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. A specific embodiment of the method comprises the steps of obtaining a state value of a vehicle tail gas treatment liquid, determining that the vehicle tail gas treatment liquid is insufficient under the condition that the state value of the tail gas treatment liquid is lower than a set threshold value, and further determining a driving strategy matched with the insufficient tail gas treatment liquid, the vehicle is controlled according to the current driving state and the driving strategy of the vehicle; according to the embodiment of the invention, various driving strategies are determined according to the condition that the tail gas treating fluid is insufficient, so that the control precision and control flexibility of the vehicle under the condition that the tail gas treating fluid is insufficient are improved, the vehicle using experience of passengers is improved, and the environmental protection level of the vehicle is improved.

Description

Technical Field

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

[0002] With the development of vehicle autonomous driving technology, more and more decision factors are considered to be related to autonomous driving and affect dynamic driving tasks. In addition to the environmental conditions of the vehicle during driving, the decision factors also include the vehicle's own conditions, for example, whether the vehicle has sufficient exhaust treatment fluid.

[0003] In the existing methods, when it is detected that the vehicle is short of exhaust treatment fluid, a prompt message is usually sent to the vehicle driver so that the driver can take countermeasures according to the situation of insufficient exhaust treatment fluid; the existing methods for dealing with the situation of insufficient exhaust treatment fluid of the vehicle have many problems such as strategies that do not match the autonomous driving function, low degree of automation, low precision, and poor flexibility. Summary of the invention

[0004] In view of this, the present invention provides a vehicle automatic driving method, which can obtain the status value of the vehicle's exhaust treatment fluid, and when the status value of the exhaust treatment fluid is lower than a set threshold, it is determined that the vehicle's exhaust treatment fluid is insufficient, and a driving strategy matching the insufficient exhaust treatment fluid is further determined, and the vehicle is controlled according to the vehicle's current driving state and driving strategy; the embodiment of the present invention determines a variety of driving strategies for the situation of insufficient exhaust treatment fluid in the vehicle, thereby improving the control precision and control flexibility of the vehicle when the exhaust treatment fluid is insufficient, improving the vehicle-using experience of the passengers, and improving the environmental protection level of the vehicle.

[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: obtaining a status value of a vehicle's exhaust treatment fluid, and determining that the vehicle's exhaust treatment fluid is insufficient when the status value of the exhaust treatment fluid is lower than a set threshold; determining a driving strategy that matches the insufficient exhaust treatment fluid; and controlling the vehicle according to the vehicle's current driving state and the driving strategy.

[0007] Optionally, the current driving state includes a signal indicating the state of the automatic driving system; the determination of the driving strategy matching the insufficient exhaust treatment fluid includes: when the signal included in the current driving state indicates that the automatic driving is activated, determining one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid; when the signal included in the current driving state indicates that the automatic driving is not activated, sending a prompt message indicating that the vehicle's exhaust treatment fluid is insufficient.

[0008] Optionally, the vehicle automatic driving method also includes: configuring multiple judgment matrices and automatic driving driving strategies corresponding to each of the judgment matrices, wherein each of the judgment matrices contains multiple judgment indicators and control values ​​corresponding to the judgment indicators; determining one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid includes: searching for the current driving state of the vehicle including a signal indicating the state of the automatic driving system, the current vehicle speed, the current driving automation level, and the system controlled maximum speed limit value, and determining one or more target judgment matrices based on the search results; determining the target automatic driving driving strategies corresponding to one or more of the target judgment matrices as one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid.

[0009] Optionally, the multiple autonomous driving driving strategies include: an autonomous driving driving strategy that matches the vehicle speed; an autonomous driving driving strategy that matches the driving automation level; an autonomous driving driving strategy that matches the system-controlled maximum speed limit value; and controlling the vehicle includes: controlling the vehicle according to one or more autonomous driving driving strategies found.

[0010] Optionally, in response to finding an automatic driving driving strategy that matches the vehicle speed: control the current vehicle speed of the vehicle to be reduced to below a set speed threshold, wherein the set speed threshold is set for insufficient exhaust treatment fluid.

[0011] Optionally, controlling the vehicle according to the one or more found autonomous driving driving strategies includes: for an autonomous driving driving strategy that matches the current vehicle speed, controlling the current speed of the vehicle to be reduced to below a speed limit threshold set for insufficient vehicle exhaust; and / or, the influencing factors of the current system control maximum speed limit value include: one or more of traffic speed limit, road conditions, environmental conditions, and custom factors; for an autonomous driving driving strategy that finds the current system control maximum speed limit value; obtaining the current system control maximum speed limit value updated according to one or more influencing factors, and controlling the current vehicle speed of the vehicle to be reduced to below the updated current system control maximum speed limit value.

[0012] Optionally, in response to finding an autonomous driving driving strategy that matches the driving automation level: in the case where the driving automation level is a high driving automation level, a destination address change request is sent to the vehicle so that the occupants of the vehicle change the destination address to a new destination address; wherein the new destination address is the address of the vehicle exhaust treatment fluid treatment party; and the vehicle is controlled to drive to the new destination address.

[0013] Optionally, when the driving automation level is a conditional driving automation level, a manual driving takeover request is sent to the vehicle to request the vehicle occupant to take over the dynamic driving task; and / or, when the current speed of the vehicle is higher than the set vehicle speed threshold corresponding to insufficient exhaust fluid, the vehicle is controlled to decelerate.

[0014] In a second aspect, an embodiment of the present invention provides a vehicle automatic driving device, characterized in that it includes: a data acquisition module, a strategy determination module and a vehicle control module; wherein,

[0015] The data acquisition module is used to acquire a state value of the exhaust gas treatment fluid of the vehicle, and when the state value of the exhaust gas treatment fluid is lower than a set threshold, it is determined that the exhaust gas treatment fluid of the vehicle is insufficient;

[0016] The strategy determination module is used to determine a driving strategy that matches the insufficient exhaust gas treatment fluid;

[0017] The vehicle control module is used to control the vehicle according to the current driving state of the vehicle and the driving strategy.

[0018] Optionally, the current driving state includes a signal indicating the state of the automatic driving system; the vehicle automatic driving device is used to determine a driving strategy matching the insufficient exhaust treatment fluid, including: when the signal included in the current driving state indicates that the automatic driving is activated, determining one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid; when the signal included in the current driving state indicates that the automatic driving is not activated, sending a prompt message indicating that the vehicle's exhaust treatment fluid is insufficient.

[0019] Optionally, the vehicle automatic driving device is configured with multiple judgment matrices and automatic driving driving strategies corresponding to each of the judgment matrices, wherein each of the judgment matrices contains multiple judgment indicators and control values ​​corresponding to the judgment indicators; the determination of one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid includes: searching for the current driving state of the vehicle, including a signal indicating the state of the automatic driving system, the current vehicle speed, the current driving automation level, and the current system controlled maximum speed limit value, and determining one or more target judgment matrices based on the search results; determining the target automatic driving driving strategies corresponding to one or more of the target judgment matrices as one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid.

[0020] Optionally, the multiple autonomous driving driving strategies included in the vehicle's autonomous driving device include: an autonomous driving driving strategy matching the vehicle speed; an autonomous driving driving strategy matching the driving automation level; an autonomous driving driving strategy matching the system-controlled maximum speed limit value; and controlling the vehicle includes: controlling the vehicle according to one or more autonomous driving driving strategies found.

[0021] Optionally, the vehicle automatic driving device, in response to finding an automatic driving driving strategy that matches the vehicle speed: controls the current speed of the vehicle to be reduced to below a set speed threshold, wherein the set speed threshold is set for insufficient exhaust treatment fluid.

[0022] Optionally, the vehicle automatic driving device controls the vehicle according to one or more automatic driving driving strategies found, including: for an automatic driving driving strategy found to match the current vehicle speed, controlling the current speed of the vehicle to be reduced to below a speed limit threshold set for insufficient vehicle exhaust; and / or, the influencing factors of the current system control maximum speed limit value include: traffic speed limit, road conditions, environmental conditions, and one or more custom factors; for an automatic driving driving strategy for which the current system control maximum speed limit value is found; obtaining the current system control maximum speed limit value updated according to one or more influencing factors, and controlling the current vehicle speed of the vehicle to be reduced to below the updated current system control maximum speed limit value.

[0023] Optionally, the vehicle's automatic driving device, in response to finding an automatic driving driving strategy that matches the driving automation level: in the case where the driving automation level is a high driving automation level, sends a destination address change request to the vehicle, so that the occupants of the vehicle change the destination address to a new destination address; wherein the new destination address is the address of the vehicle's exhaust treatment fluid treatment party; and controls the vehicle to drive to the new destination address.

[0024] Optionally, the vehicle automatic driving device, when the driving automation level is a conditional driving automation level, sends a manual driving takeover request to the vehicle to request the vehicle occupant to take over the dynamic driving task; and / or, when the current speed of the vehicle is higher than the set vehicle speed threshold corresponding to insufficient exhaust fluid, controls the vehicle to decelerate.

[0025] In a third aspect, an embodiment of the present invention provides an electronic device, including:

[0026] one or more processors;

[0027] a storage device for storing one or more programs,

[0028] 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.

[0029] In a fourth 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.

[0030] The technical solution of the above invention has the following advantages or beneficial effects: it is able to obtain the status value of the vehicle's exhaust treatment fluid, and when the status value of the exhaust treatment fluid is lower than a set threshold, determine that the vehicle's exhaust treatment fluid is insufficient, further determine a driving strategy that matches the insufficient exhaust treatment fluid, and control the vehicle according to the vehicle's current driving state and driving strategy; the embodiment of the present invention improves the control refinement and control flexibility of the vehicle driving in the case of insufficient exhaust treatment fluid by determining a variety of driving strategies for the vehicle in the case of insufficient exhaust treatment fluid, improves the occupants' car experience, and overcomes the environmental problems caused by insufficient exhaust treatment fluid in the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 is a flow chart of a method for automatic driving of a vehicle provided according to an embodiment of the present invention;

[0032] Figure 2 is a flow chart of another method for automatic driving of a vehicle provided according to an embodiment of the present invention;

[0033] Figure 3 is a schematic diagram of the main structure of an automatic driving device for a vehicle provided according to an embodiment of the present invention;

[0034] Figure 4 is an exemplary vehicle system architecture diagram to which embodiments of the present invention may be applied;

[0035] Figure 5 It is a schematic diagram of the structure of a computer system suitable for implementing the embodiment of the present invention. DETAILED DESCRIPTION

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] Figure 1 A schematic diagram showing the main steps of the vehicle automatic driving method provided by an embodiment of the present invention is shown:

[0041] Step S101: obtaining a status value of exhaust gas treatment fluid of a vehicle, and determining that the exhaust gas treatment fluid of the vehicle is insufficient when the status value of the exhaust gas treatment fluid is lower than a set threshold.

[0042] Specifically, vehicle exhaust treatment fluid (such as DEF or ) is to convert nitrogen oxides in the exhaust gas generated by the vehicle during driving into harmless nitrogen and water through chemical reactions, thereby reducing pollution to the environment; during the driving process of the vehicle, if the exhaust gas treatment fluid is insufficient, it must be treated accordingly in a timely manner to reduce the problem of environmental pollution caused by insufficient exhaust gas treatment fluid.

[0043] In an embodiment of the present invention, a state value sensor or measuring equipment for measuring the vehicle exhaust treatment fluid is used to obtain the state value of the vehicle exhaust treatment fluid according to a set period and collected by the vehicle system, for example: the height of the vehicle exhaust treatment fluid level, the amount of vehicle exhaust treatment fluid, etc.

[0044] Furthermore, based on experimental data or based on the preset exhaust treatment fluid standard of the vehicle, a set threshold value of the state value of the exhaust treatment fluid is determined, for example: 15%, 10%, 5%, etc. The present invention does not limit the specific set threshold value. Furthermore, when it is determined that the state value of the exhaust treatment fluid is lower than the set threshold value, it is determined that the exhaust treatment fluid of the vehicle is insufficient.

[0045] Step S102: Determine a driving strategy that matches the insufficient exhaust gas treatment fluid.

[0046] Specifically, a driving strategy matching the insufficient exhaust gas treatment fluid is determined according to the current driving state of the vehicle.

[0047] In an embodiment of the present invention, the driving strategy includes multiple strategies for activating the vehicle's automatic driving and strategies for not activating the vehicle's automatic driving.

[0048] Specifically, the current driving state includes a signal indicating the state of the automatic driving system; the determination of the driving strategy matching the insufficient exhaust gas treatment fluid includes: when the signal included in the current driving state indicates that the automatic driving is activated, determining one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust gas treatment fluid; when the signal included in the current driving state indicates that the automatic driving is not activated, sending a prompt message indicating that the vehicle has insufficient exhaust gas treatment fluid. It is understandable that, when it is determined that the vehicle has not activated the automatic driving, the prompt message of insufficient exhaust gas treatment fluid is sent to the driver to prompt the driver to perform manual processing accordingly.

[0049] Furthermore, in an embodiment of the present invention, in order to determine one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid, each judgment matrix in a plurality of judgment matrices is used to determine the automatic driving driving strategy, wherein each judgment matrix contains a plurality of judgment indicators and control values ​​corresponding to the judgment indicators. Below, the judgment indicators contained in the judgment matrix and the control values ​​of the judgment indicators are explained using the example of Table 1.

[0050] As shown in Table 1, the judgment indicators in the judgment matrix include: insufficient exhaust treatment fluid, automatic driving activation status, advanced automatic driving level, current vehicle speed higher than the set speed threshold, current vehicle speed higher than the system controlled maximum speed limit, etc.; the control value can be "yes", "no", or "-", where "-" means that the judgment indicator is not considered when determining a certain automatic driving driving strategy.

[0051] Table 1

[0052]

[0053] According to the matrix shown in Table 1, a variety of different judgment matrices can be determined according to the control values ​​corresponding to the judgment indicators, so that different automatic driving strategies can be configured according to different judgment matrices.

[0054] Furthermore, according to the current driving state of the vehicle (signal indicating the state of the automatic driving system, current vehicle speed, current driving automation level, and system controlled maximum vehicle speed limit), a matching target judgment matrix and a corresponding automatic driving driving strategy of the judgment matrix are searched. That is, the determination of one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust gas treatment fluid comprises: searching the signal indicating the state of the automatic driving system, current vehicle speed, current driving automation level, and current system controlled maximum vehicle speed limit included in the current driving state of the vehicle, and determining one or more target judgment matrices according to the search result; and determining that the target automatic driving driving strategies corresponding to one or more target judgment matrices are one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust gas treatment fluid.

[0055] Step S103: Control the vehicle according to the current driving state of the vehicle and the driving strategy.

[0056] Specifically, the driving strategy includes a plurality of autonomous driving driving strategies for autonomous driving; wherein the plurality of autonomous driving driving strategies include: an autonomous driving driving strategy matching the vehicle speed; an autonomous driving driving strategy matching the driving automation level; an autonomous driving driving strategy matching the system-controlled maximum speed limit value; and controlling the vehicle includes: controlling the vehicle according to one or more autonomous driving driving strategies found.

[0057] Further, for the automatic driving driving strategy matching the vehicle speed, the current vehicle speed of the vehicle is controlled to be lower than a set speed threshold, wherein the set speed threshold is set for the insufficient exhaust gas treatment fluid. The set speed threshold is set for the insufficient exhaust gas treatment fluid, for example, 45kph, 50kph, etc. The present invention does not limit the specific data of the set speed threshold. It can be understood that in the case of insufficient exhaust gas treatment fluid, the vehicle is required to travel at a lower speed to reduce the exhaust emissions of the vehicle.

[0058] Furthermore, the system-controlled maximum speed limit value includes the vehicle's current system-controlled maximum speed limit value and an expected system-controlled maximum speed limit value. For example, when the vehicle is on a ramp from a main road to a secondary road, due to the speed limit of the road grade, the expected system-controlled maximum speed limit value will be different from the current system-controlled maximum speed limit value.

[0059] For finding an automatic driving driving strategy that matches the system-controlled maximum speed limit: obtain one or more information of the traffic speed limit, road status, environmental status, and custom factors in which the vehicle is located; wherein the traffic speed limit includes any one or more of the regional maximum speed upper line, the maximum speed limit corresponding to the highway grade, and the maximum speed limit indicated by the traffic sign; the road status refers to any one or more of the road curvature, slope, number of available lanes, and lane width; the environmental status includes any one or more of the road surface status, weather conditions, visibility, and lighting conditions; the custom factor refers to any one or more of the maximum speed at which the system is certified to operate and the maximum speed input by the occupant; the current system-controlled maximum speed limit is the lower value of the maximum speed limits allowed by the above-mentioned influencing factors; when the current vehicle speed is higher than the set vehicle speed threshold corresponding to insufficient exhaust fluid and higher than the system-controlled maximum speed limit, control the vehicle to decelerate.

[0060] Furthermore, when the current vehicle speed is higher than the set vehicle speed threshold corresponding to insufficient exhaust fluid, and the set vehicle speed threshold corresponding to insufficient exhaust fluid is lower than the expected system-controlled maximum vehicle speed limit, no additional deceleration caused by insufficient exhaust fluid is performed.

[0061] Furthermore, for finding an automatic driving driving strategy that matches the driving automation level: for the case where the driving automation level is a high driving automation level, a destination address change request is sent to the vehicle so that the occupants of the vehicle change the destination address to a new destination address; wherein the new destination address is the address of the vehicle exhaust treatment fluid treatment party; and the vehicle is controlled to drive to the new destination address. Specifically, automatic driving has multiple levels. In an embodiment of the present invention, a high driving automation level represents a level 4 driving automation function, and a conditional driving automation level represents a level 3 driving automation function. It is understandable that different automatic driving driving strategies are used for different driving automation levels.

[0062] Specifically, for a high driving automation level, it is preferred to guide the vehicle to drive to the changed destination, so that the vehicle continues to drive automatically and replenishes the exhaust gas treatment fluid in time through the vehicle exhaust gas treatment fluid treatment method. It is understandable that in the process of controlling the vehicle to drive to the new destination address, it is possible to determine whether deceleration is required and the speed after deceleration according to the current vehicle speed and the maximum vehicle speed limit value controlled by the system.

[0063] For the conditional driving automation level, a manual driving takeover request is sent to the vehicle to request the vehicle occupant to take over the dynamic driving task; and / or, when the current speed of the vehicle is higher than the set speed threshold corresponding to insufficient exhaust fluid, the vehicle is controlled to decelerate; specifically, for the conditional driving automation level, a manual driving takeover request is preferably sent to the vehicle so that the driver can promptly provide feedback on the manual takeover request and take over the driving operation of the vehicle. At the same time, the vehicle can be controlled to decelerate when the current speed of the vehicle is higher than the set speed threshold corresponding to insufficient exhaust fluid.

[0064] In summary, the automatic driving driving strategies in the embodiments of the present invention can be matched at the same time, that is, for finding multiple automatic driving driving strategies: select the minimum speed threshold from the speed thresholds corresponding to the multiple automatic driving driving strategies; and control the vehicle to decelerate when the current vehicle speed is higher than the minimum speed threshold. Specifically, when controlling the vehicle to decelerate, the lower threshold of the set speed threshold corresponding to the insufficient exhaust gas treatment fluid and the vehicle speed threshold corresponding to the maximum vehicle speed limit value controlled by the system is used as the deceleration measurement standard.

[0065] Figure 2 A schematic diagram showing the main steps of another method for automatic driving of a vehicle to which the present invention can be applied is shown:

[0066] Step S201: Find an automatic driving strategy that matches the driving automation level.

[0067] Step S202: Determine the specific level of the driving automation level; if the driving automation level is a high driving automation level, execute step S203; if the driving automation level is a conditional driving automation level, execute step S204.

[0068] Step S203: Send a destination address change request to the vehicle so that the occupants of the vehicle change the destination address to a new destination address; wherein the new destination address is the address of the vehicle exhaust treatment fluid treatment party; and control the vehicle to travel to the new destination address.

[0069] Step S204: sending a manual driving takeover request to the vehicle to request the vehicle occupant to take over the dynamic driving task; and / or, when the current speed of the vehicle is higher than the set vehicle speed threshold corresponding to insufficient exhaust fluid, controlling the vehicle to decelerate.

[0070] The specific description of controlling the vehicle is consistent with the description of step S103 and will not be repeated here.

[0071] In the case of insufficient exhaust fluid in the vehicle, the embodiments of the present invention further improve the refinement and rationality of vehicle control in the case of insufficient exhaust fluid in the vehicle by determining different automatic driving strategies for different driving automation levels.

[0072] like Figure 3 As shown, an embodiment of the present invention provides a vehicle automatic driving device 300, including: a data acquisition module 301, a strategy determination module 302 and a vehicle control module 303; wherein,

[0073] The data acquisition module 301 is used to acquire the state value of the exhaust gas treatment fluid of the vehicle, and when the state value of the exhaust gas treatment fluid is lower than a set threshold, it is determined that the exhaust gas treatment fluid of the vehicle is insufficient;

[0074] The strategy determination module 302 is used to determine a driving strategy that matches the insufficient exhaust gas treatment fluid;

[0075] The vehicle control module 303 is used to control the vehicle according to the current driving state of the vehicle and the driving strategy.

[0076] Figure 4 An exemplary vehicle system architecture 400 is shown to which the vehicle automatic driving method or vehicle automatic driving device according to the embodiments of the present invention can be applied.

[0077] like Figure 4 As shown, the vehicle system architecture 400 may include various systems, such as a vehicle automatic driving device 401, a power system 402, a sensor system 403, a control system 404, one or more peripheral devices 405, a power supply 406, a computer system 407, and a user interface 408. Optionally, the vehicle system architecture 400 may include more or fewer systems, and each system may include multiple elements. In addition, each system and element of the vehicle system architecture 400 may be interconnected by wire or wirelessly.

[0078] The vehicle automatic driving device 401 can be used to obtain the status value of the vehicle's exhaust treatment fluid, and when the status value of the exhaust treatment fluid is lower than a set threshold, determine that the vehicle's exhaust treatment fluid is insufficient; determine a driving strategy that matches the insufficient exhaust treatment fluid; and control the vehicle according to the vehicle's current driving state and the driving strategy.

[0079] The power system 402 may include components that provide power movement for the vehicle. For example, the power system 402 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 other types of engine combinations, 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.

[0080] The sensor system 403 may include sensors inside or outside the vehicle. For example, a positioning system, a radar, a laser rangefinder, an inertial measurement unit, and a camera. The positioning system can be used to locate the geographic location of the vehicle. The IMU is used to sense the position and orientation changes of the vehicle based on inertial acceleration. In one embodiment, the IMU can be a combination of an accelerometer and a gyroscope. The radar can use radio signals to sense other targets in the surrounding environment of the vehicle. In some embodiments, in addition to sensing objects, the radar can also be used to sense the speed and / or forward direction of the object. Among them, in order to detect environmental information, objects, etc. located in front, behind, or on the side of the vehicle, the radar, camera, etc. can be configured at an appropriate position outside the vehicle. For example, in order to obtain an image of the road in front of the vehicle, the camera can be configured in the interior of the vehicle close to the front windshield. Alternatively, the camera can be configured around the front bumper or radiator grille. For example, in order to obtain an image behind the vehicle, the camera can be configured in the interior of the vehicle close to the rear window glass. Alternatively, the camera can be configured around the rear bumper, trunk, or tailgate. In order to obtain the image of the side of the vehicle, the camera can be arranged in the interior of the vehicle close to at least one of the side windows. Alternatively, the camera can be arranged around the side mirror, fender or door.

[0081] Laser rangefinders use lasers to sense objects in the vehicle's environment.

[0082] The camera can be used to capture multiple images of the front of the vehicle or the surrounding environment of the vehicle. The camera can be a still or video camera.

[0083] The vehicle position, the vehicle current speed, etc. can be acquired through the sensor system 403 .

[0084] The control system 404 may include a software system for realizing automatic driving of the vehicle, and the control system 404 may also include hardware systems such as a throttle, a steering wheel, and a seat belt system. In addition, the control system 404 may include components other than those shown and described in addition or in substitution. Alternatively, some of the components shown above may be reduced.

[0085] The control system 404 interacts with internal vehicle sensors, external sensors, vehicle charging devices, other computer systems, or users through peripheral devices 405. The peripheral devices 405 may include a wireless communication system, an onboard computer, a microphone, and / or a speaker.

[0086] In some embodiments, peripheral device 405 provides a means for a user of control system 404 to interact with the user interface. For example, a prompt is sent to the user that the exhaust fluid is insufficient. The user interface can also operate the onboard computer to perform operations for the map. The onboard computer can be operated through a touch screen. In other cases, the peripheral device can provide a means for communicating with other devices located in the car. For example, a microphone can receive audio (e.g., voice commands or other audio input) from a user of control system 404. Similarly, a speaker can output audio to the user of control system 404.

[0087] 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.

[0088] The power source 406 can provide power to various components of the vehicle. The power source 406 can be a rechargeable lithium-ion or lead-acid battery.

[0089] Part or all of the functions of the method for implementing the automatic driving of the vehicle are controlled by the computer system 407. The computer system 407 may include at least one processor, and the processor executes instructions stored in a non-transitory computer-readable medium such as a memory. The computer system 407 provides the execution code for implementing the automatic driving of the vehicle for the above-mentioned method for automatic driving of the vehicle.

[0090] 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.

[0091] The user interface 408 is used to provide information to or receive information from a user of the vehicle. Optionally, the user interface 408 may include one or more input / output devices within the set of peripheral devices 405, such as a wireless communication system, an onboard computer, a microphone and speaker, an onboard communication unit, etc.

[0092] 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 4 It should not be understood as limiting the embodiments of the present application.

[0093] Reference below Figure 5 , which shows a schematic diagram of the structure of a computer system 500 suitable for implementing an embodiment of the present invention. Figure 5 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.

[0094] like Figure 5 As shown, the computer system 500 includes a central processing unit (CPU) 501, which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 502 or a program loaded from a storage part 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the system 500 are also stored. The CPU 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0095] The following components are connected to the I / O interface 505: an input section 506; an output section 507 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker; a storage section 508 including a hard disk, etc.; and a communication section 509 including a network interface card such as a LAN card, a modem, etc. The communication section 509 performs communication processing via a network such as the Internet. A drive 510 is also connected to the I / O interface 505 as needed. A removable medium 511, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 510 as needed, so that a computer program read therefrom is installed into the storage section 508 as needed.

[0096] 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 509, and / or installed from the removable medium 511. When the computer program is executed by the central processing unit (CPU) 501, the above-mentioned functions defined in the system of the present invention are executed.

[0097] 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.

[0098] 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.

[0099] 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 without being 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: obtaining the state value of the vehicle exhaust treatment fluid, and when the state value of the exhaust treatment fluid is lower than the set threshold, determining that the vehicle's exhaust treatment fluid is insufficient, further determining a driving strategy that matches the insufficient exhaust treatment fluid, and controlling the vehicle according to the current driving state and driving strategy of the vehicle; the embodiment of the present invention determines multiple driving strategies for the situation of insufficient exhaust treatment fluid in the vehicle, thereby improving the control precision and control flexibility of the vehicle in the case of insufficient exhaust treatment fluid, improving the vehicle experience of the passengers, and improving the environmental protection level of the vehicle.

[0100] 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: Acquiring a state value of exhaust gas treatment fluid of the vehicle, and determining that the exhaust gas treatment fluid of the vehicle is insufficient when the state value of the exhaust gas treatment fluid is lower than a set threshold; Determining a driving strategy that matches the insufficient exhaust gas treatment fluid; The vehicle is controlled according to the current driving state of the vehicle and the driving strategy.

2. The vehicle automatic driving method according to claim 1, characterized in that: The current driving state includes a signal indicating a state of the autonomous driving system; The determining of a driving strategy matching the insufficient exhaust treatment fluid comprises: determining one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid when the signal of the automatic driving system state indicates that the automatic driving is activated; When the signal of the automatic driving system status indicates that the automatic driving is not activated, a prompt message indicating that the vehicle exhaust treatment fluid is insufficient is sent.

3. The vehicle automatic driving method according to claim 2, characterized in that: Also includes: A plurality of judgment matrices and an automatic driving strategy corresponding to each of the judgment matrices are configured, wherein each of the judgment matrices includes a plurality of judgment indicators and a control value corresponding to the judgment indicator; The determining of one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid includes: Searching for a signal indicating the state of the automatic driving system, a current vehicle speed, a current driving automation level, and a control value of a judgment index matching the current driving state of the vehicle, and determining one or more target judgment matrices according to the search results; Determine that the target automatic driving driving strategy corresponding to one or more of the target judgment matrices is one or more automatic driving driving strategies corresponding to the automatic driving for insufficient exhaust treatment fluid.

4. The vehicle automatic driving method according to claim 3, characterized in that: A variety of autonomous driving strategies include: An autonomous driving strategy that matches the current vehicle speed; An automatic driving strategy that matches the current system-controlled maximum speed limit; An autonomous driving strategy that matches the driving automation level; The controlling the vehicle comprises: The vehicle is controlled according to the one or more autonomous driving driving strategies found.

5. The vehicle automatic driving method according to claim 4, characterized in that: The controlling the vehicle according to the found one or more automatic driving strategies includes: Upon finding an automatic driving driving strategy that matches the current vehicle speed, controlling the current speed of the vehicle to be reduced to a speed limit threshold set for insufficient vehicle exhaust; and / or, The influencing factors of the current system controlling the maximum speed limit value include: one or more of traffic speed limit, road conditions, environmental conditions, and custom factors; An automatic driving driving strategy for finding the current system controlled maximum speed limit value; obtaining the current system controlled maximum speed limit value updated according to one or more influencing factors, and controlling the current vehicle speed of the vehicle to be reduced to below the updated current system controlled maximum speed limit value.

6. The vehicle automatic driving method according to claim 4, characterized in that: To find the autonomous driving strategy that matches the driving automation level: In the case where the driving automation level is a high driving automation level, Sending a destination address change request to the vehicle so that the occupant of the vehicle changes the destination address to a new destination address; wherein the new destination address is the address of the vehicle exhaust gas treatment liquid treatment party; The vehicle is controlled to travel toward the new destination address.

7. The vehicle automatic driving method according to claim 6, characterized in that: Further including: In the case where the driving automation level is a conditional driving automation level, Sending a manual driving takeover request to the vehicle to request the vehicle occupant to take over the dynamic driving task; and / or, When the current speed of the vehicle is higher than a set vehicle speed threshold corresponding to insufficient exhaust fluid, the vehicle is controlled to decelerate.

8. A vehicle automatic driving device, characterized in that: include: Acquisition module, determination strategy module and vehicle control module; wherein, The data acquisition module is used to acquire a state value of the exhaust gas treatment fluid of the vehicle, and when the state value of the exhaust gas treatment fluid is lower than a set threshold, it is determined that the exhaust gas treatment fluid of the vehicle is insufficient; The strategy determination module is used to determine a driving strategy that matches the insufficient exhaust gas treatment fluid; The vehicle control module is used to control the vehicle according to the current driving state of the vehicle and the driving strategy.

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 7.

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 7 is implemented.

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