Driving function execution method, device, vehicle, storage medium and program product

Abstract

This application relates to the field of vehicle technology, and in particular to a method, apparatus, vehicle, storage medium, and program product for executing driving functions. The method includes: acquiring the currently executing driving function of the vehicle; determining the priority and function type of the current driving function, and determining the priority and function type of a target driving function; and executing the target driving function according to the priority and / or function type of the current and target driving functions. This solves the problem in related technologies where different driving functions cannot avoid competing for the right to use the actuator, leading to poor vehicle safety.

Description

Technical Field

[0001] This application relates to the field of vehicle technology, and in particular to a driving function execution method, device, vehicle, storage medium, and program product. Background Technology

[0002] With the rapid development of automotive intelligence, the intelligent driving functions in vehicles are becoming increasingly sophisticated. These can be broadly categorized into three types: driving, parking, and active safety. Ultimately, these functions control the vehicle through actuators. Actuators, based on the vehicle's coordinate system, can have two degrees of freedom: lateral and longitudinal. Lateral actuators include EPS (Electric Power Steering), while longitudinal actuators include the accelerator and brake. Different intelligent driving functions rely on the same actuator; allowing each function to freely call upon the actuator could lead to conflicts.

[0003] Current autonomous driving software cannot centrally schedule various intelligent driving functions, which can lead to different driving functions competing for the right to use the actuators, resulting in poor vehicle safety. Summary of the Invention

[0004] This application provides a driving function execution method, device, vehicle, storage medium, and program product to solve the problem in related technologies that it is impossible to avoid different driving functions competing for the right to use the actuator, resulting in poor vehicle safety.

[0005] The first aspect of this application provides a driving function execution method, including the following steps: obtaining the current driving function being executed by the vehicle; determining the priority and function type of the current driving function, and determining the priority and function type of the target driving function; and executing the target driving function according to the priority and / or function type of the current driving function and the target driving function.

[0006] Optionally, in one embodiment of this application, the priority includes high priority, low priority and warning level, wherein high priority takes precedence over low priority and low priority takes precedence over warning; the function type includes: single-axis function and dual-axis function, wherein the single-axis function is divided into longitudinal or lateral.

[0007] Optionally, in one embodiment of this application, executing the target driving function according to the priority and / or function type of the current driving function and the target driving function includes: if both the current driving function and the target driving function are low priority or high priority, and both the current driving function and the target driving function are single-axle functions with different single-axle function types, then the current driving function and the target driving function are executed simultaneously; if both the current driving function and the target driving function are low priority, and both the current driving function and the target driving function are single-axle functions with the same single-axle function type, then the current driving function continues to be executed; if both the current driving function and the target driving function are high priority, and both the current driving function and the target driving function are single-axle functions with the same single-axle function type, or the target driving function is a dual-axle function, then the execution of the current driving function is stopped, and the target driving function is executed; if the current driving function is high priority and the target driving function is low priority, then the target driving function is not executed; if both the current driving function and the target driving function are high priority, and both the current driving function and the target driving function are single-axle functions with the same single-axle function type, or the current driving function is a dual-axle function, then the current driving function continues to be executed.

[0008] Optionally, in one embodiment of this application, executing the target driving function according to the priority and / or function type of the current driving function and the target driving function further includes: if the target driving function is a warning level, and both the current driving function and the target driving function are single-axis functions but the types of single-axis functions are different, then the current driving function and the target driving function are executed simultaneously.

[0009] Optionally, in one embodiment of this application, determining the priority and function type of the current driving function includes: determining the priority and function type of the current driving function by querying a first correspondence based on the current driving function; or, determining the priority of the current driving function by querying a second correspondence based on the current driving function, and determining the function type of the current driving function by querying a third correspondence based on the current driving function.

[0010] Optionally, in one embodiment of this application, the method for determining the priority and function type of the target driving function is the same as the method for determining the priority and function type of the current driving function.

[0011] A second aspect of this application provides a driving function execution device, comprising: an acquisition module for acquiring the current driving function being executed by the vehicle; a determination module for determining the priority and function type of the current driving function, and determining the priority and function type of a target driving function; and an execution module for executing the target driving function according to the priority and / or function type of the current driving function and the target driving function.

[0012] Optionally, in one embodiment of this application, the priority includes high priority, low priority and warning level, wherein high priority takes precedence over low priority and low priority takes precedence over warning; the function type includes: single-axis function and dual-axis function, wherein the single-axis function is divided into longitudinal or lateral.

[0013] Optionally, in one embodiment of this application, the execution module is further configured to: execute the target driving function according to the priority and / or function type of the current driving function and the target driving function, including: if both the current driving function and the target driving function are low priority or high priority, and both the current driving function and the target driving function are single-axle functions with different single-axle function types, then execute the current driving function and the target driving function simultaneously; if the current driving function is low priority, the target driving function is low priority, and both the current driving function and the target driving function are single-axle functions with the same single-axle function type, then continue to execute the current driving function; if the current driving function is low priority, the target driving function is high priority, and both the current driving function and the target driving function are single-axle functions with the same single-axle function type, or the function type of the target driving function is a dual-axle function, then stop executing the current driving function and execute the target driving function; if the current driving function is high priority, the target driving function is low priority, then do not execute the target driving function; if the current driving function is high priority, the target driving function is high priority, and both the current driving function and the target driving function are single-axle functions with the same single-axle function type, or the current driving function is a dual-axle function, then continue to execute the current driving function.

[0014] Optionally, in one embodiment of this application, the execution module is further configured to: if the target driving function is a warning level, and both the current driving function and the target driving function are single-axis functions and the types of single-axis functions are different, then execute the current driving function and the target driving function simultaneously.

[0015] Optionally, in one embodiment of this application, the determining module is further configured to: determine the priority and function type of the current driving function by querying a first correspondence based on the current driving function; or, determine the priority of the current driving function by querying a second correspondence based on the current driving function, and determine the function type of the current driving function by querying a third correspondence based on the current driving function.

[0016] Optionally, in one embodiment of this application, the method for determining the priority and function type of the target driving function is the same as the method for determining the priority and function type of the current driving function.

[0017] A third aspect of this application provides a vehicle, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to perform the driving function execution method as described in the above embodiments.

[0018] A fourth aspect of this application provides a computer-readable storage medium having a computer program or instructions stored thereon, which are executed by a processor to perform the intelligent driving function execution method as described above.

[0019] A fifth aspect of this application provides a computer program product, including a computer program or instructions, which, when executed, implement the driving function execution method of the above embodiments.

[0020] Therefore, this application has at least the following beneficial effects:

[0021] This application's embodiments can execute the target driving function based on the priority and function type of the current driving function and the target driving function, thereby avoiding conflicts between driving functions over the right to use the actuator, and thus improving vehicle safety. This solves the technical problem that current autonomous driving software cannot centrally schedule various intelligent driving functions, leading to different driving functions vying for the right to use the actuator.

[0022] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0023] The above and / or additional aspects and advantages of this application will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0024] Figure 1 This is a flowchart of a driving function execution method provided according to an embodiment of this application;

[0025] Figure 2 This is an architecture diagram of the intelligent driving function dispatcher system provided according to an embodiment of this application;

[0026] Figure 3 This is an example diagram of a driving function execution device provided according to an embodiment of this application;

[0027] Figure 4 This is a structural schematic diagram of a vehicle provided according to an embodiment of this application. Detailed Implementation

[0028] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0029] The following description, with reference to the accompanying drawings, outlines a driving function execution method, apparatus, vehicle, storage medium, and program product according to embodiments of this application. Addressing the problem mentioned in the background art that current autonomous driving software cannot centrally schedule various intelligent driving functions, leading to situations where different driving functions vie for the right to use the actuator, this application provides a driving function execution method. In this method, the target driving function can be executed according to the priority and function type of the current driving function and the target driving function, thereby avoiding conflicts between driving functions over the right to use the actuator and improving vehicle safety. This solves the problem in related technologies where different driving functions cannot avoid vying for the right to use the actuator, resulting in poor vehicle safety.

[0030] Specifically, Figure 1 This is a flowchart illustrating an intelligent driving function execution method provided in an embodiment of this application.

[0031] like Figure 1 As shown, the method for executing this intelligent driving function includes the following steps:

[0032] In step S101, the current driving function being performed by the vehicle is obtained.

[0033] It should be noted that the embodiments of this application mainly target the execution of driving functions in intelligent driving functions, which can also be understood as the scheduling of driving functions in intelligent driving functions.

[0034] Taking the intelligent driving functions that deploy driving, parking, and active safety functions in an intelligent driving system as an example, driving functions mainly include ACC (Adaptive Cruise Control), LCC (Lane Centering Control), HNOA (Highway Navigate on Autopilot), and CNOA (City Navigate on Autopilot). Parking functions mainly include APA (Automatic Park Assist), HPA (Hands-free Park Assist), SUM (Self-Unparking Maneuver), and RPA (Remote Park Assist). Active safety features mainly include FCW (Forward Collision Warning), RCW (Rear Collision Warning), FCTA (Front Cross Traffic Alert), FCTB (Front Cross Traffic Braking), RCTA (Rear Cross Traffic Alert), RCTB (Rear Cross Traffic Braking), EBA (Emergency Brake Assist), AEB (Autonomous Emergency Braking), REB (Rear Emergency Braking), MEB (Maneuver Emergency Braking), LDW (Lane Departure Warning), LKA (Lane Keeping Assist), ELK (Emergency Lane Keeping), ESA (Evasive Steering Assist), BSD (Blind Spot Detection), and TSR (Traffic Sign Recognition). Sign Recognition, DOW (Door Open Warning), etc.

[0035] In step S102, the priority and function type of the current driving function are determined, and the priority and function type of the target driving function are determined.

[0036] The priorities include high priority, low priority, and warning level, with high priority taking precedence over low priority, and low priority taking precedence over warning. The function types include single-axis function and dual-axis function, with single-axis function being divided into longitudinal or transverse types.

[0037] Since different driving functions have different priorities and function types, the embodiments of this application can determine the priorities and function types of the current driving function and the target driving function respectively.

[0038] The functional types in the embodiments of this application are divided into single-axis functions and dual-axis functions. Specifically, according to the vehicle control principle, the intelligent driving function can be divided into two degrees of freedom: longitudinal and lateral. The actuators that affect the longitudinal movement of the vehicle are the accelerator and brake; the actuators that affect the lateral movement of the vehicle are the EPS (Electric Power Surge). Functions that rely only on a single-degree-of-freedom actuator are called single-axis functions, while functions that rely on two degrees of freedom are called dual-axis functions.

[0039] In this application embodiment, determining the priority and function type of the current driving function includes: determining the priority and function type of the current driving function by querying a first correspondence based on the current driving function; or, determining the priority of the current driving function by querying a second correspondence based on the current driving function, and determining the function type of the current driving function by querying a third correspondence based on the current driving function.

[0040] The first, second, and third correspondences can be pre-defined. The first correspondence is the correspondence between driving function, priority, and function type; the second correspondence is the correspondence between driving function and priority; and the third correspondence is the correspondence between driving function and function type.

[0041] It is understood that, in the embodiments of this application, the priority and function type can be determined by directly querying the first correspondence based on the current driving function, or by querying the second correspondence based on the current driving function to determine its priority, and by querying the third correspondence based on the current driving function to determine its function type.

[0042] In this embodiment, the method for determining the priority and function type of the target driving function is the same as the method for determining the priority and function type of the current driving function, and will not be repeated here.

[0043] In step S103, the target driving function is executed according to the priority and / or function type of the current driving function and the target driving function.

[0044] It is understood that the embodiments of this application can execute the target driving function according to the priority and function type of the current driving function and the target driving function, so as to avoid the conflict of driving functions competing for the right to use the actuator, thereby improving driving safety.

[0045] In this embodiment, the execution of the target driving function based on the priority and / or function type of the current driving function and the target driving function includes: if both the current driving function and the target driving function are low-priority or high-priority, and both are single-axle functions with different single-axle function types, then the current driving function and the target driving function are executed simultaneously; if both the current driving function and the target driving function are low-priority, and both are single-axle functions with the same single-axle function type, then the current driving function continues to be executed; if both the current driving function and the target driving function are high-priority, and both are single-axle functions with the same single-axle function type, or the target driving function is a dual-axle function, then the execution of the current driving function is stopped, and the target driving function is executed; if the current driving function is high-priority, and the target driving function is low-priority, then the target driving function is not executed; if both the current driving function and the target driving function are high-priority, and both are single-axle functions with the same single-axle function type, or the current driving function is a dual-axle function, then the current driving function continues to be executed.

[0046] To facilitate the description of the specific execution process, some terms are represented in English, including: High Priority (HP), Low Priority (LP), Single Axis (SA), Double Axis (DA), Longitudinal (L1), Lateral (L2), Current Driving Function (A), and Target Driving Function (B).

[0047] It is understood that, in the embodiments of this application, the target driving function can be executed according to the priority and / or function type of the current driving function and the target driving function, specifically as follows:

[0048] If A is LP and B is also LP, and the function types of A and B are both SA, and the types of SA are different (e.g., A is L1 and B is L2 or B is L1 and B is L2), then A and B will be executed simultaneously.

[0049] If A is LP, B is LP, and the function types of A and B are both SA, and the types of SA are the same (e.g., both are L1 or both are L2), then A is executed.

[0050] If A is LP, B is HP, and the function types of A and B are both SA, and the types of SA are the same, or B is DA, then stop executing A and execute B.

[0051] If A is HP and B is LP, then B will not be executed;

[0052] If A is HP and B is also HP, and the function types of A and B are both SA and the types of SA are the same, or if B is DA, then A will continue to be executed, and B will be executed after A has finished executing.

[0053] If A is HP and B is also HP, and the function type of A and B is SA, but the types of SA are different, then A and B will be executed simultaneously.

[0054] In this embodiment of the application, the execution of the target driving function based on the priority and / or function type of the current driving function and the target driving function further includes: if the target driving function is a warning level, and both the current driving function and the target driving function are single-axis functions but the types of single-axis functions are different, then the current driving function and the target driving function are executed simultaneously.

[0055] It is understood that in the embodiments of this application, when the target driving function is at the warning level and both the current driving function and the target driving function are single-axis functions with different types of single-axis functions, the current driving function and the target driving function are executed simultaneously. That is, without affecting the current driving function, the warning-level driving function can exist alongside the current driving function.

[0056] Furthermore, during the automatic execution of driving functions, if the user manually operates the driving function, the driver's manual operation has a higher priority than low-priority and warning-level driving functions, but lower than high-priority driving functions, in order to avoid danger caused by user misoperation in emergency situations.

[0057] The driving function execution method of this application will be illustrated below through a specific embodiment, taking the execution by an intelligent driving function scheduler in the vehicle as an example.

[0058] 1. Classification of Intelligent Driving Functions (hereinafter referred to as Intelligent Driving)

[0059] The intelligent driving functions deployed in this system are mainly divided into three major sections: driving functions, parking functions, and active safety functions. Driving functions mainly include ACC, LCC, HNOA, and CNOA. Parking functions mainly include APA, HPA, SUM, and RPA. Active safety functions mainly include FCW, RCW, FCTA, FCTB, RCTA, RCTB, EBA, AEB, REB, MEB, LDW, LKA, ELK, ESA, BSD, TSR, and DOW.

[0060] 2. Functional Priority Analysis

[0061] All intelligent driving functions can be categorized into high, low, and accompanying functions based on priority. Low-priority functions, such as ACC, APA, and LKA, can be interrupted by the driver when activated. High-priority functions, such as AEB, can forcibly interrupt the activation of low-priority functions or the driver's manual driving mode. Functions of the same priority are mutually exclusive and cannot interrupt each other. Some static warning functions can also coexist with other functions, such as BSD, TSR, and DOW.

[0062] High priority: EBA, AEB, REB, MEB, AES;

[0063] Medium priority: Manual driving;

[0064] Low priority: ACC, LCC, NOA, APA, AVP, SUM, RPA, FCTA, FCTB, RCTA, RCTB, FCW, RCW, LDW, LKA, ELK, ESA;

[0065] Warning level: BSD, TSR, DOW.

[0066] 3. Functional Degrees of Freedom Analysis

[0067] Based on vehicle control principles, intelligent driving functions can be divided into two degrees of freedom: longitudinal and lateral. Actuators affecting the vehicle's longitudinal movement include the accelerator and brake; actuators affecting the vehicle's lateral movement include EPS (Electric Power Steering). Functions relying on only a single-degree-of-freedom actuator are called single-axis functions, while functions requiring two degrees of freedom simultaneously are called dual-axis functions. Due to the singularity of actuator resources, functions with the same degree of freedom cannot coexist. A typical example is that ACC (Adaptive Cruise Control) and AEB (Automatic Emergency Braking) cannot coexist; when AEB meets its activation conditions, ACC must be forcibly deactivated. The operation of actuators with different degrees of freedom is independent of each other, so functions with different degrees of freedom can coexist. A typical example is that ACC and LKA (Low-Altitude Assist) can be activated simultaneously.

[0068] 4. Execution Principles of the Intelligent Driving Function Dispatcher

[0069] Higher priority functions can interrupt lower priority functions; functions of the same priority and direction are mutually exclusive, while functions of the same priority but opposite directions can coexist; the alert function can coexist with other functions.

[0070] Among them, the architecture of the intelligent driving function scheduler system is as follows: Figure 2 As shown, the specific execution process is as follows:

[0071] 1. The system defaults to manual driving mode upon power-up.

[0072] 2. When a low-priority function is activated, the system enters the LowPriority state and selects the appropriate sub-state based on the specific activated intelligent driving function. If a single-axle function is activated, it enters the SingleAxis state. Within the SingleAxis state, longitudinal function activation enters the Longitudinal state, and lateral function activation enters the Lateral state. The Longitudinal and Lateral states can coexist. If a dual-axle function is activated, it enters the DoubleAxi state. The DoubleAxis state is further divided into Driving and Parking states, depending on whether a driving or parking function is activated.

[0073] 3. When a high-priority function is activated, the system will enter the HighPriority state regardless of whether it is in Manual or LowPriority state. The HighPriority state mainly involves the activation of some high-priority proactive security functions.

[0074] The above mainly implements the priority scheduling and centralized scheduling logic for driving functions, parking functions, and active safety functions in the field of intelligent driving. By centralizing these functions and scheduling them according to priority, the competition for actuator resources will not occur.

[0075] According to the driving function execution method proposed in the embodiments of this application, the target driving function can be executed according to the priority and function type of the current driving function and the target driving function, so as to avoid the conflict between driving functions for the right to use the actuator, thereby improving the safety of the vehicle.

[0076] Next, the driving function execution device according to the embodiments of this application is described with reference to the accompanying drawings.

[0077] Figure 3 This is a block diagram of a driving function execution device according to an embodiment of this application.

[0078] like Figure 3 As shown, the driving function execution device 10 includes: an acquisition module 100, a determination module 200, and an execution module 300.

[0079] The acquisition module 100 is used to acquire the current driving function being executed by the vehicle; the determination module 200 is used to determine the priority and function type of the current driving function, and to determine the priority and function type of the target driving function; the execution module 300 is used to execute the target driving function according to the priority and / or function type of the current driving function and the target driving function.

[0080] In this application embodiment, the priority includes high priority, low priority and warning level, wherein high priority takes precedence over low priority, and low priority takes precedence over warning; the function type includes single-axis function and dual-axis function, wherein the single-axis function is divided into longitudinal or lateral.

[0081] In this embodiment, the execution module 300 is further configured to: execute the target driving function according to the priority and / or function type of the current driving function and the target driving function, including: if both the current driving function and the target driving function are of low or high priority, and both the current driving function and the target driving function are single-axis functions with different single-axis function types, then execute the current driving function and the target driving function simultaneously; if both the current driving function and the target driving function are of low priority, and both the current driving function and the target driving function are of low priority, and both the current driving function and the target driving function are of single-axis functions with the same single-axis function type, then continue to execute the current driving function; if both the current driving function and the target driving function are of low priority, and both the current driving function and the target driving function are of high priority, and both the current driving function and the target driving function are of single-axis functions with the same single-axis function type, or the target driving function is of dual-axis function type, then stop executing the current driving function and execute the target driving function; if both the current driving function and the target driving function are of high priority, then do not execute the target driving function; if both the current driving function and the target driving function are of high priority, and both the current driving function and the target driving function are of high priority, and both the current driving function and the target driving function are of single-axis functions with the same single-axis function type, or the current driving function is of dual-axis function type, then continue to execute the current driving function.

[0082] In this embodiment of the application, the execution module 300 is further configured to: if the target driving function is a warning level, and both the current driving function and the target driving function are single-axis functions and the types of single-axis functions are different, then execute the current driving function and the target driving function simultaneously.

[0083] In this embodiment of the application, the determining module 200 is further configured to: determine the priority and function type of the current driving function by querying a first correspondence based on the current driving function; or, determine the priority of the current driving function by querying a second correspondence based on the current driving function, and determine the function type of the current driving function by querying a third correspondence based on the current driving function.

[0084] In this embodiment, the method for determining the priority and function type of the target driving function is the same as the method for determining the priority and function type of the current driving function.

[0085] It should be noted that the foregoing explanation of the driving function execution method embodiment also applies to the driving function execution device of this embodiment, and will not be repeated here.

[0086] According to the driving function execution device proposed in the embodiments of this application, the target driving function can be executed according to the priority and function type of the current driving function and the target driving function, so as to avoid the conflict between driving functions for the right to use the actuator, thereby improving the safety of the vehicle.

[0087] Figure 4 A schematic diagram of the structure of a vehicle provided in an embodiment of this application. The vehicle may include:

[0088] The memory 401, the processor 402, and the computer program stored on the memory 401 and capable of running on the processor 402.

[0089] When the processor 402 executes the program, it implements the driving function execution method provided in the above embodiments.

[0090] Furthermore, the vehicle also includes:

[0091] Communication interface 403 is used for communication between memory 401 and processor 402.

[0092] The memory 401 is used to store computer programs that can run on the processor 402.

[0093] The memory 401 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0094] If the memory 401, processor 402, and communication interface 403 are implemented independently, then the communication interface 403, memory 401, and processor 402 can be interconnected via a bus to complete communication between them. The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized into address buses, data buses, control buses, etc. For ease of representation, Figure 4 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0095] Optionally, in a specific implementation, if the memory 401, processor 402, and communication interface 403 are integrated on a single chip, then the memory 401, processor 402, and communication interface 403 can communicate with each other through an internal interface.

[0096] Processor 402 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of this application.

[0097] This application also provides a computer-readable storage medium storing a computer program or instructions thereon, which, when executed by a processor, implements the above-described driving function execution method.

[0098] This application also provides a computer program product, including a computer program or instructions, which, when executed, implement the driving function execution method described above.

[0099] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0100] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this application, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0101] Any process or method described in the flowchart or otherwise herein can be understood as representing a module, segment, or portion of code comprising one or N executable instructions for implementing custom logic functions or processes, and the scope of the preferred embodiments of this application includes additional implementations in which functions may be performed not in the order shown or discussed, including substantially simultaneously or in reverse order depending on the functions involved, as should be understood by those skilled in the art to which embodiments of this application pertain.

[0102] It should be understood that the various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, the N steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or more of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0103] Those skilled in the art will understand that all or part of the steps of the methods in the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, the program includes one or a combination of the steps of the method embodiments.

Claims

1. A method for executing driving functions, characterized in that, Includes the following steps: Obtain the currently performing driving function of the vehicle; The priority and function type of the current driving function are determined, and the priority and function type of the target driving function are determined. The priority includes high priority, low priority and warning level, wherein the high priority takes precedence over the low priority and the low priority takes precedence over the warning level. The function type includes single-axis function and dual-axis function, wherein the single-axis function is divided into longitudinal or lateral. Execute the driving function according to the priority and / or function type of the current driving function and the target driving function, including: If the current driving function and the target driving function are of low or high priority, and both the current driving function and the target driving function are single-axis functions but of different types, then the current driving function and the target driving function are executed simultaneously. If the current driving function is of low priority, the target driving function is of low priority, and both the current driving function and the target driving function are single-axis functions and the types of the single-axis functions are the same, then the current driving function continues to be executed. If the current driving function is of low priority and the target driving function is of high priority, and both the current driving function and the target driving function are single-axis functions and the types of the single-axis functions are the same, or the function type of the target driving function is a dual-axis function, then the current driving function is stopped and the target driving function is executed. If the current driving function is of high priority and the target driving function is of low priority, then the target driving function will not be executed. If the current driving function is of high priority, the target driving function is of high priority, both the current driving function and the target driving function are single-axis functions and the types of the single-axis functions are the same, or the current driving function is the dual-axis function, then the current driving function continues to be executed.

2. The driving function execution method according to claim 1, characterized in that, The step of executing the target driving function based on the priority and / or function type of the current driving function and the target driving function further includes: If the target driving function is at the warning level, and both the current driving function and the target driving function are single-axis functions but of different types, then the current driving function and the target driving function are executed simultaneously.

3. The driving function execution method according to claim 1, characterized in that, Determining the priority and function type of the current driving function includes: Based on the query of the first correspondence relationship of the current driving function, the priority and function type of the current driving function are determined; Alternatively, the priority of the current driving function can be determined by querying the second correspondence based on the current driving function, and the function type of the current driving function can be determined by querying the third correspondence based on the current driving function.

4. The driving function execution method according to claim 1 or 3, characterized in that, The method for determining the priority and function type of the target driving function is the same as the method for determining the priority and function type of the current driving function.

5. A driving function execution device, characterized in that, To implement the driving function execution method as described in any one of claims 1-4, comprising: The acquisition module is used to acquire the current driving functions that the vehicle is performing. The determining module is used to determine the priority and function type of the current driving function, and to determine the priority and function type of the target driving function; An execution module is used to execute the target driving function according to the priority and / or function type of the current driving function and the target driving function.

6. A vehicle, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, the processor executing the program to implement the driving function execution method as described in any one of claims 1-4.

7. A computer-readable storage medium having a computer program stored thereon, characterized in that, The program is executed by the processor to implement the driving function execution method as described in any one of claims 1-4.

8. A computer program product, comprising a computer program or instructions, characterized in that, When the computer program or instructions are executed, they implement the driving function execution method as described in any one of claims 1-4.

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