Method, device and computer equipment for adjusting vehicle driving state

Abstract

The application discloses a vehicle driving state adjustment method and device and a computer device, and belongs to the vehicle-mounted field. The method comprises the following steps: in the automatic driving process of a vehicle through a first intelligent driving controller, a first use state of the first intelligent driving controller is determined, the first use state is used for indicating the triggering condition of a first driving state adjustment request of the first intelligent driving controller, and the first driving state adjustment request is used for requesting the driving vehicle to transform the driving state; in response to the first use state indicating that the first intelligent driving controller is in an abnormal state, a second driving state adjustment request sent by a second intelligent driving controller is received; and based on the second driving state adjustment request, the driving vehicle is driven to transform the driving state. The application avoids the situation that the first driving intelligent controller cannot send a driving state adjustment instruction to the intelligent braking controller when the first driving intelligent controller is in an abnormal state, and thus the automatic driving efficiency is improved to a certain extent.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle, in particular to a vehicle driving state adjustment method and device and computer equipment. BACKGROUND

[0002] With the rapid development of vehicle intelligent driving assistance function, the application rate of the corresponding driving assistance function is also rapidly increasing. After the intelligent driving function of the vehicle is turned on, the corresponding intelligent driving controller and intelligent braking system in the vehicle adjust the driving state of the vehicle in real time according to the road conditions.

[0003] In the related art, during the adjustment of the driving state of the vehicle (such as acceleration, deceleration, etc.), if the intelligent driving controller fails to normally respond to the related instructions for adjusting the driving state of the vehicle, the intelligent braking system issues an alarm, and the subsequent driving process of the vehicle is taken over by the vehicle driver.

[0004] However, the intelligent driving function is affected by the use state of the intelligent driving controller, and cannot provide a more complete intelligent driving experience for the vehicle driver. SUMMARY

[0005] The present application provides a vehicle driving state adjustment method, device and computer equipment, which avoids the situation that the automatic driving process is interrupted to force the user to intervene and manually drive, and improves the efficiency of automatic driving to a certain extent. The technical solution is as follows:

[0006] According to one aspect of the present application, a vehicle driving state adjustment method is provided, which comprises:

[0007] During the automatic driving process of the vehicle through the first intelligent driving controller, the first use state of the first intelligent driving controller is determined, the first use state is used to indicate the triggering condition of the first intelligent driving controller to the first driving state adjustment request, and the first driving state adjustment request is used to request to drive the vehicle to change the driving state;

[0008] In response to the first use state indicating that the first intelligent driving controller is in an abnormal state, a second driving state adjustment request sent by a second intelligent driving controller is received;

[0009] Based on the second driving state adjustment request, the vehicle is driven to change the driving state.

[0010] According to one aspect of the present application, a vehicle driving state adjustment device is provided, which comprises:

[0011] The determining module is configured to determine a first use state of the first intelligent driving controller during automatic driving of the vehicle by the first intelligent driving controller, the first use state being used to indicate a triggering condition of a first driving state adjustment request of the first intelligent driving controller, the first driving state adjustment request being used to request the vehicle to change a driving state;

[0012] The receiving module is configured to receive a second driving state adjustment request sent by a second intelligent driving controller in response to the first use state indicating that the first intelligent driving controller is in an abnormal state.

[0013] The driving module is configured to drive the vehicle to change the driving state based on the second driving state adjustment request.

[0014] According to an aspect of the present application, a computer device is provided, which includes a processor and a memory, the memory storing a computer program, the processor loading and executing the computer program to implement the above vehicle driving state adjustment method.

[0015] According to another aspect of the present application, a computer readable storage medium is provided, which stores a computer program, the computer program being loaded and executed by a processor to implement the above vehicle driving state adjustment method.

[0016] According to another aspect of the present application, a computer program product or computer program is provided, which includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to make the computer device execute the above vehicle driving state adjustment method.

[0017] The technical scheme provided by the embodiments of the present application has at least the following beneficial effects:

[0018] The double-layer intelligent driving controller is integrated in the intelligent driving system in the vehicle, when the first intelligent driving controller is abnormal, the intelligent driving system starts the second intelligent driving controller to generate a second driving state adjustment request, and the intelligent brake controller drives the vehicle to change the driving state based on the second driving state adjustment request. The situation that the first intelligent driving controller cannot send a driving state adjustment instruction to the intelligent brake controller when the first intelligent driving controller is in an abnormal state is avoided, and the automatic driving efficiency is improved to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments description. Obviously, the drawings in the following description only constitute some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained from these drawings without any creative effort.

[0020] Figure 1 is a module schematic diagram corresponding to the intelligent driving system in a vehicle provided by an exemplary embodiment of the present application;

[0021] Figure 2 is a flow chart of the adjustment method of the vehicle driving state provided by an exemplary embodiment of the present application;

[0022] Figure 3 is a flow chart of the adjustment method of the vehicle driving state provided by another exemplary embodiment of the present application;

[0023] Figure 4 is a flow chart of the adjustment method of the vehicle driving state provided by another exemplary embodiment of the present application;

[0024] Figure 5 is a flow chart of the adjustment device of the vehicle driving state provided by an exemplary embodiment of the present application;

[0025] Figure 6 is a flow chart of the adjustment device of the vehicle driving state provided by another exemplary embodiment of the present application;

[0026] Figure 7 is a structure block diagram corresponding to the computer device provided by an exemplary embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to make the purpose, technical solutions and advantages of the present application more clear, the following will further describe the embodiments of the present application in combination with the drawings.

[0028] Firstly, the terms involved in the present application and related technologies are introduced.

[0029] Vehicle: the front-end device of the vehicle monitoring and management system, referred to as the vehicle dispatching and monitoring terminal. It integrates positioning, communication, vehicle driving record, image acquisition and other functions, and has business dispatching function and data processing capability. In the embodiments of the present application, the vehicle has an intelligent driving system, which is a system integrating the sum of information control technology, environmental perception capability, multi-level auxiliary driving and other functions. Illustratively, during driving, the driving subject can not need to independently control the vehicle, and the vehicle can normally perform driving, steering and other functions. In the embodiments of the present application, the intelligent driving system of the vehicle includes an intelligent driving controller and an intelligent brake controller.

[0030] Intelligent driving controller: used for generating automatic driving related instructions. In the embodiments of the present application, the intelligent driving controller generates driving state adjustment instructions in combination with various components in the vehicle. For example, automatic steering instructions, automatic deceleration instructions, automatic acceleration instructions, etc. In the embodiments of the present application, the intelligent driving controller includes a first intelligent driving controller and a second intelligent driving controller. The first intelligent driving controller generates driving state adjustment instructions as a priority controller, or the first intelligent driving controller and the second intelligent driving controller jointly generate driving state adjustment instructions, or the second intelligent driving controller generates driving state adjustment instructions. The present application does not limit this.

[0031] Intelligent braking controller: used for driving the vehicle to transform the driving state in response to the driving state adjustment instructions. The intelligent braking controller and the above-mentioned intelligent driving controller are connected in communication. The connection mode can be wireless connection or wired connection, and the present application does not limit this.

[0032] Secondly, Figure 1 The structure block diagram of a computer system provided by an exemplary embodiment is shown. The execution process of the vehicle driving state adjustment method provided by the embodiments of the present application is introduced based on the structure block diagram. The computer system implements the vehicle 100. The following flow is introduced by taking the vehicle 100 as an example.

[0033] The vehicle 100 includes a first intelligent driving controller 101, a second intelligent driving controller 102, and an intelligent braking controller 103.

[0034] Among them, the first intelligent driving controller 101 and the second intelligent driving controller 102 are connected through a double-layer integrated bus to perform data communication. The first intelligent driving controller 101 and the second intelligent driving controller 102 and the intelligent braking controller 103 perform data communication through the above-mentioned double-layer integrated bus.

[0035] Optionally, the first intelligent driving controller 101, the second intelligent driving controller 102, and the intelligent braking controller 103 perform data communication through wireless connection.

[0036] The first intelligent driving controller 101 and the second intelligent driving controller 102 are used to obtain driving information of various components in the vehicle 100 to generate corresponding driving state adjustment instructions.

[0037] Among them, each component includes a camera component, a sound acquisition component, a vehicle internal hardware parameter, a navigation component, etc. For example, the driving information corresponding to the camera component is road information. For details, please refer to the following embodiment content, which is not described here.

[0038] The driving state adjustment command is used to request the intelligent brake controller 102 to drive the vehicle to change its driving state.

[0039] When the first intelligent driving controller 101 is in an abnormal state, the second intelligent driving controller 102 is activated to obtain the driving information corresponding to each component and generate a second driving state adjustment request.

[0040] The second intelligent driving controller 102 sends a second driving state adjustment request to the intelligent braking controller 103. The intelligent braking controller 103 responds to the second driving state adjustment request and drives the vehicle 100 to change its driving state.

[0041] This application integrates a dual-layer intelligent driving controller into the vehicle's intelligent driving system. When the first intelligent driving controller malfunctions, the intelligent driving system activates the second intelligent driving controller to cooperate with the intelligent braking controller to execute the subsequent autonomous driving process. This avoids situations where the first intelligent driving controller is unable to send driving status adjustment commands to the intelligent braking controller due to an abnormal state, thus affecting the vehicle's autonomous driving. This improves the efficiency of autonomous driving and human-machine interaction to a certain extent.

[0042] like Figure 2 As shown, Figure 2 A flowchart illustrating the execution of a method for adjusting the driving state of a vehicle according to an exemplary embodiment of this application is shown. The method is described using a vehicle as the executing subject.

[0043] Step 201: During the autonomous driving process of the vehicle passing through the first intelligent driving controller, determine the first usage state of the first intelligent driving controller.

[0044] In this embodiment, the vehicle is equipped with an intelligent driving system, and when the intelligent driving system is activated, the vehicle is in an autonomous driving process.

[0045] Optionally, the automatic control of the intelligent driving system includes the following:

[0046] The intelligent driving system acquires information from sensors installed in the vehicle, including but not limited to at least one of the following: the vehicle's location, speed, road conditions, and obstacles. Optionally, the environmental and driving information can be aggregated into vehicle information.

[0047] The intelligent driving system extracts the above environmental and driving information to plan the vehicle's driving path and obtains the path planning result, which includes the vehicle's driving trajectory and speed at future moments.

[0048] The intelligent driving system determines a control strategy of the vehicle according to the path planning result, and controls the driving direction and speed of the vehicle. Optionally, the control strategy is converted into a control signal, and the intelligent driving system executes relevant control through a brake controller, thereby realizing automatic driving.

[0049] In the embodiment of the present application, the intelligent driving system includes an intelligent driving controller and an intelligent brake controller.

[0050] The intelligent driving controller is configured to generate a driving state adjustment request based on the vehicle information, and send the driving state adjustment request to the intelligent brake controller. The intelligent brake controller responds to the driving state request and starts the vehicle to transform the driving state.

[0051] Optionally, the vehicle information is information about the vehicle in the driving state generated based on each component in the vehicle. It includes but is not limited to driving speed, steering wheel rotation, road condition information, road recording video, vehicle tire steering, vehicle suspension force, etc.

[0052] Each component includes but is not limited to an external shooting component, an internal shooting component, a steering wheel torque sensor, an angle sensor, a pressure sensor, etc.

[0053] Illustratively, the road recording video is shot by the external shooting component, the intelligent driving controller obtains the road recording video, analyzes the road restriction information in the video content to generate the vehicle information, and further generates the driving state adjustment request.

[0054] The driving state adjustment request is used to drive the vehicle to transform the driving state.

[0055] Optionally, the driving state adjustment request includes at least one of a speed adjustment request, a steering adjustment request, and a forward direction adjustment request.

[0056] The speed adjustment request is used to drive the vehicle to change the driving speed, which includes a speed-up adjustment request, a speed-maintaining adjustment request, and a speed-down adjustment request.

[0057] The steering adjustment request is used to drive the vehicle to change the driving direction, which includes a left steering adjustment request and a right steering adjustment request. Specifically, the state adjustment request indicates a specific steering angle.

[0058] The forward direction adjustment request is used to drive the driving trajectory of the vehicle, which includes a main road driving state adjustment request, a lane changing driving state adjustment request, and a reversing driving state adjustment request.

[0059] In the embodiments of the present application, the intelligent driving system in the vehicle includes two or more intelligent driving controllers and an intelligent brake controller. The following embodiments are described by taking an example of the intelligent driving system including two intelligent driving controllers and one intelligent brake controller.

[0060] Specifically, the vehicle includes a first intelligent driving controller, a second intelligent driving controller, and an intelligent brake controller.

[0061] When the vehicle is in an automatic driving process of generating a first driving state adjustment request by the first intelligent driving controller, a first usage state of the first intelligent driving controller is determined.

[0062] The first usage state is used to indicate a triggering condition of the first intelligent driving controller for the first driving state adjustment request.

[0063] Optionally, the first usage state includes an abnormal state and a normal state. The abnormal state is used to indicate that the first intelligent driving controller cannot generate the first driving state adjustment request to cooperate with the intelligent brake controller to drive the vehicle to change the driving state. The normal state is used to indicate that the first intelligent driving controller normally generates the first driving state adjustment request to cooperate with the intelligent brake controller to drive the vehicle to change the driving state.

[0064] Optionally, the abnormal state includes at least one of a sensor fault, a steering system fault, a brake system fault, a communication fault, a hardware fault, a software fault, a power supply fault, and an external environment induced fault.

[0065] The sensor fault is used to indicate that the first intelligent driving controller is disconnected from each sensor arranged in the vehicle, that is, the first intelligent driving sensor cannot obtain the vehicle information corresponding to the vehicle, and thus cannot generate the first driving state adjustment request.

[0066] The steering system is used to drive the vehicle to turn, and the steering system is connected to the intelligent brake controller. The steering system fault is used to indicate that the steering system cannot respond to the control signal sent by the intelligent brake controller. The brake system is used to drive the vehicle to brake, and the brake system is connected to the intelligent brake controller. The brake system fault is used to indicate that the brake system cannot respond to the control signal sent by the intelligent brake controller.

[0067] The communication fault is used to indicate that the first intelligent driving controller is disconnected from the intelligent brake controller. The reasons for causing the communication fault include any one of a network connection problem and a line connection problem.

[0068] The hardware fault is used to indicate that the internal components of the first intelligent driving controller are faulty.

[0069] The software failure refers to an abnormality of an operation module built in the first intelligent driving controller, and thus the first intelligent driving controller cannot generate the first driving state adjustment request based on the vehicle information.

[0070] The external environment-induced failure refers to that the first intelligent driving controller is in a failure state in a specific environment. Illustratively, the specific environment refers to that the temperature of the external environment of the vehicle is lower than a preset temperature value, and at this time, the first intelligent driving controller stops working due to the too low temperature.

[0071] The power failure refers to that the power supply of the first intelligent driving controller is unstable or the power line is abnormal.

[0072] In another optional embodiment, the intelligent driving controller generates vehicle hardware adjustment information according to the vehicle information.

[0073] Optionally, the vehicle information includes vehicle external environment information. The vehicle hardware adjustment information includes vehicle glass adjustment information, vehicle internal temperature adjustment information, etc.

[0074] The intelligent driving controller generates vehicle hardware adjustment information according to the vehicle external environment information, and adjusts the use state of the vehicle hardware.

[0075] Illustratively, the intelligent driving controller obtains the temperature and humidity of the external environment, and generates a vehicle glass down request. The vehicle glass down request is used to drive the vehicle glass downward. The vehicle glass is arranged in the vehicle body frame, and includes a front windshield, a rear windshield, side window glass, and sunroof glass, etc.

[0076] In step 201, in response to the first use state indicating that the first intelligent driving controller is in an abnormal state, a second driving state adjustment request sent by a second intelligent driving controller is received.

[0077] In the embodiment of the application, the first intelligent driving controller and the second intelligent driving controller are connected through a double-layer bus system.

[0078] When the first intelligent driving controller is in an abnormal state and cannot generate the first driving state adjustment request, the second intelligent driving controller is started, and the second intelligent driving controller generates the second driving state adjustment request according to the vehicle information.

[0079] The second driving state adjustment request is used to request the vehicle to change the driving state.

[0080] In an optional embodiment, the intelligent brake controller sends a response request to the first intelligent driving controller every preset time interval, and the first intelligent driving controller sends a feedback signal to the intelligent brake controller after receiving the response request. The intelligent brake controller determines that the first intelligent driving controller is in a normal state according to the feedback signal. If no feedback signal is received, the intelligent brake controller determines that the first intelligent driving controller is in an abnormal state.

[0081] Optionally, the second intelligent driving controller is in an inactive state when the first intelligent driving controller is in a normal state. When the first intelligent driving controller is in an abnormal state, the second intelligent driving controller is in an active state. Specifically, in response to the intelligent brake controller not receiving the feedback signal sent by the first intelligent driving controller, the second intelligent driving controller is started.

[0082] In another optional embodiment, the second intelligent driving controller is in a dormant state when the first intelligent driving controller is in a normal state. In response to the intelligent brake controller not receiving the feedback signal sent by the first intelligent driving controller, a work signal is sent to the second intelligent driving controller. After receiving the work signal, the second intelligent driving controller stops the dormant state and acquires vehicle information to generate a second driving state adjustment request.

[0083] In another optional embodiment, the second intelligent driving controller is in an auxiliary state when the first intelligent driving controller is in a normal state. In this case, the first intelligent driving controller generates a first driving state adjustment request related to vehicle automatic driving, and the second intelligent driving controller generates a vehicle adjustment request related to driving experience. Specifically, the first intelligent driving controller acquires the vehicle information, and generates a first driving state adjustment request for adjusting the driving state of the vehicle based on the vehicle information, such as vehicle speed, vehicle trajectory, etc. The second intelligent driving controller acquires the temperature and humidity information inside and outside the vehicle, the road flatness information corresponding to the current driving section of the vehicle, and the weather information, and generates a vehicle adjustment request.

[0084] Illustratively, the second intelligent driving controller generates a temperature adjustment request according to the temperature difference and the humidity difference inside and outside the vehicle, which is used to adjust the temperature inside the vehicle. For example, when the temperature inside the vehicle is lower than the temperature outside the vehicle, a temperature increase request is generated, the intelligent brake controller sends a control signal corresponding to the temperature increase request to the air conditioning system in the vehicle, and the air conditioning system responds to the control signal to input warm air into the vehicle.

[0085] The second intelligent driving controller generates a vehicle seat adjustment request according to the road flatness information, the vehicle seat adjustment request being used to adjust the inclination angle of the seat in the vehicle. For example, the second intelligent driving controller determines that the current road section contains a convex terrain, and generates a seat adjustment request. The intelligent braking controller adjusts the inclination angle of the vehicle seat relative to the vertical direction based on the seat adjustment request. For example, the inclination angle is adjusted from 80° to 120°, so that the driver can cope with the uneven road section in a more comfortable posture.

[0086] The second intelligent driving controller generates a sun visor adjustment request according to the weather information, the sun visor adjustment request being used to adjust the sun visor in the vehicle. For example, the second intelligent driving controller determines the weather information in the current driving state, and generates a sun visor adjustment request. The intelligent braking controller enables or stops the sun visor based on the sun visor adjustment request. For example, the second intelligent driving controller determines that the current weather information is sunny, and opens the sun visor to block the external light from entering the driver.

[0087] In step 202, the vehicle is driven to change the driving state based on the second driving state adjustment request.

[0088] In the embodiment of the present application, after the intelligent braking controller receives the second driving state adjustment request sent by the second intelligent driving controller, the vehicle is driven to change the driving state.

[0089] Illustratively, the second driving state adjustment request includes at least one of a speed adjustment request, a steering adjustment request, and a forward direction adjustment request.

[0090] In the embodiment of the present application, the intelligent braking controller determines the first use state of the first intelligent driving controller and the second use state of the second intelligent driving controller again while the second intelligent driving controller generates the second driving state adjustment request.

[0091] In response to the first intelligent driving controller being in an abnormal state and the second intelligent driving controller being in a working state, the second intelligent driving controller generates a second driving state adjustment request.

[0092] The intelligent braking controller receives the second driving state adjustment request sent by the second intelligent driving controller and drives the vehicle to change the driving state in response to the request.

[0093] Based on the above-mentioned process of determining the first use state of the first intelligent driving controller twice, it is ensured that the second intelligent driving controller is enabled only when the first intelligent driving controller is in an abnormal state, unnecessary communication process and data interaction of the intelligent braking controller are avoided, the accuracy of the decision of the intelligent braking controller is improved, and the response speed of the intelligent braking controller is improved.

[0094] In another optional embodiment, the intelligent driving controller generates a driving state adjustment request based on vehicle information, and simultaneously generates adjustment validity verification information corresponding to the driving state adjustment request. This adjustment validity verification information is used to verify whether the driving state request is valid. That is, the intelligent braking controller determines whether to drive the vehicle to perform this driving state adjustment based on the adjustment validity verification information.

[0095] As an illustration, the verification information for the second driving state adjustment request includes an adjustment validity verification request. The preceding first driving state adjustment request also includes an adjustment validity verification request.

[0096] In response to the adjustment having verified that the information meets the preset requirements, the vehicle is driven to change its driving state based on the second driving state adjustment request.

[0097] The preset requirement is used to indicate that the effective verification information is adjusted to a preset value. For example, the preset value is 1. When the effective verification information is 1, the intelligent brake controller determines that the second driving state adjustment request is valid and responds to the second driving state adjustment request by driving the vehicle to change the driving state.

[0098] It should be emphasized that after the first intelligent driving controller generates the first driving state adjustment request and sends it to the intelligent braking controller, the intelligent braking controller still determines whether the adjustment validity verification information in the first driving state adjustment request meets the preset requirements. If it meets the preset requirements, the intelligent braking controller responds to the first driving state adjustment request.

[0099] In this embodiment, by setting a request verification bit for the driving state adjustment request, the intelligent brake controller responds to the driving state adjustment request when the verification bit meets the preset requirements, thereby further improving the accuracy of the intelligent brake controller in determining the driving state adjustment request.

[0100] In this application, a dual-layer intelligent driving controller is integrated into the vehicle's intelligent driving system. When the first intelligent driving controller malfunctions, the intelligent driving system activates the second intelligent driving controller to generate a second driving state adjustment request. The intelligent braking controller then coordinates with this request to drive the vehicle to change its driving state. This avoids situations where the first intelligent driving controller is malfunctioning and unable to send driving state adjustment commands to the intelligent braking controller, thus affecting the vehicle's autonomous driving efficiency and improving the overall efficiency of autonomous driving.

[0101] like Figure 3 As shown, Figure 3 A flowchart illustrating the execution of a method for adjusting the driving state of a vehicle according to another exemplary embodiment of this application is shown. The method is described using a vehicle as the executing subject.

[0102] Step 300, the second intelligent driving controller sends the second driving state adjustment request to the buffer.

[0103] In the embodiment of the present application, the intelligent driving system comprises a buffer, which is used to store the first driving state adjustment instruction generated by the first intelligent driving controller and the second driving state adjustment instruction generated by the second intelligent driving controller.

[0104] Optionally, the first intelligent driving controller generates the first driving state adjustment request based on the vehicle information and stores the first driving state adjustment request in the buffer.

[0105] The intelligent braking controller obtains the first driving state adjustment request from the buffer and verifies whether the adjustment effective verification information in the first driving state adjustment request meets the preset requirement. In the case of meeting the preset requirement, the intelligent braking controller drives the vehicle to transform the driving state in response to the first driving state adjustment request.

[0106] When the first intelligent driving controller is in the abnormal state, the second intelligent driving controller generates the second driving state adjustment request and sends the second driving state adjustment request to the buffer.

[0107] Step 301, the second driving state adjustment request is obtained from the buffer.

[0108] In the embodiment, the intelligent braking controller directly reads the second driving state adjustment request from the buffer and verifies whether the adjustment effective verification information in the second driving state adjustment request meets the preset requirement. In the case of meeting the preset requirement, the intelligent braking controller drives the vehicle to transform the driving state.

[0109] In another embodiment, in the process of adjusting the driving state of the vehicle, after the first intelligent driving controller switches from the abnormal state to the working state, the second driving state adjustment request is deleted from the buffer, and the vehicle is driven to transform the driving state based on the first driving state adjustment request.

[0110] When the first intelligent driving controller returns to the working state, the communication connection between the first intelligent driving controller and the second intelligent driving controller is established, that is, the handshake process of the first intelligent driving controller and the second intelligent driving controller is performed.

[0111] After the communication connection is successfully established, the intelligent braking controller drives the vehicle to transform the driving state through the sixth driving state adjustment request generated by the first intelligent driving controller. Alternatively, the seventh driving state adjustment request is generated by the first intelligent driving controller and the second intelligent controller. The intelligent braking controller drives the vehicle to transform the driving state based on the seventh driving state adjustment request.

[0112] When the communication connection is not successful, the intelligent brake controller drives the vehicle to change the driving state through the eighth driving state adjustment request generated by the second intelligent driving controller.

[0113] The sixth driving state adjustment request, the seventh driving state adjustment request and the eighth driving state adjustment request are all the next request after the second driving state adjustment request.

[0114] Optionally, after the communication connection is successfully established, the first driving state adjustment request and the second driving state adjustment request are simultaneously deleted from the buffer. The first intelligent driving controller generates a third driving state adjustment request based on the vehicle information, the second intelligent driving controller generates a fourth driving state adjustment request based on the vehicle information, the first intelligent driving controller receives the fourth driving state adjustment request sent by the second intelligent driving controller, and compares and verifies the fourth driving state adjustment request with the third driving state adjustment request generated by itself.

[0115] In response to the request contents corresponding to the third driving state adjustment request and the fourth driving state adjustment request being consistent, the intelligent brake controller receives the third driving state adjustment request sent by the first intelligent driving controller to drive the vehicle to change the driving state, and sets the second intelligent driving controller to the dormant state.

[0116] In response to the request contents corresponding to the third driving state adjustment request and the fourth driving state adjustment request being inconsistent, the first intelligent driving controller integrates the third driving state adjustment request and the fourth driving state adjustment request to generate a fifth driving state adjustment request. The intelligent brake controller receives the fifth driving state adjustment request sent by the first intelligent driving controller to drive the vehicle to change the driving state. After the driving state adjustment requests generated by the first intelligent driving controller and the second intelligent driving controller are consistent, the second intelligent driving controller is set to the dormant state.

[0117] In the implementation of the present application, the double-layer intelligent driving controller is integrated in the intelligent driving system in the vehicle. When the first intelligent driving controller is abnormal, the intelligent driving system starts the second intelligent driving controller to generate a second driving state adjustment request, and cooperates with the intelligent brake controller to drive the vehicle to change the driving state based on the second driving state adjustment request. This avoids the situation that the first intelligent driving controller cannot send the driving state adjustment instruction to the intelligent brake controller when it is in an abnormal state, thereby affecting the automatic driving of the vehicle, and improves the automatic driving efficiency to a certain extent.

[0118] In the embodiment of the present application, the buffer is arranged in the intelligent driving system to improve the response efficiency of the intelligent driving system in executing the automatic driving instruction (here, the driving state adjustment), and reduce the communication time between the controllers.

[0119] As shown in Figure 4 the first intelligent driving controller and the second intelligent driving controller are connected to the intelligent brake controller through the communication connection.Figure 4 An execution flow block diagram of the method for adjusting the driving state of the vehicle is shown. The execution subject of the method is the second intelligent driving controller.

[0120] At step 400, the road environment information captured by the vehicle on the target road section is obtained.

[0121] The road environment information includes road speed limit information and vehicle congestion information.

[0122] The second intelligent driving controller obtains the road environment information captured by the in-vehicle camera, which is in the form of a video. That is, the road environment video captured by the vehicle on the target road section is obtained. The road environment video is composed of multiple image frames.

[0123] The second intelligent driving controller performs a text analysis process on each image frame to identify the text content in each image frame and determine whether speed information exists in the text content. In response to the existence of speed information in the text content, the speed information is determined as the road speed limit information.

[0124] The second intelligent driving controller performs an object recognition process on each image frame to identify the vehicle body information in each image frame, filters the repeatedly appearing vehicle body information in all image frames, and determines the number of vehicle bodies existing around the vehicle. In response to the number of vehicle bodies being greater than a numerical threshold, congestion information is generated.

[0125] At step 401, the electronic map navigation information corresponding to the target road section is obtained.

[0126] Optionally, the electronic map navigation information of the vehicle within a preset time period is obtained, which indicates the corresponding information when the vehicle performs path navigation through the map navigation application software within the historical or current time period. Optionally, the map navigation application software can be the software provided by the in-vehicle intelligent driving system, or the software on the smart terminal held by the driver, which is not limited in the present application.

[0127] The electronic map navigation information includes path planning information and speed planning information. The path planning information refers to the road path planned from the starting navigation position to the ending navigation position, and the speed planning information refers to the speed information corresponding to the vehicle passing through the road section.

[0128] At step 402, a second driving state adjustment request is generated based on the road limit information, the vehicle congestion information, and the electronic map navigation information.

[0129] According to the road limit information, the vehicle congestion information, the path planning information, and the speed planning information, the second driving state adjustment request is generated.

[0130] In another optional embodiment, the driving speed information of other vehicles within a preset distance of the vehicle is acquired, and a second driving state adjustment request is generated based on the driving speed information, the vehicle congestion information, and the electronic map navigation information.

[0131] In the present application, a double-layer intelligent driving controller is integrated in the intelligent driving system in the vehicle. When the first intelligent driving controller is abnormal, the intelligent driving system starts the second intelligent driving controller to generate a second driving state adjustment request, and the intelligent brake controller drives the vehicle to change the driving state based on the second driving state adjustment request. This avoids the situation that the automatic driving process is interrupted and the user is forced to intervene for manual driving, and improves the efficiency of automatic driving to a certain extent.

[0132] Based on the above embodiments, the automatic deceleration of the vehicle is taken as an example for detailed description.

[0133] In the present application, the intelligent driving system in the vehicle includes a main controller, an auxiliary controller, and an intelligent brake controller.

[0134] The three controllers are connected through a double-layer communication link to perform data interaction.

[0135] When the main controller is in an abnormal state, the auxiliary controller is switched to control the intelligent brake controller to perform deceleration. When the main controller recovers from the abnormal state to a working state, the main controller is switched to control the intelligent brake controller to perform deceleration.

[0136] The specific execution process is as follows: the usage state of the main controller is determined through the ADS_1_SysSts signal, and the usage state of the auxiliary controller is determined through the ADS_2_SysSts signal.

[0137] When the main controller is not abnormal, the first usage state signal ADS_1_SysSts generated by the main controller is sent to the intelligent brake controller through the double-layer communication link. When the first usage state signal ADS_1_SysSts meets the preset requirement, the intelligent brake controller determines that the main controller is not abnormal. Illustratively, the first usage state signal ADS_1_SysSts is ADS_1_SysSts = 0x0: Not present, which indicates that the main controller is not abnormal.

[0138] The intelligent brake controller receives the first deceleration signal ADS_1_BrkDecTar sent by the main controller, and judges whether the valid bit ADS_1_BrkDecTarVld of the first deceleration signal ADS_1_BrkDecTar meets the preset requirement. When the valid bit ADS_1_BrkDecTarVld is ADS_1_BrkDecTarVld=0x1: Valid, the intelligent brake controller normally responds to the first deceleration signal ADS_1_BrkDecTar and drives the vehicle to decelerate.

[0139] When the main controller is abnormal, the second deceleration signal ADS_2_BrkDecTar is generated by the auxiliary controller. At this time, the main controller sends the first use state signal ADS_1_SysSts corresponding to the abnormality to the intelligent brake controller through the double-layer link. Illustratively, the first use state signal ADS_1_SysSts is ADS_1_SysSts=0x1: Fail present, which indicates that the main controller is abnormal. That is, the intelligent brake controller needs to judge that the first use state signal ADS_1_SysSts is ADS_1_SysSts=0x1: Fail present and the second use state signal ADS_2_SysSts of the auxiliary controller is ADS_2_SysSts=0x0: Not present at the same time.

[0140] When the second deceleration signal ADS_2_BrkDecTar generated by the auxiliary controller is sent to the intelligent brake controller for response, it is judged whether the valid bit ADS_2_BrkDecTarVld of the second deceleration signal ADS_2_BrkDecTar meets the preset requirement. When the valid bit ADS_2_BrkDecTarVld is ADS_2_BrkDecTarVld=0x1: Valid, the intelligent brake controller normally responds to the second deceleration signal ADS_2_BrkDecTar and drives the vehicle to decelerate.

[0141] When the intelligent brake controller responds to the second deceleration signal ADS_2_BrkDecTar sent by the auxiliary controller, the main controller resumes the use state. In order to ensure the safety of the vehicle and the driving experience of the driver, the handshake process of the main controller and the auxiliary controller is performed (both establish a communication connection), and before the handshake is successfully performed, the intelligent brake controller continues to respond to the second deceleration signal ADS_2_BrkDecTar. After the two successfully handshake, the intelligent brake controller re-responds to the first deceleration signal ADS_1_BrkDecTar generated by the main controller.

[0142] In the embodiments of the present application, a double-layer intelligent driving controller is integrated in the intelligent driving system in the vehicle, when the first intelligent driving controller is abnormal, the intelligent driving system starts the second intelligent driving controller to generate a second driving state adjustment request, and the intelligent brake controller drives the vehicle to change the driving state based on the second driving state adjustment request. This avoids the situation that the first intelligent driving controller cannot send a driving state adjustment instruction to the intelligent brake controller when it is in an abnormal state, thereby affecting the automatic driving of the vehicle, and improves the efficiency of automatic driving to a certain extent.

[0143] Figure 5 A structural block diagram of a vehicle driving state adjustment device provided by an example embodiment of the present application is shown, which includes a determination module 500, a receiving module 501, and a driving module 502.

[0144] The determination module 500 is configured to determine a first usage state of the first intelligent driving controller during the automatic driving of the vehicle by the first intelligent driving controller, the first usage state being used to indicate a triggering condition of the first intelligent driving controller for a first driving state adjustment request, the first driving state adjustment request being used to request driving the vehicle to change the driving state.

[0145] The receiving module 501 is configured to receive a second driving state adjustment request sent by a second intelligent driving controller in response to the first usage state indicating that the first intelligent driving controller is in an abnormal state.

[0146] The driving module 502 is configured to drive the vehicle to change the driving state based on the second driving state adjustment request.

[0147] In an optional embodiment, the determination module 500 is configured to determine the first usage state and a second usage state corresponding to the second intelligent driving controller, the second usage state being used to indicate a triggering condition of the second intelligent driving controller for the second driving state adjustment request.

[0148] The driving module 502 is configured to drive the vehicle to change the driving state based on the second driving state adjustment request in response to the first intelligent driving controller being in the abnormal state and the second intelligent driving controller being in a working state.

[0149] In an optional embodiment, the second driving state adjustment request includes adjustment valid verification information.

[0150] The driving module 502 is configured to drive the vehicle to change the driving state based on the second driving state adjustment request in response to the adjustment valid verification information meeting a preset requirement.

[0151] In an optional embodiment, as shown in Figure 6 The apparatus further includes a sending module 503 and an obtaining module 504.

[0152] The sending module 503 is configured to store the second driving state adjustment request sent by the second intelligent driving controller into a buffer.

[0153] The obtaining module 504 is configured to obtain the second driving state adjustment request from the buffer.

[0154] In an optional embodiment, as shown in Figure 6 The apparatus further includes a deleting module 505.

[0155] The deleting module 505 is configured to delete the second driving state adjustment request from the buffer when the first intelligent driving controller switches from the abnormal state to the working state during adjustment of the driving state of the vehicle.

[0156] The receiving module 501 is configured to receive the first driving state adjustment request sent by the first intelligent driving controller.

[0157] The driving module 502 is configured to drive the vehicle to change the driving state based on the first driving state adjustment request.

[0158] In an optional embodiment, as shown in Figure 6 The apparatus further includes a constructing module 506.

[0159] The constructing module 506 is configured to establish a communication connection between the first intelligent driving controller and the second intelligent driving controller when the first intelligent driving controller switches from the abnormal state to the working state during adjustment of the driving state of the vehicle.

[0160] The driving module 502 is configured to adjust the driving state of the vehicle based on the first driving state adjustment request in response to successful establishment of the communication connection between the first intelligent driving controller and the second intelligent driving controller.

[0161] In an optional embodiment, as shown in Figure 6 The obtaining module 504 is configured to obtain road environment information of the vehicle captured at a target road section, the road environment information including road speed limit information and vehicle congestion information; and obtain electronic map navigation information corresponding to the target road section.

[0162] The generating module 507 is configured to generate a driving state adjustment request corresponding to the vehicle based on the road speed limit information, the vehicle congestion information, and the electronic map navigation information.

[0163] In an optional embodiment, as shown in Figure 6 the acquisition module 504 is configured to acquire driving speed information of other vehicles within a preset distance of the vehicle;

[0164] The generation module 507 is configured to generate a driving state adjustment request corresponding to the vehicle based on the driving speed information, the road limit speed information, the vehicle congestion information, and the electronic map navigation information.

[0165] In the embodiments of the present application, a double-layer intelligent driving controller is integrated in the intelligent driving system in the vehicle. When the first intelligent driving controller is abnormal, the intelligent driving system starts the second intelligent driving controller to generate a second driving state adjustment request, and cooperates with the intelligent brake controller to drive the vehicle to change the driving state based on the second driving state adjustment request. This avoids the situation that the automatic driving process is interrupted to cause the user to forcibly intervene in manual driving, and improves the automatic driving efficiency to a certain extent.

[0166] Figure 7 A structural block diagram of a computer device 800 provided by an example embodiment of the present application is shown. The computer device 800 can be a portable mobile terminal, such as a smart phone, a tablet computer, an MP3 player (Moving Picture Experts Group Audio Layer III), an MP4 player (Moving Picture Experts Group Audio Layer IV), a notebook computer, or a desktop computer. The computer device 800 can also be referred to as a user device, a portable terminal, a laptop terminal, a desktop terminal, or other names. Optionally, the computer device 800 can also be implemented as a movable device, such as a vehicle-mounted terminal or other movable intelligent terminal.

[0167] Generally, the computer device 800 includes a processor 801 and a memory 802.

[0168] The processor 801 can include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 801 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 801 can also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also known as a CPU (Central Processing Unit), and the coprocessor being a low-power processor for processing data in a standby state. In some embodiments, the processor 801 can be integrated with a GPU (Graphics Processing Unit) for rendering and drawing content required to be displayed by the display screen. In some embodiments, the processor 801 can further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

[0169] The memory 802 can include one or more computer-readable storage media that can be non-transitory. The memory 802 can also include a high-speed random access memory, and a nonvolatile memory such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 802 is used to store at least one instruction for being executed by the processor 801 to implement the model training method or the behavior coding method provided by the method embodiments in the present application.

[0170] In some embodiments, the computer device 800 can also optionally include a peripheral device interface 803 and at least one peripheral device. The processor 801, the memory 802, and the peripheral device interface 803 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 803 through a bus, a signal line, or a circuit board. For example, the peripheral device can include at least one of a radio frequency circuit 804, a display screen 805, a camera component 806, an audio circuit 807, a positioning component 815, and a power supply 808.

[0171] The peripheral interface 803 can be used to connect at least one I / O (Input / Output) related peripheral device to the processor 801 and the memory 802. In some embodiments, the processor 801, the memory 802 and the peripheral interface 803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of the processor 801, the memory 802 and the peripheral interface 803 can be implemented on a separate chip or circuit board, and the present embodiments are not limited in this regard.

[0172] The radio frequency circuit 804 is used to receive and send RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 804 communicates with a communication network and other communication devices through electromagnetic signals. The radio frequency circuit 804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals into electrical signals. Optionally, the radio frequency circuit 804 includes an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a subscriber identity module card, and the like. The radio frequency circuit 804 can communicate with other terminals through at least one wireless communication protocol. The wireless communication protocol includes but is not limited to the World Wide Web, a metropolitan area network, an intranet, various generations of mobile communication networks (2G, 3G, 4G and 5G), a wireless local area network and / or a WiFi (Wireless Fidelity) network. In some embodiments, the radio frequency circuit 804 can also include NFC (Near Field Communication) related circuitry, and the present application is not limited in this regard.

[0173] The display screen 805 is configured to display a UI (User Interface). The UI can include graphics, text, icons, video, and any combination thereof. When the display screen 805 is a touch display screen, the display screen 805 is further configured to capture touch signals on or above the surface of the display screen 805. The touch signals can be input to the processor 801 as control signals for processing. In this case, the display screen 805 can also be configured to provide virtual buttons and / or virtual keyboard, also known as soft buttons and / or soft keyboard. In some embodiments, the display screen 805 can be one, disposed on the front panel of the computer device 800; in other embodiments, the display screen 805 can be at least two, respectively disposed on different surfaces of the computer device 800 or in a folding design; in other embodiments, the display screen 805 can be a flexible display screen, disposed on a curved surface or a folding surface of the computer device 800. Even, the display screen 805 can also be disposed in an irregular shape, i.e., a special-shaped screen. The display screen 805 can be made of LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc.

[0174] The camera assembly 806 is configured to capture images or videos. Optionally, the camera assembly 806 includes a front camera and a rear camera. Typically, the front camera is disposed on the front panel of the terminal, and the rear camera is disposed on the back of the terminal. In some embodiments, the rear camera is at least two, which are any one of a main camera, a depth-of-field camera, a wide-angle camera, and a telephoto camera, to realize the background blur function by fusing the main camera and the depth-of-field camera, the panoramic shooting and VR (Virtual Reality) shooting function by fusing the main camera and the wide-angle camera, or other fusion shooting functions. In some embodiments, the camera assembly 806 can further include a flash. The flash can be a single-color-temperature flash or a dual-color-temperature flash. The dual-color-temperature flash refers to the combination of a warm light flash and a cold light flash, which can be used for light compensation under different color temperatures.

[0175] The audio circuit 807 can include a microphone and a speaker. The microphone is used to collect sound waves of the user and the environment, and convert the sound waves into an electrical signal input to the processor 801 for processing, or input to the radio frequency circuit 804 to realize voice communication. For the purpose of stereo sound collection or noise reduction, the microphone can be multiple, respectively arranged at different parts of the computer device 800. The microphone can also be an array microphone or an omnidirectional collection type microphone. The speaker is used to convert the electrical signal from the processor 801 or the radio frequency circuit 804 into sound waves. The speaker can be a conventional diaphragm speaker, or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, not only can it convert electrical signals into sound waves that humans can hear, but it can also convert electrical signals into sound waves that humans cannot hear for ranging purposes. In some embodiments, the audio circuit 807 can also include a headphone jack.

[0176] The positioning component 815 is used to position the current geographic location of the computer device 800 to realize navigation or LBS (Location Based Service). The positioning component 815 can be a positioning component based on the GPS (Global Positioning System) in the United States or the Beidou system in China.

[0177] The power supply 808 is used to supply power to various components in the computer device 800. The power supply 808 can be alternating current, direct current, disposable battery or rechargeable battery. When the power supply 808 includes a rechargeable battery, the rechargeable battery can be a wired charging battery or a wireless charging battery. The wired charging battery is a battery charged through a wired line, and the wireless charging battery is a battery charged through a wireless coil. The rechargeable battery can also be used to support fast charging technology.

[0178] In some embodiments, the computer device 800 further includes one or more sensors 809. The one or more sensors 809 include but are not limited to: an acceleration sensor 810, a gyroscope sensor 811, a pressure sensor 812, an optical sensor 813, and a proximity sensor 814.

[0179] The acceleration sensor 810 can detect the acceleration in three coordinate axes of the coordinate system established by the computer device 800. For example, the acceleration sensor 810 can be used to detect the components of gravitational acceleration in three coordinate axes. The processor 801 can control the display screen 805 to display the user interface in a landscape view or a portrait view according to the gravitational acceleration signal collected by the acceleration sensor 810. The acceleration sensor 810 can also be used for game or user motion data collection.

[0180] The gyroscope sensor 811 can detect the body direction and rotation angle of the computer device 800, and the gyroscope sensor 811 can cooperate with the acceleration sensor 810 to collect the 3D action of the user on the computer device 800. According to the data collected by the gyroscope sensor 811, the processor 801 can realize the following functions: action sensing (such as changing the UI according to the tilt operation of the user), image stabilization during shooting, game control, and inertial navigation.

[0181] The pressure sensor 812 can be arranged on the side frame of the computer device 800 and / or the lower layer of the display screen 805. When the pressure sensor 812 is arranged on the side frame of the computer device 800, the holding signal of the user on the computer device 800 can be detected, and the left and right hand recognition or shortcut operation can be performed by the processor 801 according to the holding signal collected by the pressure sensor 812. When the pressure sensor 812 is arranged on the lower layer of the display screen 805, the controllable control on the UI interface can be controlled by the processor 801 according to the pressure operation of the user on the display screen 805. The controllable control includes at least one of a button control, a scroll bar control, an icon control, and a menu control.

[0182] The optical sensor 813 is used to collect the ambient light intensity. In an embodiment, the processor 801 can control the display brightness of the display screen 805 according to the ambient light intensity collected by the optical sensor 813. For example, when the ambient light intensity is high, the display brightness of the display screen 805 is increased; when the ambient light intensity is low, the display brightness of the display screen 805 is decreased. In another embodiment, the processor 801 can also dynamically adjust the shooting parameters of the camera assembly 806 according to the ambient light intensity collected by the optical sensor 813.

[0183] The proximity sensor 814, also known as a distance sensor, is usually arranged on the front panel of the computer device 800. The proximity sensor 814 is used to collect the distance between the user and the front of the computer device 800. In an embodiment, when the proximity sensor 814 detects that the distance between the user and the front of the computer device 800 gradually decreases, the display screen 805 is switched from the bright screen state to the screen-off state by the processor 801; when the proximity sensor 814 detects that the distance between the user and the front of the computer device 800 gradually increases, the display screen 805 is switched from the screen-off state to the bright screen state by the processor 801.

[0184] Those skilled in the art can understand that the structures shown in the above embodiments are not a limitation on the computer device 800, and the computer device 800 can include more or fewer components than those shown in the figures, or combine certain components, or use different component arrangements. Figure 7

[0185] ​The application further provides a computer readable storage medium, wherein at least one instruction, at least one program, a code set or an instruction set are stored in the storage medium, and the at least one instruction, the at least one program, the code set or the instruction set are loaded and executed by a processor to implement the method for identifying a pipe network operation state provided in the above method embodiment.

[0186] The application provides a computer program product or a computer program, which comprises computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method for identifying a pipe network operation state provided in the above method embodiment.

[0187] Those skilled in the art can understand that all or part of the steps of the above embodiments can be completed by hardware, or by a program instructing relevant hardware to complete, and the program can be stored in a computer readable storage medium. The storage medium mentioned above can be a read-only memory, a magnetic disk or an optical disk. The above is only an optional embodiment of the application, and is not used to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application. The above is only an optional embodiment of the application, and is not used to limit the application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A method of adjusting a running state of a vehicle, characterized by, The method comprises: In the process of automatic driving of the vehicle by the first intelligent driving controller, a first use state of the first intelligent driving controller is determined, the first use state being used to indicate triggering of a first driving state adjustment request by the first intelligent driving controller, the first driving state adjustment request being used to request driving the vehicle to change driving state; In response to the first use state indicating that the first intelligent driving controller is in an abnormal state, a second driving state adjustment request sent by a second intelligent driving controller is received; The second driving state adjustment request sent by the second intelligent driving controller is stored in a buffer; The second driving state adjustment request is obtained from the buffer, and the vehicle is driven to change driving state based on the second driving state adjustment request; In the process of adjusting the driving state of the vehicle, in response to the first intelligent driving controller switching from the abnormal state to a working state, a communication connection between the first intelligent driving controller and the second intelligent driving controller is established; In response to the first intelligent driving controller and the second intelligent driving controller successfully establishing the communication connection, the second driving state adjustment request is deleted from the buffer, a fourth driving state adjustment request generated by the second intelligent driving controller based on vehicle information is compared and verified with a third driving state adjustment request generated by the first intelligent driving controller based on the vehicle information; In response to the request contents corresponding to the third driving state adjustment request and the fourth driving state adjustment request being consistent respectively, the vehicle is driven to change the driving state based on the third driving state adjustment request, and the second intelligent driving controller is set to a dormant state; In response to the request contents corresponding to the third driving state adjustment request and the fourth driving state adjustment request being inconsistent respectively, the vehicle is driven to change the driving state based on a fifth driving state adjustment request generated by the first intelligent driving controller, the fifth driving state adjustment request being obtained by the first intelligent driving controller integrating the third driving state adjustment request and the fourth driving state adjustment request; after the driving state adjustment requests generated by the first intelligent driving controller and the second intelligent driving controller are consistent respectively, the second intelligent driving controller is set to the dormant state.

2. The method of claim 1, wherein, The driving of the vehicle to change driving state based on the second driving state adjustment request comprises: A second use state corresponding to the second intelligent driving controller is determined, the second use state being used to indicate triggering of the second driving state adjustment request by the second intelligent driving controller; In response to the second intelligent driving controller being in a working state, the vehicle is driven to change driving state based on the second driving state adjustment request.

3. The method of claim 2, wherein, The second driving state adjustment request comprises adjustment valid verification information, the adjustment valid verification information being used to verify whether the second driving state adjustment request is valid; The driving of the vehicle to change driving state based on the second driving state adjustment request comprises: In response to the adjusted effective verification information meeting preset requirements, the vehicle is driven to change the driving state based on the second driving state adjustment request.

4. The method of claim 1, wherein, The method further includes: In the process of adjusting the driving state of the vehicle, in response to the first intelligent driving controller switching from the abnormal state to the working state, the second driving state adjustment request is deleted from the buffer; The first driving state adjustment request sent by the first intelligent driving controller is received; The vehicle is driven to change the driving state based on the first driving state adjustment request.

5. The method of claim 1, wherein, The method further includes: In the process of adjusting the driving state of the vehicle, in response to the first intelligent driving controller switching from the abnormal state to the working state, a communication connection between the first intelligent driving controller and the second intelligent driving controller is established; In response to the first intelligent driving controller and the second intelligent driving controller successfully establishing the communication connection, the vehicle is driven to change the driving state by a sixth driving state adjustment request generated by the first intelligent driving controller, the sixth driving state adjustment request being used to indicate a next request after the second driving state request.

6. The method according to any one of claims 1 to 3, characterized in that, The method further includes: Obtaining road environment information of the vehicle captured on a target road section, the road environment information including road speed limit information and vehicle congestion information; Obtaining electronic map navigation information corresponding to the target road section; Based on the road speed limit information, the vehicle congestion information and the electronic map navigation information, the second driving state adjustment request is generated by the second intelligent driving controller.

7. The method of claim 6, wherein, The second driving state adjustment request is generated by the second intelligent driving controller based on the road speed limit information, the vehicle congestion information and the electronic map navigation information, including: Obtaining driving speed information of other vehicles within a preset distance of the vehicle; Based on the driving speed information, the road speed limit information, the vehicle congestion information and the electronic map navigation information, the second driving state adjustment request is generated by the second intelligent driving controller.

8. An adjustment device of a running state of a vehicle, characterized by comprising: The device includes: A determination module is configured to determine a first use state of a first intelligent driving controller during automatic driving of a vehicle by the first intelligent driving controller, the first use state being used to indicate triggering of a first driving state adjustment request by the first intelligent driving controller, the first driving state adjustment request being used to request driving of the vehicle to change a driving state; A receiving module is configured to receive a second driving state adjustment request sent by a second intelligent driving controller in response to the first use state indicating that the first intelligent driving controller is in an abnormal state; A sending module is configured to store the second driving state adjustment request sent by the second intelligent driving controller in a buffer; An obtaining module is configured to obtain the second driving state adjustment request from the buffer and drive the vehicle to change the driving state based on the second driving state adjustment request. The driving module is configured to drive the vehicle to change the driving state based on the second driving state adjustment request. The establishing module is configured to establish a communication connection between the first intelligent driving controller and the second intelligent driving controller in response to the first intelligent driving controller switching from the abnormal state to the working state during the adjustment of the driving state of the vehicle. The module is configured to, in response to the first intelligent driving controller and the second intelligent driving controller successfully establishing the communication connection, delete the second driving state adjustment request from the buffer, and compare and verify a fourth driving state adjustment request generated by the second intelligent driving controller based on the vehicle information with a third driving state adjustment request generated by the first intelligent driving controller based on the vehicle information. The module is configured to, in response to the request content corresponding to the third driving state adjustment request and the fourth driving state adjustment request being consistent, drive the vehicle to change the driving state based on the third driving state adjustment request, and set the second intelligent driving controller to the dormant state. The module is configured to, in response to the request content corresponding to the third driving state adjustment request and the fourth driving state adjustment request being inconsistent, drive the vehicle to change the driving state based on a fifth driving state adjustment request generated by the first intelligent driving controller, the fifth driving state adjustment request being obtained by the first intelligent driving controller by integrating the third driving state adjustment request and the fourth driving state adjustment request, and set the second intelligent driving controller to the dormant state after the driving state adjustment requests generated by the first intelligent driving controller and the second intelligent driving controller are consistent.

9. A computer device, comprising: The computer device comprises a processor and a memory, and the memory stores at least one program, which is loaded and executed by the processor to implement the method for adjusting the driving state of the vehicle according to any one of claims 1 to 7.

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