatic driving route according to the target driving route of the vehicle and the high-frequency used route, and when the vehicle drives to the starting point of the recommended automatic driving route, determining whether to send an automatic driving mode recommendation instruction to the driver according to the perception data includes:

[0082] Step S201, during manual driving, obtain a target driving route of the vehicle, compare the target driving route with a frequently used route, and determine whether the target driving route coincides with the frequently used route, wherein the target driving route is planned using the input start and end points.

[0083] Step S202, when the target driving route coincides with a frequently used route, determining that the coincident route between the target driving route and the frequently used route is a recommended autonomous driving route; when the target driving route does not coincide with the frequently used route, not generating a recommended autonomous driving route;

[0084] Step S203, when the vehicle reaches the starting point of the recommended autonomous driving route, a perception detection instruction is generated;

[0085] Step S204, based on the perception detection instruction, the perception data is acquired, and the perception data includes road condition data, traffic sign and signal data, obstacle data and environmental data, wherein the road condition data covers the type of road surface (such as asphalt, cement or soil, etc.), flatness, slope, curvature of the curve and other information, traffic signs include stop signs, speed limit signs, etc., traffic signals include changes in traffic lights, the obstacle data includes the type of obstacle and the location, speed, direction and other data of the obstacle, and the types of obstacles include other vehicles, pedestrians, non-motor vehicles, road facilities, etc. The environmental data includes weather conditions (such as rain, snow, fog, etc.) and lighting conditions.

[0086] Step S205, analyzing and determining whether the perception data complies with preset automatic driving mode rules, wherein the preset automatic driving mode rules include road condition rules, traffic sign and signal rules, obstacle rules, and environmental condition rules;

[0087] To determine whether the vehicle complies with the preset autonomous driving mode rules, it is necessary to conduct a detailed analysis of the collected perception data and compare it with the preset rules. This is shown below:

[0088] (1) Road condition analysis:

[0089] The system will first analyze the road condition data, including the road's flatness, width, whether there are dividing lines, whether there are intersections, etc.

[0090] If the road condition meets the preset rules (such as flat, wide enough, clearly marked, etc.), the vehicle may be suitable for entering autonomous driving mode. If the road condition is not good (such as bumpy, narrow, unclear markings, etc.), the system may determine that the current environment is not suitable for autonomous driving.

[0091] (2) Traffic sign and signal recognition:

[0092] The system uses high-definition cameras to identify traffic signs and signals, such as speed limit, no entry, stop signs, and the status of traffic lights.

[0093] If the vehicle can correctly recognize and obey these signs and signals, then it complies with the basic rules of autonomous driving mode. If the system cannot recognize or obey traffic signs and signals, then it may not be suitable for autonomous driving.

[0094] (3) Obstacle detection and assessment:

[0095] Radar and LiDAR are used to detect surrounding obstacles, including vehicles, pedestrians, non-motor vehicles, etc. The system evaluates the distance, speed, direction of obstacles, and their relative position to the vehicle.

[0096] If the obstacle does not pose a threat to the vehicle's operation, or the system can predict and avoid a potential collision, the vehicle may be suitable for autonomous driving. If there is an unpredictable obstacle or potential collision risk, the system may determine that autonomous driving is not suitable.

[0097] (4) Environmental adaptability assessment:

[0098] The system also considers factors such as weather conditions, lighting conditions, and time. For example, in rainy or snowy weather or at night, visibility is reduced and the system may need to more carefully assess whether it is suitable for autonomous driving. If environmental conditions exceed the system's processing capabilities or the preset safety range, the system will determine that it is not suitable for autonomous driving.

[0099] Judging whether the preset automatic driving mode rules are met based on the perception data analysis is a prior art in the art, so it will not be described in detail here. In actual use, the preset automatic driving mode rules can be flexibly set according to the actual situation.

[0100] Step S206, when the analysis result of the perception data meets the preset automatic driving mode rule, sending an automatic driving mode recommendation instruction to the driver;

[0101] Step S207, receiving the driver's receipt information, and determining whether to start the automatic driving mode based on the receipt information.

[0102] In this embodiment, it is implemented to determine whether to send an automatic driving mode recommendation instruction based on the recommended automatic driving route and in combination with the perception data, thereby improving the safety when switching driving modes.

[0103] like Figure 4 As shown, as a preferred embodiment of the present invention, when the automatic driving mode is used on the recommended automatic driving route, the step of monitoring whether there is an abnormal area on the recommended automatic driving route, and when the vehicle reaches the abnormal area, sending a warning message to the driver whether to switch the driving mode includes:

[0104] Step S301, when the automatic driving mode is used on the recommended automatic driving route, the number of switching from the automatic driving mode to the manual driving mode on the recommended automatic driving route within a preset historical time is counted per unit time, and the position information of the switching point is obtained;

[0105] The unit time may be every 1 minute or every 2 minutes, etc., which may be adjusted according to actual conditions. The preset historical time may be freely set according to actual conditions, such as 10 minutes or 30 minutes before the current time. The position information of the switching point refers to the vehicle position information when the automatic driving mode is switched to the manual driving mode.

[0106] Step S302, determining an abnormal area according to the location information of the switching point and the number of switching times;

[0107] Step S303: When the vehicle reaches an abnormal area, a warning message is sent to the driver to ask whether to switch the driving mode.

[0108] In this embodiment, the step of determining the abnormal area according to the location information of the switching point and the number of switching times includes:

[0109] Fitting the recommended autonomous driving route into a line segment;

[0110] Obtaining the position information of the switching point, and searching for a point corresponding to the position on the line segment as a marking point, and inserting a marking value at the marking point;

[0111] Based on the marked values ​​of the marked points on the line segment, the values ​​at other positions on the line segment are fitted to obtain the fitted values;

[0112] Read the line segment position where the fitting value is greater than the preset threshold, and infer the actual position as the abnormal area;

[0113] Among them, based on the marked value of the marked point on the line segment, the value at other positions on the fitting line segment is obtained by the formula:

[0114] ;

[0115] Among them, xi is the i-th marker point, Z i is the marking value of the i-th marking point on the line segment, x is any point on the line segment, y(x) is the fitting value at x on the line segment, N is the total number of marking points, and is the number of switching times from the automatic driving mode to the manual driving mode.

[0116] In this embodiment, the number of switches from the automatic driving mode to the manual driving mode of the target vehicle on the recommended automatic driving route and the location information of the switching points are used to monitor whether there are abnormal areas on the recommended automatic driving route, and a warning message is sent to the driver whether to switch the driving mode. This can effectively detect sudden conditions of the recommended automatic driving route and improve driving safety.

[0117] like Figure 5 As shown, another object of the present invention is to provide a driving mode switching and control system for an autonomous driving vehicle, the system comprising:

[0118] A high-frequency route determination module 100 is used to obtain a driving route and a driving mode of a target vehicle, determine an automatic driving mode usage route based on the driving route and the driving mode of the target vehicle, and determine a high-frequency route based on the automatic driving mode usage route;

[0119] The automatic driving mode recommendation module 200 is used to generate a recommended automatic driving route according to the target driving route of the vehicle and the high-frequency used route during manual driving, and when the vehicle reaches the starting point of the recommended automatic driving route, determine whether to send an automatic driving mode recommendation instruction to the driver according to the perception data;

[0120] The driving mode switching prompt module 300 is used to monitor whether there is an abnormal area on the recommended automatic driving route when the automatic driving mode is used on the recommended automatic driving route, and when the vehicle reaches the abnormal area, send a warning message to the driver whether to switch the driving mode;

[0121] The switching driving mode monitoring module 400 is used to receive the driver's operation information during the automatic driving process, and the driver's operation information includes braking, turning the steering wheel, etc. When the driver's operation information meets the preset manual driving switching conditions, the automatic driving mode is released and the automatic driving mode is started.

[0122] As a preferred embodiment of the present invention, the high-frequency route determination module 100 includes:

[0123] an information acquisition unit, configured to acquire the driving route information and driving mode information of a target vehicle, wherein the target vehicle refers to a vehicle having an automatic driving system and the owner of the vehicle anonymously grants the system permission to acquire the driving route information and driving mode information thereof, the driving modes include automatic driving and manual driving, the driving mode information includes driving modes and switching information of each driving mode, the switching information includes the use start and end time of each driving mode, and the driving route information carries time information;

[0124] A route determination unit, configured to determine a route used in an automatic driving mode for each vehicle based on the driving route information and driving mode information of the target vehicle;

[0125] A route comparison unit is used to compare the routes used by the automatic driving mode of each vehicle within a preset time, and determine whether there is an overlapped route between the routes used by the automatic driving mode of each vehicle within the preset time. In the process of determining whether there is an overlapped route, only the routes need to be compared, and no time comparison is required;

[0126] A vehicle counting unit is used to count the number of vehicles traveling in the automatic driving mode on each overlapping route when there are overlapping routes;

[0127] The high-frequency route determination unit is used to determine that the current overlapping route is a high-frequency used route when the number of vehicles traveling in the automatic driving mode on the overlapping route exceeds a preset threshold.

[0128] As a preferred embodiment of the present invention, the automatic driving mode recommendation module 200 includes:

[0129] The route acquisition unit is used to acquire the target driving route of the vehicle during manual driving, compare the target driving route with the frequently used route, and determine whether the target driving route coincides with the frequently used route.

[0130] an automatic driving route determination unit, configured to determine, when the target driving route coincides with a frequently used route, that the coincident route between the target driving route and the frequently used route is a recommended automatic driving route;

[0131] a detection instruction generating unit, configured to generate a perception detection instruction when the self-driving vehicle travels to the starting point of the recommended autonomous driving route;

[0132] The perception data acquisition unit is used to acquire perception data based on the perception detection instruction, and the perception data includes road condition data, traffic sign and signal data, obstacle data and environmental data, wherein the road condition data covers the type of road surface (such as asphalt, cement or soil, etc.), flatness, slope, curvature of the curve and other information, traffic signs include stop signs, speed limit signs, etc., traffic signals include changes in traffic lights, the obstacle data includes the type of obstacle and the location, speed, direction and other data of the obstacle, and the types of obstacles include other vehicles, pedestrians, non-motor vehicles, road facilities, etc. The environmental data includes weather conditions (such as rain, snow, fog, etc.) and lighting conditions.

[0133] a perception data analysis unit, configured to analyze and determine whether the perception data complies with preset autonomous driving mode rules, wherein the preset autonomous driving mode rules include road condition rules, traffic sign and signal rules, obstacle rules, and environmental condition rules;

[0134] a mode recommendation unit, configured to send an automatic driving mode recommendation instruction to the driver when the analysis result of the perception data meets the preset automatic driving mode rule;

[0135] The information receiving unit is used to receive the driver's receipt information and determine whether to start the automatic driving mode based on the receipt information.

[0136] As a preferred embodiment of the present invention, the driving mode switching prompt module 300 includes:

[0137] an information statistics unit, for counting the number of switchings from the automatic driving mode to the manual driving mode on the recommended automatic driving route within a preset historical time per unit time, and obtaining position information of the switching point when the automatic driving mode is used on the recommended automatic driving route;

[0138] An abnormal area determination unit, used to determine the abnormal area according to the position information of the switching point and the number of switching times;

[0139] The abnormal warning unit is used to send a warning message to the driver whether to switch the driving mode when the vehicle reaches an abnormal area.

[0140] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0141] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A driving mode switching and control method for an autonomous driving vehicle, characterized in that: The method comprises the following steps: Acquire a driving route and a driving mode of a target vehicle, determine an automatic driving mode usage route based on the driving route and the driving mode of the target vehicle, and determine a high-frequency usage route based on the automatic driving mode usage route; During manual driving, a recommended autonomous driving route is generated based on the target driving route of the vehicle and the frequently used route, and when the vehicle reaches the starting point of the recommended autonomous driving route, a determination is made based on the perception data whether to send an autonomous driving mode recommendation instruction to the driver; When using the autonomous driving mode on a recommended autonomous driving route, monitor whether there are abnormal areas on the recommended autonomous driving route, and when the vehicle reaches an abnormal area, send a warning message to the driver asking whether to switch the driving mode; During the automatic driving process, receiving the driver's operation information, and when the driver's operation information meets the preset manual driving switching condition, releasing the automatic driving mode and starting the automatic driving mode; When the autonomous driving mode is used on the recommended autonomous driving route, the step of monitoring whether there is an abnormal area on the recommended autonomous driving route, and when the vehicle reaches the abnormal area, sending a warning message to the driver on whether to switch the driving mode includes: When the autonomous driving mode is used on the recommended autonomous driving route, the number of switching from the autonomous driving mode to the manual driving mode on the recommended autonomous driving route within a preset historical time is counted per unit time, and the location information of the switching point is obtained; Determine the abnormal area according to the position information of the switching point and the number of switching times; When the vehicle reaches an abnormal area, a warning message is sent to the driver to ask whether to switch driving modes; The step of determining the abnormal area according to the location information of the switching point and the number of switching times comprises: Fitting the recommended autonomous driving route into a line segment; Obtaining the position information of the switching point, and searching for a point corresponding to the position on the line segment as a marking point, and inserting a marking value at the marking point; Based on the marked values ​​of the marked points on the line segment, the values ​​at other positions on the line segment are fitted to obtain the fitted values; Read the line segment position where the fitting value is greater than the preset threshold, and infer the actual position as the abnormal area; Among them, based on the marked value of the marked point on the line segment, the value at other positions on the fitting line segment is obtained by the formula: ； Among them, x i is the i-th marker point, Z i is the label value of the i-th label point on the line segment, x is any point on the line segment, y(x) is the fitting value at x on the line segment, and N is the total number of label points.

2. The driving mode switching and control method of an automatic driving vehicle according to claim 1, characterized in that: The steps of obtaining a driving route and a driving mode of a target vehicle, determining an automatic driving mode use route based on the driving route and the driving mode of the target vehicle, and determining a high-frequency use route based on the automatic driving mode use route include: Acquire the driving route information and driving mode information of the target vehicle, wherein the driving mode information includes the driving mode and the switching information of each driving mode, the driving mode includes automatic driving and manual driving, the switching information includes the use start and end time of each driving mode, and the driving route information carries time information; Determine the route used by each vehicle in the automatic driving mode based on the driving route information and driving mode information of the target vehicle; Compare the routes used by the automatic driving mode of each vehicle within a preset time to determine whether there is any overlap in the routes used by the automatic driving mode of each vehicle within the preset time; When there are overlapping routes, count the number of vehicles traveling in autonomous driving mode on each overlapping route; When the number of vehicles traveling in autonomous driving mode on the overlapping route exceeds a preset threshold, the current overlapping route is determined to be a high-frequency used route.

3. The driving mode switching and control method of an automatic driving vehicle according to claim 1, characterized in that: The step of generating a recommended autonomous driving route according to the target driving route of the vehicle and the high-frequency used route during manual driving, and determining whether to send an autonomous driving mode recommendation instruction to the driver according to the perception data when the vehicle reaches the starting point of the recommended autonomous driving route includes: During manual driving, the target driving route of the vehicle is obtained, and the target driving route is compared with the frequently used route to determine whether the target driving route coincides with the frequently used route. When the target driving route coincides with a frequently used route, determining that the coincident route between the target driving route and the frequently used route is a recommended autonomous driving route; When the ego vehicle drives to the starting point of the recommended autonomous driving route, a perception detection instruction is generated; Acquiring perception data based on the perception detection instruction, the perception data including road condition data, traffic sign and signal data, obstacle data and environment data; Analyzing and determining whether the perception data complies with preset autonomous driving mode rules, wherein the preset autonomous driving mode rules include road condition rules, traffic sign and signal rules, obstacle rules, and environmental condition rules; When the analysis result of the perception data meets the preset automatic driving mode rules, sending an automatic driving mode recommendation instruction to the driver; Receive the driver's receipt information and determine whether to start the automatic driving mode based on the receipt information.

4. A driving mode switching and control system for an autonomous driving vehicle, characterized in that: The system comprises: A high-frequency route determination module is used to obtain a driving route and a driving mode of a target vehicle, determine an automatic driving mode usage route based on the driving route and the driving mode of the target vehicle, and determine a high-frequency route based on the automatic driving mode usage route; an automatic driving mode recommendation module, for generating a recommended automatic driving route according to the target driving route of the vehicle and the high-frequency used route during manual driving, and determining whether to send an automatic driving mode recommendation instruction to the driver according to the perception data when the vehicle reaches the starting point of the recommended automatic driving route; The driving mode switching prompt module is used to monitor whether there are abnormal areas on the recommended autonomous driving route when the autonomous driving mode is used on the recommended autonomous driving route. When the vehicle reaches the abnormal area, it sends a warning message to the driver whether to switch the driving mode; A switching driving mode monitoring module is used to receive driver operation information during the automatic driving process, and when the driver's operation information meets the preset manual driving switching conditions, the automatic driving mode is released and the automatic driving mode is started; The driving mode switching prompt module includes: an information statistics unit, for counting the number of switchings from the automatic driving mode to the manual driving mode on the recommended automatic driving route within a preset historical time per unit time, and obtaining position information of the switching point when the automatic driving mode is used on the recommended automatic driving route; An abnormal area determination unit, used to determine the abnormal area according to the position information of the switching point and the number of switching times; An abnormal warning unit is used to send a warning message to the driver whether to switch the driving mode when the vehicle reaches an abnormal area; The content of determining the abnormal area according to the location information of the switching point and the number of switching times includes: Fitting the recommended autonomous driving route into a line segment; Obtaining the position information of the switching point, and searching for a point corresponding to the position on the line segment as a marking point, and inserting a marking value at the marking point; Based on the marked values ​​of the marked points on the line segment, the values ​​at other positions on the line segment are fitted to obtain the fitted values; Read the line segment position where the fitting value is greater than the preset threshold, and infer the actual position as the abnormal area; Among them, based on the marked value of the marked point on the line segment, the value at other positions on the fitting line segment is obtained by the formula: ； Among them, x i is the i-th marker point, Z i is the mark value of the i-th mark point on the line segment, x is any point on the line segment, y(x) is the fitting value at x on the line segment, and N is the total number of mark points.

5. The driving mode switching and control system of an automatic driving vehicle according to claim 4, characterized in that: The high-frequency route determination module includes: an information acquisition unit, configured to acquire the driving route information and driving mode information of the target vehicle, wherein the driving mode information includes the driving mode and the switching information of each driving mode, the driving mode includes automatic driving and manual driving, the switching information includes the use start and end time of each driving mode, and the driving route information carries the time information; A route determination unit, configured to determine a route used in an automatic driving mode for each vehicle based on the driving route information and driving mode information of the target vehicle; A route comparison unit, used to compare the routes used by the automatic driving mode of each vehicle within a preset time, and determine whether there is an overlapped route between the routes used by the automatic driving mode of each vehicle within the preset time; A vehicle counting unit is used to count the number of vehicles traveling in the automatic driving mode on each overlapping route when there are overlapping routes; The high-frequency route determination unit is used to determine that the current overlapping route is a high-frequency used route when the number of vehicles traveling in the automatic driving mode on the overlapping route exceeds a preset threshold.

6. The driving mode switching and control system of an automatic driving vehicle according to claim 4, characterized in that: The automatic driving mode recommendation module includes: The route acquisition unit is used to acquire the target driving route of the vehicle during manual driving, compare the target driving route with the frequently used route, and determine whether the target driving route coincides with the frequently used route. an automatic driving route determination unit, configured to determine, when the target driving route coincides with a frequently used route, that the coincident route between the target driving route and the frequently used route is a recommended automatic driving route; a detection instruction generating unit, configured to generate a perception detection instruction when the self-driving vehicle travels to the starting point of the recommended autonomous driving route; A perception data acquisition unit, configured to acquire perception data based on the perception detection instruction, wherein the perception data includes road condition data, traffic sign and signal data, obstacle data, and environment data; a perception data analysis unit, configured to analyze and determine whether the perception data complies with preset autonomous driving mode rules, wherein the preset autonomous driving mode rules include road condition rules, traffic sign and signal rules, obstacle rules, and environmental condition rules; a mode recommendation unit, configured to send an automatic driving mode recommendation instruction to the driver when the analysis result of the perception data meets the preset automatic driving mode rule; The information receiving unit is used to receive the driver's receipt information and determine whether to start the automatic driving mode based on the receipt information.

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