Vehicle control methods, devices and computer-readable storage media

Abstract

This invention relates to the field of vehicle control technology and discloses a vehicle control method, device, and computer-readable storage medium. The method includes: when the main state machine of a target vehicle is in a first assisted driving state, controlling the target vehicle to operate according to a first sub-state machine corresponding to the first assisted driving state; in response to determining that a switching condition is met based on first perception information, transitioning the state of the main state machine to a mode switching state, and switching the first assisted driving mode state to a second assisted driving state under the control of the mode switching state; wherein the switching condition indicates switching to the second assisted driving mode; the first assisted driving mode and the second assisted driving mode are each one of multiple assisted driving modes; in the second assisted driving state, running the second sub-state machine corresponding to the second assisted driving state, and controlling the target vehicle to operate according to the second sub-state machine. Applying the technical solution of this invention can improve mode switching efficiency.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, specifically to a vehicle control method, device, and computer-readable storage medium. Background Technology

[0002] It can provide a variety of driver assistance functions for vehicles, and each driver assistance function can be implemented using the corresponding driver assistance function state machine.

[0003] In related technologies, there is a problem of low switching efficiency when switching between different driver assistance functions. Summary of the Invention

[0004] In view of the above problems, embodiments of the present invention provide a vehicle control method, device and computer-readable storage medium to solve the problem of low switching efficiency when switching between different driver assistance functions in the prior art.

[0005] According to one aspect of the present invention, a vehicle control method is provided, the method comprising: when a main state machine of a target vehicle is in a first assisted driving state, controlling the target vehicle to operate according to a first sub-state machine corresponding to the first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes, the first assisted driving state corresponding to a first driving mode; in response to determining that a switching condition is met based on first perception information, determining a second assisted driving state based on the switching condition; transitioning the state of the main state machine to the mode switching state, and switching the first assisted driving state to the second assisted driving state under the control of the mode switching state; in the second assisted driving state, running a second sub-state machine corresponding to the second assisted driving state, and controlling the target vehicle to operate according to the second sub-state machine.

[0006] According to another aspect of the present invention, a vehicle control device is provided, comprising: a first control module, configured to control the operation of a target vehicle according to a first sub-state machine corresponding to a first assisted driving state when the main state machine of a target vehicle is in a first assisted driving state; wherein the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes, and the first assisted driving state corresponds to a first driving mode; a switching module, configured to determine a second assisted driving state according to the switching conditions in response to determining that a switching condition is met based on first perception information; to transfer the state of the main state machine to the mode switching state, and to switch the first assisted driving state to the second assisted driving state under the control of the mode switching state; and a second control block, configured to run a second sub-state machine corresponding to the second assisted driving state in the second assisted driving state, and to control the operation of the target vehicle according to the second sub-state machine.

[0007] According to another aspect of the present invention, a vehicle control device is provided, comprising: a processor, a memory, a communication interface, and a communication bus, wherein the processor, the memory, and the communication interface communicate with each other via the communication bus; the memory is used to store at least one executable instruction, the executable instruction causing the processor to perform the operation of the vehicle control method as described in the first aspect.

[0008] According to another aspect of the present invention, a computer-readable storage medium is provided, the storage medium storing at least one executable instruction, the executable instruction causing a vehicle control device to perform the following operations: when the main state machine of a target vehicle is in a first assisted driving state, controlling the target vehicle to run according to a first sub-state machine corresponding to the first assisted driving state; wherein, the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving states respectively; in response to determining that a switching condition is met according to first perception information, transitioning the state of the main state machine to the mode switching state, and switching the first assisted driving mode state to a second assisted driving state under the control of the mode switching state; wherein, the switching condition indicates switching to the second assisted driving mode; the first assisted driving mode and the second assisted driving mode are respectively one of the multiple assisted driving modes; in the second assisted driving state, running a second sub-state machine corresponding to the second assisted driving state, and controlling the target vehicle to run according to the second sub-state machine.

[0009] This invention utilizes a master state machine, which sets multiple assisted driving modes corresponding to assisted driving states and mode switching states. When the assisted driving state switching is required, the assisted driving state switching is achieved under the control of the mode switching state. This allows the master state machine to uniformly schedule the switching of different assisted driving modes, thereby improving the efficiency of assisted driving mode switching.

[0010] The above description is merely an overview of the technical solutions of the embodiments of the present invention. In order to better understand the technical means of the embodiments of the present invention and to implement them in accordance with the contents of the specification, and to make the above and other objects, features and advantages of the embodiments of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0011] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0012] Figure 1 A flowchart illustrating a first embodiment of the vehicle control method provided by the present invention is shown.

[0013] Figure 2 A flowchart illustrating a second embodiment of the vehicle control method provided by the present invention is shown;

[0014] Figure 3 A schematic diagram illustrating the transitions between multiple states of the master state machine;

[0015] Figure 4 A schematic diagram illustrating the transition conditions of multiple states in the master state machine;

[0016] Figure 5 A schematic diagram of an embodiment of the vehicle control device provided by the present invention is shown;

[0017] Figure 6 A schematic diagram of an embodiment of the vehicle control device provided by the present invention is shown. Detailed Implementation

[0018] Exemplary embodiments of the invention will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0019] Figure 1 A flowchart of a first embodiment of the vehicle control method of the present invention is shown, which is executed by an intelligent driving controller in the vehicle. Figure 1 As shown, the method includes the following steps:

[0020] S110: When the main state machine of the target vehicle is in the first assisted driving state, the target vehicle is controlled to run according to the first sub-state machine corresponding to the first assisted driving state; wherein, the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes respectively, and the first assisted driving state corresponds to the first assisted driving mode.

[0021] The target vehicle here can be of various types, such as an electric vehicle. The target vehicle can be equipped with various sensors to collect perception information, which can include environmental information and vehicle driving information. Environmental information may include road information and surrounding vehicle information. Road information may include road geometry (such as road width, curvature, and slope), road signs, traffic signals, and obstacles. Surrounding vehicle information may include the speed, direction, position, and other driving status of surrounding vehicles. Vehicle driving information includes vehicle speed, acceleration, and steering angle.

[0022] The target vehicle can be a vehicle equipped with driver assistance functions. These driver assistance functions may include multiple driver assistance modes. These modes may include, for example, a first mode, a second mode, and a third mode. The first mode controls the vehicle's longitudinal movement; the second mode controls the vehicle's lateral and longitudinal movement when lane lines are clearly defined; and the third mode controls the vehicle's lateral and longitudinal movement when a clear road structure, location, and / or high-precision map are available.

[0023] The first assisted driving mode mentioned above can be any one of the multiple assisted driving modes mentioned above.

[0024] Each assisted driving mode can have a corresponding sub-state machine, which can be a state machine that controls the operation of the target vehicle. The sub-state machine can generate operating commands based on environmental information and the target vehicle's own driving information, and control the vehicle's operation through these operating commands. These operating commands include, but are not limited to, commands for operating speed, torque, angle, deceleration, etc.

[0025] When the target vehicle's perception information determines that the first assisted driving mode is met, the main state machine is transitioned to the first assisted driving state. Correspondingly, the first sub-state machine corresponding to the first assisted driving mode is run, and the first sub-state machine generates operating instructions that conform to the first assisted driving mode to control the operation of the target vehicle.

[0026] The perception information here can include perception information specific to the first driver assistance mode, such as whether there is a high-precision map and whether there are clear lane lines.

[0027] S120: In response to determining that the switching conditions are met based on the first perception information, determine the second assisted driving state based on the switching conditions; transition the state of the main state machine to the mode switching state, and switch the first assisted driving state to the second assisted driving state under the control of the mode switching state.

[0028] To improve the efficiency of switching between different driver assistance modes, the main state machine can be used to schedule between different driver assistance modes.

[0029] The main state machine can have a finite number of states, with transition logic between different states. These finite numbers of states can include the assisted driving states corresponding to multiple assisted driving modes, as well as mode switching states. The transition logic can include the transition direction and transition conditions.

[0030] The switching conditions mentioned above may include activation conditions and / or inhibition conditions.

[0031] Each assisted driving state can correspond to its own activation and suppression conditions. Whether the activation and suppression conditions are met can be determined based on the first perception information. Activation conditions may include, for example, preset environmental conditions and preset vehicle conditions. The aforementioned first perception information includes the perception information collected when the target vehicle is controlled by the first sub-state machine corresponding to the first assisted driving state.

[0032] In some examples, if the suppression condition of the assisted driving mode corresponding to assisted driving state A is met, and the activation condition of the assisted driving mode corresponding to another assisted driving state B is also met, then the switching condition for switching from assisted driving state A to assisted driving state B is satisfied.

[0033] In the first assisted driving state, the intelligent driving controller can periodically acquire first perception information and determine whether the suppression condition of the assisted driving mode corresponding to the first assisted driving state is met, and whether the activation condition of other assisted driving modes is met. If the assisted driving mode corresponding to the first assisted driving state meets the suppression condition, and other assisted driving modes meet the activation condition, then the other assisted driving mode is designated as the second assisted driving mode. Then, the state of the main state machine is transitioned from the first assisted driving state to the mode switching state.

[0034] The second driver assistance mode here can be any of the above-mentioned driver assistance modes excluding the first driver assistance mode.

[0035] In some implementations, the above-mentioned response to determining that the switching conditions are met based on the first perception information, and determining the second assisted driving state based on the switching conditions, includes the following steps:

[0036] First, determine at least two candidate second driver assistance states based on the switching conditions.

[0037] Secondly, the second assisted driving state is determined from at least two candidate second assisted driving states according to preset rules.

[0038] The preset rules here can be predefined rules for determining the second driver assistance mode from multiple candidate second driver assistance modes when there is a conflict. For example, the preset rules mentioned above include: when the first mode and the second mode conflict, the second mode is selected first.

[0039] Furthermore, each of the at least two candidate second-level driver assistance modes has its own level. The candidate with the highest level can be selected as the second-level driver assistance mode. By selecting the highest-level candidate as the second-level driver assistance mode, the driving service provided by the highest-level driver assistance mode can be prioritized under the same conditions.

[0040] In the mode switching state, it can be determined again based on the first perception information whether the second assisted driving mode is the assisted driving mode to be switched to. If it is determined that the second assisted driving mode is the assisted driving mode to be switched to, the state of the main state machine is transferred to the second assisted driving state.

[0041] S130: In the second assisted driving state, the second sub-state machine corresponding to the second assisted driving state is run, and the target vehicle is controlled to run according to the second sub-state machine.

[0042] In the second assisted driving mode, a second sub-state machine is run, which generates operating instructions that match the second assisted driving mode based on environmental and vehicle driving information. The operating instructions control the operation of the target vehicle.

[0043] In related technologies, after the assisted driving function is activated, the sub-state machines corresponding to multiple assisted driving modes run simultaneously, and each sub-state machine determines whether its own activation conditions are met during operation. Different assisted driving modes are set independently, and when switching between assisted driving modes is required, it is usually done by the driver, resulting in low efficiency in switching assisted driving modes.

[0044] In this embodiment, a master state machine is constructed, which includes multiple assisted driving states and mode switching states corresponding to different assisted driving modes. The mode switching states in the master state machine uniformly schedule the switching of different assisted driving modes based on perception information including environmental information and vehicle information, so as to adapt to different driving scenarios and improve the efficiency of assisted driving mode switching.

[0045] Figure 2 A flowchart of a second embodiment of the vehicle control method of the present invention is shown, which is executed by an intelligent driving controller in the vehicle. Figure 2 As shown, the method includes the following steps:

[0046] Step 210: In response to the detection that the assisted driving function has been activated, the main state machine is run and enters the general condition judgment state; wherein, the main state machine includes the general condition judgment state, the function standby state, the assisted driving state corresponding to multiple assisted driving modes, and the mode switching state.

[0047] In some application scenarios, the driver can activate the driving function by performing the operation of starting the assisted driving function in the target vehicle.

[0048] When the aforementioned intelligent driving controller detects that the aforementioned assisted driving function has been activated, it can run the main state machine. The main state machine can include a finite number of states and transition logic between states. The finite number of states includes a general condition judgment state, a function standby state, assisted driving states corresponding to multiple assisted driving modes, and a mode switching state.

[0049] The aforementioned general condition judgment state can be the initial state of the main state machine. When the main state machine is run, it enters the initial state, which is also the general condition judgment state.

[0050] S220: In the general condition judgment state, in response to determining the common start condition for multiple assisted driving modes based on the second perception information, the state of the main state machine is transitioned to the functional standby state.

[0051] A common activation condition can be determined from the activation conditions required for multiple driver assistance states (each driver assistance state corresponds one-to-one with a driver assistance mode). Then, the second perception information is determined based on the common activation condition. For example, if multiple driver assistance modes require activation conditions D and E, activation conditions D and E can be used as common activation conditions for multiple driver assistance modes. The perception information corresponding to the aforementioned common activation conditions D and E is then used as the second perception information.

[0052] Under general conditional judgment, the aforementioned intelligent driving controller can acquire second perception information. This second perception information may include, for example, vehicle information and environmental information.

[0053] Vehicle information may include, for example, information on whether the steering system is faulty, whether the steering system output signal is valid, whether the braking system is faulty, whether the braking system output signal is valid, and whether the powertrain system is faulty, and whether the powertrain output signal is valid. Environmental information may include, for example, lighting information and road surface adhesion coefficient.

[0054] Whether the shared start-up conditions are met can be determined based on the aforementioned second sensing information. These shared start-up conditions may include: vehicle information meeting a first preset condition, and environmental information meeting a second preset condition. The first preset condition may include, for example, steering system fault-free, steering system output signal valid, braking system fault-free, braking system output signal valid, power system fault-free, and power system output signal valid. The second condition may include, for example, light intensity greater than a first preset intensity threshold, and road surface adhesion coefficient greater than a preset adhesion coefficient threshold.

[0055] When the above-mentioned common startup conditions are met, it can be considered that the transition conditions for the general condition judgment state to the functional standby state have been met. Therefore, the state of the main state can be transitioned to the functional standby state.

[0056] S230: In the functional standby state, the target assisted driving mode is determined based on the third perception information, and the state of the main state machine is transferred to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

[0057] In standby mode, the aforementioned intelligent driving controller can periodically acquire third-party perception information from sensors or the intelligent driving controller itself.

[0058] The third perception information can include the information needed to determine the specific activation conditions corresponding to each of the multiple assisted driving modes. For example, the specific activation conditions for the first mode include: the brake pedal is not pressed, and the vehicle speed is greater than a threshold when there is a following target or when there is no following target. The specific activation conditions for the second mode include: the lane lines on both sides are clear and effective, the lane width is less than the threshold, and the steering torque is less than the threshold. The specific activation conditions for the third mode include: the vehicle is in navigation mode, the driving route has a cloud map, and the fusion positioning is effective.

[0059] Correspondingly, the aforementioned third perception information may include: information on whether the brake pedal is pressed, information on whether there is a vehicle following, vehicle speed information when there is no vehicle following, information on lane lines on both sides, lane width information, steering torque information, information on whether the vehicle is in navigation mode, information on whether there is a cloud map on the driving section, and information on whether the fusion positioning is effective, etc.

[0060] In some application scenarios, different driver assistance modes can have their own activation and inhibition conditions. The target driver assistance mode that meets the activation conditions can be determined based on the aforementioned third-sensor information, thereby determining the target driver assistance state. Then, the state of the main state machine is transitioned to the target driver assistance state. In the target driver assistance state, the corresponding sub-state machine is run, and the sub-state machine controls the operation of the target vehicle.

[0061] In some implementations, step S230 includes the following sub-steps:

[0062] First, based on the acquired third-sensory information, multiple candidate driver assistance modes that meet the activation conditions are identified.

[0063] Secondly, the target driver assistance mode is determined from multiple candidate driver assistance modes according to preset rules.

[0064] The preset rules here can be predefined rules for determining the target driver assistance mode from multiple candidate driver assistance modes when there is a conflict. For example, the preset rules mentioned above include: when the first mode and the second mode conflict, the second mode is selected first.

[0065] Furthermore, each of the multiple driver assistance modes has its own level, and the target driver assistance mode is determined from multiple candidate driver assistance modes according to preset rules, including:

[0066] From multiple candidate driver assistance modes, select the candidate driver assistance mode with the highest level as the target driver assistance mode.

[0067] In other words, each of the multiple driver assistance modes has its own level, and the levels corresponding to the multiple driver assistance modes are different. These levels can include the highest level, the medium level, the low level, etc.

[0068] By selecting the highest-level candidate driver assistance mode as the target driver assistance mode, the driving services provided by the highest-level driver assistance mode can be prioritized under the same conditions.

[0069] S240: When the main state machine of the target vehicle is in the first assisted driving state, control the operation of the target vehicle according to the first sub-state machine corresponding to the first assisted driving state.

[0070] For the specific implementation of step S240 above, please refer to Figure 1 The relevant parts of step S110 in the illustrated embodiment will not be described in detail here.

[0071] S250: In response to determining that the switching conditions are met based on the first perception information, determine the second assisted driving state based on the switching conditions; transition the state of the main state machine to the mode switching state, and switch the first assisted driving state to the second assisted driving state under the control of the mode switching state.

[0072] The first perception information here can be updated third perception information. That is, the first perception information can include information corresponding to the unique activation conditions of multiple assisted driving states.

[0073] Different driver assistance states also have their own suppression conditions. For example, the suppression condition for driver assistance state A is: the specific activation condition for driver assistance state A is not met, or there is a higher-level driver assistance mode that meets the activation condition.

[0074] The switching conditions mentioned above can be that the first assisted driving state does not meet the activation conditions, and the second assisted driving state meets the activation conditions.

[0075] S260: In the second assisted driving state, the second sub-state machine corresponding to the second assisted driving state is run, and the target vehicle is controlled to run according to the second sub-state machine.

[0076] For the specific implementation of step S260 above, please refer to Figure 1 The relevant parts of step S130 in the illustrated embodiment will not be described in detail here.

[0077] In related technologies, different driver assistance modes require the simultaneous and independent operation of their respective sub-state machines to determine whether the activation state of each driver assistance mode is met, resulting in high power consumption.

[0078] In this embodiment, the second sub-state machine does not run before switching from the first assisted driving state to the second assisted driving state. The second sub-state machine only starts running when switching to the second assisted driving state, while the first sub-state machine stops running. That is, since each assisted driving mode corresponds to a state node of the main state mechanism, only one assisted driving state is valid at any given time, and only the sub-state machine of the valid assisted driving state runs. The sub-state machines corresponding to invalid assisted driving states do not run.

[0079] In this embodiment, the main state machine is described when the assisted driving function is activated. The main state machine also includes a general condition judgment state and a function standby state. The general condition judgment state determines the common start conditions of multiple assisted driving modes. After the common start conditions are met, the specific activation conditions of each assisted driving mode are determined. Compared with the scheme where each assisted driving mode's state machine determines whether it meets its own activation conditions using full perception information, this scheme does not require repeated judgment of the common start conditions, reducing the amount of data processing during mode switching and thus reducing power consumption.

[0080] exist Figure 2 In some optional implementations of the illustrated embodiments, the method further includes:

[0081] In either the first or second assisted driving state, in response to determining, based on updated third perception information, that the suppression conditions of each of the multiple assisted driving modes are met, the state of the main state machine is transitioned from the first or second assisted driving state to the functional standby state.

[0082] Each driver assistance mode can have suppression conditions. Suppression conditions refer to conditions under which the current driver assistance mode cannot be used. For example, for the third mode, suppression conditions include the vehicle navigation being turned off and the absence of a map of the current driving segment in the cloud. For the second mode, suppression conditions may include unclear lane markings and steering torque exceeding a preset threshold. For the first mode, suppression conditions include the brake pedal being depressed and the absence of a following target. When determining the suppression conditions for each driver assistance mode based on updated third-party information, the main state machine can be switched from the first or second driver assistance mode to a functional standby state. This avoids safety issues arising from controlling the vehicle based on arbitrary driver assistance modes. Furthermore, migrating the main state machine to the functional standby state allows for the re-determination of the target driver assistance mode based on subsequently acquired third-party perception information, thus ensuring the continuity of driver assistance.

[0083] exist Figure 2 In some optional implementations of the illustrated embodiments, the method further includes:

[0084] In the functional standby state, in response to determining that the common start condition is not met based on the updated second perception information, the state of the main state machine is transitioned to the general condition judgment state.

[0085] If, during the main state machine's functional standby state, it determines, based on updated second perception information, that the aforementioned shared startup conditions are not met, the main state machine transitions to a general condition judgment state. Since transitioning the main state machine to the general condition judgment state allows for re-determining whether the shared startup conditions are met based on subsequently acquired second perception information, and if the shared startup conditions are met after subsequent second perception information confirms they are met, the main state machine re-enters the functional standby state, which facilitates automatic transition of assisted driving.

[0086] exist Figure 1 and Figure 2 In some optional implementations of the illustrated embodiment, the method further includes the following steps:

[0087] First, the running instruction output by the first sub-state machine or the running instruction output by the second sub-state machine is input to the arbitration unit, which then checks whether the running instruction meets the preset conditions.

[0088] Secondly, in response to the fulfillment of preset conditions, the target vehicle is controlled to operate via control signals; or in response to the failure to meet preset conditions, a fault warning message is sent.

[0089] The preset conditions include running instructions being less than or equal to the corresponding preset threshold; or the preset conditions include running instructions received at the same time coming from the same sub-state machine.

[0090] The aforementioned arbitration module can be installed in the intelligent driving controller. This module can determine whether multiple operating commands meet preset conditions. If the preset conditions are met, the operating commands are sent to the corresponding actuators to control the operation of the target vehicle.

[0091] If the preset conditions are not met, a fault message will be sent to prompt the user to disengage the driver assistance function. For example, if the deceleration indicated by the operation command is -15 m / s² 2 The deceleration threshold is -9.5 m / s². 2 If the preset conditions are not met, the arbitration module can send a fault message. This fault message can include specific fault information, such as deceleration exceeding a threshold.

[0092] For example, if the arbitration module receives operating instructions from two sub-state machines simultaneously, it can send fault information to prompt the discontinuation of the assisted driving function. The fault information could include, for example, a conflict between assisted driving modes. Furthermore, upon receiving operating instructions from two sub-state machines, the arbitration module can send the operating instructions from the sub-state machine corresponding to the higher-level assisted driving mode to the corresponding actuator.

[0093] Arbitration of operating commands can improve the reliability of driver assistance functions.

[0094] exist Figure 1 and Figure 2 In some optional implementations of the illustrated embodiments, the method further includes: displaying information about the currently used assisted driving mode, or displaying a corresponding prompt message indicating the switching of the assisted driving mode based on the switching of the assisted driving state.

[0095] The system can display the currently used driver assistance mode on the target vehicle's screen, or show a prompt indicating whether to switch driver assistance modes. This allows the driver to understand the target driving mode currently in use.

[0096] exist Figure 1 and Figure 2 In some optional implementations of the illustrated embodiments, the method further includes:

[0097] In any state of the main state machine, in response to the detection of abnormal information, the main state machine is exited and a command is issued to stop the assisted driving function.

[0098] The above-mentioned anomaly indicates a malfunction in the driver assistance function. Upon detecting the anomaly, exit the driver assistance function using the above instructions to ensure the safety of the target vehicle.

[0099] The following is combined with Figure 3 and Figure 4 Explain the specific control process of the vehicle control method. Figure 3 A schematic diagram illustrating the transitions between multiple states of the master state machine. Figure 4 This diagram illustrates the transition conditions for multiple states of the master state machine. The first mode controls the vehicle's longitudinal movement; the second mode controls the vehicle's lateral and longitudinal movement when lane lines are clearly defined; and the third mode controls the vehicle's lateral and longitudinal movement when a clear road structure, location, and / or high-precision map are available.

[0100] When the assisted driving function is not activated, it is in the off state (31). When the user manually or voice-activated the assisted driving function settings on the vehicle's infotainment screen, the assisted driving function is activated. Simultaneously, the intelligent driving controller starts the main state machine, which then enters the general condition judgment state, completing state transition T1. Furthermore, when the assisted driving function is activated, if the user manually or voice-activated the assisted driving function settings on the vehicle's infotainment screen, the assisted driving function transitions from the on state to the off state, completing state transition T2.

[0101] After the main state machine starts, it enters the general condition judgment state 32. In the general condition judgment state 32, the intelligent driving controller can determine whether the common start conditions of multiple assisted driving modes are met based on the second perception information. When the common start conditions are met, the state of the main state machine is transitioned to the functional standby state 33, and the state transition T3 is completed.

[0102] In the functional standby state 33, it is determined whether all activation conditions of the first mode are met (but not the activation conditions of the second and third modes) based on the third perception information. If the activation conditions of the first mode are met, the functional standby state 33 can be switched to the S1 assisted driving state 35. In the S1 assisted driving state 35, if any of the activation conditions specific to the first mode are not met, the state can be switched back to the functional standby state 33, completing the state transition T4.

[0103] In the functional standby state 33, it is determined whether all activation conditions of the second mode are met based on the third perception information (and the activation conditions of the first mode are met, but the activation conditions of the third mode are not met). If all activation conditions of the second mode are met, the functional standby state 33 can be switched to the S2 assisted driving state 36. In the S2 assisted driving state 36, if any of the activation conditions specific to the second mode are not met, the state can be switched back to the functional standby state 33, completing the state transition T5.

[0104] In functional standby state 33, it is determined whether all activation conditions of the third mode are met based on perception information (and the activation conditions of the first and second modes are also met). If all activation conditions of the third mode are met, functional standby state 33 can be switched to S3 assisted driving state 37. In S3 assisted driving state 37, if it is determined based on perception information that any of the activation conditions specific to the third mode are not met, it can be switched from S3 assisted driving state 37 to functional standby state 33, completing state transition T6.

[0105] If the main state machine is in S1 assisted driving state 35, and if it determines, based on perception information, that the activation conditions for the second mode or the third mode are met, the state machine switches from S1 assisted driving state 35 to mode switching state 34. If, while in mode switching state 34, the main state machine determines, based on perception information, that all first mode activation conditions are met, but none of the second mode activation conditions or any of the third mode activation conditions are met, the main state machine transitions from mode switching state 34 back to S1 assisted driving state 35. State transition T7 is then completed.

[0106] If the master state machine is in S2 assisted driving state 36, and if, based on perception information, it determines that the activation conditions for the third mode are met, or all activation conditions for the third mode are met, or all activation conditions for the first mode are met but no activation conditions for the second mode are met, the state machine switches from S2 assisted driving state 36 to mode switching state 34. If, while in mode switching state 34, the master state machine, based on perception information, determines that all activation conditions for the second mode are met but no activation conditions for the third mode are met, the master state machine transitions from mode switching state 34 back to S2 assisted driving state 36. State transition T8 is then completed.

[0107] If the master state machine is in S3 assisted driving state 33, and if, based on perception information, it is determined that the activation conditions for any third mode are not met, but the activation conditions for all first modes or all second modes are met, the state machine switches from S3 assisted driving state 37 to mode switching state 34. If, while in mode switching state 34, the master state machine, based on perception information, determines that the activation conditions for all third modes are met, the master state machine transitions from mode switching state 34 to S3 assisted driving state 37. State transition T9 is then completed.

[0108] When the main state machine is in any state, if any condition for suppressing the assisted driving function is met or any fault occurs in the assisted driving system, the main state machine transitions to the suppressed or fault state 39. State transition T10 is then completed.

[0109] When the main state machine is in the suppressed or fault state 39, the conditions for suppressing the assisted driving function are not met, the assisted driving function is fault-free, and the vehicle's large screen settings are enabled. The state of the main state machine is then transitioned from the suppressed or fault state 39 to the enabled state (general condition judgment state 32). State transition T11 is completed.

[0110] When the main state machine is in the suppressed or fault state 39, the conditions for suppressing the assisted driving function are not met, the assisted driving function is fault-free, and the vehicle's large screen settings are turned off. The state of the main state machine is then transitioned from the suppressed or fault state 39 to the off state 31. State transition T12 is completed.

[0111] In addition, the running instructions generated by the sub-state machine corresponding to the S1 assisted driving state, or the running instructions generated by the sub-state machine corresponding to the S2 assisted driving state, or the running instructions generated by the sub-state machine corresponding to the S3 assisted driving state, are all input into the arbitration module 38 for arbitration. The running instructions arbitrated by the arbitration module can be sent to the actuator, which controls the vehicle operation.

[0112] Figure 5 A schematic diagram of an embodiment of the vehicle control device provided by the present invention is shown. Figure 5 As shown, the device 500 includes: a first control module 510, a switching module 520, and a second control module 530.

[0113] The first control module 510 is used to control the operation of the target vehicle according to the first sub-state machine corresponding to the first assisted driving state when the main state machine of the target vehicle is in the first assisted driving state; wherein, the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes respectively, and the first assisted driving state corresponds to the first assisted driving mode;

[0114] The switching module 520 is used to respond to determining that the switching conditions are met based on the first perception information, and to determine the second assisted driving state based on the switching conditions; to transfer the state of the main state machine to the mode switching state, and to switch the first assisted driving state to the second assisted driving state under the control of the mode switching state;

[0115] The second control module 530 is used to run the second sub-state machine corresponding to the second assisted driving state in the second assisted driving state, and control the target vehicle to run according to the second sub-state machine.

[0116] In an alternative embodiment, the device 500 further includes an operation module 540, a common condition determination module 550, and a driving mode determination module 560, wherein...

[0117] The running module 540 is used to run the main state machine and enter the general condition judgment state in response to the detection that the assisted driving function is activated; wherein, the main state machine also includes a general condition judgment state and a function standby state;

[0118] The common condition determination module 550 is used to transition the state of the main state machine to the functional standby state in response to determining the common start-up conditions that satisfy multiple assisted driving modes based on the second perception information under the general condition judgment state.

[0119] The driving mode determination module 560 is used to determine the target assisted driving mode based on third perception information in the functional standby state, and to transfer the state of the main state machine to the target assisted driving state corresponding to the target assisted driving mode, so as to control the operation of the target vehicle in the target assisted driving state.

[0120] In one alternative approach, the driving mode determination module 560 is specifically used to: determine multiple candidate assisted driving modes that meet the activation conditions based on third perception information; and determine the target assisted driving mode from the multiple candidate assisted driving modes according to preset rules.

[0121] In one alternative approach, multiple driver assistance modes each have their own level; the driving mode determination module 560 is specifically used to: select the candidate driver assistance mode with the highest level from multiple candidate driver assistance modes as the target driver assistance mode.

[0122] In an alternative embodiment, the device 500 further includes a second migration module (not shown), which is configured to: in a first assisted driving state or a second assisted driving state, in response to determining, based on updated third perception information, that the suppression conditions of each of the multiple assisted driving modes are satisfied, migrate the state of the main state machine from the first assisted driving state or the second assisted driving state to a functional standby state.

[0123] In an alternative embodiment, the device 500 further includes a third migration module (not shown in the figure), which is used to: in a functional standby state, in response to determining, based on updated second sensing information, that the common start condition is not met, migrate the state of the main state machine to a general condition judgment state.

[0124] In an optional embodiment, the device 500 further includes an arbitration module (not shown in the figure), which is used to: input the running instructions output by the first sub-state machine or the second sub-state machine to the arbitration unit, and have the arbitration unit detect whether the running instructions meet preset conditions; in response to meeting the preset conditions, control the target vehicle to run through control signals; or in response to not meeting the preset conditions, send a fault prompt message.

[0125] In one alternative embodiment, the device 500 further includes a display module (not shown in the figure), which is used to: display information about the currently used assisted driving mode, or display corresponding prompts for switching assisted driving modes according to the switching of assisted driving states.

[0126] In an alternative embodiment, the device 500 further includes an exception handling module (not shown in the figure), which is configured to: in any state of the main state machine, in response to detecting an exception, exit the main state machine and issue a command to stop the assisted driving function.

[0127] In this embodiment, a master state machine is constructed, which includes multiple assisted driving states and mode switching states corresponding to different assisted driving modes. The mode switching state in the master state machine uniformly schedules the switching of different assisted driving modes based on the perception information of the environment and the vehicle itself, so as to adapt to different driving scenarios and improve the efficiency of assisted driving mode switching.

[0128] Figure 6 The diagram shows a structural schematic of an embodiment of the vehicle control device of the present invention. The specific embodiments of the present invention do not limit the specific implementation of the vehicle control device.

[0129] like Figure 6 As shown, the vehicle control device may include: a processor 602, a communications interface 604, a memory 606, and a communications bus 608.

[0130] The processor 602, communication interface 604, and memory 606 communicate with each other via communication bus 608. Communication interface 604 is used to communicate with other network elements such as clients or other servers. The processor 602 executes program 610, specifically performing the relevant steps described above in the vehicle control method embodiment.

[0131] Specifically, program 610 may include program code, which includes computer-executable instructions.

[0132] Processor 602 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement embodiments of the present invention. The vehicle control device may include one or more processors of the same type, such as one or more CPUs; or it may include processors of different types, such as one or more CPUs and one or more ASICs.

[0133] Memory 606 is used to store program 610. Memory 606 may include high-speed RAM memory, and may also include non-volatile memory, such as at least one disk storage device.

[0134] Specifically, program 610 can be called by processor 602 to cause the vehicle control device to perform the following operations:

[0135] When the main state machine of the target vehicle is in the first assisted driving state, the target vehicle is controlled to run according to the first sub-state machine corresponding to the first assisted driving state; wherein, the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes, and the first assisted driving state corresponds to the first assisted driving mode;

[0136] In response to determining that the switching conditions are met based on the first perception information, a second assisted driving state is determined based on the switching conditions; the state of the main state machine is transitioned to the mode switching state, and the first assisted driving state is switched to the second assisted driving state under the control of the mode switching state;

[0137] In the second assisted driving state, the second sub-state machine corresponding to the second assisted driving state is run, and the target vehicle is controlled to run according to the second sub-state machine.

[0138] In an alternative manner, program 610 may be invoked by processor 602 to cause the vehicle control device to perform the following operations:

[0139] In response to the detection that the assisted driving function has been activated, the main state machine is run and enters the general condition judgment state; the main state machine also includes the general condition judgment state and the function standby state;

[0140] In the general condition judgment state, in response to determining the common start-up conditions that satisfy multiple assisted driving modes based on the second perception information, the state of the main state machine is transitioned to the functional standby state;

[0141] In the standby state, the target assisted driving mode is determined based on the third perception information, and the state of the main state machine is transferred to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

[0142] In one alternative implementation, while in a functional standby state, the target assisted driving mode is determined based on third-party perception information, including:

[0143] Based on third-party perception information, multiple candidate driver assistance modes that meet the activation conditions are identified;

[0144] The target driver assistance mode is determined from multiple candidate driver assistance modes according to preset rules.

[0145] In one optional implementation, multiple driver assistance modes each have their own levels, and a target driver assistance mode is determined from multiple candidate driver assistance modes according to preset rules, including:

[0146] From multiple candidate driver assistance modes, select the candidate driver assistance mode with the highest level as the target driver assistance mode.

[0147] In an alternative manner, program 610 is invoked by processor 602 to cause the vehicle control device to perform the following operations:

[0148] In either the first or second assisted driving state, in response to determining, based on updated third perception information, that the suppression conditions of each of the multiple assisted driving modes are met, the state of the main state machine is transitioned from the first or second assisted driving state to the functional standby state.

[0149] In an alternative manner, program 610 is invoked by processor 602 to cause the vehicle control device to perform the following operations:

[0150] In the functional standby state, in response to determining that the common start condition is not met based on the updated second perception information, the state of the main state machine is transitioned to the general condition judgment state.

[0151] In an alternative manner, program 610 is invoked by processor 602 to cause the vehicle control device to perform the following operations:

[0152] The running instruction output by the first sub-state machine or the running instruction output by the second sub-state machine is input into the arbitration unit, which then checks whether the running instruction meets the preset conditions.

[0153] In response to the fulfillment of preset conditions, the target vehicle is controlled to operate via control signals; or in response to the failure to meet preset conditions, a fault warning message is sent.

[0154] In an alternative manner, program 610 is invoked by processor 602 to cause the vehicle control device to perform the following operations:

[0155] It displays information about the current assisted driving mode and the corresponding assisted driving status, or displays a prompt message for switching assisted driving modes based on the switching of assisted driving status.

[0156] In an alternative manner, program 610 is invoked by processor 602 to cause the vehicle control device to perform the following operations:

[0157] In any state of the main state machine, in response to the detection of abnormal information, the main state machine is exited and a command is issued to stop the assisted driving function.

[0158] In this embodiment, a master state machine is constructed, which includes multiple assisted driving states and mode switching states corresponding to different assisted driving modes. The mode switching state in the master state machine uniformly schedules the switching of different assisted driving modes based on the perception information of the environment and the vehicle itself, so as to adapt to different driving scenarios and improve the efficiency of assisted driving mode switching.

[0159] This invention provides a computer-readable storage medium storing at least one executable instruction that, when executed on a vehicle control device, causes the vehicle control device to perform the vehicle control method in any of the above-described method embodiments.

[0160] Specifically, the executable instructions can be used to cause the vehicle control equipment / devices to perform the following operations:

[0161] When the main state machine of the target vehicle is in the first assisted driving state, the target vehicle is controlled to run according to the first sub-state machine corresponding to the first assisted driving state; wherein, the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes, and the first assisted driving state corresponds to the first assisted driving mode;

[0162] In response to determining that the switching conditions are met based on the first perception information, a second assisted driving state is determined based on the switching conditions; the state of the main state machine is transitioned to the mode switching state, and the first assisted driving state is switched to the second assisted driving state under the control of the mode switching state;

[0163] In the second assisted driving state, the second sub-state machine corresponding to the second assisted driving state is run, and the target vehicle is controlled to run according to the second sub-state machine.

[0164] In one alternative approach, the executable instructions cause the vehicle control device to perform the following operations:

[0165] In response to the detection that the assisted driving function has been activated, the main state machine is run and enters the general condition judgment state; the main state machine also includes the general condition judgment state and the function standby state;

[0166] In the general condition judgment state, in response to determining the common start-up conditions that satisfy multiple assisted driving modes based on the second perception information, the state of the main state machine is transitioned to the functional standby state;

[0167] In the standby state, the target assisted driving mode is determined based on the third perception information, and the state of the main state machine is transferred to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

[0168] In one alternative implementation, while in a functional standby state, the target assisted driving mode is determined based on third-party perception information, including:

[0169] Based on third-party perception information, multiple candidate driver assistance modes that meet the activation conditions are identified;

[0170] The target driver assistance mode is determined from multiple candidate driver assistance modes according to preset rules.

[0171] In one optional implementation, multiple driver assistance modes each have their own levels, and a target driver assistance mode is determined from multiple candidate driver assistance modes according to preset rules, including:

[0172] From multiple candidate driver assistance modes, select the candidate driver assistance mode with the highest level as the target driver assistance mode.

[0173] In one alternative approach, the executable instructions cause the vehicle control device to perform the following operations:

[0174] In either the first or second assisted driving state, in response to determining, based on updated third perception information, that the suppression conditions of each of the multiple assisted driving modes are met, the state of the main state machine is transitioned from the first or second assisted driving state to the functional standby state.

[0175] In one alternative approach, the executable instructions cause the vehicle control device to perform the following operations:

[0176] In the functional standby state, in response to determining that the common start condition is not met based on the updated second perception information, the state of the main state machine is transitioned to the general condition judgment state.

[0177] In one alternative approach, the executable instructions cause the vehicle control device to perform the following operations:

[0178] The running instruction output by the first sub-state machine or the running instruction output by the second sub-state machine is input into the arbitration unit, which then checks whether the running instruction meets the preset conditions.

[0179] In response to the fulfillment of preset conditions, the target vehicle is controlled to operate via control signals; or in response to the failure to meet preset conditions, a fault warning message is sent.

[0180] In one alternative approach, the executable instructions cause the vehicle control device to perform the following operations:

[0181] It displays information about the current assisted driving mode and the corresponding assisted driving status, or displays a prompt message for switching assisted driving modes based on the switching of assisted driving status.

[0182] In one alternative approach, the executable instructions cause the vehicle control device to perform the following operations:

[0183] In any state of the main state machine, in response to the detection of abnormal information, the main state machine is exited and a command is issued to stop the assisted driving function.

[0184] In this embodiment, a master state machine is constructed, which includes multiple assisted driving states and mode switching states corresponding to different assisted driving modes. The mode switching state in the master state machine uniformly schedules the switching of different assisted driving modes based on the perception information of the environment and the vehicle itself, so as to adapt to different driving scenarios and improve the efficiency of assisted driving mode switching.

[0185] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system, or other device. Furthermore, the embodiments of this invention are not directed to any particular programming language.

[0186] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of the invention may be practiced without these specific details. Similarly, for the sake of brevity and to aid in understanding one or more aspects of the invention, in the description of exemplary embodiments of the invention above, various features of the embodiments are sometimes grouped together in a single embodiment, figure, or description thereof. The claims, which follow the detailed description, are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0187] Those skilled in the art will understand that the modules in the device of the embodiment can be adaptively changed and placed in one or more devices different from that embodiment. Modules, units, or components in the embodiment can be combined into a single module, unit, or component, and further, they can be divided into multiple sub-modules, sub-units, or sub-components, except that at least some of such features and / or processes or units are mutually exclusive.

[0188] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be construed as limiting the order of execution.

Claims

1. A vehicle control method, characterized in that, include: When the main state machine of the target vehicle is in the first assisted driving state, the target vehicle is controlled to run according to the first sub-state machine corresponding to the first assisted driving state; wherein, the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes respectively, and the first assisted driving state corresponds to the first assisted driving mode; In response to determining that the switching conditions are met based on the first perception information, a second assisted driving state is determined based on the switching conditions; the state of the main state machine is transitioned to the mode switching state, and the first assisted driving state is switched to the second assisted driving state under the control of the mode switching state; In the second assisted driving state, the second sub-state machine corresponding to the second assisted driving state is run, and the target vehicle is controlled to run according to the second sub-state machine; In response to the detection that the assisted driving function has been activated, the main state machine is run and enters a general condition judgment state; wherein, the main state machine also includes the general condition judgment state and a function standby state; In the general condition judgment state, in response to determining the common start-up conditions that satisfy the multiple assisted driving modes based on the second perception information, the state of the main state machine is transitioned to the functional standby state; In the functional standby state, the target assisted driving mode is determined based on the third perception information, and the state of the main state machine is transferred to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

2. The method according to claim 1, characterized in that, The step of determining the target assisted driving mode based on third perception information in the function standby state includes: Based on the third perception information, multiple candidate driver assistance modes that meet the activation conditions are determined; The target driver assistance mode is determined from multiple candidate driver assistance modes according to preset rules.

3. The method according to claim 2, characterized in that, The multiple driver assistance modes each have their own levels, and the step of determining the target driver assistance mode from the multiple candidate driver assistance modes according to preset rules includes: From the multiple candidate driver assistance modes, select the candidate driver assistance mode with the highest level as the target driver assistance mode.

4. The method according to claim 1, characterized in that, The method further includes: In either the first or second assisted driving state, in response to determining, based on updated third perception information, the suppression conditions of each of the plurality of assisted driving modes are satisfied, the state of the main state machine is transitioned from the first or second assisted driving state to a functional standby state.

5. The method according to claim 1 or 4, characterized in that, The method further includes: In the functional standby state, in response to determining, based on the updated second sensing information, that the common startup condition is not met, the state of the main state machine is transitioned to the general condition judgment state.

6. The method according to any one of claims 1-4, characterized in that, The method further includes: The running instruction output by the first sub-state machine or the running instruction output by the second sub-state machine is input to the arbitration unit, and the arbitration unit detects whether the running instruction meets the preset conditions. In response to the fulfillment of preset conditions, the target vehicle is controlled to operate via the control signal; or in response to the failure to meet preset conditions, a fault warning message is sent.

7. The method according to any one of claims 1-4, characterized in that, The method further includes: It displays information about the currently used driver assistance mode, or displays corresponding prompts for switching driver assistance modes based on the switching status.

8. A vehicle control device, characterized in that, include: The first control module is used to control the operation of the target vehicle according to the first sub-state machine corresponding to the first assisted driving state when the main state machine of the target vehicle is in the first assisted driving state; wherein, the main state machine includes assisted driving states and mode switching states corresponding to multiple assisted driving modes respectively, and the first assisted driving state corresponds to the first driving mode; The switching module is used to respond to determining that the switching conditions are met based on the first perception information, and to determine the second assisted driving state based on the switching conditions; to transition the state of the main state machine to the mode switching state, and to switch the first assisted driving state to the second assisted driving state under the control of the mode switching state. The second control block is used to run the second sub-state machine corresponding to the second assisted driving state in the second assisted driving state, and control the target vehicle to run according to the second sub-state machine; The operation module is used to run the main state machine and enter the general condition judgment state in response to the detection that the assisted driving function is activated; wherein, the main state machine also includes the general condition judgment state and the function standby state; A common condition determination module is used to, in response to determining a common start-up condition that satisfies the multiple assisted driving modes based on the second perception information, transition the state of the main state machine to the functional standby state under the general condition judgment state. The driving mode determination module is used to determine the target assisted driving mode based on third perception information in the function standby state, and to transfer the state of the main state machine to the target assisted driving state corresponding to the target assisted driving mode; so as to control the operation of the target vehicle in the target assisted driving state.

9. A vehicle control device, characterized in that, include: The processor, memory, communication interface, and communication bus are provided, wherein the processor, memory, and communication interface communicate with each other via the communication bus. The memory is used to store at least one executable instruction that causes the processor to perform the operation of the vehicle control method as described in any one of claims 1-7.

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