Interaction control method and device for automatic driving scene simulation

Abstract

The invention provides an interactive control method and device for automatic driving scene simulation, and the method comprises the steps: controlling a display device to display a virtual vehicle in real time in response to an input automatic driving level and a scene mode; the scene mode comprises an intelligent driving exercise mode or a grade authentication mode; receiving control signals from various types of controllers; and controlling the virtual vehicle according to the control signal, the automatic driving level and the scene mode so as to realize interaction control of automatic driving scene simulation. The virtual vehicle is controlled according to the control signal of each type of controller, the automatic driving level and the scene mode, simulation interaction control of an automatic driving scene of a real vehicle such as an intelligent driving practice mode or a level authentication mode is achieved, the interactivity of existing automatic driving practice is effectively improved, and the driving experience of the real vehicle is improved. And the safety of automatic driving is guaranteed while the user is helped to be familiar with automatic driving operation.

Description

Technical Field

[0001] The present invention relates to the field of autonomous driving, and in particular to an interactive control method and device for simulating autonomous driving scenarios. Background Art

[0002] As autonomous driving technology develops and gradually integrates into the lives of car owners, some users' understanding of autonomous driving is still at an early stage, and the correct use of this technology and the popularization of its usage methods are extremely important for safe car use. However, at present, users' understanding of autonomous driving functions mainly comes from vehicle manuals, owner guide apps, video learning, and test-taking. These methods are not intuitive enough for users to establish an understanding of autonomous driving functions and cannot form effective interaction with users. Summary of the invention

[0003] The present invention application provides an interactive control method and device for autonomous driving scene simulation, which can improve the interactivity with users through autonomous driving scene simulation.

[0004] In order to solve the above technical problems, the first aspect of the present invention application provides an interactive control method for autonomous driving scene simulation, comprising:

[0005] In response to the inputted autonomous driving level and scenario mode, controlling the display device to display the virtual vehicle in real time; wherein the scenario mode includes: intelligent driving practice mode or level certification mode;

[0006] Receiving control signals from controllers of various categories, wherein the controllers of various categories include at least one of the power domain controller, the chassis domain controller, the body domain controller, and the intelligent driving domain controller, wherein the power domain controller, the chassis domain controller, the body domain controller, and the intelligent driving domain controller are connected via a gateway;

[0007] The virtual vehicle is controlled according to the control signals received from the controllers of each category, the autonomous driving level and the scenario mode to achieve interactive control of the autonomous driving scenario simulation.

[0008] The present invention applies simulated interactive control of a virtual vehicle such as an intelligent driving practice mode or a level certification mode according to control signals of various categories of controllers, autonomous driving levels and scenario modes, thereby realizing an autonomous driving scenario simulation based on a real vehicle. Compared with the prior art which uses vehicle manuals, APP video learning or answering exams, it can cultivate users' familiarity with the interaction between autonomous driving scenarios and real vehicles, help users further deepen their understanding of autonomous driving technology, and improve driving safety of autonomous driving; in addition, each category of controller includes at least one of a power domain controller, a chassis domain controller, a body domain controller and an intelligent driving domain controller, and interactive control is performed based on the control signals of each category of controller, which effectively improves the interactivity of existing autonomous driving exercises, helps users to practice immersively and deepens their impression of actual operations.

[0009] As a preferred solution, the intelligent driving practice mode and the level certification mode both include vehicle following practice or vehicle stopping practice, and the virtual vehicle is controlled according to the control signals received from the controllers of each category, the automatic driving level and the scene mode, including:

[0010] When the scenario mode is following vehicle practice or following stop practice, the virtual vehicle is controlled according to a lateral control signal and a longitudinal control signal corresponding to the autonomous driving level received from an intelligent driving domain controller, and the lateral control signal and the longitudinal control signal are generated by the intelligent driving domain controller according to preset road data and an autonomous driving model algorithm.

[0011] As a preferred solution, the intelligent driving practice mode and the level certification mode both include lane change practice, and the virtual vehicle is controlled according to the control signals received from the controllers of each category, the automatic driving level and the scene mode, and further includes:

[0012] When the scenario mode is lane change practice, in response to the steering lever control signal sent by the body domain controller to the intelligent driving domain controller, a lane change instruction corresponding to the automatic driving level is received from the intelligent driving domain controller, and the virtual vehicle is controlled to change lanes.

[0013] As a preferred solution, the intelligent driving practice mode and the level certification mode both include overtaking practice;

[0014] The controlling the virtual vehicle according to the control signals received from the controllers of each category, the automatic driving level and the scene mode, further includes:

[0015] An overtaking instruction corresponding to the autonomous driving level is received from the intelligent driving domain controller, and the virtual vehicle is controlled to overtake. The overtaking instruction is made by the intelligent driving domain controller through an autonomous driving model algorithm according to the following vehicle duration and road environment data.

[0016] As a preferred solution, the intelligent driving practice mode and the level certification mode both include emergency braking practice;

[0017] The controlling the virtual vehicle according to the control signals received from the controllers of each category, the automatic driving level and the scene mode, further includes:

[0018] A braking control instruction corresponding to the autonomous driving level is received from the intelligent driving domain controller to control the virtual vehicle to brake, wherein the braking control instruction is made by the intelligent driving domain controller according to road environment data through an autonomous driving model algorithm.

[0019] As a preferred solution, the intelligent driving practice mode and the level certification mode both include takeover practice;

[0020] The interactive control method further includes:

[0021] According to a scenario mode and when the scenario mode is takeover practice, the brake pedal control signal received from the chassis domain controller is used to control the deceleration of the virtual vehicle;

[0022] Or, according to the steering wheel control signal received from the power domain controller, the virtual vehicle is subjected to steering control or lane change control to achieve takeover practice.

[0023] As a preferred solution, the intelligent driving practice mode and the level certification mode both include acceleration and deceleration practice;

[0024] The interactive control method further comprises:

[0025] According to the scenario mode and when the scenario mode is acceleration and deceleration practice, a pedal control signal is received from the power domain controller and a brake pedal control signal is received from the chassis domain controller to perform acceleration and deceleration control on the virtual vehicle.

[0026] As a preferred solution, the interactive control method further includes:

[0027] When the scenario mode is the level authentication mode, obtaining user interaction control data, obtaining the user's interaction completion status according to the interaction control data, and judging whether the driver's license issuance conditions of the autonomous driving level are met according to the user's interaction completion status;

[0028] When it is determined that the conditions for issuing a driver's license that meets the autonomous driving level are met, an electronic driver's license for autonomous driving technology is generated for the user based on the user's identity information.

[0029] As a preferred solution, before receiving the control signal from each type of controller, the method further includes: authenticating the user, and obtaining the user's identity information when it is determined that the user passes the identity authentication.

[0030] As a preferred solution, the interactive control is applied to the target vehicle, and before receiving the control signal from each type of controller, it also includes:

[0031] Acquiring vehicle status information of the target vehicle;

[0032] According to the vehicle status information, determining whether the current gear position of the target vehicle is the P gear; and according to the vehicle status information, determining whether the speed of the target vehicle is zero;

[0033] When the vehicle speed of the target vehicle is zero and the gear position is P gear, it is determined that the target vehicle meets the conditions for interactive control of the automatic driving scenario simulation.

[0034] The second aspect of the present invention application provides an interactive control device for simulating an autonomous driving scene, the interactive control device comprising a display module, a control signal receiving module and an interactive control module; wherein:

[0035] The display module is used to respond to the inputted autonomous driving level and scene mode, and control the display device to display the virtual vehicle in real time; wherein the scene mode includes: intelligent driving practice mode or level certification mode;

[0036] The control signal receiving module is used to receive control signals from various types of controllers, wherein the various types of controllers include at least one of the power domain controller, the chassis domain controller, the body domain controller and the intelligent driving domain controller, and the power domain controller, the chassis domain controller, the body domain controller and the intelligent driving domain controller are connected via a gateway;

[0037] The interactive control module is used to control the virtual vehicle according to the control signals received from the various categories of controllers, the autonomous driving level and the scene mode, so as to realize interactive control of the autonomous driving scene simulation.

[0038] The third aspect of the present application provides an interactive control device for simulating an autonomous driving scenario, comprising a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus; the memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the interactive control method for simulating the autonomous driving scenario.

[0039] The fourth aspect of the present application provides a computer-readable storage medium, which stores at least one executable instruction. When the executable instruction is run on an interactive control device / apparatus for simulating an autonomous driving scene, the interactive control device / apparatus for simulating an autonomous driving scene performs the operation of the interactive control method for simulating an autonomous driving scene. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 : A flow chart of the first embodiment of the interactive control method for simulating an autonomous driving scenario provided in the present application.

[0041] Figure 2 : Schematic diagram of the technical architecture of the first embodiment of the interactive control method for autonomous driving scenario simulation provided in the present application.

[0042] Figure 3 : A flow chart of a second embodiment of the interactive control method for simulating an autonomous driving scenario provided in the present application.

[0043] Figure 4 : A structural schematic diagram of the first embodiment of the interactive control device for simulating autonomous driving scenarios provided in the present application.

[0044] Figure 5 : A structural schematic diagram of the first embodiment of the interactive control device for simulating autonomous driving scenarios provided in the present application.

[0045] Figure 6 : A structural schematic diagram of a second embodiment of the interactive control device for simulating autonomous driving scenarios provided in the present application.

[0046] Figure 7 : A structural schematic diagram of a third embodiment of the interactive control device for simulating autonomous driving scenarios provided in the present application.

[0047] Figure 8 : A structural diagram of the fourth embodiment of the interactive control device for simulating autonomous driving scenarios provided in the present application.

[0048] Fig. 9 : A structural diagram of the fifth embodiment of the interactive control device for simulating autonomous driving scenarios provided in the present application.

[0049] Fig.10 : A structural schematic diagram of the sixth embodiment of the interactive control device for simulating autonomous driving scenarios provided in the present application.

[0050] Fig.11 : A structural schematic diagram of the first embodiment of the interactive control device for simulating autonomous driving scenarios provided in the present application. DETAILED DESCRIPTION

[0051] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0052] According to relevant technical records, different users are at different stages of understanding autonomous driving technology due to differences in age structure, knowledge structure and other factors. Some users over-trust or over-use autonomous driving technology, while other users still have a primary understanding of autonomous driving technology and do not trust or dare to use it.

[0053] For the above two types of users, in order to increase their understanding of autonomous driving technology, familiarize them with autonomous driving operations, and avoid excessive trust in the technology or improper use that may cause traffic accidents, major automobile manufacturers currently mainly use instruction manuals, owner guide apps, video learning, or question-answering methods to help users quickly get started with autonomous driving. However, these methods are not intuitive enough for users to establish their understanding of autonomous driving functions, and users cannot directly operate them, so it is difficult to form effective interactions.

[0054] For one or more of the above technical issues, please refer to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the interactive control method for simulating an autonomous driving scenario provided by the present invention. Figure 1 The embodiment of the interactive control method for simulating the autonomous driving scenario shown can be applied to the controller of the target vehicle (the user's own vehicle with autonomous driving function), the external device of the target vehicle, or the vehicle-mounted terminal.

[0055] Figure 1 The interactive control method for simulating an autonomous driving scenario provided by the illustrated embodiment includes steps S101 to S103, which are described in detail as follows:

[0056] Step S101, in response to the inputted autonomous driving level and scene mode, controlling the display device to display the virtual vehicle in real time.

[0057] In this step, the scenario mode includes: intelligent driving practice mode or level certification mode. The intelligent driving practice mode and level certification mode respectively include but are not limited to following car practice, following stop practice, lane change practice, overtaking practice, emergency braking practice, manual takeover practice, acceleration and deceleration practice and / or steering practice.

[0058] The autonomous driving levels include L0, L1, L2, L3, L4 and L5. At present, L0, L1 and L2 are mainly controlled by human drivers, and the system plays an auxiliary role; as the autonomous driving technology develops to L3, L4 and L5 levels, the dominant power of vehicle driving gradually shifts to the autonomous driving system. The owners of the autonomous driving system need to receive corresponding autonomous driving training and be familiar with different types of usage scenarios in order to master the connection between autonomous operation and autonomous driving, avoid over-reliance on autonomous driving, and ensure the safety of the vehicle.

[0059] The display device may be a central control screen or an external display device of the target vehicle, such as a virtual reality (VR) device, an augmented reality (AR) device, or a projection device, etc. The above display device may be connected to the cockpit domain controller of the target vehicle.

[0060] The display device is used to display a virtual vehicle, and the virtual vehicle is used to simulate the vehicle state of a real vehicle in subsequent steps.

[0061] Before step S101 of the present embodiment, it can be preliminarily determined whether the target vehicle meets the conditions for entering interactive control. Exemplarily, the vehicle status information of the target vehicle is obtained; it is determined whether the state of the target vehicle is a ready state (ready state, that is, whether the current gear is P gear and whether the vehicle speed is zero). Specifically, according to the vehicle status information, it is determined whether the current gear of the target vehicle is P gear; and according to the vehicle status information, it is determined whether the speed of the target vehicle is zero and whether the gear is P gear; when the speed of the target vehicle is zero and the gear is P gear, it is determined that the target vehicle meets the conditions for interactive control of the automatic driving scene simulation. When the target vehicle is in a non-ready state, the display device can pop up a window to prompt the user that the conditions for interactive control are not met, and then the owner user can choose "Meet the conditions by yourself" to enter the interactive control process again (step S101), or choose "End of process".

[0062] When the conditions are met, the user can select the autonomous driving level according to the autonomous driving function of the current target vehicle. Select the intelligent driving practice mode or level certification mode as needed. When entering the intelligent driving practice mode or level certification mode, the virtual vehicle and road scene can be displayed through the display device.

[0063] Step S102, receiving control signals from controllers of various types.

[0064] In this step, if Figure 2As shown, each category of controller includes at least one of the power domain controller, chassis domain controller, body domain controller and intelligent driving domain controller, and the power domain controller, chassis domain controller, body domain controller and intelligent driving domain controller are connected through a gateway.

[0065] The power domain controller is connected to the steering wheel, accelerator pedal, and shift lever of the target vehicle. The body domain controller is connected to the steering lever component. The chassis domain controller is connected to the brake pedal. The intelligent driving domain controller is equipped with an autonomous driving model algorithm.

[0066] In this step, the power domain controller can receive control signals from components such as the steering wheel, accelerator pedal and shift lever, the body domain controller can receive control signals from steering lever components, and the chassis domain controller can receive control signals from the brake pedal. Then the power domain controller, the body domain controller and the chassis domain controller will exchange data with the above-mentioned cockpit domain controller through the gateway (Gateway, abbreviated as GW) using the received control signals. In this process, the controller area network (Controller Area Network, abbreviated as CAN) can be used for data interaction.

[0067] Step S103, controlling the virtual vehicle according to the control signals received from the controllers of each category, the autonomous driving level and the scene mode, so as to realize interactive control of the autonomous driving scene simulation.

[0068] In this step, according to the component control signal received from at least one of the power domain controller, chassis domain controller, body domain controller and intelligent driving domain controller, the virtual vehicle is interactively controlled accordingly according to the current autonomous driving level and the type of scene mode.

[0069] As mentioned above, the scenario mode includes: intelligent driving practice mode or level certification mode. The intelligent driving practice mode and level certification mode respectively include but are not limited to following car practice, following stop practice, lane change practice, overtaking practice, emergency braking practice, manual takeover practice, acceleration and deceleration practice and / or steering practice and other practice contents. The autonomous driving level includes L0, L1, L2, L3, L4 and L5 levels.

[0070] Since different levels of autonomous driving require different degrees of user participation, corresponding following exercises, following and stopping exercises, lane changing exercises, overtaking exercises, emergency braking exercises, manual takeover exercises, acceleration and deceleration exercises, and steering exercises can be configured according to different levels of autonomous driving, thereby helping users complete the interactive control of autonomous driving scene simulations corresponding to each level of autonomous driving.

[0071] It can be understood that according to the control signals received from the various categories of controllers, the autonomous driving level and the scenario mode, the virtual vehicle can be activated, canceled, started, stopped, changed lanes, overtaken, actively avoided, downgraded, manually taken over, anti-collision emergency braking and / or emergency handling takeover, etc., so that the user can immersively experience the autonomous driving operation.

[0072] During the execution of the interactive control method of the autonomous driving scenario simulation, the vehicle status of the target vehicle can be detected in real time. When the "ready status" is not met or the vehicle speed becomes non-zero or the gear is not the P gear, the interactive control of the autonomous driving scenario simulation can be exited to ensure the safety of the vehicle and the user. During the intelligent driving practice mode, the owner user can also actively confirm to exit the intelligent driving practice mode.

[0073] The embodiments of the present application perform simulated interactive control of a virtual vehicle in a smart driving practice mode or a level certification mode according to control signals of various categories of controllers, autonomous driving levels and scenario modes, thereby realizing an autonomous driving scenario simulation based on a real vehicle. Compared with the prior art that uses vehicle manuals, APP video learning or answering exams, this can cultivate users' familiarity with the interaction between autonomous driving scenarios and real vehicles, help users further deepen their understanding of autonomous driving technology, and improve autonomous driving driving safety. In addition, each category of controller includes at least one of a power domain controller, a chassis domain controller, a body domain controller and an intelligent driving domain controller, and interactive control is performed based on the control signals of each category of controller, which effectively improves the interactivity of existing autonomous driving exercises, helps users to practice immersively and deepens their impression of actual operations.

[0074] exist Figure 1 Based on the embodiment shown, Figure 3 A flow chart of step S103 of the second embodiment of the present application is provided. Figure 1 The same steps will not be repeated here. Figure 3 As shown, step S103 may include step S301.

[0075] The specific content of step S301 includes: when the scenario mode is following vehicle practice or following stop practice, the virtual vehicle is controlled according to the lateral control signal and the longitudinal control signal corresponding to the automatic driving level received from the intelligent driving domain controller, and the lateral control signal and the longitudinal control signal are generated by the intelligent driving domain controller according to preset road data and the automatic driving model algorithm.

[0076] In this step, when the scene mode is the following vehicle practice or following stop practice in the intelligent driving practice mode, in some implementations, the cockpit domain controller can send the 3D road simulation data to the intelligent driving controller via the gateway. After being processed by the automatic driving model algorithm, the vehicle lateral control signal and longitudinal control signal are sent to the cockpit domain controller via the gateway, thereby controlling the virtual vehicle in the display device connected to the cockpit controller.

[0077] Among them, 3D road simulation data may include but are not limited to highways, urban roads, national roads, rural roads, on and off ramps, interchanges, multi-lane narrowing, large curvature curves, high-speed cones, in and out of toll stations and / or parking spaces and other road simulation scenes. The 3D road simulation data of the virtual vehicle in motion can be transmitted in real time from the cockpit domain controller to the intelligent driving domain controller via the gateway. During the virtual vehicle's automatic driving process, the owner user holds the steering wheel (but does not need to make steering operations) and always observes the driving status of the virtual vehicle and the surrounding environment of the 3D road. When there is a vehicle in front of the same lane in the same direction, the intelligent driving controller calculates the following distance, following speed and steering angle of the virtual vehicle based on the road environment data received in real time, after processing by the automatic driving model algorithm, and the lateral control signal and longitudinal control signal are sent by the intelligent driving domain controller to the cockpit domain controller via the gateway, thereby controlling the virtual vehicle to automatically follow the vehicle or stop, thereby completing the following vehicle exercise or following stop exercise.

[0078] In some preferred embodiments, the intelligent driving practice mode and the level certification mode both further include lane changing practice, and step S103 may further include step S302. Step S302 specifically comprises: when the scene mode is lane changing practice, responding to the steering lever control signal sent by the body domain controller to the intelligent driving domain controller, receiving a lane changing instruction corresponding to the autonomous driving level from the intelligent driving domain controller, and controlling the virtual vehicle to change lanes.

[0079] In this preferred embodiment, exemplarily, in the intelligent driving practice mode or the level certification mode, if the owner operates the steering lever (indicating the left turn signal or the right turn signal), the body domain controller sends the steering lever control signal to the intelligent driving domain controller through the gateway, and the automatic driving model algorithm integrates the road environment of the 3D lane to make decisions such as immediately executing the lane change, waiting to execute the lane change, or not executing the lane change. The intelligent driving domain controller sends a control signal to the cockpit domain controller via the gateway, and the virtual vehicle executes the lane change command.

[0080] In some preferred embodiments, the intelligent driving practice mode and the level certification mode both also include overtaking practice, and step S103 may further include step S303. Step S303 specifically comprises: receiving an overtaking instruction corresponding to the autonomous driving level from the intelligent driving domain controller, and controlling the virtual vehicle to overtake. The overtaking instruction is made by the intelligent driving domain controller through the autonomous driving model algorithm according to the following time and road environment data.

[0081] In this preferred embodiment, during the virtual vehicle's automatic driving following process, the automatic driving model algorithm comprehensively processes the following time and the road environment of adjacent lanes of the 3D road and makes an autonomous overtaking decision. The intelligent driving domain controller sends a control signal through the gateway to the cockpit domain controller. The intelligent cockpit voice prompts the vehicle that it is about to change lanes and overtake, and the virtual vehicle executes the overtaking command to achieve autonomous lane changing and overtaking.

[0082] In some preferred embodiments, the intelligent driving practice mode and the level certification mode both also include emergency braking practice, and step S103 may further include step S304, and step S304 specifically comprises: receiving a braking control instruction corresponding to the autonomous driving level from the intelligent driving domain controller, and controlling the virtual vehicle to brake, wherein the braking control instruction is made by the intelligent driving domain controller according to road environment data through an autonomous driving model algorithm.

[0083] For example, during the driving process of the virtual vehicle, based on the 3D road environment data, when it is judged that the vehicle in the adjacent lane encroaches on the own lane or there is an obstacle in the own lane, the automatic driving model algorithm conducts comprehensive processing and makes active avoidance or collision avoidance emergency braking decisions. The intelligent driving domain controller sends a control signal to the cockpit domain controller via the gateway, and the intelligent cockpit voice prompts to pay attention to vehicle safety. The virtual vehicle executes the bypass or emergency braking command to avoid danger.

[0084] In some preferred embodiments, the intelligent driving practice mode and the level certification mode both also include (manual) takeover practice, and the interactive control method may further include step S305, which specifically includes: according to the scene mode and when the scene mode is takeover practice, the virtual vehicle is decelerated according to the brake pedal control signal received from the chassis domain controller; or the virtual vehicle is steered or lane changed according to the steering wheel control signal received from the power domain controller to achieve takeover practice.

[0085] For this preferred embodiment, during the automatic driving process of the virtual vehicle, the owner should remain vigilant. If the virtual vehicle is found to have driving safety hazards, the owner can operate the steering wheel and brake pedal at any time. The power domain controller or the chassis domain controller sends a control signal to the intelligent driving domain controller via the gateway. The intelligent driving domain controller then sends a control signal to the cockpit domain controller after making a decision. The intelligent driving domain controller receives the signal feedback from the power domain controller or the chassis domain controller and determines that the virtual vehicle has been manually taken over and exits the intelligent driving function. The intelligent cockpit voice prompts that the intelligent driving function has been exited. At this time, the virtual vehicle receives control signals from the power domain controller, the body domain controller and / or the chassis domain controller in real time, and receives operations from the owner to switch from intelligent driving to manual takeover to ensure safe driving.

[0086] In addition, in some other preferred embodiments, the intelligent driving practice mode and the level certification mode both include acceleration and deceleration practice, and the interactive control method may further include step S306, which specifically includes: according to the scene mode and when the scene mode is acceleration and deceleration practice, receiving a pedal control signal from the power domain controller and a brake pedal control signal from the chassis domain controller, and performing acceleration and deceleration control on the virtual vehicle. In this step, the user uses the accelerator pedal, and the cockpit domain controller controls the virtual vehicle of the display device to accelerate according to the accelerator pedal control signal to help the user complete the acceleration and deceleration practice.

[0087] It can be understood that when the target vehicle enters the intelligent driving practice mode or the level certification mode, it can first perform following and stopping exercises (step S301), or it can first perform lane changing exercises (step S302), or it can perform overtaking exercises (step S303), or it can first perform emergency braking exercises (step S304) or takeover exercises (step S305) or acceleration and deceleration exercises (step S306). There is no requirement on the execution order of the preferred implementation modes.

[0088] exist Figure 1 Based on the embodiment shown, Figure 4 A flowchart of a third embodiment of the interactive control method for simulating an autonomous driving scenario of the present application is provided. Figure 1 The same steps will not be repeated here. Figure 4 As shown, the interactive control method described in the third embodiment further includes steps S401 to S402; wherein,

[0089] Step S401, when the scenario mode is the level authentication mode, obtain the user's interaction control data, obtain the user's interaction completion status according to the interaction control data, and determine whether the driver's license issuance conditions of the autonomous driving level are met according to the user's interaction completion status.

[0090] Step S402, when it is determined that the conditions for issuing a driver's license for the autonomous driving level are met, an electronic driver's license for autonomous driving technology for the user is generated based on the user's identity information.

[0091] The difference between the third embodiment and the first embodiment is that, according to the completion of the user's interaction (such as the completion progress and success rate of various exercises, etc.), the user's autonomous driving level is determined, such as the highest of L1, L2, L3, L4 or L5. At this time, the conditions for issuing a driver's license that meets the autonomous driving level are determined, and the user's autonomous driving technology electronic driver's license is generated according to the user's identity authentication information. It can be understood that L1, L2, L3, L4 or L5 can all perform following exercises, following and stopping exercises, lane change exercises, overtaking exercises, emergency braking exercises, manual takeover exercises, acceleration and deceleration exercises and / or steering exercises, etc., and different test difficulties and requirements are set for different autonomous driving levels, so as to determine the autonomous driving level that the user meets.

[0092] After the user meets the level of the corresponding autonomous driving level and obtains the electronic driver's license for autonomous driving technology, the corresponding level of autonomous driving authority and the corresponding level of driving functions can be activated for the user to use. Figure 1 On the basis of the illustrated embodiment, the safety of autonomous driving can be further guaranteed, preventing users from using unfamiliar autonomous driving functions.

[0093] The identity authentication can be performed after the user selects the scene mode as the level authentication mode and before step S101. The authentication methods include but are not limited to prompting code scanning, face recognition, etc.

[0094] This embodiment determines the autonomous driving level that the user meets through the completion of the user's interaction, and generates and issues the corresponding electronic driver's license for autonomous driving technology based on the satisfied autonomous driving level. This can, to a certain extent, authenticate and determine the autonomous driving level that the user's operating level meets, so that the user's knowledge level and level are compatible, while adapting to the requirements of future laws and regulations related to autonomous driving.

[0095] Please refer to Figure 5 , Figure 5 A schematic diagram of the structure of an embodiment of an interactive control device 500 for simulating an autonomous driving scenario provided by the present invention. The interactive control device 500 includes a display module 501, a control signal receiving module 502 and an interactive control module 503; wherein:

[0096] The display module 501 is used to respond to the inputted autonomous driving level and scene mode, and control the display device to display the virtual vehicle in real time; wherein the scene mode includes: intelligent driving practice mode or level certification mode;

[0097] The control signal receiving module 502 is used to receive control signals from various types of controllers, wherein the various types of controllers include at least one of the power domain controller, the chassis domain controller, the body domain controller and the intelligent driving domain controller, and the power domain controller, the chassis domain controller, the body domain controller and the intelligent driving domain controller are connected via a gateway;

[0098] The interactive control module 503 is used to control the virtual vehicle according to the control signals received from the various categories of controllers, the autonomous driving level and the scene mode, so as to achieve interactive control of the autonomous driving scene simulation.

[0099] As a preferred solution, the intelligent driving practice mode and the level certification mode both include following-car practice or following-stop practice, and the interactive control module 503 includes a first control submodule, which is used to:

[0100] When the scenario mode is following vehicle practice or following stop practice, the virtual vehicle is controlled according to a lateral control signal and a longitudinal control signal corresponding to the autonomous driving level received from an intelligent driving domain controller, and the lateral control signal and the longitudinal control signal are generated by the intelligent driving domain controller according to preset road data and an autonomous driving model algorithm.

[0101] As a preferred solution, the intelligent driving practice mode and the level certification mode both include lane change practice, and the interactive control module 503 includes a second control submodule, and the second control submodule is used to:

[0102] When the scenario mode is lane change practice, in response to the steering lever control signal sent by the body domain controller to the intelligent driving domain controller, a lane change instruction corresponding to the automatic driving level is received from the intelligent driving domain controller, and the virtual vehicle is controlled to change lanes.

[0103] As a preferred solution, the intelligent driving practice mode and the level certification mode both include overtaking practice;

[0104] The interaction control module 503 includes a third control submodule, and the third control submodule is used to:

[0105] An overtaking instruction corresponding to the autonomous driving level is received from the intelligent driving domain controller, and the virtual vehicle is controlled to overtake. The overtaking instruction is made by the intelligent driving domain controller through an autonomous driving model algorithm according to the following vehicle duration and road environment data.

[0106] As a preferred solution, the intelligent driving practice mode and the level certification mode both include emergency braking practice;

[0107] The interaction control module 503 includes a fourth control submodule, and the fourth control submodule is used to:

[0108] A braking control instruction corresponding to the autonomous driving level is received from the intelligent driving domain controller to control the virtual vehicle to brake, wherein the braking control instruction is made by the intelligent driving domain controller according to road environment data through an autonomous driving model algorithm.

[0109] As a preferred option, please refer to Figure 6 , the intelligent driving practice mode and the level certification mode both include takeover practice; the interactive control device also includes a takeover control module 504, and the takeover control module 504 is used to:

[0110] According to a scenario mode and when the scenario mode is takeover practice, the brake pedal control signal received from the chassis domain controller is used to control the deceleration of the virtual vehicle;

[0111] Or, according to the steering wheel control signal received from the power domain controller, the virtual vehicle is subjected to steering control or lane change control to achieve takeover practice.

[0112] As a preferred option, please refer to Figure 7 , the intelligent driving practice mode and the level certification mode both include acceleration and deceleration practice; the interactive control device also includes a speed control module 505, and the speed control module 505 is used to:

[0113] According to the scenario mode and when the scenario mode is acceleration and deceleration practice, a pedal control signal is received from the power domain controller and a brake pedal control signal is received from the chassis domain controller to perform acceleration and deceleration control on the virtual vehicle.

[0114] As a preferred option, please refer to Figure 8 The interactive control device further includes a driver's license generation module 506, and the driver's license generation module 506 is used to:

[0115] When the scenario mode is the level authentication mode, obtaining user interaction control data, obtaining the user's interaction completion status according to the interaction control data, and judging whether the driver's license issuance conditions of the autonomous driving level are met according to the user's interaction completion status;

[0116] When it is determined that the conditions for issuing a driver's license that meets the autonomous driving level are met, an electronic driver's license for autonomous driving technology is generated for the user based on the user's identity information.

[0117] As a preferred option, please refer to Fig. 9The interactive control device also includes an identity authentication module 507, which is used to authenticate the user before the control signal receiving module 502 receives the control signal from each category of controller, and obtain the identity information of the user when it is determined that the user has passed the identity authentication.

[0118] As a preferred option, please refer to Fig.10 The interactive control device further includes a condition verification module 508, which is used for: before the control signal receiving module 502 receives the control signal from each type of controller:

[0119] Acquiring vehicle status information of the target vehicle;

[0120] According to the vehicle status information, determining whether the current gear position of the target vehicle is the P gear; and according to the vehicle status information, determining whether the speed of the target vehicle is zero;

[0121] When the vehicle speed of the target vehicle is zero and the gear position is P gear, it is determined that the target vehicle meets the conditions for interactive control of the automatic driving scenario simulation.

[0122] Accordingly, the present invention application also provides an embodiment of an interactive control device for simulating an autonomous driving scenario, the interactive control device comprising a processor, a memory, a communication interface and a communication bus, wherein the processor, the memory and the communication interface communicate with each other through the communication bus;

[0123] The memory is used to store at least one executable instruction, and the executable instruction enables the processor to execute the operation of the interactive control method for simulating the autonomous driving scenario.

[0124] Fig.11 The schematic diagram of the structure of an embodiment of the driving deviation correction control device of the present invention is shown. The specific embodiment of the present invention does not limit the specific implementation of the driving deviation correction control device.

[0125] like Fig.11 As shown, the driving correction control device may include: a processor (processor) 1102, a communication interface (Communications Interface) 1104, a memory (memory) 1106, and a communication bus 1108.

[0126] The processor 1102, the communication interface 1104, and the memory 1106 communicate with each other via the communication bus 1108. The communication interface 1104 is used to communicate with other devices such as a client or other server network elements. The processor 1102 is used to execute the program 1110, which can specifically execute the relevant steps in the above-mentioned embodiment of the driving deviation correction control method.

[0127] Specifically, the program 1110 may include program code, which includes computer-executable instructions.

[0128] The processor 1102 may be a central processing unit (CPU), or an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiment of the present invention. The one or more processors included in the driving correction control device may be processors of the same type, such as one or more CPUs; or processors of different types, such as one or more CPUs and one or more ASICs.

[0129] The memory 1106 is used to store the program 1110. The memory 1106 may include a high-speed RAM memory, and may also include a non-volatile memory (non-volatile memory), such as at least one disk memory.

[0130] Correspondingly, the present application also provides a computer-readable storage medium, in which at least one executable instruction is stored. When the executable instruction is run on an interactive control device / apparatus for simulating an autonomous driving scenario, the interactive control device / apparatus for simulating an autonomous driving scenario performs the operation of the interactive control method for simulating an autonomous driving scenario.

[0131] The algorithms or displays provided herein are not inherently related to any particular computer, virtual system or other device. In addition, the embodiments of the present invention are not directed to any particular programming language.

[0132] In the description provided herein, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. Similarly, in order to simplify the present invention and help understand one or more of the various inventive aspects, in the above description of exemplary embodiments of the present invention, the various features of the embodiments of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. Among them, the claims that follow the specific embodiment are hereby expressly incorporated into the specific embodiment, wherein each claim itself serves as a separate embodiment of the present invention.

[0133] Those skilled in the art will appreciate that the modules in the devices in the embodiments may be adaptively changed and arranged in one or more devices different from the embodiments. The modules or units or components in the embodiments may be combined into one module or unit or component, and further may be divided into a plurality of submodules or subunits or subcomponents. Except that at least some of such features and / or processes or units are mutually exclusive.

[0134] It should be noted that the above embodiments illustrate the present invention rather than limit it, and that those skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference symbol between brackets shall not be construed as a limitation on the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "one" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present invention may be implemented by means of hardware comprising a number of different elements and by means of a suitably programmed computer. In a unit claim enumerating a number of devices, several of these devices may be embodied by the same hardware item. The use of the words first, second, and third, etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments, unless otherwise specified, should not be understood as limitations on the order of execution.

[0135] The specific embodiments described above further illustrate the purpose, technical solutions and beneficial effects of the present invention. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the scope of protection of the present invention. It is particularly pointed out that for those skilled in the art, any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the scope of protection of the present invention.

Claims

1. An interactive control method for simulating an autonomous driving scenario, characterized in that: include: In response to the inputted autonomous driving level and scenario mode, controlling the display device to display the virtual vehicle in real time; wherein the scenario mode includes: intelligent driving practice mode or level certification mode; Receiving control signals from controllers of various categories, wherein the controllers of various categories include at least one of a power domain controller, a chassis domain controller, a body domain controller, and an intelligent driving domain controller, wherein the power domain controller, the chassis domain controller, the body domain controller, and the intelligent driving domain controller are connected via a gateway; The virtual vehicle is controlled according to the control signals received from the controllers of each category, the autonomous driving level and the scenario mode to achieve interactive control of the autonomous driving scenario simulation.

2. The interactive control method for autonomous driving scene simulation according to claim 1, characterized in that: The intelligent driving practice mode and the level certification mode both include vehicle following practice or vehicle stopping practice, and the virtual vehicle is controlled according to the control signals received from the controllers of each category, the automatic driving level and the scene mode, including: When the scenario mode is following vehicle practice or following stop practice, the virtual vehicle is controlled according to a lateral control signal and a longitudinal control signal corresponding to the autonomous driving level received from an intelligent driving domain controller, and the lateral control signal and the longitudinal control signal are generated by the intelligent driving domain controller according to preset road data and an autonomous driving model algorithm.

3. The interactive control method for automatic driving scene simulation according to claim 2, characterized in that: The intelligent driving practice mode and the level certification mode both include lane change practice, and the virtual vehicle is controlled according to the control signals received from the controllers of each category, the automatic driving level and the scene mode, and further includes: When the scenario mode is lane change practice, in response to the steering lever control signal sent by the body domain controller to the intelligent driving domain controller, a lane change instruction corresponding to the automatic driving level is received from the intelligent driving domain controller, and the virtual vehicle is controlled to change lanes.

4. The interactive control method for simulating an autonomous driving scenario according to claim 3, characterized in that: The intelligent driving practice mode and the level certification mode both include overtaking practice; The controlling the virtual vehicle according to the control signals received from the controllers of each category, the automatic driving level and the scene mode, further includes: An overtaking instruction corresponding to the autonomous driving level is received from the intelligent driving domain controller, and the virtual vehicle is controlled to overtake. The overtaking instruction is made by the intelligent driving domain controller through an autonomous driving model algorithm according to the following vehicle duration and road environment data.

5. The interactive control method for automatic driving scene simulation according to claim 4, characterized in that: The intelligent driving practice mode and the level certification mode both include emergency braking practice; The controlling the virtual vehicle according to the control signals received from the controllers of each category, the automatic driving level and the scene mode, further includes: A braking control instruction corresponding to the autonomous driving level is received from the intelligent driving domain controller to control the virtual vehicle to brake, wherein the braking control instruction is made by the intelligent driving domain controller according to road environment data through an autonomous driving model algorithm.

6. The interactive control method for automatic driving scene simulation according to claim 5, characterized in that: The intelligent driving practice mode and the level certification mode both include takeover practice; The interactive control method further includes: According to a scenario mode and when the scenario mode is takeover practice, the brake pedal control signal received from the chassis domain controller is used to control the deceleration of the virtual vehicle; Or, according to the steering wheel control signal received from the power domain controller, the virtual vehicle is subjected to steering control or lane change control to achieve takeover practice.

7. The interactive control method for autonomous driving scene simulation according to claim 6, characterized in that: The intelligent driving practice mode and the level certification mode both include acceleration and deceleration practice; The interactive control method further includes: According to the scenario mode and when the scenario mode is acceleration and deceleration practice, a pedal control signal is received from the power domain controller and a brake pedal control signal is received from the chassis domain controller to perform acceleration and deceleration control on the virtual vehicle.

8. The interactive control method for autonomous driving scene simulation according to claim 1, characterized in that: The interactive control method further comprises: When the scenario mode is the level authentication mode, obtaining user interaction control data, obtaining the user's interaction completion status according to the interaction control data, and judging whether the driver's license issuance conditions of the autonomous driving level are met according to the user's interaction completion status; When it is determined that the conditions for issuing a driver's license that meets the autonomous driving level are met, an electronic driver's license for autonomous driving technology is generated for the user based on the user's identity information.

9. The interactive control method for autonomous driving scene simulation according to claim 1, characterized in that: Applied to a target vehicle, before receiving control signals from controllers of various categories, the method further includes: Acquiring vehicle status information of the target vehicle; According to the vehicle status information, determining whether the current gear position of the target vehicle is the P gear; and according to the vehicle status information, determining whether the speed of the target vehicle is zero; When the vehicle speed of the target vehicle is zero and the gear position is P gear, it is determined that the target vehicle meets the conditions for interactive control of the automatic driving scenario simulation.

10. An interactive control device for simulating an autonomous driving scenario, characterized in that: The interactive control device comprises a display module, a control signal receiving module and an interactive control module; wherein, The display module is used to respond to the inputted autonomous driving level and scene mode, and control the display device to display the virtual vehicle in real time; wherein the scene mode includes: intelligent driving practice mode or level certification mode; The control signal receiving module is used to receive control signals from various types of controllers, wherein the various types of controllers include at least one of the power domain controller, the chassis domain controller, the body domain controller and the intelligent driving domain controller, and the power domain controller, the chassis domain controller, the body domain controller and the intelligent driving domain controller are connected via a gateway; The interactive control module is used to control the virtual vehicle according to the control signals received from the various categories of controllers, the autonomous driving level and the scene mode, so as to realize interactive control of the autonomous driving scene simulation.

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