Method and system for aided driving and / or automated driving control of vehicle

Abstract

The present invention relates to a method for aided driving control and / or automatic driving control of a vehicle, comprising the following steps: acquiring driving scene information of the vehicle during a driving process of the vehicle in which an aided driving system and / or an automatic driving system are turned on, and evaluating a complexity of a driving scene of the vehicle based on the driving scene information (S1); the degree of participation of the driver with the vehicle control is adjusted based on the driving scenario information and the complexity of the driving scenario (S2). The invention also relates to a system for aided driving control and / or automatic driving control of a vehicle, a vehicle comprising said system and a computer program product. According to the method and the device, the vehicle control task in the current driving scene is jointly completed through cooperation of the auxiliary driving system and / or the automatic driving system and the driver, so that the sense of participation of the driver in the auxiliary driving and / or automatic driving process of the vehicle is optimized, and the efficiency of co-driving of people and the vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle assisted driving and / or automatic driving, and in particular to a method for assisted driving control and / or automatic driving control of a vehicle, a system for assisted driving control and / or automatic driving control of a vehicle, a vehicle including the system according to the present invention, and a computer program product for at least assisting in implementing the steps of the method according to the present invention. Background Art

[0002] With the development of vehicle intelligence, more and more vehicles are equipped with high-level assisted driving systems and / or automatic driving systems to reduce the driver's operating burden. In relatively simple preset driving scenarios, the assisted driving system and / or automatic driving system can completely take over the control of the vehicle, such as performing adaptive cruise control on highways.

[0003] However, the current assisted driving and / or autonomous driving technologies are still somewhat behind human drivers, especially when encountering more complex driving scenarios (such as difficult lane change scenarios, obstacle avoidance scenarios, ramp entry and exit scenarios, etc.), the assisted driving system and / or autonomous driving system usually cannot control the vehicle to perform the correct operation, but can only notify the driver to take over the vehicle control completely. Even in some driving scenarios, the driver will be notified to take over the vehicle control completely only after the vehicle misses the best operation opportunity. For example, the assisted driving system and / or autonomous driving system has been waiting for the best lane change opportunity to enter the ramp, but due to complex road conditions, the lane change operation was not performed in time, resulting in missing the ramp entrance, which greatly affects the experience of the assisted driving system and / or autonomous driving system.

[0004] Therefore, how to optimize the human-vehicle co-driving mode between the driver and the assisted driving system and / or the autonomous driving system has become a technical problem that needs to be solved at present. Summary of the invention

[0005] The object of the present invention is to provide a method for assisted driving control and / or automatic driving control of a vehicle, a system for assisted driving control and / or automatic driving control of a vehicle, a vehicle comprising the system according to the present invention, and a computer program product, so as to at least partially solve the problems in the prior art.

[0006] According to a first aspect of the present invention, a method for assisted driving control and / or automatic driving control of a vehicle is provided, the method comprising the following steps:

[0007] - During the driving process of the vehicle with the auxiliary driving system and / or the automatic driving system turned on, obtaining the driving scene information of the vehicle, and evaluating the complexity of the driving scene of the vehicle based on the driving scene information; and

[0008] - adjusting the driver's involvement in vehicle control based on the driving scenario information and the complexity of the driving scenario.

[0009] The core concept of the present invention is to evaluate the complexity of the current driving scene, and appropriately guide the driver to participate in the control of the vehicle when it is recognized that the current driving scene exceeds the control capability of the assisted driving system and / or the automatic driving system with the current parameter configuration. According to the present invention, the vehicle control task in the current driving scene is completed through the cooperation between the assisted driving system and / or the automatic driving system and the driver, thereby not only optimizing the driver's sense of participation in the assisted driving and / or automatic driving process of the vehicle, but also improving the efficiency of the co-driving of the driver and the vehicle.

[0010] According to an optional embodiment of the present invention, the complexity can be used to characterize the difficulty of operating the driving scene for the assisted driving system and / or the automatic driving system with the current parameter configuration, and in particular, it can be used to determine whether the current driving scene exceeds the control capability of the assisted driving system and / or the automatic driving system with the current parameter configuration. Optionally, the participation degree can be used to characterize the proportional relationship between the vehicle control operations in which the driver participates and the vehicle control operations in which the assisted driving system and / or the automatic driving system participates when the driver and the assisted driving system and / or the automatic driving system cooperatively control the vehicle, wherein the more vehicle control operations the driver participates in, the higher the driver's participation degree.

[0011] According to another optional embodiment of the present invention, prompt information about the vehicle control request can be sent to the driver based on the driving scene information and the complexity of the driving scene to adjust the driver's participation in the vehicle control. Optionally, the prompt information can include vehicle control operations that the driver needs to participate in, wherein the vehicle control operations include, for example, steering wheel control operations, accelerator pedal control operations, brake control operations, and / or driving operation tasks.

[0012] According to another optional embodiment of the present invention, the method may further include:

[0013] - Based on the driving scenario information, information about vehicle control is exchanged with the driver, and parameter configuration of the vehicle's auxiliary driving system and / or automatic driving system is adjusted based on the information interaction.

[0014] Optionally, the information interaction about vehicle control may include, for example, information interaction about the lateral motion control of the vehicle, information interaction about the longitudinal motion control of the vehicle, and / or information interaction about operation strategies for surrounding vehicles, etc. Exemplarily, the longitudinal motion control of the vehicle includes, for example, longitudinal following distance control and / or longitudinal following speed control, etc.; the lateral motion control of the vehicle includes, for example, lateral spacing control with surrounding vehicles, lateral spacing control with lane lines, lateral spacing control with roadside obstacles, and / or lane selection, etc.; the operation strategies for surrounding vehicles include, for example, response operation strategies for surrounding vehicles of dangerous vehicle types on adjacent lanes, wherein the response operation strategies include long-distance deceleration and avoidance, medium-distance lane change and overtaking, and / or close-distance emergency braking, etc.

[0015] According to another optional embodiment of the present invention, the driving scene information may include vehicle surrounding environment parameters, vehicle configuration parameters and / or driver status parameters, etc., as evaluation factors for evaluating the complexity of the vehicle's driving scene.

[0016] According to another optional embodiment of the present invention, the vehicle's surrounding environment parameters may include, for example, the complexity of driving environment parameters, the complexity of surrounding vehicle parameters, the complexity of surrounding vulnerable traffic participant parameters, the complexity of weather parameters, etc. Exemplarily, the driving environment parameters include, for example, driving road condition information, lane line clarity, lane curvature, lane number and / or obstacle information, etc.; the surrounding vehicle parameters include, for example, the type of surrounding vehicles, the density of surrounding vehicles, the speed of surrounding vehicles and / or the trajectory of surrounding vehicles, etc.; the surrounding vulnerable traffic participant parameters include, for example, the density of surrounding vulnerable traffic participants, the speed of surrounding vulnerable traffic participants and / or the trajectory of surrounding vulnerable traffic participants, etc.; the weather parameters include, for example, sunlight conditions, rainfall levels, visibility conditions and / or road icing conditions, etc.

[0017] According to another optional embodiment of the present invention, the configuration parameters of the vehicle include, for example, configuration parameters of the assisted driving system and / or the automatic driving system and / or state parameters of the vehicle, etc. Exemplarily, the configuration parameters of the assisted driving system and / or the automatic driving system include, for example, assisted driving and / or automatic driving levels, and / or assisted driving and / or automatic driving states, etc.; the state parameters of the vehicle include, for example, the remaining power, remaining fuel, tire pressure, and / or fault level of the vehicle, etc.

[0018] According to another optional embodiment of the present invention, the driver's status parameters include, for example, the driver's experience parameters, the driver's fatigue level, the driver's concentration level, the complexity of the cabin task and / or the complexity of the cabin environment, etc.

[0019] According to another optional embodiment of the present invention, a corresponding complexity level may be assigned to each evaluation factor based on a predetermined grading standard, wherein the complexity level of the driving scenario may be determined based on the complexity level of each evaluation factor.

[0020] According to another optional embodiment of the present invention, the prompt level, prompt timing and / or prompt frequency of the prompt information can be adjusted based on the complexity level of each evaluation factor and / or the complexity level of the driving scene, thereby adjusting the driver's participation in vehicle control.

[0021] According to another optional embodiment of the present invention, the vehicle control request may, for example, include an immediate takeover request, a preparation takeover request, an assisted lane change request, an assisted avoidance request, an assisted steering request, an assisted braking request, an assisted deceleration request, an assisted acceleration request and / or an assisted courtesy request, etc.

[0022] According to another optional embodiment of the present invention, the method may further include the following steps:

[0023] - Determine whether the driver has completed the vehicle control operation that requires the driver to participate; and

[0024] -If the driver completes the vehicle control operation in which the driver needs to participate, the assisted driving system and / or the automatic driving system continues to perform the vehicle control operation in which the assisted driving system and / or the automatic driving system participates.

[0025] According to a second aspect of the present invention, a system for assisted driving control and / or automatic driving control of a vehicle is provided, wherein the system comprises the following components:

[0026] - a driving scene information acquisition module, which is configured to acquire driving scene information of the vehicle;

[0027] - an evaluation module configured to evaluate the complexity of a driving scene of the vehicle based on the driving scene information; and

[0028] A control module configured to carry out the method according to the invention.

[0029] According to another optional embodiment of the present invention, the system may further include a human-computer interaction module, which is configured to send prompt information about the vehicle control request to the driver and / or interact with the driver about vehicle control information.

[0030] According to a third aspect of the invention, there is provided a vehicle comprising a system according to the invention.

[0031] According to a fourth aspect of the present invention, a computer program product, such as a computer-readable program carrier, is provided, which contains or stores computer program instructions, which, when executed by a processor, at least assist in implementing the steps of the method according to the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The principles, features and advantages of the present invention may be better understood by describing the present invention in more detail below with reference to the accompanying drawings. The accompanying drawings show:

[0033] Figure 1 A flowchart showing a method for assisted driving control and / or automatic driving control of a vehicle according to an exemplary embodiment of the present invention is shown;

[0034] Figure 2 A driving scene diagram according to an exemplary embodiment of the present invention is shown;

[0035] Figure 3 A driving scene diagram according to another exemplary embodiment of the present invention is shown;

[0036] Figure 4 A driving scene diagram according to another exemplary embodiment of the present invention is shown;

[0037] Figure 5 A flowchart showing a method for assisted driving control and / or automatic driving control of a vehicle according to another exemplary embodiment of the present invention is shown;

[0038] Figure 6 A driving scene diagram according to another exemplary embodiment of the present invention is shown;

[0039] Figure 7 A driving scene diagram according to another exemplary embodiment of the present invention is shown;

[0040] Figure 8 A flowchart showing a method for assisted driving control and / or automatic driving control of a vehicle according to another exemplary embodiment of the present invention; and

[0041] Fig. 9 A block diagram of a system for assisted driving control and / or automatic driving control of a vehicle according to an exemplary embodiment of the present invention is shown. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial technical effects to be solved by the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and multiple exemplary embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the scope of protection of the present invention.

[0043] Figure 1 A flowchart of a method for assisted driving control and / or automatic driving control of a vehicle according to an exemplary embodiment of the present invention is shown. The following exemplary embodiments describe the method according to the present invention in more detail.

[0044] The method may include steps S1 and S2. In step S1, during the driving process of a vehicle with an assisted driving system and / or an automatic driving system turned on, the driving scene information of the vehicle may be obtained, and the complexity of the driving scene of the vehicle may be evaluated based on the driving scene information. In the sense of the present invention, the complexity is used to characterize the difficulty of operating the driving scene for the assisted driving system and / or the automatic driving system with the current parameter configuration. Taking into account the current control capability limitations of the assisted driving system and / or the automatic driving system, when the assisted driving system and / or the automatic driving system completely take over the vehicle control, it is only capable of performing relatively simple driving scene control tasks. Therefore, it is necessary to evaluate the complexity of the current driving scene to determine whether the current driving scene exceeds the control capability scope of the assisted driving system and / or the automatic driving system with the current parameter configuration.

[0045] In the current embodiment of the present invention, the complexity of the driving scene can be evaluated with the help of a complexity model, wherein the evaluation factors for evaluating the complexity of the driving scene can include driving scene information such as the surrounding environment parameters of the vehicle, the configuration parameters of the vehicle and / or the state parameters of the driver, that is, the complexity of the driving scene is comprehensively evaluated from the dimensions of the vehicle, the driver and / or the environment. The specific content of each evaluation factor is elaborated in detail below.

[0046] Exemplarily, the driving scene information may include the vehicle's surrounding environment parameters, which are used as evaluation factors for evaluating the complexity of the vehicle's driving scene. The vehicle's surrounding environment parameters may include, for example, one or more of the following factors: the complexity of driving environment parameters, which may include, for example, driving road condition information, lane line clarity, lane curvature, lane number and / or obstacle information; the complexity of surrounding vehicle parameters, which may include, for example, the type of surrounding vehicles, the density of surrounding vehicles, the speed of surrounding vehicles and / or the trajectory of surrounding vehicles; the complexity of surrounding vulnerable traffic participant parameters, which may include, for example, the density of surrounding vulnerable traffic participants, the speed of surrounding vulnerable traffic participants and / or the trajectory of surrounding vulnerable traffic participants, wherein the vulnerable traffic participants may include, for example, pedestrians, cyclists and / or electric power-assisted bicycle riders; the complexity of weather parameters, which may include, for example, sunlight conditions, rainfall levels, visibility conditions and / or road icing conditions. These surrounding environment parameters may be acquired during driving through the vehicle's onboard camera and its image analysis unit, onboard radar and / or onboard laser radar.

[0047] Optionally, the driving scene information may also include configuration parameters of the vehicle, which may also be used as an evaluation factor for evaluating the complexity of the driving scene of the vehicle. The configuration parameters of the vehicle may include configuration parameters of the assisted driving system and / or the automatic driving system, such as assisted driving and / or automatic driving levels (for example, divided into levels L0 to L5), and / or assisted driving and / or automatic driving states (for example, the opening, closing or maintaining of assisted driving and / or automatic driving functions). These configuration parameters can reflect the operating state of the assisted driving system and / or the automatic driving system, thereby evaluating whether the current driving scene exceeds the control capability scope of the assisted driving system and / or the automatic driving system configured with the current parameters. In addition, the configuration parameters of the vehicle may also include state parameters of the vehicle, such as the remaining power, remaining fuel, tire pressure and / or fault level of the vehicle. These state parameters can reflect the operating state of the vehicle. For example, when the fault level of the vehicle is high, the remaining power is insufficient or the tire pressure is insufficient, the control capability of the assisted driving system and / or the automatic driving system of the vehicle decreases accordingly.

[0048] Optionally, the driving scene information may also include the driver's state parameters, which can reflect the driver's ability to control the vehicle. The driver's state parameters, for example, include the driver's experience parameters, which can be directly obtained based on the driver's profile information (including driving experience, driving frequency, etc.) stored in the vehicle storage unit and / or the back-end server, or can be inferred based on the collected daily operation data of the driver. The driver's state parameters, for example, also include the driver's fatigue level, which can be inferred through images of the driver's facial expression and / or head posture taken by the in-vehicle camera, or can be inferred based on the driver's current driving time (for example, driving continuously for more than a few hours). It is understandable that the higher the driver's fatigue level, the easier it is for the driver to make mistakes when operating the vehicle, and the lower his ability to control the vehicle. The driver's state parameters, for example, also include the driver's concentration level, which can also be inferred through images of the driver's facial expression and / or head posture taken by the in-vehicle camera. For example, when the driver's line of sight is not pointed forward, the driver's concentration level is low and he cannot immediately take over the control of the vehicle. The driver's state parameters also include, for example, cockpit task complexity, i.e., the complexity of control tasks (e.g., assisted lane change, obstacle avoidance, etc.) that require the driver's participation in the current driving situation. The higher the cockpit task complexity, the higher the control capability required of the driver. The driver's state parameters also include, for example, cockpit environment complexity, wherein the cockpit environment includes not only natural environmental factors in the vehicle cockpit, such as temperature, humidity, etc., which may affect the driver's psychological state, but also media factors in the vehicle cockpit (including visual elements and / or auditory elements). For example, when the driver is using the head-up display in the vehicle cockpit to read or watch a video, the driver cannot immediately take over the control of the vehicle.

[0049] Here, a corresponding complexity level can be assigned to each evaluation factor based on a pre-given grading standard. Table 1 exemplarily shows the division of complexity levels of each evaluation factor. For example, the first level can be assigned to the assisted driving and / or autonomous driving level L2 of the assisted driving system and / or autonomous driving system, the second level can be assigned to the assisted driving and / or autonomous driving level L2+, the third level can be assigned to the assisted driving and / or autonomous driving level L3, etc.; the first level can also be assigned to drivers with primary experience, the second level to drivers with ordinary experience, the third level to drivers with rich experience, and so on.

[0050] Evaluation factors First level Second level Third Level Complexity of driving environment parameters complex ordinary Simple Complexity of surrounding vehicle parameters complex ordinary Simple Complexity of parameters of surrounding vulnerable traffic participants complex ordinary Simple Weather parameter complexity complex ordinary Simple Lane marking clarity Unclear Vague Clarity Assisted and / or automated driving levels L2 L2+ L3 Driver experience parameters primary ordinary Rich experience Driver fatigue level fatigue ordinary Relax Driver concentration Not focused ordinary concentrated Cockpit mission complexity complex ordinary Simple Complexity of cockpit environment complex ordinary Simple

[0051] Table 1 shows the classification of the complexity level of each evaluation factor

[0052] Based on the complexity level of each evaluation factor, the complexity level of the driving scene can be determined according to a pre-given evaluation standard. In the complexity model, the evaluation standard can be defined, for example, in the following manner: if the complexity level of all evaluation factors is the third level, the complexity level of the current driving scene is determined to be the third level (i.e., a simple driving scene); if the complexity level of one or more evaluation factors is the second level, and there is no evaluation factor with a complexity level of the first level, the complexity level of the current driving scene is determined to be the second level (i.e., an ordinary driving scene); if the complexity level of one or more evaluation factors is the first level, the complexity level of the current driving scene is determined to be the first level (i.e., a complex driving scene).

[0053] In step S2, the driver's involvement in vehicle control is adjusted based on the driving scenario information and the complexity of the driving scenario.

[0055] In the sense of the present invention, the degree of participation is used to characterize the proportional relationship between the vehicle control operation in which the driver participates and the vehicle control operation in which the assisted driving system and / or the automatic driving system participate when the driver and the assisted driving system and / or the automatic driving system cooperatively control the vehicle, wherein the more vehicle control operations the driver participates in, the higher the degree of participation of the driver. It should be noted that, especially in emergency situations, the driver can choose to exit the assisted driving and / or automatic driving mode and completely take over the vehicle control when necessary.

[0056] Here, in particular, prompt information about the vehicle control request can be sent to the driver through the human-computer interaction module 12 based on the driving scene information and the complexity of the driving scene, so as to adjust the driver's participation in the vehicle control. The prompt information can be sent acoustically through the vehicle voice device, or optically through the central control display, instrument panel and / or head-up display, etc. Exemplarily, the prompt level of the prompt information can be adjusted based on the complexity level of each evaluation factor and / or the complexity level of the driving scene. The prompt level can be divided into a low level, a general level and / or a high level, etc. The specific content of the vehicle control request in the prompt information can be adjusted according to the prompt level, thereby adjusting the driver's participation in the vehicle control.

[0057] For example, if the current assisted driving and / or automatic driving level of the assisted driving system and / or the automatic driving system is L3 or higher, the complexity of the driving environment parameters is at the third level and there are no surrounding vehicles (i.e., the complexity of the surrounding vehicle parameters is at the third level), then the prompt level is determined to be a low level. In this case, the vehicle control task is mainly undertaken by the assisted driving system and / or the automatic driving system, so it is only necessary to prompt the driver to "focus on driving", or even not send a prompt message, and the driver can hold the steering wheel and keep concentrating and continue driving.

[0058] If the current assisted driving and / or automatic driving level of the assisted driving system and / or automatic driving system is L2+, there are dangerous surrounding vehicles in the adjacent lanes (i.e., the complexity of the surrounding vehicle parameters is at the second level) or there is a bus stop in the road ahead (i.e., the complexity of the driving environment parameters is at the second level), and the complexity of the weather parameters is at the third level (e.g., the sunlight conditions are good, there is no rainfall and road icing conditions, and the visibility is high), then the prompt level is determined to be the general level. In this case, the assisted driving system and / or automatic driving system can assume the main vehicle control tasks, and the driver needs to intervene in some of the vehicle control tasks to a small extent. For example, the driver can be prompted to "stay away from surrounding dangerous vehicles" based on the current driving scene information, so that the driver can adjust the distance from the surrounding dangerous vehicles by adjusting the brake or accelerator pedal, or the driver can be prompted to "stay away from the bus stop" based on the current driving scene information, so that the driver can manually control the steering wheel to drive away from the bus stop.

[0059] If the assisted driving and / or automatic driving level is L2+ or lower, the complexity of the driving environment parameters is at the first level (for example, there is an obstacle in front of the vehicle), the complexity of the surrounding vehicle parameters is at the first level (for example, there is a congestion queue), and / or the complexity of the weather parameters is at the first level (for example, the sunlight condition is poor, the rainfall is large, the road icing condition is serious, and / or the visibility is low), then the prompt level is determined to be a high level. In this case, the assisted driving and / or automatic driving functions can continue to be maintained, and the driver can control the vehicle in collaboration with the assisted driving system and / or the automatic driving system, thereby improving the efficiency of human-vehicle co-driving. Exemplarily, in different driving scenarios, the vehicle control operation that the driver needs to participate in can be prompted based on the current driving scenario information, wherein the vehicle control operation can be a specific driving operation content, such as a steering wheel control operation, an accelerator pedal control operation, and / or a brake control operation, etc., or a specific driving operation task, such as "help me avoid risks", "help me avoid obstacles in front", "help me change lanes", etc.

[0060] In addition, the driver's prompt timing and / or prompt frequency can be adjusted based on the complexity level of each evaluation factor, especially according to the complexity level of the driving scene, so as to adjust the driver's participation in vehicle control. In the case of not exiting the assisted driving and / or automatic driving state, the more complex the complexity level of the driving scene, the earlier the prompt timing of sending the prompt information and / or the higher the prompt frequency of sending the prompt information, which leads to a higher degree of driver participation in vehicle control.

[0061] According to different driving scenarios, the vehicle control request may include, for example, an immediate takeover request, a ready takeover request, an assisted lane change request, an assisted avoidance request, an assisted steering request, an assisted braking request, an assisted deceleration request, an assisted acceleration request and / or an assisted courtesy request, etc. The method according to the present invention is described in detail below in conjunction with different driving scenarios.

[0062] exist Figure 2 In the illustrated exemplary driving scenario, when the current assisted driving and / or autonomous driving level of the assisted driving system and / or autonomous driving system of the vehicle 1 is L2+, according to the vehicle's route planning, the vehicle 1 needs to change lanes in front and enter the ramp, but at a preset distance from the ramp, the vehicle-mounted sensor of the vehicle 1 identifies that the surrounding vehicles in the right adjacent lane are congested and queued, and the density of the surrounding vehicles is large and the speed is slow, especially the distance between the first front vehicle 21 closest to the vehicle 1 and the first rear vehicle 22 closest to the vehicle 1 is very small, so that the assisted driving system and / or autonomous driving system of the vehicle 1 is difficult to perform the lane change operation and enter the right adjacent lane. Since the complexity of the surrounding vehicle parameters has the first level, the complexity level of the current driving scenario is determined to be the first level (i.e., a complex driving scenario). Here, a prompt message about the assisted lane change request can be sent to the driver at a high prompt level, high prompt frequency and earlier timing, such as "It is difficult to change lanes in dense traffic, please help me change lanes in advance", so that the driver can control the steering wheel in time to complete the difficult lane change while maintaining the assisted driving and / or automatic driving state. It should be noted that the sending timing of the prompt message can be determined based on the complexity of each evaluation factor.

[0063] In contrast, in the prior art, the assisted driving system and / or the automatic driving system will notify the driver to completely take over the control of the vehicle and exit the assisted driving and / or automatic driving mode only after missing the best lane change opportunity or even missing the ramp entrance, which undoubtedly affects the user acceptance and experience of the assisted driving and / or automatic driving functions. According to the current embodiment of the present invention, the assisted driving system and / or the automatic driving system cooperates with the driver to jointly complete the lane change operation in complex driving scenarios, thereby overcoming the problem of insufficient driving ability of the assisted driving system and / or the automatic driving system in complex driving scenarios.

[0064] exist Figure 3 In another exemplary driving scene diagram shown, when the current assisted driving and / or automatic driving level of the assisted driving system and / or automatic driving system of the vehicle 1 is L2+, the vehicle-mounted sensor of the vehicle 1 recognizes that there is an obstacle 3 (such as a roadblock, a stationary vehicle, etc.) that is difficult to cross at a preset distance in front of the vehicle 1, so the complexity of the driving environment parameters has the first level, and the complexity level of the current driving scene is correspondingly determined to be the first level (i.e., a complex driving scene). Here, a prompt message about an assisted avoidance request can be sent to the driver at a high level of prompt level, a high prompt frequency, and at an earlier time, such as "There is an obstacle ahead, help me avoid the obstacle", so that while maintaining the assisted driving and / or automatic driving state, the driver can perform a deceleration operation in advance and control the steering wheel to avoid, or even completely take over the vehicle control when necessary, thereby completing the obstacle avoidance in a complex driving scene through the cooperation of the assisted driving system and / or automatic driving system and the driver, and avoiding the situation where the vehicle 1 stops near the obstacle due to failure to avoid in time.

[0065] exist Figure 4In another exemplary driving scene diagram shown, when the current assisted driving and / or automatic driving level of the assisted driving system and / or automatic driving system of the vehicle 1 is L2+, the vehicle-mounted sensor of the vehicle 1 identifies surrounding vehicles 26 of dangerous vehicle types on adjacent lanes, such as trucks, tankers, engineering vehicles, etc., that is, the complexity of the surrounding vehicle parameters has the second level, and the complexity level of the current driving scene is correspondingly determined to be the second level (i.e., ordinary driving scene). Here, a prompt message about an assisted avoidance request can be sent to the driver at a general level of prompt level, at a normal prompt frequency, and at a normal time, such as "pay attention to the dangerous vehicle ahead, help me stay away from it", so that while maintaining the assisted driving and / or automatic driving state, the driver can control the accelerator pedal or brake to accelerate or decelerate, and control the steering wheel to avoid when necessary, thereby completing the avoidance of dangerous vehicles through the cooperation of the assisted driving system and / or automatic driving system and the driver, and preventing the vehicle 1 from entering a dangerous driving scene.

[0066] According to an embodiment of the present invention, a complexity assessment is performed on the current driving scenario, and when it is identified that the current driving scenario exceeds the control capability of the assisted driving system and / or the automatic driving system with the current parameter configuration, a prompt message about the vehicle control request is sent to the driver, so as to appropriately guide the driver to participate in the control of the vehicle, so as to jointly complete the vehicle control task in the current driving scenario through the collaboration of the assisted driving system and / or the automatic driving system and the driver, thereby optimizing the driver's sense of participation in the vehicle assisted driving and / or automatic driving process and improving the efficiency of human-vehicle co-driving.

[0067] Figure 5 The following is a flowchart of a method for assisted driving control and / or automatic driving control of a vehicle according to another exemplary embodiment of the present invention. Figure 1 The differences between the embodiments shown in FIG. 1 and FIG. 2 are shown in FIG. 3 , and the same steps are not described repeatedly for the sake of brevity.

[0068] The method may further include step S3. In step S3, information about vehicle control is exchanged with the driver based on the driving scene information, and parameter configuration of the auxiliary driving system and / or the automatic driving system of the vehicle 1 is adjusted based on the information interaction. Here, the information interaction about vehicle control includes information interaction about lateral motion control of the vehicle, information interaction about longitudinal motion control of the vehicle, and / or information interaction about operation strategies for surrounding vehicles, etc.

[0069] It is understandable that the preset parameter configuration of the vehicle's assisted driving system and / or automatic driving system is difficult to adapt to the driving habits and / or driving styles of different drivers. For example, novice drivers usually expect a longer following distance to ensure that they do not rear-end the vehicle in front, while experienced drivers may expect a closer following distance to avoid vehicles in adjacent lanes merging into the current lane. Figure 6 In another exemplary driving scenario diagram shown, when the current assisted driving and / or autonomous driving level of the assisted driving system and / or autonomous driving system of the vehicle 1 is L2+, information about the longitudinal following distance can be exchanged with the driver, such as asking the driver whether the following distance between the driver and the vehicle 23 in front is too close or too far, and based on the driver's reply, an acceleration operation is performed to shorten the following distance or a deceleration operation is performed to increase the following distance. At the same time, the assisted driving system and / or the autonomous driving system can also record the driver's driving habits and adjust the parameter configuration accordingly. Similarly, in this driving scenario, information about the longitudinal following speed can also be exchanged with the driver, such as asking the driver whether the longitudinal following speed is too fast or too slow, and based on the driver's reply, an acceleration or deceleration operation is performed to adjust the longitudinal following speed.

[0070] Figure 6 Describes a driving scenario regarding the longitudinal motion control of a vehicle. Figure 7 Another exemplary driving scenario shown also describes a driving scenario regarding the lateral motion control of the vehicle. When the current assisted driving and / or autonomous driving level of the assisted driving system and / or autonomous driving system of the present vehicle 1 is L2+, information about lane selection can be interacted with the driver, such as asking the driver whether he prefers to drive in the middle lane or the right lane, and selecting the corresponding lane based on the driver's reply. It is understandable that some drivers prefer to drive in the middle lane to avoid frequent lane changes, while some drivers are more accustomed to driving in the lane on the side. At the same time, the assisted driving system and / or the autonomous driving system can record the driver's driving habits regarding the lateral motion control of the vehicle, especially lane selection, and adjust the parameter configuration accordingly.

[0071] Similarly, in this driving scenario, information about the lateral spacing control with surrounding vehicles can also be exchanged with the driver, such as asking the driver whether the lateral spacing with the surrounding vehicles 25 on the adjacent lane is too close or too far, and automatically adjusting the lateral spacing with the surrounding vehicles 25 based on the driver's response. Information about the lateral spacing control with lane lines and / or the lateral spacing control with roadside obstacles (such as guardrails, fences, and isolation belts on both sides of the lane) can also be exchanged with the driver in this driving scenario, and the lateral spacing with lane lines and / or roadside obstacles can be automatically adjusted based on the driver's response. It is understandable that different drivers have different driving habits for the lateral spacing with surrounding vehicles, lane lines, and / or roadside obstacles. In this way, the parameter configuration of the auxiliary driving system and / or the automatic driving system can be adjusted based on the driver's driving habits.

[0072] For example, Figure 4 In another exemplary driving scene diagram shown, when the current assisted driving and / or autonomous driving level of the assisted driving system and / or autonomous driving system of the vehicle 1 is L2+, the vehicle-mounted sensor of the vehicle 1 identifies surrounding vehicles 26 of dangerous vehicle types in adjacent lanes, such as trucks, tankers, engineering vehicles, etc. Here, information interaction with the driver regarding operation strategies for surrounding vehicles, especially dangerous vehicle types, can be performed, such as asking the driver to select an operation strategy of long-distance deceleration and avoidance, medium-distance lane change and overtaking, or short-distance emergency braking, and executing the corresponding operation strategy based on the driver's response.

[0073] According to the above-mentioned embodiments of the present invention, the parameter configuration of the assisted driving system and / or the automatic driving system can be adjusted through information interaction with the driver, so that the vehicle's assisted driving control and / or automatic driving control, especially the vehicle's lateral motion control and / or longitudinal motion control, are adapted to the driver's driving style and / or driving habits.

[0074] Figure 8 The following is a flowchart of a method for assisted driving control and / or automatic driving control of a vehicle according to another exemplary embodiment of the present invention. Figure 1 The differences between the embodiments shown in FIG. 1 and FIG. 2 are shown in FIG. 3 , and the same steps are not described repeatedly for the sake of brevity.

[0075] The method may further include steps S4 and S5. In step S4, it is determined whether the driver has completed the vehicle control operation in which the driver needs to participate. If the driver completes the vehicle control operation in which the driver needs to participate, then in step S5, the assisted driving system and / or the automatic driving system continues to perform the vehicle control operation in which the assisted driving system and / or the automatic driving system participates. This means that the driver only needs to perform the vehicle control operation that requires participation, and during the entire driving process, the assisted driving system and / or the automatic driving system always participates in the vehicle control operation it undertakes without exiting the assisted driving and / or automatic driving mode, which greatly improves the experience of the assisted driving function and / or the automatic driving function.

[0076] In contrast, in the prior art, after the assisted driving system and / or the autonomous driving system notifies the driver, the driver completely takes over the control of the vehicle and exits the assisted driving and / or autonomous driving mode. The assisted driving and / or autonomous driving functions will no longer be automatically performed, but the driver is required to manually re-enable the assisted driving function and / or the autonomous driving function.

[0077] In addition, it should be noted that the step numbers described herein do not necessarily represent a chronological order, but are merely a reference numeral. The order may be changed according to specific circumstances as long as the technical purpose of the present invention can be achieved.

[0078] Fig. 9 A block diagram of a system for assisted driving control and / or automatic driving control of a vehicle according to an exemplary embodiment of the present invention is shown.

[0079] like Fig. 9 As shown, the system 10 may include the following components:

[0080] - a driving scene information acquisition module 11, which is configured to acquire driving scene information of the vehicle, wherein the driving scene information acquisition module 11 includes, for example, a vehicle-mounted camera and its image analysis unit, a vehicle-mounted radar and / or a vehicle-mounted laser radar and other vehicle-mounted sensors, and the driving scene information acquisition module 11 can also call driver files and / or weather parameter information from a vehicle-mounted storage unit and / or a backend server;

[0081] - an evaluation module 13, which is configured to evaluate the complexity of the driving scene of the vehicle based on the driving scene information, wherein a complexity model for evaluating the complexity of the driving scene is provided in the evaluation module 13; and

[0082] A control module 14 configured to carry out the method according to the invention.

[0083] Optionally, the system 10 may further include a prompt module 12, which is configured to send prompt information about a vehicle control request to the driver and / or interact with the driver about vehicle control information, wherein the prompt module may include, for example, an on-board voice device, a central control display, an instrument panel and / or a head-up display, etc.

[0084] Although specific embodiments of the present invention are described in detail herein, they are provided for the purpose of explanation only and should not be considered to limit the scope of the present invention. Various alternatives and modifications may be proposed without departing from the core and scope of the present invention.

Claims

1. A method for assisted driving control and / or automatic driving control of a vehicle (1), the method comprising the following steps: During the driving process of a vehicle (1) with an auxiliary driving system and / or an automatic driving system turned on, driving scene information of the vehicle (1) is obtained, and the complexity of the driving scene of the vehicle (1) is evaluated based on the driving scene information; and The driver's involvement in vehicle control is adjusted based on the driving scenario information and the complexity of the driving scenario.

2. The method according to claim 1, wherein: The complexity is used to characterize the difficulty of operating the driving scenario for the auxiliary driving system and / or the automatic driving system with the current parameter configuration.

3. A method according to any one of the preceding claims, wherein: Prompt information about a vehicle control request is sent to the driver based on the driving scenario information and the complexity of the driving scenario, so as to adjust the driver's participation in the vehicle control.

4. A method according to any one of the preceding claims, wherein: The degree of participation is used to characterize the proportional relationship between vehicle control operations in which the driver participates and vehicle control operations in which the assisted driving system and / or the automatic driving system participates, when the driver controls the vehicle in coordination with the assisted driving system and / or the automatic driving system, wherein the more vehicle control operations the driver participates in, the higher the driver's degree of participation.

5. A method according to any one of the preceding claims, wherein: The prompt information includes vehicle control operations that the driver needs to participate in, wherein the vehicle control operations include steering wheel control operations, accelerator pedal control operations, brake control operations and / or driving operation tasks.

6. A method according to any one of the preceding claims, wherein: The method further comprises: Based on the driving scene information, information about vehicle control is exchanged with the driver, and based on the information interaction, parameter configuration of the auxiliary driving system and / or the automatic driving system of the vehicle (1) is adjusted.

7. A method according to any one of the preceding claims, wherein: The information interaction about vehicle control includes information interaction about lateral motion control of the vehicle, information interaction about longitudinal motion control of the vehicle and / or information interaction about operation strategies for surrounding vehicles; and / or The longitudinal motion control of the vehicle includes longitudinal following distance control and / or longitudinal following speed control; and / or The lateral motion control of the vehicle includes lateral distance control with surrounding vehicles, lateral distance control with lane lines, lateral distance control with roadside obstacles and / or lane selection; and / or The operation strategy for surrounding vehicles includes a response operation strategy for surrounding vehicles of dangerous vehicle types on adjacent lanes, wherein the response operation strategy includes long-distance deceleration and avoidance, medium-distance lane change and overtaking, and / or short-distance emergency braking.

8. A method according to any one of the preceding claims, wherein: The driving scene information includes parameters of the surrounding environment of the vehicle (1), configuration parameters of the vehicle (1) and / or state parameters of the driver as evaluation factors for evaluating the complexity of the driving scene of the vehicle (1).

9. A method according to any one of the preceding claims, wherein: The surrounding environment parameters of the vehicle (1) include the complexity of driving environment parameters, the complexity of surrounding vehicle parameters, the complexity of surrounding vulnerable traffic participant parameters, and the complexity of weather parameters, wherein the driving environment parameters include driving road condition information, lane line clarity, lane curvature, lane number and / or obstacle information; the surrounding vehicle parameters include the type of surrounding vehicles, the density of surrounding vehicles, the speed of surrounding vehicles and / or the trajectory of surrounding vehicles; the surrounding vulnerable traffic participant parameters include the density of surrounding vulnerable traffic participants, the speed of surrounding vulnerable traffic participants and / or the trajectory of surrounding vulnerable traffic participants; and the weather parameters include sunlight conditions, rainfall levels, visibility conditions and / or road icing conditions.

10. A method according to any one of the preceding claims, wherein: The configuration parameters of the vehicle (1) include configuration parameters of the assisted driving system and / or the automatic driving system and / or status parameters of the vehicle (1), wherein the configuration parameters of the assisted driving system and / or the automatic driving system include the assisted driving and / or automatic driving level, and / or the assisted driving and / or automatic driving status, and the status parameters of the vehicle (1) include the remaining power, remaining fuel, tire pressure and / or fault level of the vehicle (1).

11. A method according to any one of the preceding claims, wherein: The driver's status parameters include the driver's experience parameters, the driver's fatigue level, the driver's concentration level, the complexity of the cabin task and / or the complexity of the cabin environment.

12. A method according to any one of the preceding claims, wherein: A corresponding complexity level is assigned to each evaluation factor based on a predetermined classification standard, wherein the complexity level of the driving scenario is determined based on the complexity level of each evaluation factor.

13. A method according to any one of the preceding claims, wherein: The prompt level, prompt timing and / or prompt frequency of the prompt information are adjusted based on the complexity level of each evaluation factor and / or the complexity level of the driving scenario, thereby adjusting the driver's participation in vehicle control.

14. A method according to any one of the preceding claims, wherein: The vehicle control request includes an immediate takeover request, a preparation takeover request, an assisted lane change request, an assisted avoidance request, an assisted steering request, an assisted braking request, an assisted deceleration request, an assisted acceleration request and / or an assisted courtesy request.

15. A method according to any one of the preceding claims, wherein: The method further comprises the following steps: Determining whether the driver has completed the vehicle control operation that requires the driver to participate; and If the driver completes the vehicle control operation in which the driver needs to participate, the assisted driving system and / or the automatic driving system continues to perform the vehicle control operation in which the assisted driving system and / or the automatic driving system participates.

16. A system (10) for assisted driving control and / or automatic driving control of a vehicle (1), wherein: The system (10) comprises the following components: A driving scene information acquisition module (11), configured to acquire driving scene information of a vehicle (1); An evaluation module (13) configured to evaluate the complexity of a driving scene of the vehicle based on the driving scene information; and A control module (14) configured to execute the method according to any one of the preceding claims.

17. The system (10) according to claim 16 further comprises a human-computer interaction module (12), which is configured to send prompt information about vehicle control request to the driver and / or to interact with the driver about vehicle control information.

18. A vehicle (1) comprising a system (10) according to claim 16 or 17.

19. A computer program product, such as a computer-readable program carrier, comprising or storing computer program instructions, which, when executed by a processor, at least assist in implementing the steps of the method according to any one of claims 1 to 15.

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