Vehicle automatic driving method and device

Abstract

The invention discloses a vehicle automatic driving method and device, and belongs to the technical field of vehicle automatic driving. One specific embodiment of the method comprises the following steps: aiming at the condition that a user cannot acquire geographic position information due to the fact that the user cancels personal information authorization of a vehicle associated application, according to an acquired driving automation level of a vehicle, sending prompt information aiming at vehicle system degradation and / or controlling a vehicle to execute system degradation; the degraded driving automation function is a function independent of geographic position information, and the emergency auxiliary function of the degraded driving automation function is not closed. According to the embodiment of the invention, the problem that the driving automation function is abnormal possibly caused by the fact that the geographic position information cannot be acquired due to the fact that personal information authorization is not properly processed and cancelled is solved, and the flexibility, reliability and safety of automatic driving control and the vehicle under the condition that the geographic position information cannot be acquired by the vehicle are improved; and the refinement degree of automatic driving control of the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle automatic driving, and in particular to a vehicle automatic driving method and device. Background Art

[0002] With the development and application of vehicle autonomous driving technology, the functions of advanced driver assistance systems are becoming more and more refined. For example: information assistance functions such as lane departure warning, control assistance functions such as lane keeping assistance, traffic congestion assistance, etc. Usually different levels of driving automation correspond to different types of driving automation functions, including emergency assistance, partial driving assistance, combined driving assistance, conditional autonomous driving, highly autonomous driving, and fully autonomous driving.

[0003] Vehicles are required to obtain authorization from users for their personal information before they can run functions related to personal information (such as obtaining geographic location information, etc.). Different driving automation functions rely on geographic location information to different degrees. When a user cancels authorization for personal information (i.e., the driving automation function cannot obtain geographic location information), the prior art lacks a way to handle the vehicle's driving automation function after the user cancels authorization for personal information, which brings the risk of abnormal driving automation functions due to the inability to obtain geographic location information. Summary of the invention

[0004] In view of this, the present invention provides a vehicle automatic driving method and device. In response to the situation where the user cancels the personal information authorization of the vehicle-related application and thus cannot obtain the geographic location information, the method and device can send a prompt message for the vehicle system downgrade and / or control the vehicle to perform system downgrade according to the obtained driving automation level of the vehicle, so that the downgraded driving automation function is not dependent on the geographic location information and the emergency assistance function of the downgraded driving automation function is not closed. The embodiments of the present invention overcome the problem of abnormal driving automation function caused by the inability to obtain geographic location information due to the failure to properly handle the cancellation of personal information authorization, improve the flexibility, reliability and safety of automatic driving control and the vehicle when the vehicle cannot obtain geographic location information, and improve the refinement of the vehicle automatic driving control.

[0005] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0006] In a first aspect, the present invention provides a method for automatic driving of a vehicle, comprising: in response to an operation trigger for canceling authorization of personal information for a vehicle-related application, obtaining a current driving automation level of the vehicle; wherein the operation instruction for canceling authorization of personal information prohibits the vehicle-related application from obtaining geographic location information; in a case where it is determined that a function corresponding to the current driving automation level is dependent on geographic location information, sending a prompt message for system downgrade of the vehicle, and / or controlling the vehicle to execute system downgrade; wherein the downgraded driving automation function is a function that does not depend on geographic location information, and the emergency assistance function of the downgraded driving automation function is not closed.

[0007] Optionally, controlling the vehicle to execute system downgrade includes: determining the system function activated under the current driving automation level; when the driving automation function is a predefined first driving automation function, controlling the vehicle to execute a first system downgrade operation and switching to adaptive cruise control and / or traffic congestion assistance function; when the driving automation function is a predefined second driving automation function, analyzing the driving behavior of the vehicle driver, and determining a corresponding second system downgrade operation based on the driving behavior.

[0008] Optionally, the analyzing the driving behavior of the vehicle driver and determining a corresponding second system downgrade operation according to the driving behavior include: detecting the operation condition of the steering wheel, and when it is determined that the operation condition is that the steering wheel is continuously not held, determining that the vehicle performs a third system downgrade operation and issuing an intervention request; when it is determined that the operation condition is that the steering wheel is held, sending a system downgrade prompt message; in response to receiving an instruction to confirm the system downgrade, controlling the vehicle to perform a fourth system downgrade operation and switch to adaptive cruise control and / or traffic congestion assistance function.

[0009] Optionally, when it is determined that the operation condition is holding the steering wheel, after sending the system downgrade prompt information, it further includes: based on the system downgrade prompt, in response to receiving an instruction not to perform downgrade or not receiving any instruction, before the second driving automation function exits or reaches the minimum risk state, controlling the vehicle to perform one or more of the following operations: Operation 1: Resending a prompt message for authorization inquiry of user personal information; Operation 2: Issuing an intervention request.

[0010] Optionally, the vehicle-associated application includes an application provided by a vehicle system, or a mobile terminal vehicle application bound to the vehicle.

[0011] Optionally, for the case where the vehicle-associated application is a mobile terminal vehicle application bound to the vehicle, it further includes: during the activation of the driving automation function of the vehicle, setting the page component contained in the mobile terminal vehicle application for canceling the authorization of personal information to an unselectable state.

[0012] In a second aspect, an embodiment of the present invention provides a vehicle automatic driving device, comprising: an information acquisition module and a control degradation module; wherein:

[0013] The information acquisition module is used to obtain the current driving automation level of the vehicle in response to an operation trigger of canceling the personal information authorization for the vehicle-related application; wherein the operation instruction of canceling the personal information authorization prohibits the vehicle-related application from obtaining the geographic location information;

[0014] The control downgrade module, when determining that the function corresponding to the current driving automation level is dependent on geographic location information, sends a prompt message for system downgrade of the vehicle, and / or controls the vehicle to execute system downgrade; wherein the downgraded driving automation function is a function that is not dependent on geographic location information, and the emergency assistance function of the downgraded driving automation function is not disabled.

[0015] Optionally, the vehicle automatic driving device is used to control the vehicle to execute system downgrade, including: determining the system function activated under the current driving automation level; when the driving automation function is a predefined first driving automation function, controlling the vehicle to execute a first system downgrade operation, adaptive cruise control and / or traffic congestion assistance function; when the driving automation function is a predefined second driving automation function, analyzing the driving behavior of the vehicle driver, and determining a corresponding second system downgrade operation based on the driving behavior.

[0016] Optionally, the vehicle automatic driving device is used to analyze the driving behavior of the vehicle driver and determine a corresponding second system downgrade operation based on the driving behavior, including: detecting the operation status of the steering wheel, and when it is determined that the operation status is that the steering wheel is continuously not held, determining that the vehicle performs a third system downgrade operation and issuing an intervention request; when it is determined that the operation status is that the steering wheel is held, sending a system downgrade prompt message; in response to receiving an instruction to confirm the system downgrade, controlling the vehicle to perform a fourth system downgrade operation and switch to adaptive cruise control and / or traffic congestion assistance function.

[0017] Optionally, the vehicle automatic driving device is used to, after sending a system downgrade prompt message when it is determined that the operation condition is holding the steering wheel, further include: based on the system downgrade prompt, in response to receiving an instruction not to perform downgrade or not receiving any instruction, before the second driving automation function exits or reaches the minimum risk state, controlling the vehicle to perform one or more of the following operations: Operation 1: Resending a prompt message for authorization inquiry of user personal information; Operation 2: Issuing an intervention request.

[0018] Optionally, the vehicle-associated applications included in the vehicle automatic driving device include applications provided by the vehicle system, or mobile terminal vehicle applications bound to the vehicle.

[0019] Optionally, in the case where the vehicle-associated application is a mobile terminal vehicle application bound to the vehicle, the vehicle automatic driving device is further used to set a page component for canceling personal information authorization contained in the mobile terminal vehicle application to an unselectable state during the activation of the vehicle's driving automation function.

[0020] In a third aspect, an embodiment of the present invention provides a vehicle, comprising the vehicle automatic driving device described in the second aspect.

[0021] In a fourth aspect, an embodiment of the present invention provides an electronic device, including:

[0022] one or more processors;

[0023] a storage device for storing one or more programs,

[0024] When the one or more programs are executed by the one or more processors, the one or more processors implement the vehicle automatic driving method as described in the above-mentioned embodiment of the present invention.

[0025] In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium on which a computer program for implementing a vehicle automatic driving method is stored. When the computer program is executed by an on-board processor, the vehicle automatic driving method of the embodiment of the present invention is implemented.

[0026] The technical solution of the above invention has the following advantages or beneficial effects: in the case where the user cancels the personal information authorization of the vehicle-related application and thus cannot obtain the geographic location information, it is possible to send a prompt message for the vehicle system downgrade and / or control the vehicle to perform system downgrade according to the obtained driving automation level of the vehicle, so that the downgraded driving automation function is a function that does not rely on geographic location information. The embodiment of the present invention overcomes the problem of abnormal driving automation function caused by the inability to obtain geographic location information due to the failure to properly handle the cancellation of personal information authorization, improves the flexibility, reliability and safety of the automatic driving control and the vehicle when the vehicle cannot obtain geographic location information, and improves the refinement of the automatic driving control of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 is a flow chart of a method for automatic driving of a vehicle provided according to an embodiment of the present invention;

[0028] Figure 2 is a flow chart of another method for automatic driving of a vehicle provided according to an embodiment of the present invention;

[0029] Figure 3 is a visual interactive schematic diagram of a method for automatic driving of a vehicle provided according to an embodiment of the present invention;

[0030] Figure 4 is a schematic diagram of the main structure of an automatic driving device for a vehicle suitable for implementing an embodiment of the present invention;

[0031] Figure 5 is an exemplary vehicle system architecture diagram to which embodiments of the present invention may be applied;

[0032] Figure 6 It is a schematic diagram of the structure of a computer system suitable for implementing the embodiment of the present invention. DETAILED DESCRIPTION

[0033] The following is a description of exemplary embodiments of the present invention in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and conciseness, the description of well-known functions and structures is omitted in the following description.

[0034] It should be pointed out that the embodiments of the present invention and the technical features therein may be combined with each other without conflict.

[0035] In addition, the terms "first", "second", "third", etc. included in the embodiments of the present invention are used to distinguish similar objects, and are not necessarily used to describe a specific number or sequence. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances. This is just a way of distinguishing objects with the same attributes when describing them in the embodiments of the present invention.

[0036] Furthermore, the vehicle involved in the embodiment of the present invention may be an internal combustion engine vehicle using an engine as a power source, a hybrid vehicle using an engine and an electric motor as a power source, an electric vehicle using an electric motor as a power source, or the like.

[0037] It should be noted that in the technical solution of the present invention, the collection, use, storage, sharing and transfer of user personal information involved are in compliance with the provisions of relevant laws and regulations, and it is necessary to inform the user and obtain the user's consent or authorization. When applicable, the user's personal information is de-identified and / or anonymized and / or encrypted.

[0038] Figure 1 The following is a schematic diagram showing the main steps of the method for visualizing vehicle data provided by an embodiment of the present invention:

[0039] Step S101: In response to an operation trigger for canceling personal information authorization for a vehicle-related application, obtaining a current driving automation level of the vehicle; wherein the operation instruction for canceling personal information authorization prohibits the vehicle-related application from obtaining geographic location information.

[0040] Specifically, usually, an autonomous driving intelligent vehicle can realize data interaction between the user and the vehicle through the vehicle system provided by it or the mobile terminal vehicle application bound to the vehicle unique identification number (VIN). The data interaction includes the user sending instructions through the vehicle system or the mobile terminal vehicle application (APP) page, or the user obtaining various information (such as prompt information, etc.) sent by the vehicle control unit through the page. That is, the vehicle-related application includes the application provided by the vehicle system, or the mobile terminal vehicle application bound to the vehicle.

[0041] Figure 2A schematic diagram of an interface displayed on a center console inside a vehicle is shown, wherein S1 and S2 represent interfaces displayed on center consoles located at different positions of the vehicle. It is understandable that the number (one or more) and positions of center consoles included in different vehicle types may be different. Among them, "123" represents an example of prompt information displayed on the interface, wherein the prompt information may also be countdown information to prompt that a system downgrade operation for the vehicle is performed after a set time (e.g., 3 seconds, 5 seconds, etc.), and the prompt information may also include button components such as "Confirm" and "Cancel". The center console may also display the route of the vehicle in automatic driving, environmental visualization information, and buttons corresponding to various operations for the vehicle. The present invention does not limit the prompt information displayed on the interface, the number and position of components, and functions.

[0042] Furthermore, different in-vehicle applications or mobile terminal vehicle applications, when in use, all contain inquiry information regarding authorization of personal information, so that the user can confirm whether to authorize the acquisition of one or more types of personal information by selecting option components such as "authorization" or "cancel authorization". There are many types of personal information that require authorization, and the vehicle driving application scenario of the present invention only discusses the authorization of "geolocation information" in personal information. In the case where the user cancels the authorization of personal information, the representative application (in-vehicle application or mobile terminal vehicle application) cannot obtain various types of information in the personal information. In the case where the personal information is geographic location information, canceling the authorization of personal information results in the inability to obtain navigation information, current location information (for example: GNSS coordinates, where GNSS is the Global Navigation Satellite System, the full name is Global Navigation Satellite System), etc. That is, the operation instruction to cancel the authorization of personal information prohibits the vehicle-associated application from obtaining geographic location information;

[0043] Furthermore, among the functions corresponding to the various driving automation levels of the vehicle, different driving automation functions need to rely on the acquired geographic location information (navigation information, GNSS coordinates) to perform lateral and / or longitudinal motion control of the vehicle. Therefore, the embodiments of the present invention properly handle the situation where the geographic location information cannot be obtained due to the cancellation of personal information authorization, so as to improve the safety and control refinement of the vehicle's driving automation functions.

[0044] Furthermore, the current driving automation level of the vehicle is obtained; in the embodiment of the present invention, by determining the current driving automation level of the vehicle, only one or more driving automation level functions that depend on the geographic location information are controlled. Through the preset dependency relationship between the driving automation level and the geographic location information, it is determined whether the current driving automation level of the vehicle is affected by the cancellation of the personal information authorization.

[0045] Step S102: When it is analyzed that the function corresponding to the current driving automation level is dependent on the geographic location information, a prompt message for system downgrade of the vehicle is sent, and / or the vehicle is controlled to execute system downgrade; wherein the downgraded driving automation function is a function that is not dependent on the geographic location information, and the emergency assistance function of the downgraded driving automation function is not disabled.

[0046] Specifically, when it is analyzed that the current driving automation level depends on the geographical location information, corresponding automation processing is performed.

[0047] In the embodiment of the present invention, for the operation trigger of canceling the authorization of personal information, the corresponding processing methods executed are as follows:

[0048] The first method is to send a reminder message regarding the vehicle system degradation.

[0049] The second method is to control the vehicle to perform system degradation. In the embodiment of the present invention, the system degradation may occur between different driving automation levels or within the same level, for example, the maximum speed of the vehicle is reduced from 120 kph to 60 kph.

[0050] The third method: a combination of the first and second methods.

[0051] Specifically, for sending the prompt information for the vehicle system degradation, the following method can be used: Figure 2 The center console page shown displays relevant downgrade prompt information such as "The vehicle is about to perform a system downgrade" to prompt the driver to perform corresponding processing; or displays a pop-up window information containing a selection button to perform a confirmation operation for the system downgrade based on the received driver option; the prompt information for the vehicle system downgrade can also be sent through sound, touch, etc.

[0052] Furthermore, embodiments of the present invention provide a variety of methods for controlling the vehicle to perform system downgrade, and different downgrade operations are taken for different driving automation functions activated by the current driving automation level. Among them, the downgraded driving automation function is a function that does not rely on geographic location information. Further, controlling the vehicle to perform system downgrade includes: determining the system function activated by the current driving automation level; when the driving automation function is a predefined first driving automation function, controlling the vehicle to perform a first system downgrade operation and switch to adaptive cruise control and / or traffic congestion assistance function; when the driving automation function is a predefined second driving automation function, analyzing the driving behavior of the vehicle driver, and determining a corresponding second system downgrade operation according to the driving behavior.

[0053] In an embodiment of the present invention, the predefined first driving automation function is a partial driving assistance or a combined driving assistance function. When the first driving automation function is activated, when it is determined that the user cancels the personal information authorization, the vehicle is controlled to perform a first system downgrade operation, wherein the first system downgrade operation includes a switching operation for the driving automation function, for example: downgrading (switching to) the city navigation assistance in the combined driving assistance function to the adaptive cruise control function, and for example, switching (downgrading) the system function activated by L2+ / L2++ to the L1 / L2 function. The switched driving automation function may be adaptive cruise control and / or traffic congestion assistance, that is, the vehicle is controlled to switch to a driving automation function that does not rely on geographic location information, and the emergency assistance function of the downgraded driving automation function is not closed.

[0054] In an embodiment of the present invention, the predefined second driving automation function is an automatic driving function. When the automatic driving function is activated, the driver's driving behavior can be further judged for the user's cancellation of personal information authorization, and then the driving behavior of the vehicle driver is analyzed, and the corresponding second system downgrade operation is determined according to the driving behavior. Among them, the second system downgrade operation is to keep the function of the vehicle's automated driving level unchanged, while reducing the functional performance, that is, partially changing the original control strategy of the function, not pursuing / achieving the preset highest functional performance; for example, reducing the vehicle speed, etc. The safety of the vehicle's driving automation and the fineness of control are further improved.

[0055] Specifically, when the automatic driving function is activated, the driving behavior of the vehicle driver is analyzed, and the corresponding second system downgrade operation is determined according to the driving behavior, including: detecting the operation status of the steering wheel, and when it is determined that the operation status is that the steering wheel is continuously not held, determining that the vehicle performs a third system downgrade operation and issuing an intervention request; when it is determined that the operation status is that the steering wheel is held, sending a system downgrade prompt message; in response to receiving an instruction to confirm the system downgrade, controlling the vehicle to perform a fourth system downgrade operation and switch to adaptive cruise control and / or traffic congestion assistance function.

[0056] Specifically, analyzing the driving behavior of the vehicle driver is to detect the driver's operation of the steering wheel, for example, by detecting whether the steering wheel has lateral control capability to detect the driver's operation of taking the steering wheel off (i.e. holding the steering wheel or not responding to the system lowering operation) or not taking the steering wheel off (holding the steering wheel).

[0057] Specifically, the operation conditions of the steering wheel are detected: 1) for the operation condition of continuous hands-off steering wheel (the driver continuously takes the steering wheel off the wheel or does not respond to system degradation), it is determined that the vehicle performs a third system degradation operation, wherein the third system degradation operation includes maintaining the function of the vehicle's automated driving level unchanged while reducing the functional performance; so as to improve the safety and controllability of the vehicle.

[0058] 2) When the operation condition is that the driver holds the steering wheel (the driver operates the steering wheel, i.e., the driver does not take his hands off the steering wheel), a system downgrade prompt message is sent; in response to receiving an instruction to confirm the system downgrade, the vehicle is controlled to perform a fourth system downgrade operation, switching to adaptive cruise control and / or traffic congestion assistance. The fourth system downgrade operation includes a switching operation for a system automation function, such as switching to adaptive cruise control and / or traffic congestion assistance.

[0059] By analyzing the driver's operation of the steering wheel and adopting different system degradation operations, the safety of the vehicle's driving automation and the precision of control are further improved.

[0060] Furthermore, after sending the system downgrade prompt information, it further includes: based on the system downgrade prompt, in response to receiving an instruction not to perform downgrade or not receiving any instruction, before the second driving automation function exits or reaches the minimum risk state, controlling the vehicle to perform one or more of the following operations: Operation 1: resending a prompt message for the user's personal information authorization inquiry; Operation 2: issuing an intervention request. Among them, operation 1 allows the opportunity to re-perform navigation based on geographic location information by re-obtaining user personal information authorization; operation 2 sends a takeover request from automatic driving to manual driving, so that the driver can further control the vehicle, and the refinement of the control of system downgrade is further improved through the above one or more operations. Among them, the minimum risk strategy (Minimal Risk Maneuver, MRM) refers to the means taken to make the vehicle reach the minimum risk state (Minimal Risk Condition, MRC) when the vehicle's driving automation system cannot continue to perform dynamic driving tasks.

[0061] Further preferably, for the case where the vehicle-associated application is a mobile terminal vehicle application bound to the vehicle, it further includes: in the activation of the driving automation function of the vehicle, the page component for canceling the authorization of personal information contained in the mobile terminal vehicle application is set to an unselectable state. Specifically, since the mobile terminal vehicle application can allow different accounts (i.e., different users) to log in, in order to prevent the cancellation of personal information authorization due to misoperation during the activation of the driving automation function of the vehicle, the cancellation operation of personal information authorization by all or part of the users in the mobile terminal vehicle application can be prohibited. The prohibition method can be to set the page component (such as a button, etc.) used to cancel the authorization of personal information to an unselectable state (for example, set it to a gray and unclickable state). This processing step further improves the degree of refinement of the vehicle's automatic driving control.

[0062] Figure 3 This is a schematic diagram of the main steps of another method for automatic driving of a vehicle provided according to an embodiment of the present invention:

[0063] Step S301: In response to an operation trigger for canceling personal information authorization for a vehicle-related application, obtaining the current driving automation level of the vehicle; wherein the operation instruction for canceling personal information authorization prohibits the vehicle-related application from obtaining geographic location information.

[0064] Step S302: Determine the driving automation function activated by the current driving automation level. If the driving automation function is a predefined first driving automation function, execute step S303; if the driving automation function is a predefined second driving automation function, execute step S304.

[0065] Step S303: Control the vehicle to perform a first system downgrade operation, switching to an adaptive cruise control and / or traffic jam assistance function.

[0066] Step S304: Determine the driving behavior of the vehicle driver.

[0067] Step S305: Detect the operation status of the steering wheel; if it is determined that the operation status is that the steering wheel is continuously not held by hands, execute step S306, otherwise execute step S307.

[0068] Step S306: Determine that the vehicle performs a third system degradation operation and issue an intervention request.

[0069] Step S307: sending a system downgrade prompt message; in response to receiving an instruction to confirm the system downgrade, controlling the vehicle to perform a fourth system downgrade operation, switching to adaptive cruise control and / or traffic congestion assistance function.

[0070] Specifically, the description of step S301 to step S307 is consistent with the description of step S101 to step S103, and will not be repeated here.

[0071] In an embodiment of the present invention, for a situation where geographic location information is unavailable due to cancellation of personal information authorization, different control strategies (such as downgrade, etc.) are executed for a variety of driving automation functions included in a driving automation level that relies on geographic location information. This improves the flexibility, reliability, and safety of vehicle automatic driving control in the event that geographic location information is unavailable due to cancellation of personal information authorization.

[0072] Figure 4 4 is a schematic diagram of the main structure of a vehicle automatic driving device 400 according to an embodiment of the present invention; it includes an information acquisition module 401 and a control degradation module 402; wherein,

[0073] The information acquisition module 401 is used to obtain the current driving automation level of the vehicle in response to an operation trigger of canceling the personal information authorization for the vehicle-related application; wherein the operation instruction of canceling the personal information authorization prohibits the vehicle-related application from obtaining the geographic location information;

[0074] The control downgrade module 402 is used to send a prompt message for the vehicle system downgrade when it is determined that the function corresponding to the current driving automation level is dependent on geographic location information, and / or control the vehicle to execute system downgrade; wherein the downgraded driving automation function is a function that does not depend on geographic location information, and the emergency assistance function of the downgraded driving automation function is not closed.

[0075] Figure 5 An exemplary vehicle system architecture 500 is shown to which the vehicle automatic driving method or vehicle automatic driving device according to an embodiment of the present invention can be applied.

[0076] like Figure 5 As shown, the vehicle system architecture 500 may include various systems, such as a vehicle automatic driving device 501, a power system 502, a sensor system 503, a control system 504, one or more peripheral devices 505, a power supply 506, a computer system 507, and a user interface 508. Optionally, the vehicle system architecture 500 may include more or fewer systems, and each system may include multiple elements. In addition, each system and element of the vehicle system architecture 500 may be interconnected by wire or wirelessly.

[0077] Among them, the vehicle system architecture 500 includes a vehicle automatic driving device 501, which can be used to obtain the current driving automation level of the vehicle in response to an operation trigger for canceling the authorization of personal information for a vehicle-related application; wherein the operation instruction for canceling the authorization of personal information prohibits the vehicle-related application from obtaining geographic location information; in the case where it is analyzed that the function corresponding to the current driving automation level is dependent on the geographic location information, a prompt message for downgrading the vehicle system is sent, and / or the vehicle is controlled to execute system downgrade; wherein the downgraded driving automation function is a function that does not depend on geographic location information, and the emergency assistance function of the downgraded driving automation function is not closed.

[0078] The power system 502 may include components that provide power movement for the vehicle. For example, the power system 502 may include an engine, an energy source, a transmission, wheels, tires, etc. Among them, the engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination of other types of engines, such as a hybrid engine consisting of a gas-oil engine and an electric motor, and a hybrid engine consisting of an internal combustion engine and an air compression engine. The engine converts the energy source into mechanical energy and provides it to the transmission. Examples of energy sources may include gasoline, diesel, other petroleum-based fuels, propane, other compressed gas-based fuels, ethanol, solar panels, batteries, and other sources of electricity. The energy source may also provide energy for other systems of the vehicle. In addition, the transmission may include a gearbox, a differential, a drive shaft, a clutch, etc.

[0079] The sensor system 503 may include sensors inside the vehicle. The sensor system 503 may also sense sensors for the vehicle's surroundings. For example, a positioning system, a radar, a lidar, an inertial measurement unit, and a camera. The positioning system may be used to locate the vehicle's geographic location. An IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU may be a combination of an accelerometer and a gyroscope. Radar and lidar may utilize radio signals to sense objects within the vehicle's surroundings. In some embodiments, in addition to sensing objects, radar may also be used to sense the speed and / or direction of travel of an object, etc. A camera may be used to capture multiple images of the vehicle's surroundings. The camera may be a static or video camera, or a depth of field camera.

[0080] The control system 504 may include a software system for implementing the method for automatic driving of the vehicle, and the control system 504 may also include hardware systems such as a throttle, a steering wheel, and a seat belt system. In addition, the control system 504 may include components other than those shown and described in addition or in substitution. Alternatively, some of the components shown above may be reduced.

[0081] The control system 504 interacts with the vehicle's internal sensors, external sensors, the vehicle's automatic driving device, other computer systems or users through the peripheral device 505. The peripheral device 505 may include a wireless communication system, an onboard computer, an onboard display device, a virtual reality device, a microphone and / or a speaker.

[0082] In some embodiments, peripheral device 505 provides a means for a user of control system 504 to interact with a user interface.

[0083] The wireless communication system can communicate with one or more devices wirelessly directly or via a communication network. For example, the wireless communication system can communicate using a cellular network, WiFi, a wireless local area network (WLAN), or directly communicate with a device using an infrared link, Bluetooth, or ZigBee.

[0084] The power source 506 can provide power to various components of the vehicle. The power source 506 can be a rechargeable lithium-ion or lead-acid battery.

[0085] Part or all of the functions for implementing the vehicle's automatic driving are controlled by a computer system 507. The computer system 507 may include at least one processor that executes instructions stored in a non-transitory computer-readable medium such as a memory. The computer system 507 is an execution code of the above-mentioned vehicle automatic driving method.

[0086] The processor can be any conventional processor, such as a commercially available central processing unit. Alternatively, the processor can be a dedicated device such as an application specific integrated circuit or other hardware-based processor. Those of ordinary skill in the art will appreciate that the processor, computer, or memory can actually include multiple processors, computers, or memories that may or may not be stored in the same physical housing. For example, the memory can be a hard disk drive or other storage media that is located in a housing different from the computer. Therefore, references to processors or computers will be understood to include references to a collection of processors or computers or memories that may or may not operate in parallel. Different from using a single processor to perform the steps described herein, some components such as steering components and deceleration components can each have their own processors that only perform calculations related to the functions specific to the components.

[0087] The user interface 508 is used to provide prompt information for system degradation to the user of the vehicle or receive information or instructions from the user. Optionally, the user interface 508 may include one or more input / output devices within the set of peripheral devices 505, such as a wireless communication system, an onboard computer, a microphone, and a speaker.

[0088] It should be understood that the above components are only examples. In actual applications, the components in the above modules or systems may be added or deleted according to actual needs. Figure 5 It should not be understood as limiting the embodiments of the present application.

[0089] Reference below Figure 6 , which shows a schematic diagram of the structure of a computer system 600 suitable for implementing an embodiment of the present invention. Figure 6 The computer system shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0090] like Figure 6 As shown, the computer system 600 includes a central processing unit (CPU) 601, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 602 or a program loaded from a storage part 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the system 600 are also stored. The CPU 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0091] The following components are connected to the I / O interface 605: an input section 606, an output section 607 including a cathode ray tube (CRT), a liquid crystal display (LCD), a speaker, etc., a storage section 608 including a hard disk, etc., and a communication section 609 including a network interface card such as a LAN card, a modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to the I / O interface 605 as needed. A removable medium 611, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 610 as needed, so that a computer program read therefrom is installed into the storage section 608 as needed.

[0092] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through the communication part 609, and / or installed from the removable medium 611. When the computer program is executed by the central processing unit (CPU) 601, the above-mentioned functions defined in the system of the present invention are executed.

[0093] It should be noted that the computer-readable medium shown in the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, optical cable, RF, etc., or any suitable combination of the above.

[0094] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0095] As another aspect, the present invention also provides a computer-readable medium, which may be included in the device described in the above embodiment; or it may exist independently and not be assembled into the device. The above computer-readable medium carries one or more programs, and when the above one or more programs are executed by a device, the device includes: in response to an operation trigger for canceling personal information authorization for a vehicle-related application, obtaining the current driving automation level of the vehicle; wherein the operation instruction for canceling personal information authorization prohibits the vehicle-related application from obtaining geographic location information; in the case where it is analyzed that the function corresponding to the current driving automation level depends on geographic location information, sending a prompt message for the vehicle system downgrade, and / or controlling the vehicle to execute system downgrade; wherein the downgraded driving automation function is a function that does not depend on geographic location information and the emergency assistance function of the downgraded driving automation function is not closed.

[0096] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions may occur depending on design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for automatic vehicle driving, characterized in that: include: In response to an operation trigger for canceling personal information authorization for a vehicle-related application, obtaining a current driving automation level of the vehicle; wherein the operation instruction for canceling personal information authorization prohibits the vehicle-related application from obtaining geographic location information; When it is determined that the function corresponding to the current driving automation level is dependent on geographic location information, a prompt message for system downgrade of the vehicle is sent, and / or the vehicle is controlled to execute system downgrade; wherein, the downgraded driving automation function is a function that is not dependent on geographic location information, and the emergency assistance function of the downgraded driving automation function is not closed.

2. The vehicle automatic driving method according to claim 1, characterized in that: The controlling the vehicle to perform system degradation includes: Determining the system functions activated at the current driving automation level; When the driving automation function is a predefined first driving automation function, controlling the vehicle to perform a first system degradation operation, switching to an adaptive cruise control and / or a traffic jam assistance function; In a case where the driving automation function is a predefined second driving automation function, a driving behavior of a vehicle driver is analyzed, and a corresponding second system degradation operation is determined according to the driving behavior.

3. The vehicle automatic driving method according to claim 2, characterized in that: The analyzing the driving behavior of the vehicle driver and determining the corresponding second system degradation operation according to the driving behavior includes: Detect the operation of the steering wheel. When it is determined that the operation condition is that the hands-free steering wheel is continuously not held, determining that the vehicle performs a third system degradation operation and issuing an intervention request; When it is determined that the operation condition is holding the steering wheel, a system downgrade prompt message is sent; in response to receiving an instruction to confirm the system downgrade, the vehicle is controlled to perform a fourth system downgrade operation and switch to adaptive cruise control and / or traffic congestion assistance function.

4. The vehicle automatic driving method according to claim 3, characterized in that: When it is determined that the operation condition is holding the steering wheel, after sending the system downgrade prompt information, the method further includes: Based on the system degradation prompt, in response to receiving an instruction not to perform the degradation or in the absence of any instruction, before the second driving automation function exits or reaches a minimum risk state, controlling the vehicle to perform one or more of the following operations: Action 1: Resend the prompt message for the user's personal information authorization inquiry; Operation 2: Issue an intervention request.

5. The vehicle automatic driving method according to claim 1, characterized in that: The vehicle-associated applications include applications provided by the vehicle system, or mobile terminal vehicle applications bound to the vehicle.

6. The vehicle automatic driving method according to claim 5, characterized in that: In case that the vehicle-associated application is a mobile terminal vehicle application bound to the vehicle, the method further includes: During activation of the driving automation function of the vehicle, a page component for canceling personal information authorization contained in the mobile terminal vehicle application is set to an unselectable state.

7. A vehicle automatic driving device, characterized in that: include: Acquisition information module and control degradation module; wherein, The information acquisition module is used to obtain the current driving automation level of the vehicle in response to an operation trigger of canceling the personal information authorization for the vehicle-related application; wherein the operation instruction of canceling the personal information authorization prohibits the vehicle-related application from obtaining the geographic location information; The control downgrade module, when determining that the function corresponding to the current driving automation level is dependent on geographic location information, sends a prompt message for system downgrade of the vehicle, and / or controls the vehicle to execute system downgrade; wherein the downgraded driving automation function is a function that is not dependent on geographic location information, and the emergency assistance function of the downgraded driving automation function is not disabled.

8. A vehicle, characterized in that: include: The vehicle automatic driving device as described in claim 7.

9. An electronic device for automatic driving of a vehicle, characterized in that: include: one or more processors; a storage device for storing one or more programs, When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 6.

10. A computer-readable storage medium having a computer program for realizing automatic driving of a vehicle stored thereon, characterized in that: include: When the computer program is executed by a processor, the method according to any one of claims 1 to 6 is implemented.

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